HAL_ChibiOS: process AIRSPEED lines in hwdef.dat

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -105,6 +105,7 @@ build_flags = []
 imu_list = []
 compass_list = []
 baro_list = []
+airspeed_list = []
 
 all_lines = []
 
@@ -1269,6 +1270,37 @@ def write_BARO_config(f):
     if len(devlist) > 0:
         f.write('#define HAL_BARO_PROBE_LIST %s\n\n' % ';'.join(devlist))
 
+def write_AIRSPEED_config(f):
+    '''write airspeed config defines'''
+    global airspeed_list
+    devlist = []
+    seen = set()
+    idx = 0
+    for dev in airspeed_list:
+        if seen_str(dev) in seen:
+            error("Duplicate AIRSPEED: %s" % seen_str(dev))
+        seen.add(seen_str(dev))
+        driver = dev[0]
+        wrapper = ''
+        a = driver.split(':')
+        driver = a[0]
+        for i in range(1, len(dev)):
+            if dev[i].startswith("SPI:"):
+                dev[i] = parse_spi_device(dev[i])
+            elif dev[i].startswith("I2C:"):
+                (wrapper, dev[i]) = parse_i2c_device(dev[i])
+                if dev[i].startswith('hal.i2c_mgr'):
+                    dev[i] = 'std::move(%s)' % dev[i]
+        n = len(devlist)+1
+        devlist.append('HAL_AIRSPEED_PROBE%u' % n)
+        args = ['*this', str(idx)] + dev[1:]
+        f.write(
+            '#define HAL_AIRSPEED_PROBE%u %s ADD_BACKEND(AP_Airspeed_%s::probe(%s))\n'
+            % (n, wrapper, driver, ','.join(args)))
+        idx += 1
+    if len(devlist) > 0:
+        f.write('#define HAL_AIRSPEED_PROBE_LIST %s\n\n' % ';'.join(devlist))
+        
 def write_board_validate_macro(f):
     '''write board validation macro'''
     global config
@@ -1944,6 +1976,7 @@ def write_hwdef_header(outfilename):
     write_IMU_config(f)
     write_MAG_config(f)
     write_BARO_config(f)
+    write_AIRSPEED_config(f)
     write_board_validate_macro(f)
     add_apperiph_defaults(f)
 
@@ -2175,7 +2208,7 @@ def romfs_add_dir(subdirs):
 
 def process_line(line):
     '''process one line of pin definition file'''
-    global allpins, imu_list, compass_list, baro_list
+    global allpins, imu_list, compass_list, baro_list, airspeed_list
     global mcu_type, mcu_series, default_gpio
     all_lines.append(line)
     a = shlex.split(line, posix=False)
@@ -2249,6 +2282,8 @@ def process_line(line):
         compass_list.append(a[1:])
     elif a[0] == 'BARO':
         baro_list.append(a[1:])
+    elif a[0] == 'AIRSPEED':
+        airspeed_list.append(a[1:])
     elif a[0] == 'ROMFS':
         romfs_add(a[1], a[2])
     elif a[0] == 'ROMFS_WILDCARD':
@@ -2278,6 +2313,8 @@ def process_line(line):
                 compass_list = []
             if u == 'BARO':
                 baro_list = []
+            if u == 'AIRSPEED':
+                airspeed_list = []
     elif a[0] == 'env':
         print("Adding environment %s" % ' '.join(a[1:]))
         if len(a[1:]) < 2: