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params: add script to parse timer_config.cpp for timer group info

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This allows to generate pwm params in the form of:
module_name: PWM Output
actuator_output:
  output_groups:
    - generator: pwm
      param_prefix: PWM_FMU
      channel_labels: ['PWM Main', 'PWM Capture']
      standard_params:
        disarmed: { min: 800, max: 2200, default: 900 }
        min: { min: 800, max: 1400, default: 1000 }
        max: { min: 1600, max: 2200, default: 2000 }
        failsafe: { min: 800, max: 2200 }
      extra_function_groups: [ pwm_fmu ]
      pwm_timer_param:
        description:
            short: Output Protocol Configuration for ${label}
            long: |
                Select which Output Protocol to use for outputs ${label}.

                Custom PWM rates can be used by directly setting any value >0.
        type: enum
        default: 400
        values:
            -5: DShot150
            -4: DShot300
            -3: DShot600
            -2: DShot1200
            -1: OneShot
            50: PWM50
            100: PWM100
            200: PWM200
            400: PWM400
        reboot_required: true
This commit is contained in:
Beat Küng
2021-10-18 18:45:19 -04:00
committed by Daniel Agar
parent db28ea9cfa
commit 916447e804
3 changed files with 263 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tools/module_config/generate_params.py
+60 -11
View File
@@ -7,6 +7,7 @@ import argparse
import os
import sys
from output_groups_from_timer_config import get_timer_groups, get_output_groups
try:
import yaml
@@ -24,6 +25,8 @@ parser.add_argument('--config-files', type=str, nargs='*', default=[],
help='YAML module config file(s)')
parser.add_argument('--params-file', type=str, action='store',
help='Parameter output file')
parser.add_argument('--timer-config', type=str, action='store',
help='board-specific timer_config.cpp file')
parser.add_argument('--ethernet', action='store_true',
help='Ethernet support')
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
@@ -33,6 +36,7 @@ args = parser.parse_args()
verbose = args.verbose
params_output_file = args.params_file
timer_config_file = args.timer_config
ethernet_supported = args.ethernet
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
@@ -62,6 +66,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
continue
num_instances = param.get('num_instances', 1)
instance_start = param.get('instance_start', 0) # offset
instance_start_label = param.get('instance_start_label', instance_start)
# get the type and extract all tags
tags = '@group {:}'.format(param_group)
@@ -112,13 +117,14 @@ PARAM_DEFINE_{param_type}({name}, {default_value});
long_descr=param['description']['long'].replace("\n", "\n * "),
tags=tags,
param_type=param_type,
name=param_name,
name=param_name.replace('${i}', str(i+instance_start)),
default_value=default_value,
).replace('${i}', str(i+instance_start))
).replace('${i}', str(i+instance_start_label))
return ret
def get_actuator_output_params(yaml_config, output_functions):
def get_actuator_output_params(yaml_config, output_functions,
timer_config_file, verbose):
""" parse the actuator_output section from the yaml config file
:return: dict of param definitions
"""
@@ -126,11 +132,50 @@ def get_actuator_output_params(yaml_config, output_functions):
return {}
output_groups = yaml_config['actuator_output']['output_groups']
all_params = {}
for group in output_groups:
group_idx = 0
def add_local_param(param_name, param_def):
nonlocal all_params
# add as a list, as there can be multiple entries with the same param_name
if not param_name in all_params:
all_params[param_name] = []
all_params[param_name].append(param_def)
while group_idx < len(output_groups):
group = output_groups[group_idx]
group_idx += 1
if verbose: print("processing group: {:}".format(group))
# Check for generator and generate additional data.
# We do this by extending the output_groups list and parse in a later iteration
if 'generator' in group:
if group['generator'] == 'pwm':
# We might set these depending on presence of IO in build...
param_prefix = group['param_prefix']
channel_labels = group['channel_labels']
standard_params = group.get('standard_params', [])
extra_function_groups = group.get('extra_function_groups', [])
pwm_timer_param = group.get('pwm_timer_param', None)
if timer_config_file is None:
raise Exception('trying to generate pwm outputs, but --timer-config not set')
timer_groups = get_timer_groups(timer_config_file, verbose)
timer_output_groups, timer_params = get_output_groups(timer_groups,
param_prefix, channel_labels,
standard_params, extra_function_groups, pwm_timer_param,
verbose=verbose)
all_params.update(timer_params)
output_groups.extend(timer_output_groups)
else:
raise Exception('unknown generator {:}'.format(group['generator']))
continue
num_channels = group['num_channels']
param_prefix = group['param_prefix']
channel_label = group['channel_label']
standard_params = group.get('standard_params', {})
instance_start = group.get('instance_start', 1)
instance_start_label = group.get('instance_start_label', instance_start)
if len(param_prefix) > 9: # 16 - len('_FAIL') - 2 (2 digits for index)
raise Exception("param prefix {:} too long (max length=10)".format(param_prefix))
# collect the functions
@@ -140,13 +185,14 @@ def get_actuator_output_params(yaml_config, output_functions):
for function_group in function_groups:
group = output_functions[function_group]
for function_name in group:
function_name_label = function_name.replace('_', ' ')
if isinstance(group[function_name], int):
output_function_values[group[function_name]] = function_name
output_function_values[group[function_name]] = function_name_label
else:
start = group[function_name]['start']
count = group[function_name]['count']
for i in range(count):
output_function_values[start+i] = function_name+str(i+1)
output_function_values[start+i] = function_name_label+' '+str(i+1)
# function param
param = {
@@ -164,12 +210,13 @@ The default failsafe value is set according to the selected function:
'''.format(channel_label),
},
'type': 'enum',
'instance_start': 1,
'instance_start': instance_start,
'instance_start_label': instance_start_label,
'num_instances': num_channels,
'default': 0,
'values': output_function_values
}
all_params[param_prefix+'_FUNC${i}'] = param
add_local_param(param_prefix+'_FUNC${i}', param)
# handle standard_params
disarmed_description = \
@@ -217,13 +264,14 @@ When set to -1 (default), the value depends on the function (see {:}).
'long': description
},
'type': 'int32',
'instance_start': 1,
'instance_start': instance_start,
'instance_start_label': instance_start_label,
'num_instances': num_channels,
'min': standard_params[key]['min'],
'max': standard_params[key]['max'],
'default': standard_params[key]['default'],
}
all_params[param_prefix+'_'+param_suffix+'${i}'] = param
add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
if verbose: print('adding actuator params: {:}'.format(all_params))
return all_params
@@ -246,7 +294,8 @@ for yaml_file in args.config_files:
# convert 'output_groups' section into additional params
try:
actuator_output_params = get_actuator_output_params(yaml_config, output_functions)
actuator_output_params = get_actuator_output_params(yaml_config,
output_functions, timer_config_file, verbose)
except Exception as e:
print('Exception while parsing {:}:'.format(yaml_file))
raise e