eive-obsw/archive/gpio/LinuxLibgpioIF.h

#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_

#include <fsfw/objectmanager/SystemObject.h>
#include <fsfwconfig/returnvalues/classIds.h>
#include <linux/gpio/GpioIF.h>

class GpioCookie;

/**
 * @brief	This class implements the GpioIF for a linux based system. The
 * 			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::LINUX_LIBGPIO_IF;

  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);

  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:
  /* Holds the information and configuration of all used GPIOs */
  GpioMap gpioMap;
  GpioMapIter 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, unsigned int logiclevel);

  ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);

  /**
   * @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 checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
                                             GpioMap& mapToAdd);
  ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
                                              GpioMap& mapToAdd);

  /**
   * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
   */
  ReturnValue_t configureGpios(GpioMap& mapToAdd);
};

#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */