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HAL_ChibiOS: process AIRSPEED lines in hwdef.dat

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Andrew Tridgell 2021-09-04 09:56:36 +10:00 committed by Peter Barker
parent f65620f4f3
commit 7f59366cc0
1 changed files with 38 additions and 1 deletions
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39
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -105,6 +105,7 @@ build_flags = []
imu_list = [] imu_list = []
compass_list = [] compass_list = []
baro_list = [] baro_list = []
airspeed_list = []
all_lines = [] all_lines = []
@ -1269,6 +1270,37 @@ def write_BARO_config(f):
if len(devlist) > 0: if len(devlist) > 0:
f.write('#define HAL_BARO_PROBE_LIST %s\n\n' % ';'.join(devlist)) f.write('#define HAL_BARO_PROBE_LIST %s\n\n' % ';'.join(devlist))
def write_AIRSPEED_config(f):
'''write airspeed config defines'''
global airspeed_list
devlist = []
seen = set()
idx = 0
for dev in airspeed_list:
if seen_str(dev) in seen:
error("Duplicate AIRSPEED: %s" % seen_str(dev))
seen.add(seen_str(dev))
driver = dev[0]
wrapper = ''
a = driver.split(':')
driver = a[0]
for i in range(1, len(dev)):
if dev[i].startswith("SPI:"):
dev[i] = parse_spi_device(dev[i])
elif dev[i].startswith("I2C:"):
(wrapper, dev[i]) = parse_i2c_device(dev[i])
if dev[i].startswith('hal.i2c_mgr'):
dev[i] = 'std::move(%s)' % dev[i]
n = len(devlist)+1
devlist.append('HAL_AIRSPEED_PROBE%u' % n)
args = ['*this', str(idx)] + dev[1:]
f.write(
'#define HAL_AIRSPEED_PROBE%u %s ADD_BACKEND(AP_Airspeed_%s::probe(%s))\n'
% (n, wrapper, driver, ','.join(args)))
idx += 1
if len(devlist) > 0:
f.write('#define HAL_AIRSPEED_PROBE_LIST %s\n\n' % ';'.join(devlist))
def write_board_validate_macro(f): def write_board_validate_macro(f):
'''write board validation macro''' '''write board validation macro'''
global config global config
@ -1944,6 +1976,7 @@ def write_hwdef_header(outfilename):
write_IMU_config(f) write_IMU_config(f)
write_MAG_config(f) write_MAG_config(f)
write_BARO_config(f) write_BARO_config(f)
write_AIRSPEED_config(f)
write_board_validate_macro(f) write_board_validate_macro(f)
add_apperiph_defaults(f) add_apperiph_defaults(f)
@ -2175,7 +2208,7 @@ def romfs_add_dir(subdirs):
def process_line(line): def process_line(line):
'''process one line of pin definition file''' '''process one line of pin definition file'''
global allpins, imu_list, compass_list, baro_list global allpins, imu_list, compass_list, baro_list, airspeed_list
global mcu_type, mcu_series, default_gpio global mcu_type, mcu_series, default_gpio
all_lines.append(line) all_lines.append(line)
a = shlex.split(line, posix=False) a = shlex.split(line, posix=False)
@ -2249,6 +2282,8 @@ def process_line(line):
compass_list.append(a[1:]) compass_list.append(a[1:])
elif a[0] == 'BARO': elif a[0] == 'BARO':
baro_list.append(a[1:]) baro_list.append(a[1:])
elif a[0] == 'AIRSPEED':
airspeed_list.append(a[1:])
elif a[0] == 'ROMFS': elif a[0] == 'ROMFS':
romfs_add(a[1], a[2]) romfs_add(a[1], a[2])
elif a[0] == 'ROMFS_WILDCARD': elif a[0] == 'ROMFS_WILDCARD':
@ -2278,6 +2313,8 @@ def process_line(line):
compass_list = [] compass_list = []
if u == 'BARO': if u == 'BARO':
baro_list = [] baro_list = []
if u == 'AIRSPEED':
airspeed_list = []
elif a[0] == 'env': elif a[0] == 'env':
print("Adding environment %s" % ' '.join(a[1:])) print("Adding environment %s" % ' '.join(a[1:]))
if len(a[1:]) < 2: if len(a[1:]) < 2: