move HAL and tests folder

2022-07-18 08:59:40 +02:00
parent 3686bbc486
commit 6f7be281ef
229 changed files with 494 additions and 559 deletions
--- a/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+++ b/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
@ -0,0 +1,88 @@
+#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
+#define LINUX_GPIO_LINUXLIBGPIOIF_H_
+
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
+class GpioCookie;
+class GpiodRegularIF;
+
+/**
+ * @brief	This class implements the GpioIF for a linux based system.
+ * @details
+ * This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
+ * @note
+ * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
+ */
+class LinuxLibgpioIF : public GpioIF, public SystemObject {
+ public:
+  static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
+
+  static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+  static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
+  static constexpr ReturnValue_t GPIO_INIT_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
+
+  LinuxLibgpioIF(object_id_t objectId);
+  virtual ~LinuxLibgpioIF();
+
+  ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
+  ReturnValue_t pullHigh(gpioId_t gpioId) override;
+  ReturnValue_t pullLow(gpioId_t gpioId) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
+
+ private:
+  static const size_t MAX_CHIPNAME_LENGTH = 11;
+  static const int LINE_NOT_EXISTS = 0;
+  static const int LINE_ERROR = -1;
+  static const int LINE_FOUND = 1;
+
+  // Holds the information and configuration of all used GPIOs
+  GpioUnorderedMap gpioMap;
+  GpioUnorderedMapIter gpioMapIter;
+
+  /**
+   * @brief	This functions drives line of a GPIO specified by the GPIO ID.
+   *
+   * @param gpioId	The GPIO ID of the GPIO to drive.
+   * @param logiclevel	The logic level to set. O or 1.
+   */
+  ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
+
+  ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+  ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
+  ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
+  ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+                                     GpiodRegularBase& regularGpio, std::string failOutput);
+
+  /**
+   * @brief	This function checks if GPIOs are already registered and whether
+   * 			there exists a conflict in the GPIO configuration. E.g. the
+   * 			direction.
+   *
+   * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
+   *
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
+   */
+  ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
+
+  ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
+
+  /**
+   * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
+   */
+  ReturnValue_t configureGpios(GpioMap& mapToAdd);
+
+  void parseFindeLineResult(int result, std::string& lineName);
+};
+
+#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */