lib/matrix: inline common Vector3f operators

- .msg files are PascalCase
 - topics are still either per msg or explicitly listed in TOPICS
 - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available

.ci/Jenkinsfile-hardware

@@ -743,8 +743,10 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
 
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -778,6 +780,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -789,7 +792,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
@@ -806,12 +809,14 @@ void resetParameters() {
 void runTests() {
 
   // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 4018 6001 8001 10016'
 
   resetParameters()
 
   sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
   sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply

.clusterfuzzlite/Dockerfile

@@ -0,0 +1,7 @@
+FROM gcr.io/oss-fuzz-base/base-builder:v1
+COPY . $SRC/PX4-Autopilot
+RUN apt-get install -y libjpeg8-dev zlib1g-dev
+RUN pip3 install --upgrade pip
+RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
+WORKDIR $SRC/PX4-Autopilot
+COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash -eu
+
+PX4_FUZZ=1 make px4_sitl
+cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -0,0 +1 @@
+language: c++

.github/workflows/cflite_batch.yml

@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/compile_nuttx.yml

@@ -33,6 +33,7 @@ jobs:
           holybro_can-gps-v1,
           holybro_durandal-v1,
           holybro_kakutef7,
+          holybro_kakuteh7,
           holybro_pix32v5,
           matek_h743-slim,
           modalai_fc-v1,

.gitmodules

@@ -64,6 +64,3 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "platforms/nuttx/src/px4/stm/hal_stm32"]
-	path = platforms/nuttx/src/px4/stm/hal_stm32
-	url = git@github.com:zephyrproject-rtos/hal_stm32.git

.vscode/cmake-variants.yaml

@@ -31,6 +31,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_test
+    px4_ros2_default:
+      short: px4_ros2
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_ros2_default
     px4_io-v2_default:
       short: px4_io-v2
       buildType: MinSizeRel

.vscode/settings.json

@@ -6,7 +6,7 @@
         "C_Cpp.autoAddFileAssociations": false,
         "C_Cpp.clang_format_fallbackStyle": "none",
         "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.cppStandard": "c++14",
+        "C_Cpp.default.cppStandard": "c++17",
         "C_Cpp.default.cStandard": "c11",
         "C_Cpp.formatting": "Disabled",
         "C_Cpp.intelliSenseEngine": "Default",
@@ -121,6 +121,7 @@
                 "variant": "cpp",
                 "vector": "cpp"
         },
+        "ros.distro": "foxy",
         "search.exclude": {
                 "${workspaceFolder}/build": true
         },
@@ -136,5 +137,7 @@
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
         },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+        "python.autoComplete.extraPaths": [
+                "/opt/ros/foxy/lib/python3.8/site-packages"
+        ]
 }

CMakeLists.txt

@@ -101,6 +101,8 @@
 
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
+cmake_policy(SET CMP0058 NEW)
+
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
 
@@ -124,7 +126,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
                  FULL_DOCS "List of all PX4 module libraries"
                  )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
@@ -133,29 +134,40 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
                  BRIEF_DOCS "src files from all PX4 modules & libs"
                  FULL_DOCS "SRC files from px4_add_{module,library}"
                  )
-
+define_property(GLOBAL PROPERTY PX4_PUBLICATIONS
+                 BRIEF_DOCS "PX4 publication topics"
+                 FULL_DOCS "List of topics published by PX4 modules"
+                 )
+define_property(GLOBAL PROPERTY PX4_SUBSCRIPTIONS
+                 BRIEF_DOCS "PX4 subscription topics"
+                 FULL_DOCS "List of topics subscribed by PX4 modules"
+                 )
 #=============================================================================
 # configuration
 #
 
-set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+# default to px4_ros2_default if building within a ROS2 colcon environment
+if((DEFINED ENV{COLCON_PREFIX_PATH}) AND (DEFINED ENV{ROS_VERSION}))
+	if("$ENV{ROS_VERSION}" MATCHES "2")
+		message(STATUS "ROS_VERSION: $ENV{ROS_VERSION}")
+		set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration") # TODO
+	endif()
+endif()
+
+if(NOT CONFIG)
+	set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+endif()
 
 include(px4_add_module)
 set(config_module_list)
 
 # Find Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
+find_package(PythonInterp 3)
+# We have a custom error message to tell users how to install python3.
+if(NOT PYTHONINTERP_FOUND)
+	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+		"    macOS: brew install python")
 endif()
 
 option(PYTHON_COVERAGE "Python code coverage" OFF)
@@ -191,10 +203,6 @@ set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
 
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
-endif()
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -230,7 +238,7 @@ project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -246,6 +254,10 @@ else()
 	SET(BUILD_SHARED_LIBS OFF)
 endif()
 
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
+	include(init)
+endif()
+
 #=============================================================================
 
 # gold linker - use if available (posix only for now)
@@ -315,13 +327,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()
 
-#=============================================================================
-# build flags
-#
-include(px4_add_common_flags)
-px4_add_common_flags()
-px4_os_add_flags()
-
 #=============================================================================
 # board cmake init (optional)
 #
@@ -329,6 +334,13 @@ if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
 	include(${PX4_BOARD_DIR}/cmake/init.cmake)
 endif()
 
+#=============================================================================
+# build flags
+#
+include(px4_add_common_flags)
+px4_add_common_flags()
+px4_os_add_flags()
+
 #=============================================================================
 # message, and airframe generation
 #
@@ -410,10 +422,13 @@ add_library(parameters_interface INTERFACE)
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
-add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
-add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(platforms/${PX4_PLATFORM}/src/px4 EXCLUDE_FROM_ALL)
 
-include(dts)
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+	add_subdirectory(platforms/common/work_queue EXCLUDE_FROM_ALL)
+else()
+	add_subdirectory(platforms EXCLUDE_FROM_ALL)
+endif()
 
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -435,6 +450,126 @@ target_link_libraries(parameters_interface INTERFACE parameters)
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
 
+
+set(PX4_ORB_TOPIC_COUNT 0)
+
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+
+	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.cpp COPYONLY)
+	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.hpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp COPYONLY)
+
+	set(PX4_ORB_TOPIC_COUNT 1)
+
+else()
+
+	get_property(publications GLOBAL PROPERTY PX4_PUBLICATIONS)
+	get_property(subscriptions GLOBAL PROPERTY PX4_SUBSCRIPTIONS)
+
+	# TODO: for now combine subsriptions and publications for complete topic list
+	list(APPEND publications ${subscriptions})
+
+	list(SORT publications)
+	list(REMOVE_DUPLICATES publications)
+
+	set(pub_all_topics)
+	set(PX4_MSG_TYPE_ID)
+	set(PX4_MSG_TOPIC_ID)
+	set(PX4_MSG_TOPIC_ID_STRING)
+	set(PX4_MSG_TOPIC_ORB_ID)
+
+	set(PX4_ORB_DECLARE_STR)
+	set(PX4_ORB_DEFINE_STR)
+	set(PX4_ORB_HEADER_INCLUDE_STR)
+
+
+	foreach(pub ${publications})
+		#message(STATUS "pub: ${pub}")
+		string(REPLACE " /" ";" pub ${pub})
+
+		list(GET pub 0 pub_type)
+		list(GET pub 1 pub_topic)
+
+		string(REPLACE "::" ";" pub_type_split ${pub_type})
+		list(GET pub_type_split 2 pub_type_simple_lower)
+
+		# Pascal case to snake case (PubType -> pub_type)
+		string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
+		string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
+		string(TOLOWER "${pub_type_simple_lower}" pub_type_simple_lower)
+
+		#message(STATUS "pub: Type: ${pub_type}, Topic: ${pub_topic} (${pub_type_simple_lower})")
+
+
+
+
+		# pub_type to include path (eg px4::msg::VehicleStatus => px4/msg/vehicle_status.hpp)
+		#  temporary create px4/msg/vehicle_status.hpp which simply includes <uORB/topics/vehicle_status.h>
+
+
+
+
+		list(APPEND pub_all_topics ${pub_topic})
+
+		list(APPEND PX4_MSG_TYPE_ID ${pub_type})
+
+		#list(APPEND PX4_MSG_TOPIC_ID ${pub_topic})
+		set(PX4_MSG_TOPIC_ID "${PX4_MSG_TOPIC_ID}\t${pub_topic},\n")
+		#set(PX4_MSG_TOPIC_ID_STRING "${PX4_MSG_TOPIC_ID_STRING}\t"case ORB_ID::${pub_topic}: return \"${pub_topic}\";"\n")
+		set(PX4_MSG_TOPIC_ORB_ID "${PX4_MSG_TOPIC_ORB_ID}\tORB_ID(${pub_topic}),\n")
+
+		list(APPEND PX4_MSG_TOPIC_ID_STRING
+			"case ORB_ID::${pub_topic}: return \"${pub_topic}\";\n"
+		)
+
+		# PX4_MSG_TYPE_ID
+		# PX4_MSG_TOPIC_ID
+
+		# .h  ORB_DECLARE(actuator_controls_0);
+		# .c  ORB_DEFINE(actuator_controls_0, struct actuator_controls_s, 48, __orb_actuator_controls_fields, static_cast<uint8_t>(ORB_ID::actuator_controls_0));
+
+
+		set(PX4_ORB_DECLARE_STR
+			"${PX4_ORB_DECLARE_STR}ORB_DECLARE(${pub_topic});\n")
+
+		# ORB_DEFINE(actuator_armed, struct actuator_armed_s, 16, __orb_actuator_armed_fields, static_cast<uint8_t>(ORB_ID::actuator_armed));
+		set(PX4_ORB_DEFINE_STR
+			"${PX4_ORB_DEFINE_STR}ORB_DEFINE(${pub_topic}, ${pub_type}, px4_embedded::${pub_type_simple_lower}_s::SIZE_NO_PADDING, px4_embedded::${pub_type_simple_lower}_s::FIELDS, static_cast<uint8_t>(ORB_ID::${pub_topic}));\n")
+
+		set(PX4_ORB_HEADER_INCLUDE_STR
+			"${PX4_ORB_HEADER_INCLUDE_STR}#include <uORB/topics/${pub_type_simple_lower}.h>\n")
+
+		math(EXPR PX4_ORB_TOPIC_COUNT "${PX4_ORB_TOPIC_COUNT}+1")
+
+	endforeach()
+	list(REMOVE_DUPLICATES PX4_MSG_TYPE_ID)
+	#list(REMOVE_DUPLICATES PX4_MSG_TOPIC_ID)
+
+	#message(STATUS "PX4_MSG_TYPE_ID: ${PX4_MSG_TYPE_ID}")
+	#message(STATUS "PX4_MSG_TOPIC_ID: ${PX4_MSG_TOPIC_ID}")
+
+	if(PX4_ORB_TOPIC_COUNT GREATER 0)
+		configure_file(uORBTopics.cpp.in ${CMAKE_BINARY_DIR}/uORBTopics.cpp)
+		configure_file(uORBTopics.hpp.in ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
+	endif()
+
+	# .hpp enum ORB_ID
+	# .cpp struct orb_metadat ORB_ID() array
+
+	foreach(f ${msg_files})
+		#message(STATUS "MSG: ${f}")
+	endforeach()
+endif()
+
+if(PX4_ORB_TOPIC_COUNT GREATER 0)
+	add_library(uorb_msgs ${uorb_headers} ${CMAKE_BINARY_DIR}/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
+	add_dependencies(uorb_msgs prebuild_targets uorb_headers)
+endif()
+
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+	ament_target_dependencies(uorb_msgs rclcpp std_msgs)
+	rosidl_target_interfaces(uorb_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
+endif()
+
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
@@ -462,17 +597,13 @@ include(doxygen)
 include(metadata)
 include(package)
 
-# print size
-add_custom_target(size
-	COMMAND size $<TARGET_FILE:px4>
-	DEPENDS px4
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	USES_TERMINAL
-	)
-
 # install python requirements using configured python
 add_custom_target(install_python_requirements
 	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
+
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
+	include(finalize)
+endif()

Kconfig

@@ -17,6 +17,8 @@ menu "Toolchain"
             bool "posix"
         config PLATFORM_QURT
             bool "qurt"
+        config PLATFORM_ROS2
+            bool "ros2"
     endchoice
 
     config BOARD_PLATFORM
@@ -24,6 +26,7 @@ menu "Toolchain"
         default "nuttx" if PLATFORM_NUTTX
         default "posix" if PLATFORM_POSIX
         default "qurt" if PLATFORM_QURT
+        default "ros2" if PLATFORM_ROS2
 
     config BOARD_LOCKSTEP
         bool "Force enable lockstep"

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2021, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -158,6 +158,11 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
 endif
 
 # Pick up specific Python path if set
@@ -474,7 +479,7 @@ clang-tidy-quiet: px4_sitl_default-clang
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++17 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
 
 shellcheck_all:

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 
 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.39103
+param set-default BAT1_A_PER_V 15.391030303103
 
 set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -15,6 +15,8 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -15,6 +15,8 @@
 set MIXER AERT
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -0,0 +1,61 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_COUNT 2
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
+
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Holybro X500 V2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Farhang Naderi <farhang.nba@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default IMU_GYRO_CUTOFF 30
+
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.3
+param set-default MC_PITCHRATE_I 0.3
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -16,8 +16,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER none
-set MIXER_AUX none
+# We set the mixer and ESC manually.
+set MIXER skip
+set MIXER_AUX skip
+set MIXER_FILE ""
 
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -33,12 +35,13 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_FLTMODE1 -1
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1  2
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE4 -1
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  6
+param set-default COM_FLTMODE6  1
 param set-default COM_RC_LOSS_T 3
 
 
@@ -68,6 +71,9 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
+param set-default EKF2_OF_MIN_RNG 0.01
+param set-default EKF2_OF_A_HMAX 7.0
+param set-default EKF2_OF_QMIN 30
 
 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -142,57 +148,30 @@ param set-default MPC_Z_VEL_P 0.27
 
 # gimbal configuration
 param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 2
-param set-default MNT_MAN_PITCH 1
-
+param set-default MNT_MODE_OUT 1
+param set-default MNT_MAN_PITCH 2
+param set-default MNT_RC_IN_MODE 1
+param set-default MNT_RATE_PITCH 30
 
 # RC
 param set-default RC_CHAN_CNT       12
 
 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_ROLL       2
+param set-default RC_MAP_YAW        2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_YAW        4
-param set-default RC_MAP_FLTMODE    5
-param set-default RC_MAP_AUX1       7
-
-param set-default RC1_DZ            10
-param set-default RC1_MAX           3413
-param set-default RC1_MIN           683
-param set-default RC1_REV           1
-param set-default RC1_TRIM          683
-param set-default RC2_DZ            10
-param set-default RC2_MAX           3413
-param set-default RC2_MIN           683
-param set-default RC2_REV           -1
-param set-default RC2_TRIM          2048
-param set-default RC3_DZ            10
-param set-default RC3_MAX           3413
-param set-default RC3_MIN           683
-param set-default RC3_REV           1
-param set-default RC3_TRIM          2048
-param set-default RC4_DZ            10
-param set-default RC4_MAX           3413
-param set-default RC4_MIN           683
-param set-default RC4_REV           -1
-param set-default RC4_TRIM          2048
-param set-default RC5_DZ            10
-param set-default RC5_MAX           3414
-param set-default RC5_MIN           2048
-param set-default RC5_REV           1
-param set-default RC5_TRIM          2048
-param set-default RC7_DZ            10
-param set-default RC7_MAX           3413
-param set-default RC7_MIN           683
-param set-default RC7_REV           1
-param set-default RC7_TRIM          2048
+param set-default RC_MAP_ROLL       4
+param set-default RC_MAP_AUX2       5
+param set-default RC_MAP_AUX3       10
+param set-default RC_MAP_AUX4       8
+param set-default RC_MAP_FLTMODE    6
+param set-default RC1_TRIM          1000
 
 
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    4
+param set-default SENS_FLOW_ROT    0
 
-
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
+# ignore the SD card errors and use normal startup sound
+set STARTUP_TUNE "1"

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -40,6 +40,7 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
+	1102_tailsitter_duo_sih.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -72,6 +73,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
+	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper

ROMFS/px4fmu_common/init.d/rc.interface

@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none ]
+if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none ]
+if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
 then
 
 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,7 +7,10 @@
 
 set VEHICLE_TYPE mc
 
-param set-default IMU_GYRO_RATEMAX 800
+if param compare IMU_GYRO_RATEMAX 400
+then
+	param set-default IMU_GYRO_RATEMAX 800
+fi
 
 param set-default NAV_ACC_RAD 2
 

ROMFS/px4fmu_common/init.d/rcS

@@ -291,15 +291,9 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 1
+			if param greater UAVCAN_ENABLE 2
 			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
+				set OUTPUT_MODE uavcan_esc
 			fi
 		else
 			tune_control play error
@@ -415,17 +409,6 @@ else
 		commander start
 	fi
 
-
-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -444,7 +427,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board extras: ${BOARD_RC_MAVLINK}"
+		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -483,6 +466,15 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup
 
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
 	#
 	# Start the navigator.
 	#

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -90,4 +90,5 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
+	vtol_tailsitter_duo_sat.main.mix
 )

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix

@@ -0,0 +1,39 @@
+Tailsitter duo mixer
+============================
+
+This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
+has two motors in total, one attached to each wing. It also has two elevons which
+are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
+on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
+at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
+
+Motor mixer
+------------
+Channel 1 connects to the right (starboard) motor.
+Channel 2 connects to the left (port) motor.
+
+R: 2-
+
+Zero mixer (2x)
+---------------
+Channels 3,4 are unused.
+
+Z:
+
+Z:
+
+Elevons mixer
+--------------
+Channel 5 connects to the right (starboard) elevon.
+Channel 6 connects to the left (port) elevon.
+Here we saturate the elevons before their full range
+to avoid roll-pitch-yaw coupling during faster maneuvers
+
+M: 2
+S: 1 0   10000   10000    0 -6000  6000
+S: 1 1   10000   10000    0 -6000  6000
+
+M: 2
+S: 1 0   10000   10000    0 -6000  6000
+S: 1 1  -10000  -10000    0 -6000  6000

Tools/HIL/test_airframes.sh

@@ -21,13 +21,26 @@ echo "airframes: ${ALL_AIRFRAMES}"
 for airframe in $ALL_AIRFRAMES
 do
 	echo
-	echo "##########################################################################################"
+	echo
+	echo
+	echo "########################################################################################################################"
 	echo " Airframe: $airframe"
-	echo "##########################################################################################"
+	echo "########################################################################################################################"
 	echo
 
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
+
+	# enable all mavlink instances
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_3_CONFIG 104' || true
+
+	# enable all GPS
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
+
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
@@ -35,13 +48,16 @@ do
 
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}
 
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
 
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
+
 done

Tools/astyle/files_to_check_code_style.sh

@@ -10,7 +10,6 @@ fi
 exec find boards msg src platforms test \
     -path msg/templates/urtps -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
-    -path platforms/nuttx/src/px4/stm/hal_stm32 -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \

Tools/dts/README.txt

@@ -1,32 +0,0 @@
-This directory used to contain the edtlib.py and dtlib.py libraries
-and tests, alongside the gen_defines.py script that uses them for
-converting DTS to the C macros used by Zephyr.
-
-The libraries and tests have now been moved to the 'python-devicetree'
-subdirectory.
-
-We are now in the process of extracting edtlib and dtlib into a
-standalone source code library that we intend to share with other
-projects.
-
-Links related to the work making this standalone:
-
-    https://pypi.org/project/devicetree/
-    https://python-devicetree.readthedocs.io/en/latest/
-    https://github.com/zephyrproject-rtos/python-devicetree
-
-The 'python-devicetree' subdirectory you find here next to this
-README.txt matches the standalone python-devicetree repository linked
-above.
-
-For now, the 'main' copy will continue to be hosted here in the zephyr
-repository. We will mirror changes into the standalone repository as
-needed; you can just ignore it for now.
-
-Code in the zephyr repository which needs these libraries will import
-devicetree.edtlib from now on, but the code will continue to be found
-by manipulating sys.path for now.
-
-Eventually, as APIs stabilize, the python-devicetree code in this
-repository will disappear, and a standalone repository will be the
-'main' one.

Tools/dts/gen_dts_cmake.py

@@ -1,151 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright (c) 2021 Nordic Semiconductor ASA
-# SPDX-License-Identifier: Apache-2.0
-
-'''
-This script uses edtlib and the devicetree data in the build directory
-to generate a CMake file which contains devicetree data.
-
-That data can then be used in the rest of the build system.
-
-The generated CMake file looks like this:
-
-  add_custom_target(devicetree_target)
-  set_target_properties(devicetree_target PROPERTIES
-                        "DT_PROP|/soc|compatible" "vnd,soc;")
-  ...
-
-It defines a special CMake target, and saves various values in the
-devicetree as CMake target properties.
-
-Be careful:
-
-  "Property" here can refer to a CMake target property or a
-  DTS property. DTS property values are stored inside
-  CMake target properties, along with other devicetree data.
-
-The build system includes this generated file early on, so
-devicetree values can be used at CMake processing time.
-
-Accss is not done directly, but with Zephyr CMake extension APIs,
-like this:
-
-  # sets 'compat' to "vnd,soc" in CMake
-  dt_prop(compat PATH "/soc" PROPERTY compatible INDEX 0)
-
-This is analogous to how DTS values are encoded as C macros,
-which can be read in source code using C APIs like
-DT_PROP(node_id, foo) from devicetree.h.
-'''
-
-import argparse
-import os
-import pickle
-import sys
-
-sys.path.append(os.path.join(os.path.dirname(__file__), 'python-devicetree',
-                             'src'))
-
-
-def parse_args():
-    # Returns parsed command-line arguments
-
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--cmake-out", required=True,
-                        help="path to write the CMake property file")
-    parser.add_argument("--edt-pickle", required=True,
-                        help="path to read the pickled edtlib.EDT object from")
-
-    return parser.parse_args()
-
-
-def main():
-    args = parse_args()
-
-    with open(args.edt_pickle, 'rb') as f:
-        edt = pickle.load(f)
-
-    # In what looks like an undocumented implementation detail, CMake
-    # target properties are stored in a C++ standard library map whose
-    # keys and values are each arbitrary strings, so we can use
-    # whatever we want as target property names.
-    #
-    # We therefore use '|' as a field separator character below within
-    # because it's not a valid character in DTS node paths or property
-    # names. This lets us store the "real" paths and property names
-    # without conversion to lowercase-and-underscores like we have to
-    # do in C.
-    #
-    # If CMake adds restrictions on target property names later, we
-    # can just tweak the generated file to use a more restrictive
-    # property encoding, perhaps reusing the same style documented in
-    # macros.bnf for C macros.
-
-    cmake_props = []
-    chosen_nodes = edt.chosen_nodes
-    for node in chosen_nodes:
-        path = chosen_nodes[node].path
-        cmake_props.append(f'"DT_CHOSEN|{node}" "{path}"')
-
-    # The separate loop over edt.nodes here is meant to keep
-    # all of the alias-related properties in one place.
-    for node in edt.nodes:
-        path = node.path
-        for alias in node.aliases:
-            cmake_props.append(f'"DT_ALIAS|{alias}" "{path}"')
-
-    for node in edt.nodes:
-        cmake_props.append(f'"DT_NODE|{node.path}" TRUE')
-
-        for label in node.labels:
-            cmake_props.append(f'"DT_NODELABEL|{label}" "{node.path}"')
-
-        for item in node.props:
-            # We currently do not support phandles for edt -> cmake conversion.
-            if "phandle" not in node.props[item].type:
-                if "array" in node.props[item].type:
-                    # Convert array to CMake list
-                    cmake_value = ''
-                    for val in node.props[item].val:
-                        cmake_value = f'{cmake_value}{val};'
-                else:
-                    cmake_value = node.props[item].val
-
-                # Encode node's property 'item' as a CMake target property
-                # with a name like 'DT_PROP|<path>|<property>'.
-                cmake_prop = f'DT_PROP|{node.path}|{item}'
-                cmake_props.append(f'"{cmake_prop}" "{cmake_value}"')
-
-        if node.regs is not None:
-            cmake_props.append(f'"DT_REG|{node.path}|NUM" "{len(node.regs)}"')
-            cmake_addr = ''
-            cmake_size = ''
-
-            for reg in node.regs:
-                if reg.addr is None:
-                    cmake_addr = f'{cmake_addr}NONE;'
-                else:
-                    cmake_addr = f'{cmake_addr}{hex(reg.addr)};'
-
-                if reg.size is None:
-                    cmake_size = f'{cmake_size}NONE;'
-                else:
-                    cmake_size = f'{cmake_size}{hex(reg.size)};'
-
-            cmake_props.append(f'"DT_REG|{node.path}|ADDR" "{cmake_addr}"')
-            cmake_props.append(f'"DT_REG|{node.path}|SIZE" "{cmake_size}"')
-
-    with open(args.cmake_out, "w", encoding="utf-8") as cmake_file:
-        print('add_custom_target(devicetree_target)', file=cmake_file)
-        print(file=cmake_file)
-
-        for prop in cmake_props:
-            print(
-                f'set_target_properties(devicetree_target PROPERTIES {prop})',
-                file=cmake_file
-            )
-
-
-if __name__ == "__main__":
-    main()

