Merge branch 'meier_eiveobsw' into meier/acuHkTable
This commit is contained in:
commit
29fb3cb9b8
@ -43,6 +43,7 @@ set(LIB_CSP_NAME libcsp)
|
||||
set(FSFW_PATH fsfw)
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||||
set(MISSION_PATH mission)
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||||
set(CSPLIB_PATH libcsp)
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||||
set(TEST_PATH test/testtasks)
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||||
|
||||
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
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||||
|
||||
@ -84,6 +85,7 @@ endif()
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||||
add_subdirectory(${BSP_PATH})
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||||
add_subdirectory(${FSFW_PATH})
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||||
add_subdirectory(${MISSION_PATH})
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||||
add_subdirectory(${TEST_PATH})
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||||
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||||
################################################################################
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||||
# Post-Sources preparation
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||||
@ -162,16 +164,18 @@ else()
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set(TARGET_STRING "Target BSP: Hosted")
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endif()
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||||
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string(CONCAT POST_BUILD_COMMENT
|
||||
"Build directory: ${CMAKE_BINARY_DIR}\n"
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||||
"Target OSAL: ${OS_FSFW}\n"
|
||||
"Target Build Type: ${CMAKE_BUILD_TYPE}\n"
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||||
"${TARGET_STRING}"
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||||
)
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||||
|
||||
add_custom_command(
|
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TARGET ${TARGET_NAME}
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||||
POST_BUILD
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||||
#COMMAND echo "Build directory: ${CMAKE_BINARY_DIR}"
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||||
#COMMAND echo "Target OSAL: ${OS_FSFW}"
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||||
#COMMAND echo "Target Build Type: ${CMAKE_BUILD_TYPE}"
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||||
#COMMAND echo "${TARGET_STRING}"
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||||
COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
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||||
COMMENT "Build directory: ${CMAKE_BINARY_DIR}\nTarget OSAL: ${OS_FSFW}\n"
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||||
"Target Build Type: ${CMAKE_BUILD_TYPE}\n${TARGET_STRING}"
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COMMENT ${POST_BUILD_COMMENT}
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)
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include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
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|
27
README.md
27
README.md
@ -500,3 +500,30 @@ GET out_en[0] = 1
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* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
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* Remote File Path: /tmp/eive_obsw.elf
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|
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## Libgpiod
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||||
Detect all gpio device files:
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||||
````
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||||
gpiodetect
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||||
````
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Get info about a specific gpio group:
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||||
````
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gpioinfo <name of gpio group>
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````
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The following sets the gpio 18 from gpio group gpiochip7 to high level.
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````
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gpioset gpiochip7 18=1
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````
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Setting the gpio to low.
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````
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gpioset gpiochip7 18=0
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````
|
||||
Show options for setting gpios.
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||||
````
|
||||
gpioset -h
|
||||
````
|
||||
To get the state of a gpio:
|
||||
````
|
||||
gpioget <gpiogroup> <offset>
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````
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Example to get state:
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gpioget gpiochip7 14
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|
@ -137,6 +137,7 @@ void InitMission::initTasks(){
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<< std::endl;
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||||
}
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||||
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#if TE0720 == 0
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FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
|
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createFixedTimeslotTask("GS_PST_TASK", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, nullptr);
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@ -144,19 +145,17 @@ void InitMission::initTasks(){
