refactor(drivers/imu/murata/sch16t): convert params.c to module.yaml

Convert 1 parameter file(s) from legacy C format to YAML module configuration.
2026-06-29 04:50:34 +08:00 · 2026-03-17 21:55:32 -08:00
parent 53259c2852
commit 41bf301a2e
3 changed files with 59 additions and 90 deletions
@@ -40,6 +40,8 @@ px4_add_module(
 		SCH16T.hpp
 		sch16t_main.cpp
 		Murata_SCH16T_registers.hpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		drivers_accelerometer
 		drivers_gyroscope
@@ -1,90 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * Murata SCH16T IMU (external SPI)
- *
- * @reboot_required true
- * @min 0
- * @max 1
- * @group Sensors
- * @value 0 Disabled
- * @value 1 Enabled
-  */
-PARAM_DEFINE_INT32(SENS_EN_SCH16T, 0);
-
-/**
- * Gyro filter settings
- *
- * @value 0 13 Hz
- * @value 1 30 Hz
- * @value 2 68 Hz
- * @value 3 235 Hz
- * @value 4 280 Hz
- * @value 5 370 Hz
- * @value 6 No filter
- *
- * @reboot_required true
- *
- */
-PARAM_DEFINE_INT32(SCH16T_GYRO_FILT, 2);
-
-/**
- * Accel filter settings
- *
- * @value 0 13 Hz
- * @value 1 30 Hz
- * @value 2 68 Hz
- * @value 3 235 Hz
- * @value 4 280 Hz
- * @value 5 370 Hz
- * @value 6 No filter
- *
- * @reboot_required true
- *
- */
-PARAM_DEFINE_INT32(SCH16T_ACC_FILT, 6);
-
-/**
- * Gyro and Accel decimation settings
- *
- * @value 0 None
- * @value 1 5900 Hz
- * @value 2 2950 Hz
- * @value 3 1475 Hz
- * @value 4 738 Hz
- *
- * @reboot_required true
- *
- */
-PARAM_DEFINE_INT32(SCH16T_DECIM, 4);
@@ -0,0 +1,57 @@
+module_name: sch16t
+parameters:
+- group: Sensors
+  definitions:
+    SENS_EN_SCH16T:
+      description:
+        short: Murata SCH16T IMU (external SPI)
+      type: enum
+      values:
+        0: Disabled
+        1: Enabled
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 1
+- group: Miscellaneous
+  definitions:
+    SCH16T_GYRO_FILT:
+      description:
+        short: Gyro filter settings
+      type: enum
+      values:
+        0: 13 Hz
+        1: 30 Hz
+        2: 68 Hz
+        3: 235 Hz
+        4: 280 Hz
+        5: 370 Hz
+        6: No filter
+      default: 2
+      reboot_required: true
+    SCH16T_ACC_FILT:
+      description:
+        short: Accel filter settings
+      type: enum
+      values:
+        0: 13 Hz
+        1: 30 Hz
+        2: 68 Hz
+        3: 235 Hz
+        4: 280 Hz
+        5: 370 Hz
+        6: No filter
+      default: 6
+      reboot_required: true
+    SCH16T_DECIM:
+      description:
+        short: Gyro and Accel decimation settings
+      type: enum
+      values:
+        0: None
+        1: 5900 Hz
+        2: 2950 Hz
+        3: 1475 Hz
+        4: 738 Hz
+      default: 4
+      reboot_required: true