Tools/dts/python-devicetree/.gitignore

@@ -1,7 +0,0 @@
-dist/
-src/devicetree.egg-info/
-build/
-devicetree.egg-info/
-__pycache__/
-.tox/
-doc/build/

Tools/dts/python-devicetree/requirements.txt

@@ -1 +0,0 @@
-sphinx_rtd_theme                # docs

Tools/dts/python-devicetree/setup.py

@@ -1,42 +0,0 @@
-# Copyright (c) 2021, Nordic Semiconductor ASA
-#
-# SPDX-License-Identifier: Apache-2.0
-
-import setuptools
-
-long_description = '''
-Placeholder
-===========
-
-This is just a placeholder for moving Zephyr's devicetree libraries
-to PyPI.
-'''
-
-version = '0.0.1'
-
-setuptools.setup(
-    # TBD, just use these for now.
-    author='Zephyr Project',
-    author_email='devel@lists.zephyrproject.org',
-
-    name='devicetree',
-    version=version,
-    description='Python libraries for devicetree',
-    long_description=long_description,
-    # http://docutils.sourceforge.net/FAQ.html#what-s-the-official-mime-type-for-restructuredtext-data
-    long_description_content_type="text/x-rst",
-    url='https://github.com/zephyrproject-rtos/python-devicetree',
-    packages=setuptools.find_packages(where='src'),
-    package_dir={'': 'src'},
-    classifiers=[
-        'Programming Language :: Python :: 3 :: Only',
-        'License :: OSI Approved :: Apache Software License',
-        'Operating System :: POSIX :: Linux',
-        'Operating System :: MacOS :: MacOS X',
-        'Operating System :: Microsoft :: Windows',
-    ],
-    install_requires=[
-        'PyYAML>=5.1',
-    ],
-    python_requires='>=3.6',
-)

Tools/dts/python-devicetree/src/devicetree/__init__.py

@@ -1,4 +0,0 @@
-# Copyright (c) 2021 Nordic Semiconductor ASA
-# SPDX-License-Identifier: Apache-2.0
-
-__all__ = ['edtlib', 'dtlib']

Tools/dts/python-devicetree/src/devicetree/grutils.py

@@ -1,161 +0,0 @@
-# Copyright 2009-2013, 2019 Peter A. Bigot
-#
-# SPDX-License-Identifier: Apache-2.0
-
-# This implementation is derived from the one in
-# [PyXB](https://github.com/pabigot/pyxb), stripped down and modified
-# specifically to manage edtlib Node instances.
-
-import collections
-
-class Graph:
-    """
-    Represent a directed graph with edtlib Node objects as nodes.
-
-    This is used to determine order dependencies among nodes in a
-    devicetree.  An edge from C{source} to C{target} indicates that
-    some aspect of C{source} requires that some aspect of C{target}
-    already be available.
-    """
-
-    def __init__(self, root=None):
-        self.__roots = None
-        if root is not None:
-            self.__roots = {root}
-        self.__edge_map = collections.defaultdict(set)
-        self.__reverse_map = collections.defaultdict(set)
-        self.__nodes = set()
-
-    def add_edge(self, source, target):
-        """
-        Add a directed edge from the C{source} to the C{target}.
-
-        The nodes are added to the graph if necessary.
-        """
-        self.__edge_map[source].add(target)
-        if source != target:
-            self.__reverse_map[target].add(source)
-        self.__nodes.add(source)
-        self.__nodes.add(target)
-
-    def roots(self):
-        """
-        Return the set of nodes calculated to be roots (i.e., those
-        that have no incoming edges).
-
-        This caches the roots calculated in a previous invocation.
-
-        @rtype: C{set}
-        """
-        if not self.__roots:
-            self.__roots = set()
-            for n in self.__nodes:
-                if n not in self.__reverse_map:
-                    self.__roots.add(n)
-        return self.__roots
-
-    def _tarjan(self):
-        # Execute Tarjan's algorithm on the graph.
-        #
-        # Tarjan's algorithm
-        # (http://en.wikipedia.org/wiki/Tarjan%27s_strongly_connected_components_algorithm)
-        # computes the strongly-connected components
-        # (http://en.wikipedia.org/wiki/Strongly_connected_component)
-        # of the graph: i.e., the sets of nodes that form a minimal
-        # closed set under edge transition.  In essence, the loops.
-        # We use this to detect groups of components that have a
-        # dependency cycle, and to impose a total order on components
-        # based on dependencies.
-
-        self.__stack = []
-        self.__scc_order = []
-        self.__index = 0
-        self.__tarjan_index = {}
-        self.__tarjan_low_link = {}
-        for v in self.__nodes:
-            self.__tarjan_index[v] = None
-        roots = sorted(self.roots(), key=node_key)
-        if self.__nodes and not roots:
-            raise Exception('TARJAN: No roots found in graph with {} nodes'.format(len(self.__nodes)))
-
-        for r in roots:
-            self._tarjan_root(r)
-
-        # Assign ordinals for edtlib
-        ordinal = 0
-        for scc in self.__scc_order:
-            # Zephyr customization: devicetree Node graphs should have
-            # no loops, so all SCCs should be singletons.  That may
-            # change in the future, but for now we only give an
-            # ordinal to singletons.
-            if len(scc) == 1:
-                scc[0].dep_ordinal = ordinal
-                ordinal += 1
-
-    def _tarjan_root(self, v):
-        # Do the work of Tarjan's algorithm for a given root node.
-
-        if self.__tarjan_index.get(v) is not None:
-            # "Root" was already reached.
-            return
-        self.__tarjan_index[v] = self.__tarjan_low_link[v] = self.__index
-        self.__index += 1
-        self.__stack.append(v)
-        source = v
-        for target in sorted(self.__edge_map[source], key=node_key):
-            if self.__tarjan_index[target] is None:
-                self._tarjan_root(target)
-                self.__tarjan_low_link[v] = min(self.__tarjan_low_link[v], self.__tarjan_low_link[target])
-            elif target in self.__stack:
-                self.__tarjan_low_link[v] = min(self.__tarjan_low_link[v], self.__tarjan_low_link[target])
-
-        if self.__tarjan_low_link[v] == self.__tarjan_index[v]:
-            scc = []
-            while True:
-                scc.append(self.__stack.pop())
-                if v == scc[-1]:
-                    break
-            self.__scc_order.append(scc)
-
-    def scc_order(self):
-        """Return the strongly-connected components in order.
-
-        The data structure is a list, in dependency order, of strongly
-        connected components (which can be single nodes).  Appearance
-        of a node in a set earlier in the list indicates that it has
-        no dependencies on any node that appears in a subsequent set.
-        This order is preferred over a depth-first-search order for
-        code generation, since it detects loops.
-        """
-        if not self.__scc_order:
-            self._tarjan()
-        return self.__scc_order
-    __scc_order = None
-
-    def depends_on(self, node):
-        """Get the nodes that 'node' directly depends on."""
-        return sorted(self.__edge_map[node], key=node_key)
-
-    def required_by(self, node):
-        """Get the nodes that directly depend on 'node'."""
-        return sorted(self.__reverse_map[node], key=node_key)
-
-def node_key(node):
-    # This sort key ensures that sibling nodes with the same name will
-    # use unit addresses as tiebreakers. That in turn ensures ordinals
-    # for otherwise indistinguishable siblings are in increasing order
-    # by unit address, which is convenient for displaying output.
-
-    if node.parent:
-        parent_path = node.parent.path
-    else:
-        parent_path = '/'
-
-    if node.unit_addr is not None:
-        name = node.name.rsplit('@', 1)[0]
-        unit_addr = node.unit_addr
-    else:
-        name = node.name
-        unit_addr = -1
-
-    return (parent_path, name, unit_addr)

Tools/dts/python-devicetree/tests/test-bindings-2/multidir.yaml

@@ -1,5 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Binding in test-bindings-2/
-
-compatible: "in-dir-2"

Tools/dts/python-devicetree/tests/test-bindings-include/README.rst

@@ -1 +0,0 @@
-This directory contains bindings used to test the 'include:' feature.

Tools/dts/python-devicetree/tests/test-bindings-include/allow-and-blocklist-child.yaml

@@ -1,11 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: |
-  An include must not give both an allowlist and a blocklist in a
-  child binding. This binding should cause an error.
-compatible: allow-and-blocklist-child
-include:
-  - name: include.yaml
-    child-binding:
-      property-blocklist: [x]
-      property-allowlist: [y]

Tools/dts/python-devicetree/tests/test-bindings-include/allow-and-blocklist.yaml

@@ -1,10 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: |
-  An include must not give both an allowlist and a blocklist.
-  This binding should cause an error.
-compatible: allow-and-blocklist
-include:
-  - name: include.yaml
-    property-blocklist: [x]
-    property-allowlist: [y]

Tools/dts/python-devicetree/tests/test-bindings-include/allow-not-list.yaml

@@ -1,10 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: |
-  A property-allowlist, if given, must be a list. This binding should
-  cause an error.
-compatible: allow-not-list
-include:
-  - name: include.yaml
-    property-allowlist:
-      foo:

Tools/dts/python-devicetree/tests/test-bindings-include/allowlist.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Valid property-allowlist.
-compatible: allowlist
-include:
-  - name: include.yaml
-    property-allowlist: [x]

Tools/dts/python-devicetree/tests/test-bindings-include/block-not-list.yaml

@@ -1,10 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: |
-  A property-blocklist, if given, must be a list. This binding should
-  cause an error.
-compatible: block-not-list
-include:
-  - name: include.yaml
-    property-blocklist:
-      foo:

Tools/dts/python-devicetree/tests/test-bindings-include/blocklist.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Valid property-blocklist.
-compatible: blocklist
-include:
-  - name: include.yaml
-    property-blocklist: [x]

Tools/dts/python-devicetree/tests/test-bindings-include/empty-allowlist.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: An empty property-allowlist is valid.
-compatible: empty-allowlist
-include:
-  - name: include.yaml
-    property-allowlist: []

Tools/dts/python-devicetree/tests/test-bindings-include/empty-blocklist.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: An empty property-blocklist is valid.
-compatible: empty-blocklist
-include:
-  - name: include.yaml
-    property-blocklist: []

Tools/dts/python-devicetree/tests/test-bindings-include/filter-child-bindings.yaml

@@ -1,11 +0,0 @@
-description: Test binding for filtering 'child-binding' properties
-
-include:
-  - name: include.yaml
-    property-allowlist: [x]
-    child-binding:
-      property-blocklist: [child-prop-1]
-      child-binding:
-        property-allowlist: [grandchild-prop-1]
-
-compatible: filter-child-bindings

Tools/dts/python-devicetree/tests/test-bindings-include/include-2.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Second file for testing "intermixed" includes.
-compatible: include-2
-properties:
-  a:
-    type: int

Tools/dts/python-devicetree/tests/test-bindings-include/include-invalid-keys.yaml

@@ -1,10 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: |
-  Invalid include element: invalid keys are present.
-compatible: include-invalid-keys
-include:
-  - name: include.yaml
-    property-allowlist: [x]
-    bad-key-1: 3
-    bad-key-2: 3

Tools/dts/python-devicetree/tests/test-bindings-include/include-invalid-type.yaml

@@ -1,5 +0,0 @@
-description: |
-  Invalid include: wrong top level type.
-compatible: include-invalid-type
-include:
-  a-map-is-not-allowed-here: 3

Tools/dts/python-devicetree/tests/test-bindings-include/include-no-list.yaml

@@ -1,6 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: A map element with just a name is valid, and has no filters.
-compatible: include-no-list
-include:
-  - name: include.yaml

Tools/dts/python-devicetree/tests/test-bindings-include/include-no-name.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: |
-  Invalid include element: no name key is present.
-compatible: include-no-name
-include:
-  - property-allowlist: [x]

Tools/dts/python-devicetree/tests/test-bindings-include/include.yaml

@@ -1,24 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Test file for including other bindings
-compatible: include
-properties:
-  x:
-    type: int
-  y:
-    type: int
-  z:
-    type: int
-child-binding:
-  properties:
-    child-prop-1:
-      type: int
-    child-prop-2:
-      type: int
-
-  child-binding:
-    properties:
-      grandchild-prop-1:
-        type: int
-      grandchild-prop-2:
-        type: int

Tools/dts/python-devicetree/tests/test-bindings-include/intermixed.yaml

@@ -1,8 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Including intermixed file names and maps is valid.
-compatible: intermixed
-include:
-  - name: include.yaml
-    property-allowlist: [x]
-  - include-2.yaml

Tools/dts/python-devicetree/tests/test-bindings/bar-bus.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Bar bus controller
-
-compatible: "bar-bus"
-
-bus: "bar"