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: GomSpace PST initialization "
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<< "failed!" << std::endl;
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||||
}
|
||||
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
// FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
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// createFixedTimeslotTask("PST_TEST_TASK", 10,
|
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// PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
// result = pst::pollingSequenceTestFunction(TestTimeslotTask);
|
||||
// if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
// sif::error << "InitMission::createTasks: Test PST initialization "
|
||||
// << "failed!" << std::endl;
|
||||
// }
|
||||
}
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
PeriodicTaskIF* TestTask = TaskFactory::instance()->
|
||||
createPeriodicTask("Libgpiod Test Task", 60,
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
|
||||
result = TestTask->addComponent(objects::LIBGPIOD_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component libgpiod test task object" << std::endl;
|
||||
}
|
||||
#endif
|
||||
|
||||
//Main thread sleep
|
||||
@ -165,7 +164,9 @@ void InitMission::initTasks(){
|
||||
UdpBridgeTask->startTask();
|
||||
UdpPollingTask->startTask();
|
||||
|
||||
#if TE0720 == 0
|
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GomSpacePstTask->startTask();
|
||||
#endif
|
||||
PollingSequenceTableTaskDefault->startTask();
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||||
|
||||
PusVerification->startTask();
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||||
@ -174,8 +175,8 @@ void InitMission::initTasks(){
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PusMedPrio->startTask();
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PusLowPrio->startTask();
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
// TestTimeslotTask->startTask();
|
||||
#if TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
TestTask->startTask();
|
||||
#endif
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
@ -33,6 +33,10 @@
|
||||
#include <bsp_q7s/gpio/LinuxLibgpioIF.h>
|
||||
#include <bsp_q7s/gpio/cookies/GpioCookie.h>
|
||||
|
||||
# if TEST_LIBGPIOD == 1
|
||||
#include "LibgpiodTest.h"
|
||||
#endif
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
@ -56,15 +60,6 @@ void ObjectFactory::produce(){
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||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
/* Cookies */
|
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
|
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addresses::P60DOCK);
|
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CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
|
||||
addresses::PDU1);
|
||||
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
|
||||
addresses::PDU2);
|
||||
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
|
||||
addresses::ACU);
|
||||
#if TE0720 == 1
|
||||
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
|
||||
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
|
||||
@ -80,12 +75,31 @@ void ObjectFactory::produce(){
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
new I2cComIF(objects::I2C_COM_IF);
|
||||
|
||||
#if TE0720 == 0
|
||||
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
|
||||
addresses::P60DOCK);
|
||||
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
|
||||
addresses::PDU1);
|
||||
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
|
||||
addresses::PDU2);
|
||||
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
|
||||
addresses::ACU);
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||||
/* Device Handler */
|
||||
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
|
||||
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
|
||||
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
|
||||
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
|
||||
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
|
||||
PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
|
||||
PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
|
||||
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
|
||||
new PCDUHandler(objects::PCDU_HANDLER, 50);
|
||||
|
||||
/**
|
||||
* Setting PCDU devices to mode normal immediately after start up because PCDU is always
|
||||
* running.
|
||||
*/
|
||||
p60dockhandler->setModeNormal();
|
||||
pdu1handler->setModeNormal();
|
||||
pdu2handler->setModeNormal();
|
||||
acuhandler->setModeNormal();
|
||||
#endif
|
||||
/* Temperature sensors */
|
||||
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
|
||||
objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
|
||||
@ -96,24 +110,65 @@ void ObjectFactory::produce(){
|
||||
i2cCookieTmp1075tcs2);
|
||||
tmp1075Handler_2->setStartUpImmediately();
|
||||
|
||||
/* Thermal objects */
|
||||
GpioCookie* gpioCookie = new GpioCookie;
|
||||
#if TE0720 == 1
|
||||
// Configuration for MIO0 on TE0720-03-1CFA
|
||||
GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
|
||||
std::string("Heater0"), Gpio::OUT);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
|
||||
#else
|
||||
GpioConfig_t gpioConfigHeater0(std::string("gpiochip5"), 6,
|
||||
std::string("Heater0"), Gpio::OUT);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
|
||||
#endif
|
||||
new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
|
||||
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
||||
#if TE0720 == 0
|
||||
/* Pin H2-11 on stack connector */
|
||||
GpioConfig_t gpioConfigHeater0(std::string("gpiochip7"), 18,
|
||||
std::string("Heater0"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
|
||||
|
||||
/* Pin H2-12 on stack connector */
|
||||
GpioConfig_t gpioConfigHeater1(std::string("gpiochip7"), 14,
|
||||
std::string("Heater1"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
