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HAL_ChibiOS: add support for adding board validation test

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bugobliterator 2020-03-17 19:19:45 +05:30 committed by Andrew Tridgell
parent 8a77ddf8c6
commit ef91f1634b
2 changed files with 50 additions and 4 deletions
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23
libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat
View File

@ -24,6 +24,29 @@ PB1 PB1_ADC ADC1 SCALE(1)
SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
SPIDEV icm20602_ext SPI4 DEVID3 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ
# Sensor Check alias for validating board type
CHECK_MPU9250 spi_check_register("mpu9250", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)
CHECK_MPU9250_EXT spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)
CHECK_ICM20602_EXT spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)
CHECK_LSM9DS0_EXT_G spi_check_register("lsm9ds0_ext_g", LSMREG_WHOAMI, LSM_WHOAMI_L3GD20)
CHECK_LSM9DS0_EXT_AM spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)
CHECK_ICM20948_EXT spi_check_register("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948)
CHECK_MS5611 check_ms5611("ms5611")
CHECK_MS5611_EXT check_ms5611("ms5611_ext")
# Sensor Check Macros to be used for validating board type
CHECK_IMU0_PRESENT $CHECK_MPU9250_EXT || $CHECK_ICM20602_EXT
CHECK_IMU1_PRESENT ($CHECK_LSM9DS0_EXT_G && $CHECK_LSM9DS0_EXT_AM) || $CHECK_ICM20948_EXT
CHECK_IMU2_PRESENT $CHECK_MPU9250
CHECK_BARO0_PRESENT $CHECK_MS5611
CHECK_BARO1_PRESENT $CHECK_MS5611_EXT
BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT
# also define the default board type
define BOARD_TYPE_DEFAULT 3
# three IMUs, but allow for different varients. First two IMUs are
# isolated, 3rd isn't
IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180

31
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -847,12 +847,12 @@ def write_USB_config(f):
(USB_VID, USB_PID) = get_USB_IDs()
f.write('#define HAL_USB_VENDOR_ID 0x%04x\n' % int(USB_VID))
f.write('#define HAL_USB_PRODUCT_ID 0x%04x\n' % int(USB_PID))
f.write('#define HAL_USB_STRING_MANUFACTURER "%s"\n' % get_config("USB_STRING_MANUFACTURER", default="ArduPilot"))
f.write('#define HAL_USB_STRING_MANUFACTURER %s\n' % get_config("USB_STRING_MANUFACTURER", default="\"ArduPilot\""))
default_product = "%BOARD%"
if args.bootloader:
default_product += "-BL"
f.write('#define HAL_USB_STRING_PRODUCT "%s"\n' % get_config("USB_STRING_PRODUCT", default=default_product))
f.write('#define HAL_USB_STRING_SERIAL "%s"\n' % get_config("USB_STRING_SERIAL", default="%SERIAL%"))
f.write('#define HAL_USB_STRING_PRODUCT %s\n' % get_config("USB_STRING_PRODUCT", default="\"%s\""%default_product))
f.write('#define HAL_USB_STRING_SERIAL %s\n' % get_config("USB_STRING_SERIAL", default="\"%SERIAL%\""))
f.write('\n\n')
@ -1032,6 +1032,28 @@ def write_BARO_config(f):
if len(devlist) > 0:
f.write('#define HAL_BARO_PROBE_LIST %s\n\n' % ';'.join(devlist))
def write_board_validate_macro(f):
'''write board validation macro'''
global config
validate_string = ''
validate_dict = {}
if 'BOARD_VALIDATE' in config:
for check in config['BOARD_VALIDATE']:
check_name = check
check_string = check
while True:
def substitute_alias(m):
return '(' + get_config(m.group(1), spaces=True) + ')'
output = re.sub(r'\$(\w+|\{([^}]*)\})', substitute_alias, check_string)
if (output == check_string):
break
check_string = output
validate_dict[check_name] = check_string
# Finally create check conditional
for check_name in validate_dict:
validate_string += "!" + validate_dict[check_name] + "?" + "\"" + check_name + "\"" + ":"
validate_string += "nullptr"
f.write('#define HAL_VALIDATE_BOARD (%s)\n\n' % validate_string)
def get_gpio_bylabel(label):
'''get GPIO(n) setting on a pin label, or -1'''
@ -1624,6 +1646,7 @@ def write_hwdef_header(outfilename):
write_IMU_config(f)
write_MAG_config(f)
write_BARO_config(f)
write_board_validate_macro(f)
write_peripheral_enable(f)
@ -1843,7 +1866,7 @@ def process_line(line):
global allpins, imu_list, compass_list, baro_list
global mcu_type, mcu_series
all_lines.append(line)
a = shlex.split(line)
a = shlex.split(line, posix=False)
# keep all config lines for later use
alllines.append(line)