Tools/dts/python-devicetree/tests/test-bindings/child-binding-with-compat.yaml

@@ -1,20 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: child-binding with separate compatible than the parent
-
-compatible: "top-binding-with-compat"
-
-child-binding:
-    compatible: child-compat
-    description: child node
-    properties:
-        child-prop:
-            type: int
-            required: true
-
-    child-binding:
-        description: grandchild node
-        properties:
-            grandchild-prop:
-                type: int
-                required: true

Tools/dts/python-devicetree/tests/test-bindings/child-binding.yaml

@@ -1,19 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: child-binding test
-
-compatible: "top-binding"
-
-child-binding:
-    description: child node
-    properties:
-        child-prop:
-            type: int
-            required: true
-
-    child-binding:
-        description: grandchild node
-        properties:
-            grandchild-prop:
-                type: int
-                required: true

Tools/dts/python-devicetree/tests/test-bindings/child.yaml

@@ -1,8 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-include: [grandchild-1.yaml, grandchild-2.yaml, grandchild-3.yaml]
-
-properties:
-    bar:
-        required: true
-        type: int

Tools/dts/python-devicetree/tests/test-bindings/defaults.yaml

@@ -1,36 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Property default value test
-
-compatible: "defaults"
-
-properties:
-    int:
-        type: int
-        required: false
-        default: 123
-
-    array:
-        type: array
-        required: false
-        default: [1, 2, 3]
-
-    uint8-array:
-        type: uint8-array
-        required: false
-        default: [0x89, 0xAB, 0xCD]
-
-    string:
-        type: string
-        required: false
-        default: "hello"
-
-    string-array:
-        type: string-array
-        required: false
-        default: ["hello", "there"]
-
-    default-not-used:
-        type: int
-        required: false
-        default: 123

Tools/dts/python-devicetree/tests/test-bindings/deprecated.yaml

@@ -1,15 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Property deprecated value test
-
-compatible: "test-deprecated"
-
-properties:
-    oldprop:
-        type: int
-        deprecated: true
-        required: false
-
-    curprop:
-        type: int
-        required: false

Tools/dts/python-devicetree/tests/test-bindings/device-on-any-bus.yaml

@@ -1,5 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Device on any bus
-
-compatible: "on-any-bus"

Tools/dts/python-devicetree/tests/test-bindings/device-on-bar-bus.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Device on bar bus
-
-compatible: "on-bus"
-
-on-bus: "bar"

Tools/dts/python-devicetree/tests/test-bindings/device-on-foo-bus.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Device on foo bus
-
-compatible: "on-bus"
-
-on-bus: "foo"

Tools/dts/python-devicetree/tests/test-bindings/enums.yaml

@@ -1,36 +0,0 @@
-# Copyright (c) 2020 Nordic Semiconductor ASA
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Property enum test
-
-compatible: "enums"
-
-properties:
-  int-enum:
-    type: int
-    enum:
-      - 1
-      - 2
-      - 3
-
-  string-enum:                  # not tokenizable
-    type: string
-    enum:
-      - foo bar
-      - foo_bar
-
-  tokenizable-lower-enum:       # tokenizable in lowercase only
-    type: string
-    enum:
-      - bar
-      - BAR
-
-  tokenizable-enum:             # tokenizable in lower and uppercase
-    type: string
-    enum:
-      - bar
-      - whitespace is ok
-      - 123 is ok
-
-  no-enum:
-    type: string

Tools/dts/python-devicetree/tests/test-bindings/false-positive.yaml

@@ -1,4 +0,0 @@
-# A file that mentions a 'compatible' string without actually implementing it.
-# Used to check for issues with how we optimize binding loading.
-
-# props

Tools/dts/python-devicetree/tests/test-bindings/foo-bus.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Foo bus controller
-
-compatible: "foo-bus"
-
-bus: "foo"

Tools/dts/python-devicetree/tests/test-bindings/foo-optional.yaml

@@ -1,4 +0,0 @@
-properties:
-    foo:
-        type: int
-        required: false

Tools/dts/python-devicetree/tests/test-bindings/foo-required.yaml

@@ -1,4 +0,0 @@
-properties:
-    foo:
-        type: int
-        required: true

Tools/dts/python-devicetree/tests/test-bindings/gpio-dst.yaml

@@ -1,8 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: GPIO destination for mapping test
-
-compatible: "gpio-dst"
-
-gpio-cells:
-    - val

Tools/dts/python-devicetree/tests/test-bindings/gpio-src.yaml

@@ -1,9 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: GPIO source for mapping test
-
-compatible: "gpio-src"
-
-properties:
-    foo-gpios:
-        type: phandle-array

Tools/dts/python-devicetree/tests/test-bindings/grandchild-1.yaml

@@ -1,10 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-properties:
-    foo:
-        required: false
-        type: int
-
-    baz:
-        required: true
-        type: int

Tools/dts/python-devicetree/tests/test-bindings/grandchild-2.yaml

@@ -1,6 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-properties:
-    baz:
-        required: true
-        type: int

Tools/dts/python-devicetree/tests/test-bindings/grandchild-3.yaml

@@ -1,6 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-properties:
-    qaz:
-        required: true
-        type: int

Tools/dts/python-devicetree/tests/test-bindings/interrupt-1-cell.yaml

@@ -1,8 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Interrupt controller with one cell
-
-compatible: "interrupt-one-cell"
-
-interrupt-cells:
-    - one

Tools/dts/python-devicetree/tests/test-bindings/interrupt-2-cell.yaml

@@ -1,9 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Interrupt controller with two cells
-
-compatible: "interrupt-two-cell"
-
-interrupt-cells:
-    - one
-    - two

Tools/dts/python-devicetree/tests/test-bindings/interrupt-3-cell.yaml

@@ -1,10 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Interrupt controller with three cells
-
-compatible: "interrupt-three-cell"
-
-interrupt-cells:
-    - one
-    - two
-    - three

Tools/dts/python-devicetree/tests/test-bindings/multidir.yaml

@@ -1,5 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Binding in test-bindings/
-
-compatible: "in-dir-1"

Tools/dts/python-devicetree/tests/test-bindings/order-1.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Include ordering test
-
-compatible: "order-1"
-
-include: ["foo-required.yaml", "foo-optional.yaml"]

Tools/dts/python-devicetree/tests/test-bindings/order-2.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Include ordering test
-
-compatible: "order-2"
-
-include: ["foo-optional.yaml", "foo-required.yaml"]

Tools/dts/python-devicetree/tests/test-bindings/parent.yaml

@@ -1,13 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Parent binding
-
-compatible: "binding-include-test"
-
-include: child.yaml
-
-properties:
-    foo:
-        # Changed from not being required in grandchild-1.yaml
-        required: true
-        # Type set in grandchild

Tools/dts/python-devicetree/tests/test-bindings/phandle-array-controller-0.yaml

@@ -1,7 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Controller with zero data values
-
-compatible: "phandle-array-controller-0"
-
-phandle-array-foo-cells: []

Tools/dts/python-devicetree/tests/test-bindings/phandle-array-controller-1.yaml

@@ -1,11 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Controller with one data value
-
-compatible: "phandle-array-controller-1"
-
-phandle-array-foo-cells:
-    - one
-
-gpio-cells:
-    - gpio-one

Tools/dts/python-devicetree/tests/test-bindings/phandle-array-controller-2.yaml

@@ -1,9 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Controller with two data values
-
-compatible: "phandle-array-controller-2"
-
-phandle-array-foo-cells:
-    - one
-    - two

Tools/dts/python-devicetree/tests/test-bindings/props.yaml

@@ -1,50 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Device.props test
-
-compatible: "props"
-
-properties:
-    nonexistent-boolean:
-        type: boolean
-
-    existent-boolean:
-        type: boolean
-
-    int:
-        type: int
-        const: 1
-
-    array:
-        type: array
-
-    uint8-array:
-        type: uint8-array
-
-    string:
-        type: string
-        const: "foo"
-
-    string-array:
-        type: string-array
-
-    phandle-ref:
-        type: phandle
-
-    phandle-refs:
-        type: phandles
-
-    phandle-array-foos:
-        type: phandle-array
-
-    phandle-array-foo-names:
-        type: string-array
-
-    # There's some slight special-casing for GPIOs in that 'foo-gpios = ...'
-    # gets resolved to #gpio-cells rather than #foo-gpio-cells, so test that
-    # too
-    foo-gpios:
-        type: phandle-array
-
-    path:
-        type: path

Tools/dts/python-devicetree/tests/test-multidir.dts

@@ -1,19 +0,0 @@
-/*
- * Copyright (c) 2019, Nordic Semiconductor
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-// Used by testedtlib.py. Dedicated file for testing having multiple binding
-// directories.
-
-/dts-v1/;
-
-/ {
-	in-dir-1 {
-		compatible = "in-dir-1";
-	};
-	in-dir-2 {
-		compatible = "in-dir-2";
-	};
-};

Tools/dts/python-devicetree/tests/test-wrong-bindings/wrong-phandle-array-name.yaml

@@ -1,9 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Device.wrong_phandle_array_name test
-
-compatible: "wrong_phandle_array_name"
-
-properties:
-    wrong-phandle-array-name:
-        type: phandle-array

Tools/dts/python-devicetree/tests/test-wrong-bindings/wrong-specifier-space-type.yaml

@@ -1,10 +0,0 @@
-# SPDX-License-Identifier: BSD-3-Clause
-
-description: Device.wrong_specifier_space_type test
-
-compatible: "wrong_specifier_space_type"
-
-properties:
-    wrong-type-for-specifier-space:
-        type: phandle
-        specifier-space: foobar