|
||||
|
||||
/* Pin H2-13 on stack connector */
|
||||
GpioConfig_t gpioConfigHeater2(std::string("gpiochip7"), 20,
|
||||
std::string("Heater2"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
|
||||
|
||||
GpioConfig_t gpioConfigHeater3(std::string("gpiochip7"), 16,
|
||||
std::string("Heater3"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
|
||||
|
||||
GpioConfig_t gpioConfigHeater4(std::string("gpiochip7"), 24,
|
||||
std::string("Heater4"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
|
||||
|
||||
GpioConfig_t gpioConfigHeater5(std::string("gpiochip7"), 26,
|
||||
std::string("Heater5"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
|
||||
|
||||
GpioConfig_t gpioConfigHeater6(std::string("gpiochip7"), 22,
|
||||
std::string("Heater6"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
|
||||
|
||||
GpioConfig_t gpioConfigHeater7(std::string("gpiochip7"), 28,
|
||||
std::string("Heater7"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
|
||||
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
|
||||
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
||||
#endif
|
||||
|
||||
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
|
||||
objects::CCSDS_PACKET_DISTRIBUTOR,
|
||||
objects::TM_STORE, objects::TC_STORE);
|
||||
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
#if TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
/* Configure MIO0 as input */
|
||||
GpioConfig_t gpioConfigMio0(std::string("gpiochip0"), 0,
|
||||
std::string("MIO0"), Gpio::IN, 0);
|
||||
gpioCookie->addGpio(gpioIds::Test_ID, gpioConfigMio0);
|
||||
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
|
||||
#elif TE0720 == 1
|
||||
// Configuration for MIO0 on TE0720-03-1CFA
|
||||
GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
|
||||
std::string("Heater0"), Gpio::OUT, 0);
|
||||
gpioCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
|
||||
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
||||
#endif
|
||||
}
|
||||
|
@ -187,7 +187,6 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
|
||||
reply = csp_read(conn, timeout_ms);
|
||||
if (reply == NULL) {
|
||||
sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl;
|
||||
csp_buffer_free(reply);
|
||||
csp_close(conn);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
@ -3,4 +3,9 @@ target_sources(${TARGET_NAME} PUBLIC
|
||||
LinuxLibgpioIF.cpp
|
||||
)
|
||||
|
||||
target_include_directories(${TARGET_NAME} PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/cookies
|
||||
)
|
||||
|
||||
|
||||
|
@ -38,6 +38,15 @@ public:
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
*/
|
||||
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
|
||||
|
||||
/**
|
||||
* @brief This function requires a child to implement the functionaliy to read the state of
|
||||
* an ouput or input gpio.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to read.
|
||||
* @param gpioState State of GPIO will be written to this pointer.
|
||||
*/
|
||||
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_GPIO_GPIOIF_H_ */
|
||||
|
@ -14,7 +14,6 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
|
||||
ReturnValue_t LinuxLibgpioIF::initialize(CookieIF * cookie){
|
||||
ReturnValue_t result;
|
||||
GpioMap mapToAdd;
|
||||
GpioMapIter mapToAddIter;
|
||||
|
||||
if(cookie == nullptr) {
|
||||
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
|
||||
@ -30,14 +29,87 @@ ReturnValue_t LinuxLibgpioIF::initialize(CookieIF * cookie){
|
||||
mapToAdd = gpioCookie->getGpioMap();
|
||||
|
||||
result = checkForConflicts(mapToAdd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK){
|
||||
if (result != RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
|
||||
result = configureGpios(&mapToAdd);
|
||||
if (result != RETURN_OK) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
/* Register new GPIOs in gpioMap*/
|
||||
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap* mapToAdd) {
|
||||
GpioMapIter mapToAddIter;
|
||||
std::string chipname;
|
||||
unsigned int lineNum;
|
||||
struct gpiod_chip *chip;
|
||||
Gpio::Direction direction;
|
||||
std::string consumer;
|
||||
struct gpiod_line *lineHandle;
|
||||
int result;
|
||||
|
||||
mapToAddIter = mapToAdd->begin();
|
||||
for (; mapToAddIter != mapToAdd->end(); mapToAddIter++) {
|
||||
|
||||
chipname = mapToAddIter->second.chipname;
|
||||
chip = gpiod_chip_open_by_name(chipname.c_str());
|
||||
if (!chip) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip "
|
||||
<< chipname << ". Gpio ID: " << mapToAddIter->first << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
lineNum = mapToAddIter->second.lineNum;
|
||||
lineHandle = gpiod_chip_get_line(chip, lineNum);
|
||||
if (!lineHandle) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line" << std::endl;
|
||||
gpiod_chip_close(chip);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
direction = mapToAddIter->second.direction;
|
||||
consumer = mapToAddIter->second.consumer;
|
||||
/* Configure direction and add a description to the GPIO */
|
||||
switch (direction) {
|
||||
case Gpio::OUT:
|
||||
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
|
||||
mapToAddIter->second.initValue);
|
||||
if (result < 0) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
|
||||
<< lineNum << " from GPIO instance with ID: " << mapToAddIter->first
|
||||
<< std::endl;
|
||||
gpiod_line_release(lineHandle);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
break;
|
||||
case Gpio::IN:
|
||||
result = gpiod_line_request_input(lineHandle, consumer.c_str());
|
||||
if (result < 0) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
|
||||
<< lineNum << " from GPIO instance with ID: " << mapToAddIter->first
|
||||
<< std::endl;
|
||||
gpiod_line_release(lineHandle);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
/**
|
||||
* Write line handle to GPIO configuration instance so it can later be used to set or
|
||||
* read states of GPIOs.
