eive-obsw/bsp_rpi/boardtest/RPiGPIO.cpp

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2021-01-14 00:40:30 +01:00
#include "RPiGPIO.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fcntl.h>
#include <sys/types.h>
#include <unistd.h>
#include <cstdint>
int RPiGPIO::enablePin(int pin) {
char buffer[BUFFER_MAX];
ssize_t bytes_written;
int fd;
fd = open("/sys/class/gpio/export", O_WRONLY);
if (fd == -1) {
sif::error << "Failed to open export of pin " << pin << " for writing!" << std::endl;
return -1;
}
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
write(fd, buffer, bytes_written);
close(fd);
return 0;
}
int RPiGPIO::disablePin(int pin) {
char buffer[BUFFER_MAX];
ssize_t bytes_written;
int fd;
fd = open("/sys/class/gpio/unexport", O_WRONLY);
if (fd == -1) {
sif::error << "Failed to open unexport of pin " << pin << " for writing!" << std::endl;
return -1;
}
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
write(fd, buffer, bytes_written);
close(fd);
return(0);
}
int RPiGPIO::pinDirection(int pin, Directions dir) {
char path[DIRECTION_MAX];
snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
int fd = open(path, O_WRONLY);
if (fd == -1) {
sif::error << "Failed to open gpio " << pin << " direction for writing!" << std::endl;
return -1;
}
int result = 0;
if(dir == Directions::IN) {
result = write(fd, "in", IN_WRITE_SIZE);
}
else {
result = write(fd, "out", OUT_WRITE_SIZE);
}
if (result != 0) {
sif::error << "Failed to set direction!" << std::endl;
return -2;
}
close(fd);
return 0;
}
int RPiGPIO::readPin(int pin) {
char path[VALUE_MAX];
char value_str[3];
snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
int fd = open(path, O_RDONLY);
if (fd == -1) {
sif::error << "RPiGPIO::readPin: Failed to open GPIO pin " << pin << "!" << std::endl;
return -1;
}
if (read(fd, value_str, 3) == -1) {
sif::error << "Failed to read value!" << std::endl;
return -1;
}
close(fd);
char* endPtr = nullptr;
return strtol(value_str, &endPtr, 10);
}
int RPiGPIO::writePin(int pin, States state) {
char path[VALUE_MAX];
int fd;
snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
fd = open(path, O_WRONLY);
if (fd == -1) {
sif::error << "RPiGPIO::writePin: Failed to open GPIO pin " << pin << "!" << std::endl;
return -1;
}
int result = 0;
if(state == States::LOW) {
result = write(fd, "0", 1);
}
else {
result = write(fd, "1", 1);
}
if (result != 0) {
sif::error << "Failed to write pin " << pin << " value to " << static_cast<int>(state)
<< "!" << std::endl;
return -1;
}
close(fd);
return 0;
}