Tools/dts/python-devicetree/tests/test.dts

@@ -1,534 +0,0 @@
-/*
- * Copyright (c) 2019, Nordic Semiconductor
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-// Used by testedtlib.py
-
-/dts-v1/;
-
-/ {
-	//
-	// Interrupts
-	//
-
-	interrupt-parent-test {
-		controller {
-			compatible = "interrupt-three-cell";
-			#interrupt-cells = <3>;
-			interrupt-controller;
-		};
-		node {
-			interrupts = <1 2 3 4 5 6>;
-			interrupt-names = "foo", "bar";
-			interrupt-parent = <&{/interrupt-parent-test/controller}>;
-		};
-	};
-	interrupts-extended-test {
-		controller-0 {
-			compatible = "interrupt-one-cell";
-			#interrupt-cells = <1>;
-			interrupt-controller;
-		};
-		controller-1 {
-			compatible = "interrupt-two-cell";
-			#interrupt-cells = <2>;
-			interrupt-controller;
-		};
-		controller-2 {
-			compatible = "interrupt-three-cell";
-			#interrupt-cells = <3>;
-			interrupt-controller;
-		};
-		node {
-			interrupts-extended = <
-				&{/interrupts-extended-test/controller-0} 1
-				&{/interrupts-extended-test/controller-1} 2 3
-				&{/interrupts-extended-test/controller-2} 4 5 6>;
-		};
-	};
-	interrupt-map-test {
-		#address-cells = <2>;
-		#size-cells = <0>;
-
-		controller-0 {
-			compatible = "interrupt-one-cell";
-			#address-cells = <1>;
-			#interrupt-cells = <1>;
-			interrupt-controller;
-		};
-		controller-1 {
-			compatible = "interrupt-two-cell";
-			#address-cells = <2>;
-			#interrupt-cells = <2>;
-			interrupt-controller;
-		};
-		controller-2 {
-			compatible = "interrupt-three-cell";
-			#address-cells = <3>;
-			#interrupt-cells = <3>;
-			interrupt-controller;
-		};
-		nexus {
-			#interrupt-cells = <2>;
-			interrupt-map = <
-				0 0  0 0  &{/interrupt-map-test/controller-0}  0      0
-				0 0  0 1  &{/interrupt-map-test/controller-1}  0 0    0 1
-				0 0  0 2  &{/interrupt-map-test/controller-2}  0 0 0  0 0 2
-				0 1  0 0  &{/interrupt-map-test/controller-0}  0      3
-				0 1  0 1  &{/interrupt-map-test/controller-1}  0 0    0 4
-				0 1  0 2  &{/interrupt-map-test/controller-2}  0 0 0  0 0 5>;
-		};
-		node@0 {
-			reg = <0 0>;
-			interrupts = <0 0 0 1 0 2>;
-			interrupt-parent = <&{/interrupt-map-test/nexus}>;
-		};
-		node@1 {
-			reg = <0 1>;
-			interrupts-extended = <
-			    &{/interrupt-map-test/nexus} 0 0
-			    &{/interrupt-map-test/nexus} 0 1
-			    &{/interrupt-map-test/nexus} 0 2>;
-		};
-	};
-	interrupt-map-bitops-test {
-		#address-cells = <2>;
-		#size-cells = <0>;
-
-		controller {
-			compatible = "interrupt-two-cell";
-			#address-cells = <0>;
-			#interrupt-cells = <2>;
-			interrupt-controller;
-		};
-		nexus {
-			#interrupt-cells = <2>;
-			interrupt-map = <
-			    6 6  6 6  &{/interrupt-map-bitops-test/controller}  2 1
-			>;
-			interrupt-map-mask = <0xE 0x7 0xE 0x7>;
-			// Not specified in the DT spec., but shows up due to
-			// common code with GPIO. Might as well test it here.
-			interrupt-map-pass-thru = <1 2 3 3>;
-		};
-		// Child unit specifier: 00000007 0000000E 00000007 0000000E
-		// Mask:                 0000000E 00000007 0000000E 00000007
-		// Pass-thru:            00000001 00000002 00000003 00000003
-		node@70000000E {
-			reg = <0x7 0xE>;
-			interrupt-parent = <&{/interrupt-map-bitops-test/nexus}>;
-			interrupts = <0x7 0xE>;
-		};
-	};
-
-	//
-	// 'ranges'
-	//
-
-	ranges-zero-cells {
-		#address-cells = <0>;
-
-		node {
-			#address-cells = <0>;
-			#size-cells = <0>;
-
-			ranges;
-		};
-	};
-
-	ranges-zero-parent-cells {
-		#address-cells = <0>;
-
-		node {
-			#address-cells = <1>;
-			#size-cells = <0>;
-
-			ranges = <0xA>,
-				 <0x1A>,
-				 <0x2A>;
-		};
-	};
-
-	ranges-one-address-cells {
-		#address-cells = <0>;
-
-		node {
-			reg = <1>;
-			#address-cells = <1>;
-
-			ranges = <0xA 0xB>,
-				 <0x1A 0x1B>,
-				 <0x2A 0x2B>;
-		};
-	};
-
-	ranges-one-address-two-size-cells {
-		#address-cells = <0>;
-
-		node {
-			reg = <1>;
-			#address-cells = <1>;
-			#size-cells = <2>;
-
-			ranges = <0xA 0xB 0xC>,
-				 <0x1A 0x1B 0x1C>,
-				 <0x2A 0x2B 0x2C>;
-		};
-	};
-
-	ranges-two-address-cells {
-		#address-cells = <1>;
-
-		node@1 {
-			reg = <1 2>;
-
-			ranges = <0xA 0xB 0xC 0xD>,
-				 <0x1A 0x1B 0x1C 0x1D>,
-				 <0x2A 0x2B 0x2C 0x2D>;
-		};
-	};
-
-	ranges-two-address-two-size-cells {
-		#address-cells = <1>;
-
-		node@1 {
-			reg = <1 2>;
-			#size-cells = <2>;
-
-			ranges = <0xA 0xB 0xC 0xD 0xE>,
-				 <0x1A 0x1B 0x1C 0x1D 0x1E>,
-				 <0x2A 0x2B 0x2C 0x2D 0x1D>;
-		};
-	};
-
-	ranges-three-address-cells {
-		node@1 {
-			reg = <0 1 2>;
-			#address-cells = <3>;
-
-			ranges = <0xA 0xB 0xC 0xD 0xE 0xF>,
-				 <0x1A 0x1B 0x1C 0x1D 0x1E 0x1F>,
-				 <0x2A 0x2B 0x2C 0x2D 0x2E 0x2F>;
-		};
-	};
-
-	ranges-three-address-two-size-cells {
-		node@1 {
-			reg = <0 1 2>;
-			#address-cells = <3>;
-			#size-cells = <2>;
-
-			ranges = <0xA 0xB 0xC 0xD 0xE 0xF 0x10>,
-				 <0x1A 0x1B 0x1C 0x1D 0x1E 0x1F 0x110>,
-				 <0x2A 0x2B 0x2C 0x2D 0x2E 0x2F 0x210>;
-		};
-	};
-
-
-	//
-	// 'reg'
-	//
-
-	reg-zero-address-cells {
-		#address-cells = <0>;
-		#size-cells = <1>;
-
-		node {
-			reg = <1 2>;
-		};
-	};
-	reg-zero-size-cells {
-		#address-cells = <1>;
-		#size-cells = <0>;
-
-		node {
-			reg = <1 2>;
-		};
-	};
-	// Use implied #size-cells = <1>
-	reg-ranges {
-		#address-cells = <2>;
-
-		parent {
-			#address-cells = <1>;
-			ranges = <1  0xA 0xB  1 /* 1    -> 0xA 0xB */
-				  2  0xC 0xD  2 /* 2..3 -> 0xC 0xD */
-				  4  0xE 0xF  1 /* 4    -> 0xE 0xF */
-				 >;
-
-			node {
-				reg = <5 1 /* Matches no range */
-				       4 1 /* Matches third range */
-				       3 1 /* Matches second range */
-				       2 1 /* Matches second range */
-				       1 1 /* Matches first range */
-				       0 1 /* Matches no range */
-				       >;
-			};
-		};
-	};
-	// Build up <3 2 1> address with nested 'ranges'
-	reg-nested-ranges {
-		#address-cells = <3>;
-
-		grandparent {
-			#address-cells = <2>;
-			#size-cells = <2>;
-			ranges = <0 0  3 0 0  2 2>;
-
-			parent {
-				#address-cells = <1>;
-				ranges = <0  2 0  2>;
-
-				node {
-					reg = <1 1>;
-				};
-			};
-		};
-	};
-
-	//
-	// 'pinctrl-<index>'
-	//
-
-	pinctrl {
-		dev {
-			pinctrl-0 = <>;
-			pinctrl-1 = <&{/pinctrl/pincontroller/state-1}>;
-			pinctrl-2 = <&{/pinctrl/pincontroller/state-1}
-				     &{/pinctrl/pincontroller/state-2}>;
-			pinctrl-names = "zero", "one", "two";
-		};
-		pincontroller {
-			state-1 {
-			};
-			state-2 {
-			};
-		};
-	};
-
-	//
-	// For testing Node.parent and Node.children
-	//
-
-	parent {
-		child-1 {
-		};
-		child-2 {
-			grandchild {
-			};
-		};
-	};
-
-	//
-	// For testing 'include:'
-	//
-
-	binding-include {
-		compatible = "binding-include-test";
-		foo = <0>;
-		bar = <1>;
-		baz = <2>;
-		qaz = <3>;
-	};
-
-	//
-	// For testing Node.props (derived from 'properties:' in the binding)
-	//
-
-	props {
-		compatible = "props";
-		existent-boolean;
-		int = <1>;
-		array = <1 2 3>;
-		uint8-array = [ 12 34 ];
-		string = "foo";
-		string-array = "foo", "bar", "baz";
-		phandle-ref = < &{/ctrl-1} >;
-		phandle-refs = < &{/ctrl-1} &{/ctrl-2} >;
-		phandle-array-foos = < &{/ctrl-1} 1 &{/ctrl-2} 2 3 >;
-		foo-gpios = < &{/ctrl-1} 1 >;
-		path = &{/ctrl-1};
-	};
-
-	ctrl-1 {
-		compatible = "phandle-array-controller-1";
-		#phandle-array-foo-cells = <1>;
-		#gpio-cells = <1>;
-	};
-
-	ctrl-2 {
-		compatible = "phandle-array-controller-2";
-		#phandle-array-foo-cells = <2>;
-	};
-
-	props-2 {
-		compatible = "props";
-		phandle-array-foos = < &{/ctrl-0-1} 0 &{/ctrl-0-2} >;
-		phandle-array-foo-names = "a", "missing", "b";
-	};
-
-	ctrl-0-1 {
-		compatible = "phandle-array-controller-0";
-		#phandle-array-foo-cells = <0>;
-	};
-
-	ctrl-0-2 {
-		compatible = "phandle-array-controller-0";
-		#phandle-array-foo-cells = <0>;
-	};
-
-	//
-	// Test <prefix>-map, via gpio-map
-	//
-
-	gpio-map {
-		source {
-			compatible = "gpio-src";
-			foo-gpios = <&{/gpio-map/connector} 3 4
-				     &{/gpio-map/connector} 1 2>;
-		};
-		connector {
-			#gpio-cells = <2>;
-			// Use different data lengths for source and
-			// destination to make it a bit trickier
-			gpio-map = <1 2 &{/gpio-map/destination} 5
-				    3 4 &{/gpio-map/destination} 6>;
-		};
-		destination {
-			compatible = "gpio-dst";
-			gpio-controller;
-			#gpio-cells = <1>;
-		};
-	};
-
-	//
-	// For testing Node.props with 'default:' values in binding
-	//
-
-	defaults {
-		compatible = "defaults";
-		// Should override the 'default:' in the binding
-		default-not-used = <234>;
-	};
-
-	//
-	// For testing 'enum:'
-	//
-
-	enums {
-		compatible = "enums";
-		int-enum = <1>;
-		string-enum = "foo_bar";
-		tokenizable-enum = "123 is ok";
-		tokenizable-lower-enum = "bar";
-		no-enum = "baz";
-	};
-
-	//
-	// For testing 'bus:' and 'on-bus:'
-	//
-
-	buses {
-		// The 'node' nodes below will map to different bindings since
-		// they appear on different buses
-		foo-bus {
-			compatible = "foo-bus";
-			node1 {
-				compatible = "on-bus", "on-any-bus";
-				nested {
-					compatible = "on-bus";
-				};
-			};
-			node2 {
-				compatible = "on-any-bus", "on-bus";
-			};
-		};
-		bar-bus {
-			compatible = "bar-bus";
-			node {
-				compatible = "on-bus";
-			};
-		};
-		no-bus-node {
-			compatible = "on-any-bus";
-		};
-	};
-
-	//
-	// Node with 'child-binding:' in binding (along with a recursive
-	// 'child-binding:')
-	//
-
-	child-binding {
-		compatible = "top-binding";
-		child-1 {
-			child-prop = <1>;
-			grandchild {
-				grandchild-prop = <2>;
-			};
-		};
-		child-2 {
-			child-prop = <3>;
-		};
-	};
-
-	//
-	// zephyr,user binding inference
-	//
-
-	zephyr,user {
-		boolean;
-		bytes = [81 82 83];
-		number = <23>;
-		numbers = <1>, <2>, <3>;
-		string = "text";
-		strings = "a", "b", "c";
-		handle = <&{/ctrl-1}>;
-		phandles = <&{/ctrl-1}>, <&{/ctrl-2}>;
-		phandle-array-foos = <&{/ctrl-2} 1 2>;
-	};
-
-	//
-	// For testing that neither 'include: [foo.yaml, bar.yaml]' nor
-	// 'include: [bar.yaml, foo.yaml]' causes errors when one of the files
-	// has 'required: true' and the other 'required: false'
-	//
-
-	include-order {
-		node-1 {
-			compatible = "order-1";
-			foo = <1>;
-		};
-		node-2 {
-			compatible = "order-2";
-			foo = <2>;
-		};
-	};
-
-	//
-	// For testing deprecated property
-	//
-	test-deprecated {
-		compatible = "test-deprecated";
-		oldprop = <4>;	/* deprecated property */
-		curprop = <5>;
-	};
-
-
-	//
-	// For testing deprecated features
-	//
-
-	deprecated {
-		compatible = "deprecated";
-		required = <1>;
-		required-2 = <2>;
-		#foo-cells = <2>;
-		sub-node {
-			foos = <&{/deprecated} 1 2>;
-		};
-	};
-};

