forked from Archive/PX4-Autopilot
module_schema.yaml: add actuator_output section
The parameter additions are only used internally for the pwm generator.
This commit is contained in:
Beat Küng
Daniel Agar
parent
8b3ab7e36d
commit
563cf61126
2
Makefile
2
Makefile
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@ -464,7 +464,7 @@ shellcheck_all:
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@make px4_fmu-v5_default shellcheck
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@make px4_fmu-v5_default shellcheck
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validate_module_configs:
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validate_module_configs:
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@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
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@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
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# Cleanup
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# Cleanup
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# --------------------------------------------------------------------
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# --------------------------------------------------------------------
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@ -97,11 +97,14 @@ parameters:
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definitions:
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definitions:
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type: dict
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type: dict
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keyschema:
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keyschema:
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# Parameter name
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type: string
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type: string
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regex: '[0-9A-Z_]+(\$\{i\}[0-9A-Z_]*)?'
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regex: '[0-9A-Z_]+(\$\{i\}[0-9A-Z_]*)?'
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valueschema:
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valueschema:
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type: dict
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type: dict # This can also be a list containing multiple definitions
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schema:
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# (for multi-instance params with different instance_start)
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# Not currently used in any yaml config file.
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schema: ¶meter_definition
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description:
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description:
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type: dict
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type: dict
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required: true
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required: true
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@ -211,9 +214,127 @@ parameters:
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# [0, N-1]
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# [0, N-1]
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# Default: 0
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# Default: 0
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type: integer
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type: integer
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instance_start_label:
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# Allows to use a different instance start for
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# labels vs parameter name.
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# Default: equal to 'instance_start'
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type: integer
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requires_ethernet:
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requires_ethernet:
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# param is only added if the board has ethernet
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# param is only added if the board has ethernet
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# support
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# support
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type: boolean
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type: boolean
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# Configuration for output drivers
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actuator_output:
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type: dict
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schema:
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output_groups:
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type: list
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minlength: 1
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schema:
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type: dict
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schema:
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generator:
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# Optional generator that uses additional information for
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# param generation (e.g. board-specific config)
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type: string
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allowed: [ pwm ]
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param_prefix:
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# parameter prefix for the min/max/disarmed/func params, e.g. PWM_FMU.
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# This also needs to be specified in the source code.
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type: string
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regex: '([0-9A-Z_]+|\$\{PWM_FMU_OR_HIL\})'
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required: true
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channel_label:
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# Human-readable per-channel label (index will be added), e.g. 'PWM Main'
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type: string
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num_channels:
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# (maximum) number of channels
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type: integer
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standard_params:
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type: dict
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schema:
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disarmed:
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type: dict
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schema:
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min:
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# Minimum disarmed value
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type: integer
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min: 0
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max: 65536
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max:
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# Maximum disarmed value
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type: integer
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min: 0
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max: 65536
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default:
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# Default disarmed value
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type: integer
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min: 0
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max: 65536
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min:
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type: dict
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schema:
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min:
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# Minimum minimum value
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type: integer
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min: 0
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max: 65536
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max:
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# Maximum minimum value
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type: integer
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min: 0
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max: 65536
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default:
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# Default minimum value
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type: integer
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min: 0
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max: 65536
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max:
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type: dict
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schema:
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min:
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# Minimum maximum value
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type: integer
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min: 0
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max: 65536
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max:
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# Maximum maximum value
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type: integer
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min: 0
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max: 65536
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default:
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# Default maximum value
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type: integer
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min: 0
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max: 65536
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failsafe:
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type: dict
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schema:
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min:
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# Minimum failsafe value
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type: integer
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min: 0
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max: 65536
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max:
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# Maximum failsafe value
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type: integer
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min: 0
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max: 65536
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extra_function_groups:
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# Additional function groups to add, defined in output_functions.yaml
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type: list
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schema:
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type: string
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channel_labels:
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# Only used for 'pwm' generator, specifies PWM and Capture pins
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type: list
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minlength: 2
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maxlength: 2
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schema:
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type: string
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pwm_timer_param:
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# Only used for 'pwm' generator, per-timer config param
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type: dict
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schema: *parameter_definition
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