WIP: device tree MVP

.ci/Jenkinsfile-hardware

@@ -806,7 +806,7 @@ 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 4018 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
 
   resetParameters()
 
@@ -828,10 +828,13 @@ void runTests() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params/parameters.bson"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params/parameters.bson"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params/parameters.bson"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params/parameters.bson"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'

.clusterfuzzlite/Dockerfile

@@ -1,7 +0,0 @@
-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

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

.clusterfuzzlite/project.yaml

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

.github/workflows/cflite_batch.yml

@@ -1,34 +0,0 @@
-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".

.gitmodules

@@ -64,3 +64,6 @@
 	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

CMakeLists.txt

@@ -413,6 +413,8 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
 
+include(dts)
+
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
 endif()

Makefile

@@ -158,11 +158,6 @@ 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

ROMFS/px4fmu_common/init.d/rcS

@@ -127,7 +127,7 @@ else
 	#
 	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 	then
-		set PARAM_FILE /fs/mtd_params/parameters.bson
+		set PARAM_FILE /fs/mtd_params
 	fi
 
 	#

Tools/HIL/test_airframes.sh

@@ -21,26 +21,13 @@ 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'
@@ -48,15 +35,13 @@ do
 
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}
 
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params/parameters.bson' || true
+	${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

@@ -10,6 +10,7 @@ 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

@@ -0,0 +1,32 @@
+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

@@ -0,0 +1,151 @@
+#!/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

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

Tools/dts/python-devicetree/requirements.txt

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

Tools/dts/python-devicetree/setup.py

@@ -0,0 +1,42 @@
+# 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

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

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

@@ -0,0 +1,161 @@
+# 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

@@ -0,0 +1,5 @@
+# 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

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

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

@@ -0,0 +1,11 @@
+# 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

@@ -0,0 +1,10 @@
+# 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

@@ -0,0 +1,10 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,10 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,11 @@
+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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,10 @@
+# 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

@@ -0,0 +1,5 @@
+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

@@ -0,0 +1,6 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,24 @@
+# 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

@@ -0,0 +1,8 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,20 @@
+# 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

@@ -0,0 +1,19 @@
+# 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

@@ -0,0 +1,8 @@
+# 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

@@ -0,0 +1,36 @@
+# 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

@@ -0,0 +1,15 @@
+# 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

@@ -0,0 +1,5 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,36 @@
+# 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

@@ -0,0 +1,4 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

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

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

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

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

@@ -0,0 +1,8 @@
+# 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

@@ -0,0 +1,9 @@
+# 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

@@ -0,0 +1,10 @@
+# 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

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

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

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

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

@@ -0,0 +1,8 @@
+# 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

@@ -0,0 +1,9 @@
+# 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

@@ -0,0 +1,10 @@
+# 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

@@ -0,0 +1,5 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,13 @@
+# 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

@@ -0,0 +1,7 @@
+# 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

@@ -0,0 +1,11 @@
+# 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

@@ -0,0 +1,9 @@
+# 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

@@ -0,0 +1,50 @@
+# 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

@@ -0,0 +1,19 @@
+/*
+ * 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

@@ -0,0 +1,9 @@
+# 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

@@ -0,0 +1,10 @@
+# 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

@@ -0,0 +1,534 @@
+/*
+ * 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

@@ -0,0 +1,588 @@
+# 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

@@ -0,0 +1,19 @@
+[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
+

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -67,7 +67,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -127,7 +126,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -49,7 +49,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -104,7 +103,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -49,7 +49,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -106,7 +105,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -49,7 +49,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -106,7 +105,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -72,7 +72,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -136,7 +135,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y

boards/av/x-v1/default.px4board

@@ -39,7 +39,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -63,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -73,8 +73,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -77,7 +77,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -158,7 +157,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y

boards/bitcraze/crazyflie/default.px4board

@@ -15,7 +15,9 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
@@ -23,7 +25,6 @@ CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -67,7 +67,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -124,7 +123,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8

boards/bitcraze/crazyflie/src/mtd.cpp

@@ -42,12 +42,18 @@ static const px4_mft_device_t i2c1 = {             // 24AA64FT on Base  8K 32 X
 
 static const px4_mtd_entry_t fmu_eeprom = {
 	.device = &i2c1,
-	.npart = 1,
+	.npart = 2,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 256
+			.nblocks = 128
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 128
+
 		}
 	},
 };

boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig

@@ -122,7 +122,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8

boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig

@@ -50,7 +50,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -107,7 +106,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/cuav/nora/nuttx-config/nsh/defconfig

@@ -71,7 +71,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -136,7 +135,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/cuav/x7pro/nuttx-config/nsh/defconfig

@@ -71,7 +71,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -135,7 +134,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig

@@ -72,7 +72,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -137,7 +136,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/cubepilot/cubeorange/nuttx-config/test/defconfig

@@ -71,7 +71,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -135,7 +134,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/cubepilot/cubeorange/test.px4board

@@ -3,7 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n

boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig

@@ -73,7 +73,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -137,7 +136,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y

boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -61,7 +61,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -121,7 +120,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig

@@ -50,7 +50,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -107,7 +106,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -72,7 +72,6 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -137,7 +136,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -136,7 +136,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1932
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8