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params: use PWM_MAIN_* instead of PWM_FMU_*

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Beat Küng
2021-10-05 13:26:52 +02:00
committed by Daniel Agar
parent ba4a1ec6c4
commit ab1d76ae7d
15 changed files with 58 additions and 149 deletions
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19
Tools/module_config/generate_params.py
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@@ -31,6 +31,9 @@ parser.add_argument('--ethernet', action='store_true',
help='Ethernet support')
parser.add_argument('--board', type=str, action='store',
help='board name, e.g. ')
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
help='Indicate that the board as an IO for extra PWM',
default=False)
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
help='Verbose Output')
@@ -40,23 +43,30 @@ verbose = args.verbose
params_output_file = args.params_file
timer_config_file = args.timer_config
ethernet_supported = args.ethernet
board_with_io = args.board_with_io
board = args.board
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
def process_param_prefix(param_prefix):
if param_prefix == '${PWM_FMU_OR_HIL}':
if board == 'px4_sitl': return 'PWM_FMU'
if param_prefix == '${PWM_MAIN_OR_HIL}':
if board == 'px4_sitl': return 'PWM_MAIN'
return 'HIL_ACT'
if param_prefix == '${PWM_MAIN_OR_AUX}':
if board_with_io: return 'PWM_AUX'
return 'PWM_MAIN'
if '${' in param_prefix:
raise Exception('unhandled variable in {:}'.format(param_prefix))
return param_prefix
def process_channel_label(channel_label):
if channel_label == '${PWM_FMU_OR_HIL}':
if channel_label == '${PWM_MAIN_OR_HIL}':
if board == 'px4_sitl': return 'PWM Sim'
return 'HIL actuator'
if channel_label == '${PWM_MAIN_OR_AUX}':
if board_with_io: return 'PWM Aux'
return 'PWM Main'
if '${' in channel_label:
raise Exception('unhandled variable in {:}'.format(channel_label))
return channel_label
@@ -171,9 +181,8 @@ def get_actuator_output_params(yaml_config, output_functions,
# We do this by extending the output_groups list and parse in a later iteration
if 'generator' in group:
if group['generator'] == 'pwm':
# We might set these depending on presence of IO in build...
param_prefix = process_param_prefix(group['param_prefix'])
channel_labels = group['channel_labels']
channel_labels = [process_channel_label(label) for label in group['channel_labels']]
standard_params = group.get('standard_params', [])
extra_function_groups = group.get('extra_function_groups', [])
pwm_timer_param = group.get('pwm_timer_param', None)