forked from Archive/PX4-Autopilot
Tools/serial: use per-module serial port config params, instead of per-port
This commit is contained in:
Beat Küng
parent
dc412e4cd5
commit
dae292631c
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@ -145,6 +145,8 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
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get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
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endif()
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set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
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include(platforms/${OS}/cmake/px4_impl_os.cmake)
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include(configs/${CONFIG})
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
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@ -473,9 +475,12 @@ add_custom_target(metadata_airframes
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USES_TERMINAL
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)
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file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
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${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
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add_custom_target(metadata_parameters
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c
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COMMAND ${PYTHON_EXECUTABLE}
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${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
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--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
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--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
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@ -73,6 +73,11 @@ add_subdirectory(${romfs_src_dir})
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# copy all romfs files, process airframes, prune comments
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get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
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get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
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get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
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file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
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if (px4_constrained_flash_build)
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set(added_arguments --constrained-flash)
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endif()
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add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}/init.d/rc.serial ${romfs_gen_root_dir}/init.d/rc.autostart
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
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# TODO: we should only copy the files in ${romfs_copy_files}
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@ -84,11 +89,14 @@ add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}
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--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
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--board ${BOARD}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
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--rc-file ${romfs_temp_dir}/init.d/rc.serial
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--serial-ports ${board_serial_ports} #--verbose
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--rc-dir ${romfs_gen_root_dir}/init.d
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--serial-ports ${board_serial_ports} ${added_arguments}
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--config-files ${module_config_files} #--verbose
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
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--folder ${romfs_gen_root_dir} --board ${BOARD}
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DEPENDS
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${jinja_templates}
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${module_config_files}
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${romfs_cmake_files}
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${romfs_copy_files}
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${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
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@ -17,12 +17,13 @@ set +e
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#
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# UART mapping on FMUv2/3/4:
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#
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# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
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# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi,
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# v4pro: TELEM3)
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4
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# UART7 CONSOLE
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# UART8 SERIAL4
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# UART8 /dev/ttyS6 SERIAL4/TELEM4
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#
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#------------------------------------------------------------------------------
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#
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@ -41,8 +42,9 @@ set +e
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# UART mapping on OMNIBUSF4SD:
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#
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# USART1 /dev/ttyS0 SerialRX
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# USART4 /dev/ttyS1 TELEM1
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# USART6 /dev/ttyS2 GPS
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# (USART3 configured as I2C)
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# USART4 /dev/ttyS1 TELEM2 (TX=RSSI, RX=PWM out 5)
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# USART6 /dev/ttyS2 URT6
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#
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#------------------------------------------------------------------------------
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@ -9,154 +9,73 @@ import sys
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from jinja2 import Environment, FileSystemLoader
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try:
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import yaml
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except:
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print("Failed to import yaml.")
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print("You may need to install it with 'sudo pip install pyyaml'")
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print("")
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raise
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## Configuration
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# All possible Serial ports and their default param values.
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# Omitted default values will be set to 0.
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# All possible Serial ports
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# Note: do not re-use or change indexes. When adding a port, always use an
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# index that has never been used before. This is important for compatibility
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# with QGC (parameter metadata)
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serial_ports = {
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"GPS1": {
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"label": "GPS 1",
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"defaults": {
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"CONFIG": 'Main GPS',
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"BAUD": 0,
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},
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},
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"GPS2": {
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"label": "GPS 2",
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"defaults": {
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"CONFIG": 'Disabled',
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"BAUD": 0,
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},
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},
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"TEL1": {
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# index 0 means disabled
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"TEL1": { # telemetry link
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"label": "TELEM 1",
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"defaults": {
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"CONFIG": 'MAVLink',
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"BAUD": 57600,
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"MAV_MDE": 'Normal',
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"MAV_R": 1200,
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"MAV_FWD": 1,
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},
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"index": 1,
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"default_baudrate": 57600,
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},
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"TEL2": { # companion port
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"label": "TELEM 2",
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"defaults": {
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"CONFIG": 'Disabled', # disabled by default to reduce RAM usage
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"BAUD": 57600,
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"MAV_MDE": 'OSD',
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},
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"index": 2,
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"default_baudrate": 921600,
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},
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"TEL3": {
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"label": "TELEM 3",
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"defaults": {
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"CONFIG": 'Disabled',
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"BAUD": 57600,
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"MAV_MDE": 'Normal',
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},
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"index": 3,
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"default_baudrate": 57600,
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},
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"TEL4": {
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"label": "TELEM 4",
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"defaults": {
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"CONFIG": 'MAVLink',
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"BAUD": 57600,
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"MAV_MDE": 'Normal',
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"MAV_R": 1200,
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},
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"label": "TELEM/SERIAL 4",
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"index": 4,
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"default_baudrate": 57600,
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},
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"URT3": { # for Omnibus
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"label": "UART 3",
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"defaults": {
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"CONFIG": 'MAVLink',
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"BAUD": 57600,
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"MAV_MDE": 'Normal',
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"MAV_R": 1200,
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"MAV_FWD": 1,
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},
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"GPS1": {
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"label": "GPS 1",
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"index": 5,
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"default_baudrate": 0,
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},
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"GPS2": {
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"label": "GPS 2",
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"index": 6,
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"default_baudrate": 0,
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},
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"URT6": { # for Omnibus
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"label": "UART 6",
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"defaults": {
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"CONFIG": 'Main GPS',
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"BAUD": 0,
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},
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"index": 7,
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"default_baudrate": 0,
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},
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}
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# Serial commands: each dict entry is a list with 2 items:
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# - user-facing label (must be short, will be shown in a drop-down list)
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# - ROMFS command (can be more than one or any scripting logic).
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# These variables can be used:
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# ${SER_DEV} Serial device (e.g. /dev/ttyS1)
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# ${SER_TAG} Serial tag (e.g. GPS1)
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# SER_${SER_TAG}_CONFIG Param name for the current configuration
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# SER_${SER_TAG}_BAUD Param name for the current baudrate
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# SER_${SER_TAG}_MAV_MDE Param name for the current mavlink mode
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# SER_${SER_TAG}_MAV_R Param name for the current mavlink rate
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# SER_${SER_TAG}_MAV_FWD Param name for current mavlink forwarding
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# ${DUAL_GPS_ARGS} Arguments passed to the gps to start the secondary GPS
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# ${MAV_ARGS} Mavlink arguments (baudrate, mode and rate)
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#
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# Note: do NOT re-use or change indexes. When adding a command, always use an
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# index that has never been used before. This is important for compatibility
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# with QGC
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serial_commands = {
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0: ["Disabled", ""],
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# MAVLink & RTPS
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1: ["MAVLink", "mavlink start -d ${SER_DEV} ${MAV_ARGS} -x"],
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2: ["MAVLink over Syslink", '''
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syslink start
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mavlink start -d /dev/bridge0 ${MAV_ARGS}
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'''],
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3: ["MAVLink over Iridium", '''
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iridiumsbd start -d ${SER_DEV}
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mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
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'''],
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4: ["MAVLink + FastRTPS", '''
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protocol_splitter start ${SER_DEV}
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mavlink start -d /dev/mavlink ${MAV_ARGS} -x
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micrortps_client start -d /dev/rtps -b p:SER_${SER_TAG}_BAUD -l -1
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'''],
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5: ["FastRTPS", "micrortps_client start -d ${SER_DEV} -b p:SER_${SER_TAG}_BAUD -l -1"],
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# GPS
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50: ["Main GPS", "gps start -d ${SER_DEV} ${DUAL_GPS_ARGS}"],
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51: ["Secondary GPS", ""], # special handling for the command
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# Telemetry
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100: ["FrSky Telemetry", "frsky_telemetry start -d ${SER_DEV}"],
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101: ["HoTT Telemetry", "hott_telemetry start -d ${SER_DEV}"],
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# Sensor drivers
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200: ["LeddarOne Rangefinder", "leddar_one start -d ${SER_DEV}"],
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201: ["Benewake TFmini Rangefinder", "tfmini start -d ${SER_DEV}"],
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202: ["Lightware Laser Rangefinder", "sf0x start -d ${SER_DEV}"],
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}
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mavlink_modes = {
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0: "Normal",
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1: "Custom",
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2: "Onboard",
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3: "OSD",
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4: "Magic",
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5: "Config",
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6: "Iridium",
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7: "Minimal",
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}
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parser = argparse.ArgumentParser(description='Generate Serial params & startup script')
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parser.add_argument('--serial-ports', type=str, nargs='*', metavar="TAG:DEVICE",
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default=[],
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help='Serial ports: mappings from the tag name to the device (e.g. GPS1:/dev/ttyS1)')
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parser.add_argument('--config-files', type=str, nargs='*', default=[],
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help='YAML module config file(s)')
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parser.add_argument('--all-ports', action='store_true',
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help='Generate output for all known ports (params file only)')
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parser.add_argument('--rc-file', type=str, action='store',
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help='ROMFS output script', default=None)
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parser.add_argument('--constrained-flash', action='store_true',
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help='Reduce verbosity in ROMFS scripts to reduce flash size')
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parser.add_argument('--rc-dir', type=str, action='store',
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help='ROMFS output directory', default=None)
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parser.add_argument('--params-file', type=str, action='store',
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help='Parameter output file', default=None)
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parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
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@ -166,11 +85,13 @@ args = parser.parse_args()
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arg_board_serial_ports = args.serial_ports
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verbose = args.verbose
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rc_serial_output_file = args.rc_file
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rc_serial_output_dir = args.rc_dir
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rc_serial_template = 'rc.serial.jinja'
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rc_serial_port_template = 'rc.serial_port.jinja'
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serial_params_output_file = args.params_file
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serial_params_template = 'serial_params.c.jinja'
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generate_for_all_ports = args.all_ports
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constrained_flash = args.constrained_flash
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if generate_for_all_ports:
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board_ports = [(key, "") for key in serial_ports]
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@ -179,28 +100,109 @@ else:
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board_ports = [tuple(port.split(":")) for port in arg_board_serial_ports]
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if rc_serial_output_file is None and serial_params_output_file is None:
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raise Exception("At least one of --rc-file (e.g. rc.serial) or --params-file "
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if rc_serial_output_dir is None and serial_params_output_file is None:
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raise Exception("At least one of --rc-dir or --params-file "
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"(e.g. serial_params.c) needs to be specified")
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# replace strings in defaults with their numerical value
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for key in serial_ports:
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defaults = serial_ports[key]["defaults"]
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# parse the YAML files
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serial_commands = []
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additional_params = ""
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if "CONFIG" in defaults and isinstance(defaults["CONFIG"], str):
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config_index_list = [ key for key in serial_commands \
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if serial_commands[key][0] == defaults["CONFIG"]]
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if len(config_index_list) == 0:
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raise Exception("Config mode {:} not found".format(defaults["CONFIG"]))
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defaults["CONFIG"] = config_index_list[0]
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def parse_yaml_serial_config(yaml_config):
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""" parse the serial_config section from the yaml config file """
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if 'serial_config' not in yaml_config:
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return []
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ret = []
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module_name = yaml_config['module_name']
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for serial_config in yaml_config['serial_config']:
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if 'label' not in serial_config:
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serial_config['label'] = module_name
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ret.append(serial_config)
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return ret
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if "MAV_MDE" in defaults and isinstance(defaults["MAV_MDE"], str):
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mode_index_list = [ key for key in mavlink_modes \
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if mavlink_modes[key] == defaults["MAV_MDE"]]
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if len(mode_index_list) == 0:
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raise Exception("Mavlink mode {:} not found".format(defaults["MAV_MDE"]))
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defaults["MAV_MDE"] = mode_index_list[0]
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def parse_yaml_parameters_config(yaml_config):
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""" parse the parameters section from the yaml config file """
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if 'parameters' not in yaml_config:
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return ''
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parameters_section_list = yaml_config['parameters']
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for parameters_section in parameters_section_list:
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if 'definitions' not in parameters_section:
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return ''
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definitions = parameters_section['definitions']
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ret = ''
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param_group = parameters_section.get('group', None)
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for param_name in definitions:
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param = definitions[param_name]
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num_instances = param.get('num_instances', 1)
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instance_start = param.get('instance_start', 0) # offset
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# get the type and extract all tags
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tags = '@group {:}'.format(param_group)
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if param['type'] == 'enum':
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param_type = 'INT32'
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for key in param['values']:
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tags += '\n * @value {:} {:}'.format(key, param['values'][key])
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elif param['type'] == 'boolean':
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param_type = 'INT32'
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tags += '\n * @boolean'
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elif param['type'] == 'int32':
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param_type = 'INT32'
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elif param['type'] == 'float':
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param_type = 'FLOAT'
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else:
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raise Exception("unknown param type {:}".format(param['type']))
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for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
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'min', 'max', 'unit', 'reboot_required']:
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if tag in param:
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tags += '\n * @{:} {:}'.format(tag, param[tag])
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for i in range(num_instances):
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# default value
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default_value = 0
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if 'default' in param:
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# default can be a list of num_instances or a single value
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if type(param['default']) == list:
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assert len(param['default']) == num_instances
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default_value = param['default'][i]
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else:
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default_value = param['default']
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if type(default_value) == bool:
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default_value = int(default_value)
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# output the existing C-style format
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ret += '''
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/**
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* {short_descr}
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*
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* {long_descr}
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*
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* {tags}
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*/
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PARAM_DEFINE_{param_type}({name}, {default_value});
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'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
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long_descr=param['description']['long'].replace("\n", "\n * "),
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tags=tags,
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param_type=param_type,
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name=param_name,
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default_value=default_value,
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).replace('${i}', str(i+instance_start))
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return ret
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for yaml_file in args.config_files:
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with open(yaml_file, 'r') as stream:
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try:
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yaml_config = yaml.load(stream)
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serial_commands.extend(parse_yaml_serial_config(yaml_config))
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# TODO: additional params should be parsed in a separate script
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additional_params += parse_yaml_parameters_config(yaml_config)
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except yaml.YAMLError as exc:
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print(exc)
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raise
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|
||||
# sanity check (makes sure the param names don't exceed the max length of 16 chars)
|
||||
|
|
@ -217,23 +219,41 @@ for tag, device in board_ports:
|
|||
serial_devices.append({
|
||||
'tag': tag,
|
||||
'device': device,
|
||||
'label': serial_ports[tag]["label"]
|
||||
'label': serial_ports[tag]["label"],
|
||||
'index': serial_ports[tag]["index"],
|
||||
'default_baudrate': serial_ports[tag]["default_baudrate"]
|
||||
})
|
||||
|
||||
|
||||
# construct commands based on selected board
|
||||
commands = []
|
||||
disabled_commands = [] # e.g. ["HoTT Telemetry"] TODO: do we need support for that and configure it from the board config?
|
||||
for key in serial_commands:
|
||||
if serial_commands[key][0] in disabled_commands:
|
||||
continue
|
||||
label = serial_commands[key][0]
|
||||
command = serial_commands[key][1]
|
||||
commands.append({
|
||||
'value': key,
|
||||
'command': command,
|
||||
'label': label
|
||||
})
|
||||
for serial_command in serial_commands:
|
||||
num_instances = serial_command.get('num_instances', 1)
|
||||
# TODO: use a loop in the script instead of explicitly enumerating all instances
|
||||
for i in range(num_instances):
|
||||
port_config = serial_command['port_config_param']
|
||||
port_param_name = port_config['name'].replace('${i}', str(i))
|
||||
default_port = 0 # disabled
|
||||
if 'default' in port_config:
|
||||
if type(port_config['default']) == list:
|
||||
assert len(port_config['default']) == num_instances
|
||||
default_port_str = port_config['default'][i]
|
||||
else:
|
||||
default_port_str = port_config['default']
|
||||
if default_port_str != "":
|
||||
if default_port_str not in serial_ports:
|
||||
raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
|
||||
default_port = serial_ports[default_port_str]['index']
|
||||
|
||||
commands.append({
|
||||
'command': serial_command['command'],
|
||||
'label': serial_command['label'],
|
||||
'instance': i,
|
||||
'multi_instance': num_instances > 1,
|
||||
'port_param_name': port_param_name,
|
||||
'default_port': default_port,
|
||||
'param_group': port_config['group']
|
||||
})
|
||||
|
||||
if verbose:
|
||||
print("Serial Devices: {:}".format(serial_devices))
|
||||
|
|
@ -244,9 +264,11 @@ jinja_env = Environment(loader=FileSystemLoader(
|
|||
os.path.dirname(os.path.realpath(__file__))))
|
||||
|
||||
# generate the ROMFS script using a jinja template
|
||||
if rc_serial_output_file is not None:
|
||||
if rc_serial_output_dir is not None:
|
||||
if generate_for_all_ports:
|
||||
raise Exception("Cannot create rc file for --all-ports")
|
||||
rc_serial_output_file = os.path.join(rc_serial_output_dir, "rc.serial")
|
||||
rc_serial_port_output_file = os.path.join(rc_serial_output_dir, "rc.serial_port")
|
||||
|
||||
if verbose: print("Generating {:}".format(rc_serial_output_file))
|
||||
if len(serial_devices) == 0:
|
||||
|
|
@ -255,13 +277,15 @@ if rc_serial_output_file is not None:
|
|||
else:
|
||||
template = jinja_env.get_template(rc_serial_template)
|
||||
with open(rc_serial_output_file, 'w') as fid:
|
||||
secondary_gps_value = 51
|
||||
# sanity-check
|
||||
if serial_commands[secondary_gps_value][0] != "Secondary GPS":
|
||||
raise Exception("Unexpected value for Secondary GPS")
|
||||
fid.write(template.render(serial_devices=serial_devices,
|
||||
secondary_gps_value=secondary_gps_value,
|
||||
commands=commands))
|
||||
commands=commands,
|
||||
constrained_flash=constrained_flash))
|
||||
|
||||
if verbose: print("Generating {:}".format(rc_serial_port_output_file))
|
||||
template = jinja_env.get_template(rc_serial_port_template)
|
||||
with open(rc_serial_port_output_file, 'w') as fid:
|
||||
fid.write(template.render(serial_devices=serial_devices,
|
||||
constrained_flash=constrained_flash))
|
||||
|
||||
# parameter definitions
|
||||
if serial_params_output_file is not None:
|
||||
|
|
@ -269,6 +293,6 @@ if serial_params_output_file is not None:
|
|||
template = jinja_env.get_template(serial_params_template)
|
||||
with open(serial_params_output_file, 'w') as fid:
|
||||
fid.write(template.render(serial_devices=serial_devices,
|
||||
commands=commands, mavlink_modes=mavlink_modes,
|
||||
serial_ports=serial_ports))
|
||||
commands=commands, serial_ports=serial_ports,
|
||||
additional_definitions=additional_params))
|
||||
|
||||
|
|
|
|||
|
|
@ -3,84 +3,33 @@
|
|||
# serial autostart script generated with generate_serial_config.py
|
||||
|
||||
|
||||
# set dual gps args
|
||||
set DUAL_GPS_ARGS ""
|
||||
set SER_TAG {{ serial_devices[0].tag }}
|
||||
set SER_DEV {{ serial_devices[0].device }}
|
||||
while [ ${SER_TAG} != exit ]
|
||||
do
|
||||
if param compare SER_${SER_TAG}_CONFIG {{ secondary_gps_value }}
|
||||
then
|
||||
set DUAL_GPS_ARGS "-e ${SER_DEV}"
|
||||
echo "Starting Secondary GPS on ${SER_DEV} (${SER_TAG})"
|
||||
fi
|
||||
# make sure all baudrates are marked as used
|
||||
param touch
|
||||
{%- for serial_device in serial_devices %} SER_{{ serial_device.tag }}_BAUD
|
||||
{%- endfor %}
|
||||
|
||||
# loop iteration
|
||||
{# need to iterate in reversed order -#}
|
||||
{% set last = serial_devices|last -%}
|
||||
if [ ${SER_TAG} == {{ last.tag }} ]
|
||||
then
|
||||
set SER_TAG exit
|
||||
fi
|
||||
{% for serial_device in serial_devices | reverse -%}
|
||||
{% if not loop.first -%}
|
||||
{% set next = loop.previtem -%}
|
||||
if [ ${SER_TAG} == {{ serial_device.tag }} ]
|
||||
then
|
||||
set SER_TAG {{ next.tag }}
|
||||
set SER_DEV {{ next.device }}
|
||||
fi
|
||||
{% endif -%}
|
||||
{% endfor %}
|
||||
done
|
||||
set PRT_F /etc/init.d/rc.serial_port
|
||||
|
||||
# start the devices on the configured ports
|
||||
set SER_TAG {{ serial_devices[0].tag }}
|
||||
set SER_DEV {{ serial_devices[0].device }}
|
||||
while [ ${SER_TAG} != exit ]
|
||||
do
|
||||
# Access all params so that they're sent to a GCS upon param loading
|
||||
param touch SER_${SER_TAG}_BAUD SER_${SER_TAG}_MAV_MDE SER_${SER_TAG}_MAV_R SER_${SER_TAG}_MAV_FWD
|
||||
{% for command in commands -%}
|
||||
set PRT {{ command.port_param_name }}
|
||||
{% if command.multi_instance -%}
|
||||
set i {{ command.instance }}
|
||||
{% endif -%}
|
||||
# get the device & baudrate
|
||||
sh $PRT_F
|
||||
if [ $SERIAL_DEV != none ]
|
||||
then
|
||||
{% if not constrained_flash -%}
|
||||
echo "Starting {{ command.label }} on $SERIAL_DEV"
|
||||
{% endif -%}
|
||||
{{ command.command }}
|
||||
fi
|
||||
|
||||
# initialize params
|
||||
set MAV_ARGS "-b p:SER_${SER_TAG}_BAUD -m p:SER_${SER_TAG}_MAV_MDE -r p:SER_${SER_TAG}_MAV_R"
|
||||
if param compare SER_${SER_TAG}_MAV_FWD 1
|
||||
then
|
||||
set MAV_ARGS "${MAV_ARGS} -f"
|
||||
fi
|
||||
{% endfor %}
|
||||
|
||||
# start commands
|
||||
{% for command in commands -%}
|
||||
{% if command.command | length > 0 -%}
|
||||
if param compare SER_${SER_TAG}_CONFIG {{ command.value }}
|
||||
then
|
||||
{# the echo can be disabled if too verbose... -#}
|
||||
echo "Starting {{ command.label }} on ${SER_DEV} (${SER_TAG})"
|
||||
{{ command.command }}
|
||||
fi
|
||||
{% endif -%}
|
||||
{% endfor %}
|
||||
unset i
|
||||
unset SERIAL_DEV
|
||||
unset PRT
|
||||
unset PRT_F
|
||||
unset BAUD_PARAM
|
||||
|
||||
# loop iteration
|
||||
{# need to iterate in reversed order -#}
|
||||
{% set last = serial_devices|last -%}
|
||||
if [ ${SER_TAG} == {{ last.tag }} ]
|
||||
then
|
||||
set SER_TAG exit
|
||||
fi
|
||||
{% for serial_device in serial_devices | reverse -%}
|
||||
{% if not loop.first -%}
|
||||
{% set next = loop.previtem -%}
|
||||
if [ ${SER_TAG} == {{ serial_device.tag }} ]
|
||||
then
|
||||
set SER_TAG {{ next.tag }}
|
||||
set SER_DEV {{ next.device }}
|
||||
fi
|
||||
{% endif -%}
|
||||
{% endfor %}
|
||||
done
|
||||
|
||||
unset DUAL_GPS_ARGS
|
||||
unset SER_TAG
|
||||
unset SER_DEV
|
||||
unset MAV_ARGS
|
||||
|
|
|
|||
|
|
@ -0,0 +1,21 @@
|
|||
{# jinja template to generate the serial port rc.uart_port script. #}
|
||||
|
||||
# serial port script generated with generate_serial_config.py
|
||||
|
||||
set SERIAL_DEV none
|
||||
{% for serial_device in serial_devices -%}
|
||||
if param compare "$PRT" {{ serial_device.index }}
|
||||
then
|
||||
if [ "x$PRT_{{ serial_device.tag }}_" == "x" ]
|
||||
then
|
||||
set SERIAL_DEV {{ serial_device.device }}
|
||||
set BAUD_PARAM SER_{{ serial_device.tag }}_BAUD
|
||||
set PRT_{{ serial_device.tag }}_ 1
|
||||
{% if not constrained_flash -%}
|
||||
else
|
||||
echo "Conflicting config for {{ serial_device.device }}"
|
||||
{% endif -%}
|
||||
fi
|
||||
fi
|
||||
|
||||
{% endfor %}
|
||||
|
|
@ -2,27 +2,13 @@
|
|||
|
||||
|
||||
{% for serial_device in serial_devices -%}
|
||||
/**
|
||||
* Serial Configuration for {{ serial_device.label }} Port
|
||||
*
|
||||
* Configure what is running on the {{ serial_device.label }} Serial Port.
|
||||
*
|
||||
{% for command in commands -%}
|
||||
* @value {{ command.value }} {{ command.label }}
|
||||
{% endfor -%}
|
||||
* @group Serial
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_CONFIG, {{
|
||||
serial_ports[serial_device.tag].defaults["CONFIG"]|default(0) }});
|
||||
|
||||
/**
|
||||
* Baudrate for {{ serial_device.label }} Port
|
||||
* Baudrate for the {{ serial_device.label }} Serial Port
|
||||
*
|
||||
* Configure the Baudrate for the {{ serial_device.label }} Serial Port.
|
||||
*
|
||||
* Certain drivers such as the GPS determine the Baudrate automatically, and
|
||||
* changing this parameter will have no effect.
|
||||
* Note: certain drivers such as the GPS can determine the Baudrate automatically.
|
||||
*
|
||||
* @value 0 Auto
|
||||
* @value 50 50 8N1
|
||||
|
|
@ -48,66 +34,35 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_CONFIG, {{
|
|||
* @value 921600 921600 8N1
|
||||
* @value 1000000 1000000 8N1
|
||||
* @value 1500000 1500000 8N1
|
||||
* @value 2000000 2000000 8N1
|
||||
* @value 3000000 3000000 8N1
|
||||
* @group Serial
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{
|
||||
serial_ports[serial_device.tag].defaults["BAUD"]|default(0) }});
|
||||
|
||||
/**
|
||||
* MAVLink Mode for {{ serial_device.label }} Port
|
||||
*
|
||||
* The MAVLink Mode defines the set of streamed messages (for example the
|
||||
* vehicle's attitude) and their sending rates.
|
||||
*
|
||||
* Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
|
||||
*
|
||||
{% for key, value in mavlink_modes.iteritems() -%}
|
||||
* @value {{ key }} {{ value }}
|
||||
{% endfor -%}
|
||||
* @group Serial
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_MDE, {{
|
||||
serial_ports[serial_device.tag].defaults["MAV_MDE"]|default(0) }});
|
||||
|
||||
/**
|
||||
* Maximum MAVLink sending rate for {{ serial_device.label }} Port
|
||||
*
|
||||
* Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
|
||||
* If the configured streams exceed the maximum rate, the sending rate of
|
||||
* each stream is automatically decreased.
|
||||
*
|
||||
* If this is set to 0, a value of <baudrate>/20 is used, which corresponds to
|
||||
* half of the theoretical maximum bandwidth.
|
||||
*
|
||||
* Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
|
||||
*
|
||||
* @min 0
|
||||
* @unit B/s
|
||||
* @group Serial
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_R, {{
|
||||
serial_ports[serial_device.tag].defaults["MAV_R"]|default(0) }});
|
||||
|
||||
/**
|
||||
* Enable MAVLink Message forwarding for {{ serial_device.label }} Port
|
||||
*
|
||||
* If enabled, forward incoming MAVLink messages to other MAVLink ports if the
|
||||
* message is either broadcast or the target is not the autopilot.
|
||||
*
|
||||
* This allows for example a GCS to talk to a camera that is connected to the
|
||||
* autopilot via MAVLink (on a different link than the GCS).
|
||||
*
|
||||
* Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
|
||||
*
|
||||
* @boolean
|
||||
* @group Serial
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_FWD, {{
|
||||
serial_ports[serial_device.tag].defaults["MAV_FWD"]|default(0) }});
|
||||
PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_baudrate }});
|
||||
|
||||
{% endfor %}
|
||||
|
||||
|
||||
{%- if serial_devices|length > 0 %}
|
||||
{% for command in commands -%}
|
||||
/**
|
||||
* Serial Configuration for {{ command.label }}
|
||||
{%- if command.multi_instance %} (instance {{ command.instance }}){% endif %}
|
||||
*
|
||||
* Configure on which serial port to run {{ command.label }}.
|
||||
*
|
||||
* @value 0 Disabled
|
||||
{% for serial_device in serial_devices -%}
|
||||
* @value {{ serial_device.index }} {{ serial_device.label }}
|
||||
{% endfor -%}
|
||||
* @group {{ command.param_group }}
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
|
||||
|
||||
{% endfor -%}
|
||||
{% endif %}
|
||||
|
||||
{{ additional_definitions }}
|
||||
|
||||
|
|
|
|||
|
|
@ -160,6 +160,8 @@ endfunction()
|
|||
# [ COMPILE_FLAGS <list> ]
|
||||
# [ INCLUDES <list> ]
|
||||
# [ DEPENDS <string> ]
|
||||
# [ SRCS <list> ]
|
||||
# [ MODULE_CONFIG <list> ]
|
||||
# [ EXTERNAL ]
|
||||
# )
|
||||
#
|
||||
|
|
@ -172,6 +174,7 @@ endfunction()
|
|||
# COMPILE_FLAGS : compile flags
|
||||
# LINK_FLAGS : link flags
|
||||
# SRCS : source files
|
||||
# MODULE_CONFIG : yaml config file(s)
|
||||
# INCLUDES : include directories
|
||||
# DEPENDS : targets which this module depends on
|
||||
# EXTERNAL : flag to indicate that this module is out-of-tree
|
||||
|
|
@ -194,7 +197,7 @@ function(px4_add_module)
|
|||
px4_parse_function_args(
|
||||
NAME px4_add_module
|
||||
ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
|
||||
MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
|
||||
MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
|
||||
OPTIONS EXTERNAL UNITY_BUILD
|
||||
REQUIRED MODULE MAIN
|
||||
ARGN ${ARGN})
|
||||
|
|
@ -306,6 +309,12 @@ function(px4_add_module)
|
|||
set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
if(MODULE_CONFIG)
|
||||
foreach(module_config ${MODULE_CONFIG})
|
||||
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/${module_config})
|
||||
endforeach()
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
|
|
|
|||
|
|
@ -7,6 +7,8 @@ set(board_serial_ports
|
|||
TEL2:/dev/ttyS2
|
||||
TEL4:/dev/ttyS6)
|
||||
|
||||
set(px4_constrained_flash_build 1)
|
||||
|
||||
#set(config_uavcan_num_ifaces 2)
|
||||
|
||||
set(config_bl_file ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin)
|
||||
|
|
|
|||
|
|
@ -71,12 +71,19 @@ list(REMOVE_DUPLICATES module_list)
|
|||
get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
|
||||
set(generated_params_dir ${PX4_BINARY_DIR}/generated_params)
|
||||
set(generated_serial_params_file ${generated_params_dir}/serial_params.c)
|
||||
file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
|
||||
if (px4_constrained_flash_build)
|
||||
set(added_arguments --constrained-flash)
|
||||
endif()
|
||||
add_custom_command(OUTPUT ${generated_serial_params_file}
|
||||
COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
|
||||
--params-file ${generated_serial_params_file}
|
||||
--serial-ports ${board_serial_ports} #--verbose
|
||||
--serial-ports ${board_serial_ports} ${added_arguments}
|
||||
--config-files ${module_config_files} #--verbose
|
||||
DEPENDS
|
||||
${module_config_files}
|
||||
${jinja_templates}
|
||||
${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
|
||||
COMMENT "Generating serial_params.c"
|
||||
)
|
||||
|
|
|
|||
Loading…
Reference in New Issue