Tools/dts/python-devicetree/tests/test_edtlib.py

@@ -1,588 +0,0 @@
-# Copyright (c) 2019 Nordic Semiconductor ASA
-# SPDX-License-Identifier: BSD-3-Clause
-
-import contextlib
-import io
-from logging import WARNING
-import os
-from pathlib import Path
-
-import pytest
-
-from devicetree import edtlib
-
-# Test suite for edtlib.py.
-#
-# Run it using pytest (https://docs.pytest.org/en/stable/usage.html):
-#
-#   $ pytest testedtlib.py
-#
-# See the comment near the top of testdtlib.py for additional pytest advice.
-#
-# test.dts is the main test file. test-bindings/ and test-bindings-2/ has
-# bindings. The tests mostly use string comparisons via the various __repr__()
-# methods.
-
-HERE = os.path.dirname(__file__)
-
-@contextlib.contextmanager
-def from_here():
-    # Convenience hack to minimize diff from zephyr.
-    cwd = os.getcwd()
-    try:
-        os.chdir(HERE)
-        yield
-    finally:
-        os.chdir(cwd)
-
-def hpath(filename):
-    '''Convert 'filename' to the host path syntax.'''
-    return os.fspath(Path(filename))
-
-def test_warnings(caplog):
-    '''Tests for situations that should cause warnings.'''
-
-    with from_here(): edtlib.EDT("test.dts", ["test-bindings"])
-
-    enums_hpath = hpath('test-bindings/enums.yaml')
-    expected_warnings = [
-        f"'oldprop' is marked as deprecated in 'properties:' in {hpath('test-bindings/deprecated.yaml')} for node /test-deprecated.",
-        "unit address and first address in 'reg' (0x1) don't match for /reg-zero-size-cells/node",
-        "unit address and first address in 'reg' (0x5) don't match for /reg-ranges/parent/node",
-        "unit address and first address in 'reg' (0x30000000200000001) don't match for /reg-nested-ranges/grandparent/parent/node",
-        f"compatible 'enums' in binding '{enums_hpath}' has non-tokenizable enum for property 'string-enum': 'foo bar', 'foo_bar'",
-        f"compatible 'enums' in binding '{enums_hpath}' has enum for property 'tokenizable-lower-enum' that is only tokenizable in lowercase: 'bar', 'BAR'",
-    ]
-    assert caplog.record_tuples == [('devicetree.edtlib', WARNING, warning_message)
-                                    for warning_message in expected_warnings]
-
-def test_interrupts():
-    '''Tests for the interrupts property.'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-    filenames = {i: hpath(f'test-bindings/interrupt-{i}-cell.yaml')
-                 for i in range(1, 4)}
-
-    assert str(edt.get_node("/interrupt-parent-test/node").interrupts) == \
-        f"[<ControllerAndData, name: foo, controller: <Node /interrupt-parent-test/controller in 'test.dts', binding {filenames[3]}>, data: OrderedDict([('one', 1), ('two', 2), ('three', 3)])>, <ControllerAndData, name: bar, controller: <Node /interrupt-parent-test/controller in 'test.dts', binding {filenames[3]}>, data: OrderedDict([('one', 4), ('two', 5), ('three', 6)])>]"
-
-    assert str(edt.get_node("/interrupts-extended-test/node").interrupts) == \
-        f"[<ControllerAndData, controller: <Node /interrupts-extended-test/controller-0 in 'test.dts', binding {filenames[1]}>, data: OrderedDict([('one', 1)])>, <ControllerAndData, controller: <Node /interrupts-extended-test/controller-1 in 'test.dts', binding {filenames[2]}>, data: OrderedDict([('one', 2), ('two', 3)])>, <ControllerAndData, controller: <Node /interrupts-extended-test/controller-2 in 'test.dts', binding {filenames[3]}>, data: OrderedDict([('one', 4), ('two', 5), ('three', 6)])>]"
-
-    assert str(edt.get_node("/interrupt-map-test/node@0").interrupts) == \
-        f"[<ControllerAndData, controller: <Node /interrupt-map-test/controller-0 in 'test.dts', binding {filenames[1]}>, data: OrderedDict([('one', 0)])>, <ControllerAndData, controller: <Node /interrupt-map-test/controller-1 in 'test.dts', binding {filenames[2]}>, data: OrderedDict([('one', 0), ('two', 1)])>, <ControllerAndData, controller: <Node /interrupt-map-test/controller-2 in 'test.dts', binding {filenames[3]}>, data: OrderedDict([('one', 0), ('two', 0), ('three', 2)])>]"
-
-    assert str(edt.get_node("/interrupt-map-test/node@1").interrupts) == \
-        f"[<ControllerAndData, controller: <Node /interrupt-map-test/controller-0 in 'test.dts', binding {filenames[1]}>, data: OrderedDict([('one', 3)])>, <ControllerAndData, controller: <Node /interrupt-map-test/controller-1 in 'test.dts', binding {filenames[2]}>, data: OrderedDict([('one', 0), ('two', 4)])>, <ControllerAndData, controller: <Node /interrupt-map-test/controller-2 in 'test.dts', binding {filenames[3]}>, data: OrderedDict([('one', 0), ('two', 0), ('three', 5)])>]"
-
-    assert str(edt.get_node("/interrupt-map-bitops-test/node@70000000E").interrupts) == \
-        f"[<ControllerAndData, controller: <Node /interrupt-map-bitops-test/controller in 'test.dts', binding {filenames[2]}>, data: OrderedDict([('one', 3), ('two', 2)])>]"
-
-def test_ranges():
-    '''Tests for the ranges property'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-
-    assert str(edt.get_node("/reg-ranges/parent").ranges) == \
-        "[<Range, child-bus-cells: 0x1, child-bus-addr: 0x1, parent-bus-cells: 0x2, parent-bus-addr: 0xa0000000b, length-cells 0x1, length 0x1>, <Range, child-bus-cells: 0x1, child-bus-addr: 0x2, parent-bus-cells: 0x2, parent-bus-addr: 0xc0000000d, length-cells 0x1, length 0x2>, <Range, child-bus-cells: 0x1, child-bus-addr: 0x4, parent-bus-cells: 0x2, parent-bus-addr: 0xe0000000f, length-cells 0x1, length 0x1>]"
-
-    assert str(edt.get_node("/reg-nested-ranges/grandparent").ranges) == \
-        "[<Range, child-bus-cells: 0x2, child-bus-addr: 0x0, parent-bus-cells: 0x3, parent-bus-addr: 0x30000000000000000, length-cells 0x2, length 0x200000002>]"
-
-    assert str(edt.get_node("/reg-nested-ranges/grandparent/parent").ranges) == \
-        "[<Range, child-bus-cells: 0x1, child-bus-addr: 0x0, parent-bus-cells: 0x2, parent-bus-addr: 0x200000000, length-cells 0x1, length 0x2>]"
-
-    assert str(edt.get_node("/ranges-zero-cells/node").ranges) == "[]"
-
-    assert str(edt.get_node("/ranges-zero-parent-cells/node").ranges) == \
-        "[<Range, child-bus-cells: 0x1, child-bus-addr: 0xa, parent-bus-cells: 0x0, length-cells 0x0>, <Range, child-bus-cells: 0x1, child-bus-addr: 0x1a, parent-bus-cells: 0x0, length-cells 0x0>, <Range, child-bus-cells: 0x1, child-bus-addr: 0x2a, parent-bus-cells: 0x0, length-cells 0x0>]"
-
-    assert str(edt.get_node("/ranges-one-address-cells/node").ranges) == \
-        "[<Range, child-bus-cells: 0x1, child-bus-addr: 0xa, parent-bus-cells: 0x0, length-cells 0x1, length 0xb>, <Range, child-bus-cells: 0x1, child-bus-addr: 0x1a, parent-bus-cells: 0x0, length-cells 0x1, length 0x1b>, <Range, child-bus-cells: 0x1, child-bus-addr: 0x2a, parent-bus-cells: 0x0, length-cells 0x1, length 0x2b>]"
-
-    assert str(edt.get_node("/ranges-one-address-two-size-cells/node").ranges) == \
-        "[<Range, child-bus-cells: 0x1, child-bus-addr: 0xa, parent-bus-cells: 0x0, length-cells 0x2, length 0xb0000000c>, <Range, child-bus-cells: 0x1, child-bus-addr: 0x1a, parent-bus-cells: 0x0, length-cells 0x2, length 0x1b0000001c>, <Range, child-bus-cells: 0x1, child-bus-addr: 0x2a, parent-bus-cells: 0x0, length-cells 0x2, length 0x2b0000002c>]"
-
-    assert str(edt.get_node("/ranges-two-address-cells/node@1").ranges) == \
-        "[<Range, child-bus-cells: 0x2, child-bus-addr: 0xa0000000b, parent-bus-cells: 0x1, parent-bus-addr: 0xc, length-cells 0x1, length 0xd>, <Range, child-bus-cells: 0x2, child-bus-addr: 0x1a0000001b, parent-bus-cells: 0x1, parent-bus-addr: 0x1c, length-cells 0x1, length 0x1d>, <Range, child-bus-cells: 0x2, child-bus-addr: 0x2a0000002b, parent-bus-cells: 0x1, parent-bus-addr: 0x2c, length-cells 0x1, length 0x2d>]"
-
-    assert str(edt.get_node("/ranges-two-address-two-size-cells/node@1").ranges) == \
-        "[<Range, child-bus-cells: 0x2, child-bus-addr: 0xa0000000b, parent-bus-cells: 0x1, parent-bus-addr: 0xc, length-cells 0x2, length 0xd0000000e>, <Range, child-bus-cells: 0x2, child-bus-addr: 0x1a0000001b, parent-bus-cells: 0x1, parent-bus-addr: 0x1c, length-cells 0x2, length 0x1d0000001e>, <Range, child-bus-cells: 0x2, child-bus-addr: 0x2a0000002b, parent-bus-cells: 0x1, parent-bus-addr: 0x2c, length-cells 0x2, length 0x2d0000001d>]"
-
-    assert str(edt.get_node("/ranges-three-address-cells/node@1").ranges) == \
-        "[<Range, child-bus-cells: 0x3, child-bus-addr: 0xa0000000b0000000c, parent-bus-cells: 0x2, parent-bus-addr: 0xd0000000e, length-cells 0x1, length 0xf>, <Range, child-bus-cells: 0x3, child-bus-addr: 0x1a0000001b0000001c, parent-bus-cells: 0x2, parent-bus-addr: 0x1d0000001e, length-cells 0x1, length 0x1f>, <Range, child-bus-cells: 0x3, child-bus-addr: 0x2a0000002b0000002c, parent-bus-cells: 0x2, parent-bus-addr: 0x2d0000002e, length-cells 0x1, length 0x2f>]"
-
-    assert str(edt.get_node("/ranges-three-address-two-size-cells/node@1").ranges) == \
-        "[<Range, child-bus-cells: 0x3, child-bus-addr: 0xa0000000b0000000c, parent-bus-cells: 0x2, parent-bus-addr: 0xd0000000e, length-cells 0x2, length 0xf00000010>, <Range, child-bus-cells: 0x3, child-bus-addr: 0x1a0000001b0000001c, parent-bus-cells: 0x2, parent-bus-addr: 0x1d0000001e, length-cells 0x2, length 0x1f00000110>, <Range, child-bus-cells: 0x3, child-bus-addr: 0x2a0000002b0000002c, parent-bus-cells: 0x2, parent-bus-addr: 0x2d0000002e, length-cells 0x2, length 0x2f00000210>]"
-
-def test_reg():
-    '''Tests for the regs property'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-
-    assert str(edt.get_node("/reg-zero-address-cells/node").regs) == \
-        "[<Register, size: 0x1>, <Register, size: 0x2>]"
-
-    assert str(edt.get_node("/reg-zero-size-cells/node").regs) == \
-        "[<Register, addr: 0x1>, <Register, addr: 0x2>]"
-
-    assert str(edt.get_node("/reg-ranges/parent/node").regs) == \
-        "[<Register, addr: 0x5, size: 0x1>, <Register, addr: 0xe0000000f, size: 0x1>, <Register, addr: 0xc0000000e, size: 0x1>, <Register, addr: 0xc0000000d, size: 0x1>, <Register, addr: 0xa0000000b, size: 0x1>, <Register, addr: 0x0, size: 0x1>]"
-
-    assert str(edt.get_node("/reg-nested-ranges/grandparent/parent/node").regs) == \
-        "[<Register, addr: 0x30000000200000001, size: 0x1>]"
-
-def test_pinctrl():
-    '''Test 'pinctrl-<index>'.'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-
-    assert str(edt.get_node("/pinctrl/dev").pinctrls) == \
-        "[<PinCtrl, name: zero, configuration nodes: []>, <PinCtrl, name: one, configuration nodes: [<Node /pinctrl/pincontroller/state-1 in 'test.dts', no binding>]>, <PinCtrl, name: two, configuration nodes: [<Node /pinctrl/pincontroller/state-1 in 'test.dts', no binding>, <Node /pinctrl/pincontroller/state-2 in 'test.dts', no binding>]>]"
-
-def test_hierarchy():
-    '''Test Node.parent and Node.children'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-
-    assert edt.get_node("/").parent is None
-
-    assert str(edt.get_node("/parent/child-1").parent) == \
-        "<Node /parent in 'test.dts', no binding>"
-
-    assert str(edt.get_node("/parent/child-2/grandchild").parent) == \
-        "<Node /parent/child-2 in 'test.dts', no binding>"
-
-    assert str(edt.get_node("/parent").children) == \
-        "OrderedDict([('child-1', <Node /parent/child-1 in 'test.dts', no binding>), ('child-2', <Node /parent/child-2 in 'test.dts', no binding>)])"
-
-    assert edt.get_node("/parent/child-1").children == {}
-
-def test_include():
-    '''Test 'include:' and the legacy 'inherits: !include ...' in bindings'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-
-    assert str(edt.get_node("/binding-include").description) == \
-        "Parent binding"
-
-    assert str(edt.get_node("/binding-include").props) == \
-        "OrderedDict([('foo', <Property, name: foo, type: int, value: 0>), ('bar', <Property, name: bar, type: int, value: 1>), ('baz', <Property, name: baz, type: int, value: 2>), ('qaz', <Property, name: qaz, type: int, value: 3>)])"
-
-def test_include_filters():
-    '''Test property-allowlist and property-blocklist in an include.'''
-
-    fname2path = {'include.yaml': 'test-bindings-include/include.yaml',
-                  'include-2.yaml': 'test-bindings-include/include-2.yaml'}
-
-    with pytest.raises(edtlib.EDTError) as e:
-        with from_here():
-            edtlib.Binding("test-bindings-include/allow-and-blocklist.yaml", fname2path)
-    assert ("should not specify both 'property-allowlist:' and 'property-blocklist:'"
-            in str(e.value))
-
-    with pytest.raises(edtlib.EDTError) as e:
-        with from_here():
-            edtlib.Binding("test-bindings-include/allow-and-blocklist-child.yaml", fname2path)
-    assert ("should not specify both 'property-allowlist:' and 'property-blocklist:'"
-            in str(e.value))
-
-    with pytest.raises(edtlib.EDTError) as e:
-        with from_here():
-            edtlib.Binding("test-bindings-include/allow-not-list.yaml", fname2path)
-    value_str = str(e.value)
-    assert value_str.startswith("'property-allowlist' value")
-    assert value_str.endswith("should be a list")
-
-    with pytest.raises(edtlib.EDTError) as e:
-        with from_here():
-            edtlib.Binding("test-bindings-include/block-not-list.yaml", fname2path)
-    value_str = str(e.value)
-    assert value_str.startswith("'property-blocklist' value")
-    assert value_str.endswith("should be a list")
-
-    with pytest.raises(edtlib.EDTError) as e:
-        with from_here():
-            binding = edtlib.Binding("test-bindings-include/include-invalid-keys.yaml", fname2path)
-    value_str = str(e.value)
-    assert value_str.startswith(
-        "'include:' in test-bindings-include/include-invalid-keys.yaml should not have these "
-        "unexpected contents: ")
-    assert 'bad-key-1' in value_str
-    assert 'bad-key-2' in value_str
-
-    with pytest.raises(edtlib.EDTError) as e:
-        with from_here():
-            binding = edtlib.Binding("test-bindings-include/include-invalid-type.yaml", fname2path)
-    value_str = str(e.value)
-    assert value_str.startswith(
-        "'include:' in test-bindings-include/include-invalid-type.yaml "
-        "should be a string or list, but has type ")
-
-    with pytest.raises(edtlib.EDTError) as e:
-        with from_here():
-            binding = edtlib.Binding("test-bindings-include/include-no-name.yaml", fname2path)
-    value_str = str(e.value)
-    assert value_str.startswith("'include:' element")
-    assert value_str.endswith(
-        "in test-bindings-include/include-no-name.yaml should have a 'name' key")
-
-    with from_here():
-        binding = edtlib.Binding("test-bindings-include/allowlist.yaml", fname2path)
-        assert set(binding.prop2specs.keys()) == {'x'}  # 'x' is allowed
-
-        binding = edtlib.Binding("test-bindings-include/empty-allowlist.yaml", fname2path)
-        assert set(binding.prop2specs.keys()) == set()  # nothing is allowed
-
-        binding = edtlib.Binding("test-bindings-include/blocklist.yaml", fname2path)
-        assert set(binding.prop2specs.keys()) == {'y', 'z'}  # 'x' is blocked
-
-        binding = edtlib.Binding("test-bindings-include/empty-blocklist.yaml", fname2path)
-        assert set(binding.prop2specs.keys()) == {'x', 'y', 'z'}  # nothing is blocked
-
-        binding = edtlib.Binding("test-bindings-include/intermixed.yaml", fname2path)
-        assert set(binding.prop2specs.keys()) == {'x', 'a'}
-
-        binding = edtlib.Binding("test-bindings-include/include-no-list.yaml", fname2path)
-        assert set(binding.prop2specs.keys()) == {'x', 'y', 'z'}
-
-        binding = edtlib.Binding("test-bindings-include/filter-child-bindings.yaml", fname2path)
-        child = binding.child_binding
-        grandchild = child.child_binding
-        assert set(binding.prop2specs.keys()) == {'x'}
-        assert set(child.prop2specs.keys()) == {'child-prop-2'}
-        assert set(grandchild.prop2specs.keys()) == {'grandchild-prop-1'}
-
-
-def test_bus():
-    '''Test 'bus:' and 'on-bus:' in bindings'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-
-    assert edt.get_node("/buses/foo-bus").bus == "foo"
-
-    # foo-bus does not itself appear on a bus
-    assert edt.get_node("/buses/foo-bus").on_bus is None
-    assert edt.get_node("/buses/foo-bus").bus_node is None
-
-    # foo-bus/node1 is not a bus node...
-    assert edt.get_node("/buses/foo-bus/node1").bus is None
-    # ...but is on a bus
-    assert edt.get_node("/buses/foo-bus/node1").on_bus == "foo"
-    assert edt.get_node("/buses/foo-bus/node1").bus_node.path == \
-        "/buses/foo-bus"
-
-    # foo-bus/node2 is not a bus node...
-    assert edt.get_node("/buses/foo-bus/node2").bus is None
-    # ...but is on a bus
-    assert edt.get_node("/buses/foo-bus/node2").on_bus == "foo"
-
-    # no-bus-node is not a bus node...
-    assert edt.get_node("/buses/no-bus-node").bus is None
-    # ... and is not on a bus
-    assert edt.get_node("/buses/no-bus-node").on_bus is None
-
-    # Same compatible string, but different bindings from being on different
-    # buses
-    assert str(edt.get_node("/buses/foo-bus/node1").binding_path) == \
-        hpath("test-bindings/device-on-foo-bus.yaml")
-    assert str(edt.get_node("/buses/foo-bus/node2").binding_path) == \
-        hpath("test-bindings/device-on-any-bus.yaml")
-    assert str(edt.get_node("/buses/bar-bus/node").binding_path) == \
-        hpath("test-bindings/device-on-bar-bus.yaml")
-    assert str(edt.get_node("/buses/no-bus-node").binding_path) == \
-        hpath("test-bindings/device-on-any-bus.yaml")
-
-    # foo-bus/node/nested also appears on the foo-bus bus
-    assert edt.get_node("/buses/foo-bus/node1/nested").on_bus == "foo"
-    assert str(edt.get_node("/buses/foo-bus/node1/nested").binding_path) == \
-        hpath("test-bindings/device-on-foo-bus.yaml")
-
-def test_child_binding():
-    '''Test 'child-binding:' in bindings'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-    child1 = edt.get_node("/child-binding/child-1")
-    child2 = edt.get_node("/child-binding/child-2")
-    grandchild = edt.get_node("/child-binding/child-1/grandchild")
-
-    assert str(child1.binding_path) == hpath("test-bindings/child-binding.yaml")
-    assert str(child1.description) == "child node"
-    assert str(child1.props) == "OrderedDict([('child-prop', <Property, name: child-prop, type: int, value: 1>)])"
-
-    assert str(child2.binding_path) == hpath("test-bindings/child-binding.yaml")
-    assert str(child2.description) == "child node"
-    assert str(child2.props) == "OrderedDict([('child-prop', <Property, name: child-prop, type: int, value: 3>)])"
-
-    assert str(grandchild.binding_path) == hpath("test-bindings/child-binding.yaml")
-    assert str(grandchild.description) == "grandchild node"
-    assert str(grandchild.props) == "OrderedDict([('grandchild-prop', <Property, name: grandchild-prop, type: int, value: 2>)])"
-
-    with from_here():
-        binding_file = Path("test-bindings/child-binding.yaml").resolve()
-        top = edtlib.Binding(binding_file, {})
-    child = top.child_binding
-    assert Path(top.path) == binding_file
-    assert Path(child.path) == binding_file
-    assert top.compatible == 'top-binding'
-    assert child.compatible is None
-
-    with from_here():
-        binding_file = Path("test-bindings/child-binding-with-compat.yaml").resolve()
-        top = edtlib.Binding(binding_file, {})
-    child = top.child_binding
-    assert Path(top.path) == binding_file
-    assert Path(child.path) == binding_file
-    assert top.compatible == 'top-binding-with-compat'
-    assert child.compatible == 'child-compat'
-
-def test_props():
-    '''Test Node.props (derived from DT and 'properties:' in the binding)'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-    filenames = {i: hpath(f'test-bindings/phandle-array-controller-{i}.yaml')
-                 for i in range(0, 4)}
-
-    assert str(edt.get_node("/props").props["int"]) == \
-        "<Property, name: int, type: int, value: 1>"
-
-    assert str(edt.get_node("/props").props["existent-boolean"]) == \
-        "<Property, name: existent-boolean, type: boolean, value: True>"
-
-    assert str(edt.get_node("/props").props["nonexistent-boolean"]) == \
-        "<Property, name: nonexistent-boolean, type: boolean, value: False>"
-
-    assert str(edt.get_node("/props").props["array"]) == \
-        "<Property, name: array, type: array, value: [1, 2, 3]>"
-
-    assert str(edt.get_node("/props").props["uint8-array"]) == \
-        r"<Property, name: uint8-array, type: uint8-array, value: b'\x124'>"
-
-    assert str(edt.get_node("/props").props["string"]) == \
-        "<Property, name: string, type: string, value: 'foo'>"
-
-    assert str(edt.get_node("/props").props["string-array"]) == \
-        "<Property, name: string-array, type: string-array, value: ['foo', 'bar', 'baz']>"
-
-    assert str(edt.get_node("/props").props["phandle-ref"]) == \
-        f"<Property, name: phandle-ref, type: phandle, value: <Node /ctrl-1 in 'test.dts', binding {filenames[1]}>>"
-
-    assert str(edt.get_node("/props").props["phandle-refs"]) == \
-        f"<Property, name: phandle-refs, type: phandles, value: [<Node /ctrl-1 in 'test.dts', binding {filenames[1]}>, <Node /ctrl-2 in 'test.dts', binding {filenames[2]}>]>"
-
-    assert str(edt.get_node("/props").props["phandle-array-foos"]) == \
-        f"<Property, name: phandle-array-foos, type: phandle-array, value: [<ControllerAndData, controller: <Node /ctrl-1 in 'test.dts', binding {filenames[1]}>, data: OrderedDict([('one', 1)])>, <ControllerAndData, controller: <Node /ctrl-2 in 'test.dts', binding {filenames[2]}>, data: OrderedDict([('one', 2), ('two', 3)])>]>"
-
-    assert str(edt.get_node("/props-2").props["phandle-array-foos"]) == \
-        ("<Property, name: phandle-array-foos, type: phandle-array, value: ["
-         f"<ControllerAndData, name: a, controller: <Node /ctrl-0-1 in 'test.dts', binding {filenames[0]}>, data: OrderedDict()>, "
-         "None, "
-         f"<ControllerAndData, name: b, controller: <Node /ctrl-0-2 in 'test.dts', binding {filenames[0]}>, data: OrderedDict()>]>")
-
-    assert str(edt.get_node("/props").props["foo-gpios"]) == \
-        f"<Property, name: foo-gpios, type: phandle-array, value: [<ControllerAndData, controller: <Node /ctrl-1 in 'test.dts', binding {filenames[1]}>, data: OrderedDict([('gpio-one', 1)])>]>"
-
-    assert str(edt.get_node("/props").props["path"]) == \
-        f"<Property, name: path, type: path, value: <Node /ctrl-1 in 'test.dts', binding {filenames[1]}>>"
-
-def test_nexus():
-    '''Test <prefix>-map via gpio-map (the most common case).'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-    filename = hpath('test-bindings/gpio-dst.yaml')
-
-    assert str(edt.get_node("/gpio-map/source").props["foo-gpios"]) == \
-        f"<Property, name: foo-gpios, type: phandle-array, value: [<ControllerAndData, controller: <Node /gpio-map/destination in 'test.dts', binding {filename}>, data: OrderedDict([('val', 6)])>, <ControllerAndData, controller: <Node /gpio-map/destination in 'test.dts', binding {filename}>, data: OrderedDict([('val', 5)])>]>"
-
-    assert str(edt.get_node("/gpio-map/source").props["foo-gpios"].val[0].basename) == f"gpio"
-
-def test_prop_defaults():
-    '''Test property default values given in bindings'''
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-
-    assert str(edt.get_node("/defaults").props) == \
-        r"OrderedDict([('int', <Property, name: int, type: int, value: 123>), ('array', <Property, name: array, type: array, value: [1, 2, 3]>), ('uint8-array', <Property, name: uint8-array, type: uint8-array, value: b'\x89\xab\xcd'>), ('string', <Property, name: string, type: string, value: 'hello'>), ('string-array', <Property, name: string-array, type: string-array, value: ['hello', 'there']>), ('default-not-used', <Property, name: default-not-used, type: int, value: 234>)])"
-
-def test_prop_enums():
-    '''test properties with enum: in the binding'''
-
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"])
-    props = edt.get_node('/enums').props
-    int_enum = props['int-enum']
-    string_enum = props['string-enum']
-    tokenizable_enum = props['tokenizable-enum']
-    tokenizable_lower_enum = props['tokenizable-lower-enum']
-    no_enum = props['no-enum']
-
-    assert int_enum.val == 1
-    assert int_enum.enum_index == 0
-    assert not int_enum.spec.enum_tokenizable
-    assert not int_enum.spec.enum_upper_tokenizable
-
-    assert string_enum.val == 'foo_bar'
-    assert string_enum.enum_index == 1
-    assert not string_enum.spec.enum_tokenizable
-    assert not string_enum.spec.enum_upper_tokenizable
-
-    assert tokenizable_enum.val == '123 is ok'
-    assert tokenizable_enum.val_as_token == '123_is_ok'
-    assert tokenizable_enum.enum_index == 2
-    assert tokenizable_enum.spec.enum_tokenizable
-    assert tokenizable_enum.spec.enum_upper_tokenizable
-
-    assert tokenizable_lower_enum.val == 'bar'
-    assert tokenizable_lower_enum.val_as_token == 'bar'
-    assert tokenizable_lower_enum.enum_index == 0
-    assert tokenizable_lower_enum.spec.enum_tokenizable
-    assert not tokenizable_lower_enum.spec.enum_upper_tokenizable
-
-    assert no_enum.enum_index is None
-    assert not no_enum.spec.enum_tokenizable
-    assert not no_enum.spec.enum_upper_tokenizable
-
-def test_binding_inference():
-    '''Test inferred bindings for special zephyr-specific nodes.'''
-    warnings = io.StringIO()
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"], warnings)
-
-    assert str(edt.get_node("/zephyr,user").props) == r"OrderedDict()"
-
-    with from_here():
-        edt = edtlib.EDT("test.dts", ["test-bindings"], warnings,
-                         infer_binding_for_paths=["/zephyr,user"])
-    filenames = {i: hpath(f'test-bindings/phandle-array-controller-{i}.yaml')
-                 for i in range(1, 3)}
-
-    assert str(edt.get_node("/zephyr,user").props) == \
-        rf"OrderedDict([('boolean', <Property, name: boolean, type: boolean, value: True>), ('bytes', <Property, name: bytes, type: uint8-array, value: b'\x81\x82\x83'>), ('number', <Property, name: number, type: int, value: 23>), ('numbers', <Property, name: numbers, type: array, value: [1, 2, 3]>), ('string', <Property, name: string, type: string, value: 'text'>), ('strings', <Property, name: strings, type: string-array, value: ['a', 'b', 'c']>), ('handle', <Property, name: handle, type: phandle, value: <Node /ctrl-1 in 'test.dts', binding {filenames[1]}>>), ('phandles', <Property, name: phandles, type: phandles, value: [<Node /ctrl-1 in 'test.dts', binding {filenames[1]}>, <Node /ctrl-2 in 'test.dts', binding {filenames[2]}>]>), ('phandle-array-foos', <Property, name: phandle-array-foos, type: phandle-array, value: [<ControllerAndData, controller: <Node /ctrl-2 in 'test.dts', binding {filenames[2]}>, data: OrderedDict([('one', 1), ('two', 2)])>]>)])"
-
-def test_multi_bindings():
-    '''Test having multiple directories with bindings'''
-    with from_here():
-        edt = edtlib.EDT("test-multidir.dts", ["test-bindings", "test-bindings-2"])
-
-    assert str(edt.get_node("/in-dir-1").binding_path) == \
-        hpath("test-bindings/multidir.yaml")
-
-    assert str(edt.get_node("/in-dir-2").binding_path) == \
-        hpath("test-bindings-2/multidir.yaml")
-
-def test_dependencies():
-    ''''Test dependency relations'''
-    with from_here():
-        edt = edtlib.EDT("test-multidir.dts", ["test-bindings", "test-bindings-2"])
-
-    assert edt.get_node("/").dep_ordinal == 0
-    assert edt.get_node("/in-dir-1").dep_ordinal == 1
-    assert edt.get_node("/") in edt.get_node("/in-dir-1").depends_on
-    assert edt.get_node("/in-dir-1") in edt.get_node("/").required_by
-
-def test_slice_errs(tmp_path):
-    '''Test error messages from the internal _slice() helper'''
-
-    dts_file = tmp_path / "error.dts"
-
-    verify_error("""
-/dts-v1/;
-
-/ {
-	#address-cells = <1>;
-	#size-cells = <2>;
-
-	sub {
-		reg = <3>;
-	};
-};
-""",
-                 dts_file,
-                 f"'reg' property in <Node /sub in '{dts_file}'> has length 4, which is not evenly divisible by 12 (= 4*(<#address-cells> (= 1) + <#size-cells> (= 2))). Note that #*-cells properties come either from the parent node or from the controller (in the case of 'interrupts').")
-
-    verify_error("""
-/dts-v1/;
-
-/ {
-	sub {
-		interrupts = <1>;
-		interrupt-parent = < &{/controller} >;
-	};
-	controller {
-		interrupt-controller;
-		#interrupt-cells = <2>;
-	};
-};
-""",
-                 dts_file,
-                 f"'interrupts' property in <Node /sub in '{dts_file}'> has length 4, which is not evenly divisible by 8 (= 4*<#interrupt-cells>). Note that #*-cells properties come either from the parent node or from the controller (in the case of 'interrupts').")
-
-    verify_error("""
-/dts-v1/;
-
-/ {
-	#address-cells = <1>;
-
-	sub-1 {
-		#address-cells = <2>;
-		#size-cells = <3>;
-		ranges = <4 5>;
-
-		sub-2 {
-			reg = <1 2 3 4 5>;
-		};
-	};
-};
-""",
-                 dts_file,
-                 f"'ranges' property in <Node /sub-1 in '{dts_file}'> has length 8, which is not evenly divisible by 24 (= 4*(<#address-cells> (= 2) + <#address-cells for parent> (= 1) + <#size-cells> (= 3))). Note that #*-cells properties come either from the parent node or from the controller (in the case of 'interrupts').")
-
-def test_bad_compatible(tmp_path):
-    # An invalid compatible should cause an error, even on a node with
-    # no binding.
-
-    dts_file = tmp_path / "error.dts"
-
-    verify_error("""
-/dts-v1/;
-
-/ {
-	foo {
-		compatible = "no, whitespace";
-	};
-};
-""",
-                 dts_file,
-                 r"node '/foo' compatible 'no, whitespace' must match this regular expression: '^[a-zA-Z][a-zA-Z0-9,+\-._]+$'")
-
-def test_wrong_props():
-    '''Test Node.wrong_props (derived from DT and 'properties:' in the binding)'''
-
-    with from_here():
-        with pytest.raises(edtlib.EDTError) as e:
-            edtlib.Binding("test-wrong-bindings/wrong-specifier-space-type.yaml", None)
-        assert ("'specifier-space' in 'properties: wrong-type-for-specifier-space' has type 'phandle', expected 'phandle-array'"
-            in str(e.value))
-
-        with pytest.raises(edtlib.EDTError) as e:
-            edtlib.Binding("test-wrong-bindings/wrong-phandle-array-name.yaml", None)
-        value_str = str(e.value)
-        assert value_str.startswith("'wrong-phandle-array-name' in 'properties:'")
-        assert value_str.endswith("but no 'specifier-space' was provided.")
-
-
-def verify_error(dts, dts_file, expected_err):
-    # Verifies that parsing a file 'dts_file' with the contents 'dts'
-    # (a string) raises an EDTError with the message 'expected_err'.
-    #
-    # The path 'dts_file' is written with the string 'dts' before the
-    # test is run.
-
-    with open(dts_file, "w", encoding="utf-8") as f:
-        f.write(dts)
-        f.flush()  # Can't have unbuffered text IO, so flush() instead
-
-    with pytest.raises(edtlib.EDTError) as e:
-        edtlib.EDT(dts_file, [])
-
-    assert str(e.value) == expected_err

Tools/dts/python-devicetree/tox.ini

@@ -1,19 +0,0 @@
-[tox]
-envlist=py3
-
-[testenv]
-deps =
-    setuptools-scm
-    pytest
-    types-PyYAML
-    mypy
-setenv =
-    TOXTEMPDIR={envtmpdir}
-commands =
-  python -m pytest {posargs:tests}
-  python -m mypy --config-file={toxinidir}/tox.ini --package=devicetree
-
-[mypy]
-mypy_path=src
-ignore_missing_imports=True
-

Tools/jmavsim_run.sh

@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loa" opt; do
+while getopts ":b:d:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,7 +40,10 @@ while getopts ":b:d:p:qsr:f:i:loa" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft
+			extra_args="$extra_args -fw" # aircraft model
+			;;
+		t)
+			extra_args="$extra_args -ts" # tailsitter model
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2

Tools/kconfig/cmake_kconfig_lut.txt

@@ -156,7 +156,6 @@ bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
 dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
 dyn,CONFIG_SYSTEMCMDS_DYN=y
-esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
 failure,CONFIG_SYSTEMCMDS_FAILURE=y
 gpio,CONFIG_SYSTEMCMDS_GPIO=y
 hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -165,7 +164,6 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
-motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y

Tools/module_config/generate_actuators_metadata.py

@@ -142,7 +142,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         }
     if 'show_subgroups_if' in actuator_output_yaml:
         actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
-    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
 
     # config parameters
     def get_config_params(param_list):
@@ -257,14 +256,13 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 per_channel_params.append(param)
 
 
-        if add_reverse_range_param:
-            param = {
-                    'label': 'Rev Range\n(for Servos)',
-                    'name': param_prefix+'_REV',
-                    'index-offset': -1,
-                    'show-as': 'bitset',
-                }
-            per_channel_params.append(param)
+        param = {
+                'label': 'Rev Range\n(for Servos)',
+                'name': param_prefix+'_REV',
+                'index-offset': -1,
+                'show-as': 'bitset',
+            }
+        per_channel_params.append(param)
 
         # TODO: support non-standard per-channel parameters
 

Tools/module_config/generate_params.py

@@ -178,7 +178,6 @@ def get_actuator_output_params(yaml_config, output_functions,
     all_params = {}
     group_idx = 0
 
-    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
     all_param_prefixes = {}
 
     def add_local_param(param_name, param_def):
@@ -299,13 +298,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
 '''
         failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -346,29 +341,29 @@ When set to -1 (default), the value depends on the function (see {:}).
                     }
                 add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
 
-    if add_reverse_range_param:
-        for param_prefix in all_param_prefixes:
-            groups = all_param_prefixes[param_prefix]
-            # collect the bits
-            channel_bits = {}
-            for instance_start, instance_start_label, num_instances, label in groups:
-                for instance in range(instance_start, instance_start+num_instances):
-                    instance_label = instance - instance_start + instance_start_label
-                    channel_bits[instance-1] = label + ' ' + str(instance_label)
+    # add reverse range param
+    for param_prefix in all_param_prefixes:
+        groups = all_param_prefixes[param_prefix]
+        # collect the bits
+        channel_bits = {}
+        for instance_start, instance_start_label, num_instances, label in groups:
+            for instance in range(instance_start, instance_start+num_instances):
+                instance_label = instance - instance_start + instance_start_label
+                channel_bits[instance-1] = label + ' ' + str(instance_label)
 
-            param = {
-                'description': {
-                    'short': 'Reverse Output Range for '+module_name,
-                    'long':
+        param = {
+            'description': {
+                'short': 'Reverse Output Range for '+module_name,
+                'long':
 '''Allows to reverse the output range for each channel.
 Note: this is only useful for servos.
 '''.format(channel_label),
-                    },
-                'type': 'bitmask',
-                'default': 0,
-                'bit': channel_bits
-                }
-            add_local_param(param_prefix+'_REV', param)
+                },
+            'type': 'bitmask',
+            'default': 0,
+            'bit': channel_bits
+            }
+        add_local_param(param_prefix+'_REV', param)
 
     if verbose: print('adding actuator params: {:}'.format(all_params))
     return all_params

Tools/setup/arch.sh

@@ -48,7 +48,6 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
-	ccache \
 	clang \
 	cmake \
 	cppcheck \

Tools/setup/ubuntu.sh

@@ -77,7 +77,6 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
-	ccache \
 	cmake \
 	cppcheck \
 	file \
@@ -101,12 +100,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;
 
-if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
-	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
-	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
-	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
-fi
-
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"

boards/airmind/mindpx-v2/default.px4board

@@ -79,14 +79,12 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/airmind/mindpx-v2/init/rc.board_defaults

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.177939394
+param set-default BAT1_A_PER_V 15.391030303