mirror of
https://github.com/ArduPilot/ardupilot
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120 lines
4.1 KiB
Python
120 lines
4.1 KiB
Python
#!/usr/bin/env python
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'''
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setup board.h for Linux
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AP_FLAKE8_CLEAN
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'''
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import argparse
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import shlex
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import sys
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import os
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../../libraries/AP_HAL/hwdef/scripts'))
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import hwdef # noqa:E402
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class LinuxHWDef(hwdef.HWDef):
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def __init__(self, quiet=False, outdir=None, hwdef=[]):
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super(LinuxHWDef, self).__init__(quiet=quiet, outdir=outdir, hwdef=hwdef)
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# a list of LINUX_SPIDEV devices
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self.linux_spidev = []
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def write_hwdef_header_content(self, f):
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for d in self.alllines:
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if d.startswith('define '):
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f.write('#define %s\n' % d[7:])
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self.write_SPI_config(f)
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def process_line(self, line, depth):
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'''process one line of pin definition file'''
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# keep all config lines for later use
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self.all_lines.append(line)
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self.alllines.append(line)
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a = shlex.split(line, posix=False)
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if a[0] == 'LINUX_SPIDEV':
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self.process_line_linux_spidev(line, depth, a)
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super(LinuxHWDef, self).process_line(line, depth)
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def process_line_undef(self, line, depth, a):
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for u in a[1:]:
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for dev in self.spidev:
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if u == dev[0]:
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self.linux_spidev.remove(dev)
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super(LinuxHWDef, self).process_line_undef(line, depth, a)
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def process_line_linux_spidev(self, line, depth, a):
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self.linux_spidev.append(a[1:])
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def write_SPI_config_define_line_for_dev(self, define_name, dev, n):
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'''return a #define line for a SPI config line used in a SPI device table'''
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(name, bus, subdev, mode, bits_per_word, cs_pin, lowspeed, highspeed) = dev
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# return f'#define {define_name} SPIDesc("name")\n'
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# sck_pin = self.bylabel['SPI%s_SCK' % n]
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# sck_line = 'PAL_LINE(GPIO%s,%uU)' % (sck_pin.port, sck_pin.pin)
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# return f'#define {define_name} {{ &SPID{n}, {n}, STM32_SPI_SPI{n}_DMA_STREAMS, {sck_line} }}\n'
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def write_SPI_device_table(self, f):
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'''write SPI device table'''
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if len(self.linux_spidev) == 0:
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# until all are converted
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return
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f.write('\n// SPI device table\n')
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devlist = []
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for dev in self.linux_spidev:
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if len(dev) != 8:
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self.error(f"Badly formed LINUX_SPIDEV line {dev} {len(dev)=}")
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(name, bus, subdev, mode, bits_per_word, cs_pin, lowspeed, highspeed) = dev
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# if not bus.startswith('SPI') or bus not in self.spi_list:
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# self.error(f"Bad SPI {bus=} in SPIDEV line {dev}")
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# if mode not in ['MODE0', 'MODE1', 'MODE2', 'MODE3']:
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# self.error("Bad MODE in SPIDEV line %s" % dev)
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if not lowspeed.endswith('*MHZ') and not lowspeed.endswith('*KHZ'):
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self.error("Bad lowspeed value %s in SPIDEV line %s" % (lowspeed, dev))
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if not highspeed.endswith('*MHZ') and not highspeed.endswith('*KHZ'):
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self.error("Bad highspeed value %s in SPIDEV line %s" %
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(highspeed, dev))
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f.write(
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f'#define HAL_SPI_DEVICE{len(devlist)+1} SPIDesc({name:12s}, {bus}, {subdev}, {mode}, {bits_per_word}, {cs_pin}, {lowspeed:6s}, {highspeed:6s})\n' # noqa
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)
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devlist.append('HAL_SPI_DEVICE%u' % (len(devlist)+1))
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f.write('#define HAL_SPI_DEVICE_LIST %s\n\n' % ','.join(devlist))
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f.write("\n")
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def write_SPI_config(self, f):
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'''write SPI config defines'''
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if len(self.linux_spidev) == 0:
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return
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self.write_SPI_device_table(f)
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if __name__ == '__main__':
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parser = argparse.ArgumentParser("linux_hwdef.py")
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parser.add_argument(
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'-D', '--outdir', type=str, default="/tmp", help='Output directory')
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parser.add_argument(
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'hwdef', type=str, nargs='+', default=None, help='hardware definition file')
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parser.add_argument(
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'--quiet', action='store_true', default=False, help='quiet running')
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args = parser.parse_args()
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c = LinuxHWDef(
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outdir=args.outdir,
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hwdef=args.hwdef,
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quiet=args.quiet,
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)
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c.run()
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