added gpio sysfs if

bsp_rpi/boardtest/CMakeLists.txt

@@ -1,5 +1,6 @@
 target_sources(${TARGET_NAME} PRIVATE
 	SpiTest.cpp
+	RPiGPIO.cpp
 )
 
 

bsp_rpi/boardtest/RPiGPIO.cpp

@@ -0,0 +1,123 @@
+#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;
+}

bsp_rpi/boardtest/RPiGPIO.h

@@ -0,0 +1,41 @@
+#ifndef BSP_RPI_BOARDTEST_RPIGPIO_H_
+#define BSP_RPI_BOARDTEST_RPIGPIO_H_
+
+#include <cstdint>
+
+/**
+ * @brief   Really simple C++ GPIO wrapper for the Raspberry Pi, using the sysfs interface.
+ *          Use BCM pins notation (https://pinout.xyz/#)
+ *
+ */
+class RPiGPIO {
+public:
+    enum Directions {
+        IN = 0,
+        OUT = 1
+    };
+
+    enum States {
+        LOW = 0,
+        HIGH = 1
+    };
+
+    static int enablePin(int pin);
+    static int disablePin(int pin);
+    static int pinDirection(int pin, Directions dir);
+    static int readPin(int pin);
+    static int writePin(int pin, States state);
+
+private:
+
+
+    static constexpr uint8_t BUFFER_MAX = 3;
+    static constexpr uint8_t DIRECTION_MAX = 35;
+    static constexpr uint8_t VALUE_MAX = 30;
+
+    static constexpr uint8_t IN_WRITE_SIZE = 3;
+    static constexpr uint8_t OUT_WRITE_SIZE = 4;
+};
+
+
+#endif /* BSP_RPI_BOARDTEST_RPIGPIO_H_ */

bsp_rpi/boardtest/SpiTest.cpp

@@ -1,13 +1,31 @@
 #include "SpiTest.h"
 
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <fcntl.h>
 #include <sys/ioctl.h>
-#include <wiringPi.h>
+
+
 
 SpiTest::SpiTest(object_id_t objectId): SystemObject(objectId) {
-	wiringPiSetupGpio();
+    sif::info << "Setting up Raspberry Pi WiringPi library." << std::endl;
+//  wiringPiSetupGpio();
+
+//	 pinMode(SS_MGM_0_LIS3, OUTPUT);
+//    pinMode(SS_MGM_1_RM, OUTPUT);
+//    pinMode(SS_GYRO_0_ADIS, OUTPUT);
+//    pinMode(SS_GYRO_1_L3G, OUTPUT);
+//    pinMode(SS_GYRO_2_L3G, OUTPUT);
+//    pinMode(SS_MGM_2_LIS3, OUTPUT);
+//    pinMode(SS_MGM_3_RM, OUTPUT);
+//
+//    digitalWrite(SS_MGM_0_LIS3, HIGH);
+//    digitalWrite(SS_MGM_1_RM, HIGH);
+//    digitalWrite(SS_GYRO_0_ADIS, HIGH);
+//    digitalWrite(SS_GYRO_1_L3G, HIGH);
+//    digitalWrite(SS_GYRO_2_L3G, HIGH);
+//    digitalWrite(SS_MGM_2_LIS3, HIGH);
+//    digitalWrite(SS_MGM_3_RM, HIGH);
 
 	int spiFd = open(spiDeviceName.c_str(), O_RDWR);
 	if (spiFd < 0){
@@ -40,4 +58,4 @@ ReturnValue_t SpiTest::initialize() {
 	//transferHandle.speed_hz = 976000;
 	//transferHandle.len = 2;
 	return HasReturnvaluesIF::RETURN_OK;
-}
+}

bsp_rpi/boardtest/SpiTest.h

@@ -6,13 +6,27 @@
 #include <linux/spi/spidev.h>
 #include <string>
 
-class SpiTest: public ExecutableObjectIF, SystemObject {
+class SpiTest:
+        public SystemObject,
+        public ExecutableObjectIF {
 public:
 	SpiTest(object_id_t objectId);
 
 	ReturnValue_t performOperation(uint8_t opCode) override;
 	ReturnValue_t initialize() override;
 private:
+	// These chip selects (BCM number) will be pulled high if not used
+	// ACS board specific.
+	enum SpiChipSelects {
+	    SS_MGM_0_LIS3 = 0,  //!< MGM 0, LIS3MDLTR, U6, A side
+	    SS_MGM_1_RM = 1, //!< MGM 1, RM3100, U7, A side
+	    SS_GYRO_0_ADIS = 2, //!< Gyro 0, ADIS16485, U3, A side
+	    SS_GYRO_1_L3G = 3, //!< Gyro 1, L3GD20H, U4, A side
+	    SS_GYRO_2_L3G = 4, //!< Gyro 2, L3GD20h, U5, B side
+	    SS_MGM_2_LIS3 = 17, //!< MGM 2, LIS3MDLTR, U8, B side
+	    SS_MGM_3_RM = 27, //!< MGM 3, RM3100, U9, B side
+	};
+
 	const std::string spiDeviceName = "/dev/spidev0.0";
 	int spiFd = 0;