forked from Archive/PX4-Autopilot
211 lines
9.3 KiB
YAML
211 lines
9.3 KiB
YAML
# Cerberus Validation Schema for module configuration files.
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# See http://docs.python-cerberus.org/en/stable/validation-rules.html
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module_name:
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# human-readable module name (used for descriptions, can contain spaces)
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type: string
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required: true
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serial_config:
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# UART configuration (optional)
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# A module can register autostart command(s) that are associated with a
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# configuration parameter, so that a user can select on which serial port to
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# run the command.
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# One or several commands can be defined.
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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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command:
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# script command that is executed on autostart.
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# These variables can be used:
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# ${SERIAL_DEV} Serial device (e.g. /dev/ttyS1)
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# ${BAUD_PARAM} param name for the baudrate
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# ${i} instance in [0, N-1] (for multi-instance commands)
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# It's possible to use multiple lines.
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type: string
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required: true
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port_config_param:
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# Parameter definition to configure on which port to run the
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# command
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type: dict
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required: true
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schema:
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name:
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# Parameter name (e.g. TEL_FRSKY_CONFIG, MAV_${i}_CONFIG)
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type: string
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regex: '[0-9A-Z_]+(\$\{i\}[0-9A-Z_]*)?_(CONFIG|CFG)'
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required: true
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group:
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# Associated parameter group (e.g. GPS)
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type: string
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required: true
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default:
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# Default value(s). This can be a string to specify the
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# serial tag (e.g. GPS1, TEL1, ...) or a list of strings
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# for multiple instances.
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# If omitted, the command is disabled by default.
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anyof:
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- type: string
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- type: list
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minlength: 1
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schema:
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type: string
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depends_on_port:
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# Optional serial tag dependency (e.g. GPS1). If a board
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# does not specify this serial port, the parameter will
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# not be included in the build (i.e. it's not
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# configurable)
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type: string
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description_extended:
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# Optional extended description
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type: string
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label:
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# Optional command label (e.g. used in the autostart script).
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# If omitted, module_name is used.
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type: string
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num_instances:
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# Allow to configure and run multiple instances of a command.
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# For multiple instances, '${i}' can be used to refer to
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# an instance, for example in the parameter name or script
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# command.
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# Default: 1
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type: integer
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min: 1
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parameters:
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# Parameter definitions.
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# This is a list of parameter groups, where each group has one or more
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# parameter definitions.
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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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group:
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# Parameter group (should be short)
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# This applies to all parameters in the definitions dictionary
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type: string
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required: true
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definitions:
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type: dict
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keyschema:
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type: string
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regex: '[0-9A-Z_]+(\$\{i\}[0-9A-Z_]*)?'
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valueschema:
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type: dict
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schema:
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description:
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type: dict
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required: true
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schema:
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short:
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# Short description (one line)
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type: string
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required: true
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long:
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# Long description (can be multiple lines)
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type: string
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required: true
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type:
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# Define the parameter type
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required: true
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type: string
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allowed: ['int32', 'float', 'boolean', 'enum', 'bitmask' ]
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min:
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# Optional minimum value (only for int32 or float)
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type: number
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max:
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# Optional maximum value (only for int32 or float)
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type: number
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decimal:
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# Optional number of decimal places to display (only for float)
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type: number
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increment:
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# Optional increment step size (for a GCS) (only for float)
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type: number
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unit:
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# Optional parameter unit (only for int32 or float)
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# (Extend this list as needed)
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type: string
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allowed: [
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'%', 'Hz', 'mAh',
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'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m','rad s/m',
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'bit/s', 'B/s',
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'deg', 'deg*1e7', 'deg/s',
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'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
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'hPa', 'kg', 'kg/m^2', 'kg m^2',
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'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
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'Ohm', 'V',
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'us', 'ms', 's',
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'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad',
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'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
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'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
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'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD']
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bit:
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# description of all bits for type bitmask.
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# The first bit is 0.
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type: dict
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keyschema:
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type: integer
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valueschema:
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type: string
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values:
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# enumeration of possible values for type enum
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type: dict
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keyschema:
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type: integer
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valueschema:
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type: string
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default:
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# Default value(s). This is an integer or a float,
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# or a list of values for multiple instances.
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required: true
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anyof:
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- type: boolean
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- type: number
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- type: list
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minlength: 1
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schema:
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anyof:
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- type: boolean
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- type: number
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- type: list
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category:
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# Optional parameter category
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type: string
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allowed: [ 'Developer', 'System' ]
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volatile:
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# Optional volatile flag. Set to true if the
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# parameter can be changed by the system
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# automatially
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type: boolean
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reboot_required:
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# set to true, if changing of the parameter requires
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# a reboot to take effect
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type: boolean
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num_instances:
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# Optional number of instances.
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# For multiple instances, '${i}' can be used to
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# refer to an instance, for example in the parameter
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# name or description.
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# Default: 1
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type: integer
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min: 1
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instance_start:
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# The value of the first instance for multiple
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# instances, used in '${i}'. If 0, ${i} expands to
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# [0, N-1]
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# Default: 0
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type: integer
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