Three places looped over af_labels asking whether a label named an
alternative function, and none of them used the entry which matched.
str.startswith() takes a tuple of prefixes and does the whole test at
once, so ask it that way instead; two of the three are in
get_alt_function(), which is called for every pin line.
Processing all 443 ChibiOS hwdefs goes from 0.335s to 0.325s. The
parse state of all 490 boards is unchanged.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
valid_type() still ran nine uncompiled re.match() calls for every pin
line, cross-checking the peripheral number in a pin's type against the
one in its label. Compile them once as class members.
Processing all 443 ChibiOS hwdefs goes from 0.35s to 0.32s. The parse
state of all 490 boards is unchanged.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Every line was split into words three times over: once by
process_file() to see whether it was an include line, once by the
HAL-specific process_line(), and once again by the base
process_line() the HAL-specific one delegates to.
Have process_line() take the words the caller has already split out,
and only split in process_file() for lines which could be an include.
That takes the number of splits done to process all 443 ChibiOS hwdefs
from 140374 to 56389, and the time from 0.40s to 0.35s.
The parse state of all 490 boards, and the hwdef.h, ldscript.ld and
hw.dat generated for a sample of 14 boards and their bootloaders, are
unchanged.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
valid_type() rebuilt an 18-entry list of patterns and ran up to 18
uncompiled re.match() calls for every pin line in every hwdef. Compile
the alternation once as a class member instead.
get_mcu_lib() called importlib.import_module() every time, which is
also once per pin line; remember the module we found.
Together these take processing all 443 ChibiOS hwdefs from 0.45s to
0.40s. The parse state of all 490 boards is unchanged.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
shlex is a character-at-a-time lexer written in Python, and it
dominated the cost of processing hwdefs: 65% of the time spent parsing
all 443 ChibiOS hwdefs was inside shlex.split().
Almost no hwdef line needs it. A line containing none of shlex's
special characters, whose whitespace is only spaces and tabs, is split
identically by str.split(); 99.1% of the lines the parser sees qualify.
Take that path when it applies and fall back to shlex otherwise.
Processing all 443 ChibiOS hwdefs goes from 1.39s to 0.45s. The parse
state of all 490 boards, and the hwdef.h, ldscript.ld and hw.dat
generated for a sample of 13 boards and their bootloaders, are
unchanged.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
ALLOW_ARM_NO_COMPASS has not had the stated effect since Nov 2019; remove it from
the template output of the betaflight hwdef conversion script.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The ChibiOS I2Cv4 LLD (used on STM32G0/G4/C0/U0/U3/H5/L4+) uses a
single DMA channel per I2C peripheral, shared between TX and RX,
configured via STM32_I2C_I2Cx_DMA_CHANNEL. The previous code
emitted the separate STM32_I2C_I2Cx_RX/TX_DMA_STREAM defines used
by I2Cv2/I2Cv3, which no longer satisfy the I2Cv4 driver.
Detect I2Cv4 MCUs from CHIBIOS_PLATFORM_MK, allocate a single DMA
channel per I2C peripheral in dma_resolver.py (no _RX/_TX split),
and generate HAL_I2Cn_CONFIG entries that feed the single channel
into the shared DMA slot with SHARED_DMA_NONE as the partner.
Also replace the unconditional STM32_I2C_USE_I2Cn TRUE lines in
stm32g4_mcuconf.h with #ifndef-guarded defaults to FALSE, so
boards only enable the I2C peripherals their hwdef actually uses.
Without this, the I2Cv4 driver demanded DMA channels for every
I2C peripheral on every G4 board regardless of pin usage.
The ROMFS / ROMFS_WILDCARD / ROMFS_DIRECTORY hwdef keywords were
previously only understood by the ChibiOS hwdef parser, which has
duplicated implementations of romfs_add / romfs_wildcard / romfs_add_dir
and a write_ROMFS step that publishes env_vars['ROMFS_FILES']. Lift
all of that into the base HWDef class so any HAL with a hwdef parser
(SITL, future HALs) gets ROMFS handling for free.
- Base hwdef.py owns self.romfs, the romfs_*() methods, the
ROMFS / ROMFS_WILDCARD / ROMFS_DIRECTORY process_line cases,
the undef ROMFS handler, and write_ROMFS(); base run() calls
write_ROMFS() at the end so subclasses that don't override run()
publish ROMFS automatically.
- ChibiOS keeps a thin romfs_add_dir() override solely for its
bootloader-build no-op guard; everything else is inherited.
No behaviour change for ChibiOS boards.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
e.g.:
./Tools/autotest/vehicle_test_suite.py:8607:89: B006 Do not use mutable data structures for argument defaults. They are created during function definition time. All calls to the function reuse this one instance of that data structure, persisting changes between them.
Don't get its path unless we are about to generate it to avoid an
inaccurate list of generated files. Do this by keeping track of the path
in a variable instead of checking for the result on the filesystem.
This is somewhat strange and mixed in with the romfs file and
AP_Param.cpp, to disentangle later...
This will allow waf to avoid cleaning them and avoid unnecessary
regenerations.
Some slight changes to centralize the use of the output directory are
also performed.
Read from the passed in variable instead of the global args object. By
default the variable is set to the args object's contents so there is no
change in behavior.
Note that much of this logic is fishy and/or wrong; that is preserved
and left to be fixed another day.
keeps these out of the main codebase which is nice, but also means we can catch these at configure-time rather than build time, which means CI will catch them
Peter BarkerandClaude Opus 5
Huibean
Andy Piper
Andrew TridgellandClaude Opus 4.7
Norihiko Itou
Christian Clauss
Iampete1
Randy Mackay
Thomas Watson
Shiv Tyagi