124 lines
2.8 KiB
C++
124 lines
2.8 KiB
C++
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#include "RPiGPIO.h"
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <fcntl.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <cstdint>
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int RPiGPIO::enablePin(int pin) {
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char buffer[BUFFER_MAX];
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ssize_t bytes_written;
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int fd;
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fd = open("/sys/class/gpio/export", O_WRONLY);
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if (fd == -1) {
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sif::error << "Failed to open export of pin " << pin << " for writing!" << std::endl;
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return -1;
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}
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bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
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write(fd, buffer, bytes_written);
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close(fd);
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return 0;
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}
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int RPiGPIO::disablePin(int pin) {
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char buffer[BUFFER_MAX];
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ssize_t bytes_written;
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int fd;
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fd = open("/sys/class/gpio/unexport", O_WRONLY);
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if (fd == -1) {
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sif::error << "Failed to open unexport of pin " << pin << " for writing!" << std::endl;
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return -1;
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}
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bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
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write(fd, buffer, bytes_written);
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close(fd);
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return(0);
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}
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int RPiGPIO::pinDirection(int pin, Directions dir) {
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char path[DIRECTION_MAX];
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snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
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int fd = open(path, O_WRONLY);
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if (fd == -1) {
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sif::error << "Failed to open gpio " << pin << " direction for writing!" << std::endl;
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return -1;
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}
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int result = 0;
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if(dir == Directions::IN) {
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result = write(fd, "in", IN_WRITE_SIZE);
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}
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else {
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result = write(fd, "out", OUT_WRITE_SIZE);
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}
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if (result != 0) {
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sif::error << "Failed to set direction!" << std::endl;
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return -2;
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}
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close(fd);
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return 0;
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}
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int RPiGPIO::readPin(int pin) {
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char path[VALUE_MAX];
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char value_str[3];
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snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
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int fd = open(path, O_RDONLY);
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if (fd == -1) {
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sif::error << "RPiGPIO::readPin: Failed to open GPIO pin " << pin << "!" << std::endl;
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return -1;
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}
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if (read(fd, value_str, 3) == -1) {
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sif::error << "Failed to read value!" << std::endl;
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return -1;
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}
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close(fd);
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char* endPtr = nullptr;
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return strtol(value_str, &endPtr, 10);
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}
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int RPiGPIO::writePin(int pin, States state) {
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char path[VALUE_MAX];
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int fd;
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snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
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fd = open(path, O_WRONLY);
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if (fd == -1) {
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sif::error << "RPiGPIO::writePin: Failed to open GPIO pin " << pin << "!" << std::endl;
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return -1;
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}
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int result = 0;
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if(state == States::LOW) {
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result = write(fd, "0", 1);
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}
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else {
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result = write(fd, "1", 1);
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}
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if (result != 0) {
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sif::error << "Failed to write pin " << pin << " value to " << static_cast<int>(state)
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<< "!" << std::endl;
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return -1;
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}
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close(fd);
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return 0;
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}
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