px4-firmware/Tools/module_config/output_groups_from_timer_co...

239 lines
9.4 KiB
Python
Executable File

#!/usr/bin/env python3
""" Script to parse board-specific timer_config.cpp and print the output groups
and timer config params to stdout
"""
import argparse
import os
import sys
import re
from itertools import groupby
from copy import deepcopy
def find_matching_brackets(brackets, s, verbose):
idx = 0
opening = 0
first_open = -1
while idx < len(s):
if s[idx] == brackets[0]:
opening += 1
if first_open == -1:
first_open = idx
if s[idx] == brackets[1]:
opening -= 1
if opening == 0:
if verbose: print(first_open, idx, s[first_open:idx+1])
return first_open+1, idx
idx += 1
raise Exception('Failed to find opening/closing brackets in {:}'.format(s))
def extract_timer(line):
# Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
if search:
return search.group(1), 'generic'
# nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
if search:
return search.group(1), 'imxrt'
return None, 'unknown'
def extract_timer_from_channel(line, num_channels_already_found):
# Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
if search:
return search.group(1)
# nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
if search:
# imxrt uses a 1:1 timer group to channel association
return str(num_channels_already_found)
return None
def get_timer_groups(timer_config_file, verbose=False):
with open(timer_config_file, 'r') as f:
timer_config = f.read()
# timers
dshot_support = {} # key: timer
timers_start_marker = 'io_timers_t io_timers'
timers_start = timer_config.find(timers_start_marker)
if timers_start == -1:
raise Exception('"{:}" not found in {:}'.format(timers_start_marker, timer_config_file))
timer_config = timer_config[timers_start:]
open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
timers_str = timer_config[open_idx:close_idx]
timers = []
for line in timers_str.splitlines():
line = line.strip()
if len(line) == 0 or line.startswith('//'):
continue
timer, timer_type = extract_timer(line)
if timer_type == 'imxrt':
if verbose: print('imxrt timer found')
max_num_channels = 16 # Just add a fixed number of timers
timers = [str(i) for i in range(max_num_channels)]
dshot_support = {str(i): False for i in range(max_num_channels)}
for i in range(8): # First 8 channels support dshot
dshot_support[str(i)] = True
break
if timer:
if verbose: print('found timer def: {:}'.format(timer))
dshot_support[timer] = 'DMA' in line
timers.append(timer)
else:
# Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
raise Exception('Unparsed timer in line: {:}'.format(line))
# channels
channels_start_marker = 'timer_io_channels_t timer_io_channels'
channels_start = timer_config.find(channels_start_marker)
if channels_start == -1:
raise Exception('"{:}" not found in {:}'.format(channels_start_marker, timer_config_file))
timer_config = timer_config[channels_start:]
open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
channels = timer_config[open_idx:close_idx]
channel_timers = []
channel_types = []
for line in channels.splitlines():
line = line.strip()
if len(line) == 0 or line.startswith('//'):
continue
if verbose: print('--'+line+'--')
timer = extract_timer_from_channel(line, len(channel_timers))
if timer:
if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
channel_types.append('cap' if 'capture' in line.lower() else 'pwm')
channel_timers.append(timer)
else:
# Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
raise Exception('Unparsed channel in line: {:}'.format(line))
if len(channel_timers) == 0:
raise Exception('No channels found in "{:}"'.format(channels))
groups = [(timers.index(k), len(list(g)), dshot_support[k]) for k, g in groupby(channel_timers)]
outputs = {
'types': channel_types,
'groups': groups
}
return outputs
def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
channel_labels=["PWM Main", "PWM Capture"],
standard_params=[],
extra_function_groups=[], pwm_timer_param=None,
verbose=False):
""" convert the timer groups into an output_groups section of module.yaml
and extra timer params
"""
instance_start = 1
output_groups = []
timer_params = {}
instance_start_label = [ 1, 1 ]
for timer_index, group_count, dshot_support in timer_groups['groups']:
# check for capture vs normal pins for the label
types = timer_groups['types'][instance_start-1:instance_start+group_count-1]
if not all(types[0] == t for t in types):
# Should this ever be needed, we can extend this script to handle that
raise Exception('Implementation requires all channel types for a timer to be equal (types: {:})'.format(types))
if types[0] == 'pwm':
channel_type_idx = 0
elif types[0] == 'cap':
channel_type_idx = 1
else:
raise Exception('unsupported channel type: {:}'.format(types[0]))
channel_label = channel_labels[channel_type_idx]
channel_type_instance = instance_start_label[channel_type_idx]
group_label = channel_label + ' ' + str(channel_type_instance)
if group_count > 1:
group_label += '-' + str(channel_type_instance+group_count-1)
group = {
'param_prefix': param_prefix,
'channel_label': channel_label,
'instance_start': instance_start,
'instance_start_label': channel_type_instance,
'extra_function_groups': deepcopy(extra_function_groups),
'num_channels': group_count,
'standard_params': deepcopy(standard_params),
'group_label': group_label,
'channel_label_module_name_prefix': False,
}
if pwm_timer_param is not None:
pwm_timer_param_cp = deepcopy(pwm_timer_param)
timer_param_name = param_prefix+'_TIM'+str(timer_index)
group['config_parameters'] = [
{
'param': timer_param_name,
'function': 'primary',
}
]
if dshot_support:
# don't show pwm limit params when dshot enabled
for standard_param in group['standard_params']:
group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
# indicate support for changing motor spin direction
group['supported_actions'] = {
'set_spin_direction1': {
'supported_if': timer_param_name + '<-1',
'actuator_types': ['motor']
},
'set_spin_direction2': {
'supported_if': timer_param_name + '<-1',
'actuator_types': ['motor']
},
}
else:
# remove dshot entries if no dshot support
values = pwm_timer_param_cp['values']
for key in list(values.keys()):
if 'dshot' in values[key].lower():
del values[key]
for descr_type in ['short', 'long']:
descr = pwm_timer_param_cp['description'][descr_type]
pwm_timer_param_cp['description'][descr_type] = \
descr.replace('${label}', group_label)
timer_params[timer_param_name] = pwm_timer_param_cp
output_groups.append(group)
instance_start += group_count
instance_start_label[channel_type_idx] += group_count
return (output_groups, timer_params)
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Extract output groups from timer_config.cpp')
parser.add_argument('--timer-config', type=str, action='store',
help='timer_config.cpp file', required=True)
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
help='Verbose Output')
args = parser.parse_args()
verbose = args.verbose
timer_groups = get_timer_groups(args.timer_config, verbose)
print('timer groups: {:}'.format(timer_groups))
output_groups, timer_params = get_output_groups(timer_groups, verbose=verbose)
print('output groups: {:}'.format(output_groups))
print('timer params: {:}'.format(timer_params))