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AP_HAL_ChibiOS: support more configurations with betaflight conversion tool

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This commit is contained in:
Andy Piper 2023-02-22 15:21:09 +00:00 committed by Peter Barker
parent d084ae0153
commit 59c59b8b28
1 changed files with 29 additions and 8 deletions
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35
libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py
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@ -11,9 +11,13 @@ import sys, re
import argparse
timers = {}
timers_by_name = {}
resources = {}
features = []
chip_select = {}
chip_select_by_type = {}
defines = {}
functions = {
"SPI" : {},
"MOTOR" : {},
@ -174,6 +178,7 @@ define STORAGE_FLASH_PAGE 1
if (resource[3].endswith("_CS")):
chip_select[resource[1]] = resource
chip_select_by_type[resource[3] + resource[0]] = resource[0]
print("resource: %s %s %s %s" % (resource[0], resource[1], resource[2], resource[3]))
@ -187,6 +192,7 @@ define STORAGE_FLASH_PAGE 1
pin = convert_pin(a[1])
timer = [ pin, pindef[3] , pindef[4] ]
timers[pin] = timer
timers_by_name[pindef[3]] = pin
print("timer: %s %s %s" % (timer[0], timer[1], timer[2]))
@ -201,8 +207,21 @@ define STORAGE_FLASH_PAGE 1
settings[a[1]] = a[3]
print("settings: %s %s" % (a[1], a[3]))
elif line.startswith('#define'):
a = line.split()
defines[a[1]] = a[1]
print("define: %s" % (a[1]))
#open(fname, 'w').write(''.join(lines))
# system timer
if 'TIM2' in timers_by_name and mcuclass != 'H7':
f.write("\nSTM32_ST_USE_TIMER 5\n")
elif 'TIM5' in timers_by_name:
f.write("\nSTM32_ST_USE_TIMER 2\n")
f.write("\n# SPI devices\n")
# PIN FN SPI
spin = -1
@ -231,7 +250,7 @@ define HAL_BUZZER_OFF 0
while (uartn < int(uart)):
uartn = uartn + 1
usarts += " EMPTY"
name = ("USART" if int(uartn) < 4 else "UART") + uart
name = ("USART" if int(uartn) < 4 or int(uartn) == 6 else "UART") + uart
usarts += (" " + name)
uartn = uartn + 1
@ -247,7 +266,7 @@ PA12 OTG_FS_DP OTG1
for uart in sorted(functions["SERIAL"].values()):
if (serialn != uart[0]):
serialn = uart[0]
name = "USART" if int(serialn) < 4 else "UART"
name = "USART" if int(serialn) < 4 or int(serialn) == 6 else "UART"
name += serialn
f.write("\n# %s\n" % name)
# no need for all UARTs to have DMA. Picking the first four is better than nothing
@ -346,10 +365,13 @@ define HAL_GPIO_%s_LED_PIN %u
write_osd_config(f, settings['max7456_spi_bus'])
if 'baro_i2c_device' in settings:
for define in defines:
if define.startswith('USE_BARO_'):
baro = define[len('USE_BARO_'):]
f.write('''
# Barometer setup
BARO DPS280 I2C:%s:0x76
''' % (int(settings['baro_i2c_device']) - 1))
BARO %s I2C:%s:0x76
''' % (baro, int(settings['baro_i2c_device']) - 1))
else:
f.write("define HAL_BARO_ALLOW_INIT_NO_BARO 1\n")
@ -357,11 +379,10 @@ BARO DPS280 I2C:%s:0x76
# IMU setup
''')
if 'gyro_1_spibus' in settings:
if 'gyro_1_spibus' in settings and 'GYRO_CS1' in chip_select_by_type:
write_imu_config(f, "1")
if 'gyro_2_spibus' in settings:
if 'gyro_2_spibus' in settings and 'GYRO_CS2' in chip_select_by_type:
write_imu_config(f, "2")
if len(dma_noshare) > 0: