`esw.config`

Reads board register definitions and turns them into either a C++ header or a set of values to push over CAN. For the file formats themselves see Register Definitions.

esw.config.types

The shared tables. Two of them, and they do not agree. See the warning in Register Definitions.

Symbol	Purpose
TypeInfo(type: str, size: int)	a C type and its width
types: dict[str, TypeInfo]	YAML type to C type, used by the header generator
PyTypeInfo(size: int, pytype: type)	a Python type and its width
pytypes: dict[str, PyTypeInfo]	YAML type to Python type, used by the value packer
ChipInfo(flash_begin, flash_end, page_size, num_pages)	flash geometry
chips: dict[str, ChipInfo]	one entry, STM32G431CBTx
can_id_types: dict[str, str]	{"ext": "Extended"}

RegGenResult is also defined here but unused.

esw.config.parser

Turns a definition plus a device file into register values.

load_definition(definition_yaml)
parse_config(definition_yaml: Path, config_yaml: Path) -> dict[str, dict[str, int]]
display_config(registers: dict[str, dict[str, int]]) -> None

load_definition walks the regs list, assigning byte addresses sequentially from 0. Registers with fields produce one entry per field; plain registers produce one entry covering the whole width. An unknown type raises ValueError.

parse_config reads the device values and packs them into their registers: bool fields are OR-ed in at their bit position, integers are masked to width and shifted, floats are kept as floats. Returns {REGISTER_NAME: {"addr": int, "value": int | float}} ordered by address.

display_config prints that table for confirmation before anything is sent.

from esw.config.parser import parse_config, display_config

cfg = parse_config(Path("config/abs.yaml"), Path("rover/ra/abs_de_pitch.yaml"))
display_config(cfg)

Caution

A key present in the definition but absent from the device file is packed as 0, with no warning. Nothing checks that a device file is complete.

esw.config.generator

Renders the C++ header consumed by firmware.

ConfigGen(project_name: str, tab_size: int, template_dir: Path)
    .generate_config_header(yaml_path: str | Path, output_path: str | Path) -> None
    .validate_can_filtering(can_filtering: dict, reg_names: list[str]) -> None

generate_config_header validates and renders in one pass. It checks that struct_name, regs, chip and can_filtering are present, that chip is a known part, that every register type is in types, and that the total size fits in one flash page. It then annotates each register with its C type, byte size and address before rendering lib/config/templates/config_header.hpp.j2.

validate_can_filtering requires id_reg (which must name a declared register), id_type (must be a key of can_id_types, and is rewritten in place to the C++ enum name), delay_compensation, tdc_offset and tdc_filter. An optional can_subs list each needs can_id and id_type.

The tab_size constructor argument is stored but never used.

Called from tools/scripts/config_gen.py, which CMake invokes during a firmware build. Running it by hand:

uv run --project tools python tools/scripts/config_gen.py \
    --name abs --input config/abs.yaml \
    --output src/abs/Inc/abs_config.hpp \
    --template-dir lib/config/templates