|
||||
*/
|
||||
mapToAddIter->second.lineHandle = lineHandle;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId){
|
||||
@ -50,60 +122,39 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId){
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
|
||||
unsigned int logiclevel) {
|
||||
GpioMapIter gpioMapIter = gpioMap.find(gpioId);
|
||||
std::string chipname;
|
||||
unsigned int lineNum;
|
||||
struct gpiod_chip *chip;
|
||||
struct gpiod_line *line;
|
||||
int result;
|
||||
Gpio::Direction direction;
|
||||
std::string consumer;
|
||||
int result;
|
||||
struct gpiod_line *lineHandle;
|
||||
|
||||
/* Verify if GPIO has been configured as output */
|
||||
direction = gpioMapIter->second.direction;
|
||||
if (direction != Gpio::OUT) {
|
||||
sif::error << "LinuxLibgpioIF::driveGpio: GPIO with ID " << gpioId
|
||||
<< "not configured as output" << std::endl;
|
||||
return CONFIGURATION_FAILURE;
|
||||
}
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()){
|
||||
sif::debug << "LinuxLibgpioIF::driveGpio: Unknown gpio id " << gpioId << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
chipname = gpioMapIter->second.chipname;
|
||||
chip = gpiod_chip_open_by_name(chipname.c_str());
|
||||
if (!chip) {
|
||||
sif::error << "LinuxLibgpioIF::driveGpio: Failed to open chip "
|
||||
<< chipname << ". Gpio ID: " << gpioId << std::endl;
|
||||
return OPEN_CHIP_FAILURE;
|
||||
}
|
||||
|
||||
lineNum = gpioMapIter->second.lineNum;
|
||||
line = gpiod_chip_get_line(chip, lineNum);
|
||||
if (!line) {
|
||||
sif::error << "LinuxLibgpioIF::driveGpio: Failed to open line. Gpio ID "
|
||||
<< gpioId << std::endl;
|
||||
gpiod_chip_close(chip);
|
||||
return OPEN_LINE_FAILURE;
|
||||
}
|
||||
|
||||
consumer = gpioMapIter->second.consumer;
|
||||
result = gpiod_line_request_output(line, consumer.c_str(), 0);
|
||||
if (result < 0) {
|
||||
sif::error << "LinuxLibgpioIF::driveGpio: Failed to request line "
|
||||
<< line << " from GPIO instance with ID: " << gpioId
|
||||
<< std::endl;
|
||||
gpiod_line_release(line);
|
||||
return REQUEST_LINE_FAILURE;
|
||||
}
|
||||
|
||||
result = gpiod_line_set_value(line, logiclevel);
|
||||
lineHandle = gpioMapIter->second.lineHandle;
|
||||
result = gpiod_line_set_value(lineHandle, logiclevel);
|
||||
if (result < 0) {
|
||||
sif::error << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID "
|
||||
<< gpioId << "to low" << std::endl;
|
||||
gpiod_line_release(line);
|
||||
return PULLING_HIGH_FAILURE;
|
||||
<< gpioId << " to logic level " << logiclevel << std::endl;
|
||||
return DRIVE_GPIO_FAILURE;
|
||||
}
|
||||
gpiod_line_release(line);
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
|
||||
struct gpiod_line *lineHandle;
|
||||
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()){
|
||||
sif::debug << "LinuxLibgpioIF::readGpio: Unknown gpio id " << gpioId << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
lineHandle = gpioMapIter->second.lineHandle;
|
||||
*gpioState = gpiod_line_get_value(lineHandle);
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap mapToAdd){
|
||||
@ -118,12 +169,12 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap mapToAdd){
|
||||
if (mapToAddIter->second.direction != gpioMapIter->second.direction){
|
||||
sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict "
|
||||
<< "for GPIO " << mapToAddIter->first << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
/* Remove element from map to add because a entry for this GPIO
|
||||
* already exists */
|
||||
mapToAdd.erase(mapToAddIter);
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
@ -18,11 +18,7 @@ public:
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::LINUX_LIBGPIO_IF;
|
||||
|
||||
static const ReturnValue_t CONFIGURATION_FAILURE = MAKE_RETURN_CODE(0x1);
|
||||
static const ReturnValue_t OPEN_CHIP_FAILURE = MAKE_RETURN_CODE(0x2);
|
||||
static const ReturnValue_t OPEN_LINE_FAILURE = MAKE_RETURN_CODE(0x3);
|
||||
static const ReturnValue_t REQUEST_LINE_FAILURE = MAKE_RETURN_CODE(0x4);
|
||||
static const ReturnValue_t PULLING_HIGH_FAILURE = MAKE_RETURN_CODE(0x5);
|
||||
static const ReturnValue_t DRIVE_GPIO_FAILURE = MAKE_RETURN_CODE(0x2);
|
||||
|
||||
LinuxLibgpioIF(object_id_t objectId);
|
||||
virtual ~LinuxLibgpioIF();
|
||||
@ -30,6 +26,7 @@ public:
|
||||
ReturnValue_t initialize(CookieIF * cookie) 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:
|
||||
|
||||
@ -56,6 +53,11 @@ private:
|
||||
* @return RETURN_OK if successful, otherwise RETURN_FAILED
|
||||
*/
|
||||
ReturnValue_t checkForConflicts(GpioMap mapToAdd);
|
||||
|
||||
/**
|
||||
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
|
||||
*/
|
||||
ReturnValue_t configureGpios(GpioMap* mapToAdd);
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_ */
|
||||
|
@ -21,19 +21,25 @@ namespace Gpio {
|
||||
* the GPIO to access. E.g. gpiochip0. To detect names of
|
||||
* GPIO groups run gpiodetect on the linux command line.
|
||||
* @param lineNum The offset of the GPIO within the GPIO group.
|
||||
* @param consumer Name of the consumer currently accessing the GPIO.
|
||||
* @param direction Specifies whether the GPIO should be used as in- or output.
|
||||
* @param consumer Name of the consumer. Simply a description of the GPIO configuration.
|
||||
* @param direction Specifies whether the GPIO should be used as in- or output.
|
||||
* @param initValue Defines the initial state of the GPIO when configured as output. Only required
|
||||
* for output GPIOs.
|
||||
* @param lineHandle The handle returned by gpiod_chip_get_line will be later written to this
|
||||
* pointer.
|
||||
*/
|
||||
typedef struct GpioConfig {
|
||||
GpioConfig(std::string chipname_, int lineNum_, std::string consumer_,
|
||||
Gpio::Direction direction_) :
|
||||
Gpio::Direction direction_, int initValue_) :
|
||||
chipname(chipname_), lineNum(lineNum_), consumer(consumer_), direction(
|
||||
direction_) {
|
||||
direction_), initValue(initValue_) {
|
||||
}
|
||||
std::string chipname;
|
||||
int lineNum;
|
||||
std::string consumer;
|
||||
Gpio::Direction direction;
|
||||
int initValue;
|
||||
struct gpiod_line* lineHandle;
|
||||
} GpioConfig_t;
|
||||
using GpioMap = std::unordered_map<gpioId_t, GpioConfig_t>;
|
||||
using GpioMapIter = GpioMap::iterator;
|
||||
|
@ -1,3 +1,4 @@
|
||||
#!/bin/sh
|
||||
export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
|
||||
export CROSS_COMPILE="arm-linux-gnueabihf"
|
||||
|
||||
|
@ -6,7 +6,8 @@
|
||||
#ifndef FSFWCONFIG_OBSWCONFIG_H_
|
||||
#define FSFWCONFIG_OBSWCONFIG_H_
|
||||
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
#define TEST_LIBGPIOD 0
|
||||
#define ADD_TEST_TAST 0
|
||||
|
||||
// These defines should be disabled for mission code but are useful for
|
||||
// debugging.
|
||||
@ -14,7 +15,7 @@
|
||||
|
||||
#define TE0720 0
|
||||
|
||||
#define P60DOCK_DEBUG 1
|
||||
#define P60DOCK_DEBUG 0
|
||||
#define PDU1_DEBUG 0
|
||||
#define PDU2_DEBUG 0
|
||||
#define ACU_DEBUG 0
|
||||
|
@ -5,7 +5,15 @@
|
||||
|
||||
namespace gpioIds {
|
||||
enum gpioId_t {
|
||||
HEATER_0
|
||||
HEATER_0,
|
||||
HEATER_1,
|
||||
HEATER_2,
|
||||
HEATER_3,
|
||||
HEATER_4,
|
||||
HEATER_5,
|
||||
HEATER_6,
|
||||
HEATER_7,
|
||||
Test_ID
|
||||
};
|
||||
}
|
||||
|
||||
|
@ -3,7 +3,14 @@
|
||||
|
||||
namespace heaterSwitches {
|
||||
enum switcherList: uint8_t {
|
||||
PAYLOAD_CAMERA,
|
||||
HEATER_0,
|
||||
HEATER_1,
|
||||
HEATER_2,
|
||||
HEATER_3,
|
||||
HEATER_4,
|
||||
HEATER_5,
|
||||
HEATER_6,
|
||||
HEATER_7,
|
||||
NUMBER_OF_SWITCHES
|
||||
};
|
||||
}
|
||||
|
@ -50,6 +50,7 @@ namespace objects {
|
||||
|
||||
/* 0x54 ('T') for test handlers */
|
||||
TEST_TASK = 0x54694269,
|
||||
LIBGPIOD_TEST = 0x54123456,
|
||||
SPI_TEST = 0x54000010,
|
||||
DUMMY_INTERFACE = 0x5400CAFE,
|
||||
DUMMY_HANDLER = 0x5400AFFE,
|
||||
|
@ -6,7 +6,6 @@ GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t c
|
||||
uint16_t hkTableReplySize, LocalPoolDataSetBase* hkTableDataset) :
|
||||
DeviceHandlerBase(objectId, comIF, comCookie), maxConfigTableAddress(maxConfigTableAddress),
|
||||
maxHkTableAddress(maxHkTableAddress), hkTableReplySize(hkTableReplySize), hkTableDataset(hkTableDataset) {
|
||||
mode = MODE_NORMAL;
|
||||
if (comCookie == NULL) {
|
||||
sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie"
|
||||
<< std::endl;
|
||||
@ -392,3 +391,7 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
void GomspaceDeviceHandler::setModeNormal() {
|
||||
mode = MODE_NORMAL;
|
||||
}
|
||||
|
@ -36,6 +36,12 @@ public:
|
||||
uint16_t hkTableReplySize, LocalPoolDataSetBase* hkTableDataset);
|
||||
virtual ~GomspaceDeviceHandler();
|
||||
|
||||
/**
|
||||
* @brief This function can be used to set a gomspace device to normal mode immediately after
|
||||
* object creation.
|
||||
*/
|
||||
void setModeNormal();
|
||||
|
||||
protected:
|
||||
|
||||
static const uint8_t MAX_PACKET_LEN = 36;
|
||||
|
@ -212,11 +212,10 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
|
||||
if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
|
||||
if (!checkSwitchState(switchNr)) {
|
||||
gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
|
||||
// result = gpioInterface->pullHigh(gpioId);
|
||||
result = RETURN_OK;
|
||||
result = gpioInterface->pullHigh(gpioId);
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id"
|
||||
<< gpioId << "high" << std::endl;
|
||||
sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id "
|
||||
<< gpioId << " high" << std::endl;
|
||||
triggerEvent(GPIO_PULL_HIGH_FAILED, result);
|
||||
}
|
||||
else {
|
||||
@ -263,8 +262,7 @@ void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
|
||||
/* Check whether switch is already off */
|
||||
if (checkSwitchState(switchNr)) {
|
||||
gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
|
||||
// result = gpioInterface->pullLow(gpioId);
|
||||
result = RETURN_OK;
|
||||
result = gpioInterface->pullLow(gpioId);
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id"
|
||||
<< gpioId << " low" << std::endl;
|
||||
@ -305,9 +303,30 @@ bool HeaterHandler::allSwitchesOff() {
|
||||
gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
|
||||
gpioId_t gpioId = 0xFFFF;
|
||||
switch(switchNr) {
|
||||
case heaterSwitches::PAYLOAD_CAMERA:
|
||||
case heaterSwitches::HEATER_0:
|
||||
gpioId = gpioIds::HEATER_0;
|
||||
break;
|
||||
case heaterSwitches::HEATER_1:
|
||||
gpioId = gpioIds::HEATER_1;
|
||||
break;
|
||||
case heaterSwitches::HEATER_2:
|
||||
gpioId = gpioIds::HEATER_2;
|
||||
break;
|
||||
case heaterSwitches::HEATER_3:
|
||||
gpioId = gpioIds::HEATER_3;
|
||||
break;
|
||||
case heaterSwitches::HEATER_4:
|
||||
gpioId = gpioIds::HEATER_4;
|
||||
break;
|
||||
case heaterSwitches::HEATER_5:
|
||||
gpioId = gpioIds::HEATER_5;
|
||||
break;
|
||||
case heaterSwitches::HEATER_6:
|
||||
gpioId = gpioIds::HEATER_6;
|
||||
break;
|
||||
case heaterSwitches::HEATER_7:
|
||||
gpioId = gpioIds::HEATER_7;
|
||||
break;
|
||||
default:
|
||||
sif::error << "HeaterHandler::getGpioIdFromSwitchNr: Unknown heater switch number"
|
||||
<< std::endl;
|
||||
|
@ -267,7 +267,7 @@ ReturnValue_t PCDUHandler::getFuseState( uint8_t fuseNr ) const {
|
||||
}
|
||||
|
||||
uint32_t PCDUHandler::getSwitchDelayMs(void) const {
|
||||
return 15000;
|
||||
return 20000;
|
||||
}
|
||||
|
||||
object_id_t PCDUHandler::getObjectId() const {
|
||||
|
@ -1,3 +0,0 @@
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/testdevices/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/testinterfaces/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/testtasks/*.cpp)
|
8
test/testtasks/CMakeLists.txt
Normal file
8
test/testtasks/CMakeLists.txt
Normal file
@ -0,0 +1,8 @@
|
||||
target_sources(${TARGET_NAME} PUBLIC
|
||||
LibgpiodTest.cpp
|
||||
TestTask.cpp
|
||||
)
|
||||
|
||||
target_include_directories(${TARGET_NAME} PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
36
test/testtasks/LibgpiodTest.cpp
Normal file
36
test/testtasks/LibgpiodTest.cpp
Normal file
@ -0,0 +1,36 @@
|
||||
#include "LibgpiodTest.h"
|
||||
|
||||
#include "devices/gpioIds.h"
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
|
||||
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie) :
|
||||
TestTask(objectId) {
|
||||
|
||||
gpioInterface = objectManager->get<GpioIF>(gpioIfobjectId);
|
||||
if (gpioInterface == nullptr) {
|
||||
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
|
||||
}
|
||||
gpioInterface->initialize(gpioCookie);
|
||||
}
|
||||
|
||||
LibgpiodTest::~LibgpiodTest() {
|
||||
}
|
||||
|
||||
ReturnValue_t LibgpiodTest::performPeriodicAction() {
|
||||
int gpioState;
|
||||
ReturnValue_t result;
|
||||
|
||||
result = gpioInterface->readGpio(gpioIds::Test_ID, &gpioState);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
else {
|
||||
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
|
||||
<< std::endl;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
25
test/testtasks/LibgpiodTest.h
Normal file
25
test/testtasks/LibgpiodTest.h
Normal file
@ -0,0 +1,25 @@
|
||||
#ifndef TEST_TESTTASKS_LIBGPIODTEST_H_
|
||||
#define TEST_TESTTASKS_LIBGPIODTEST_H_
|
||||
|
||||
#include "TestTask.h"
|
||||
#include "GpioIF.h"
|
||||
#include "GpioCookie.h"
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
|
||||
/**
|
||||
* @brief Test for the GPIO read implementation of the LinuxLibgpioIF.
|
||||
* @author J. Meier
|
||||
*/
|
||||
class LibgpiodTest: public TestTask {
|
||||
public:
|
||||
LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie);
|
||||
virtual ~LibgpiodTest();
|
||||
|
||||
protected:
|
||||
virtual ReturnValue_t performPeriodicAction() override;
|
||||
|
||||
private:
|
||||
GpioIF* gpioInterface;
|
||||
};
|
||||
|
||||
#endif /* TEST_TESTTASKS_LIBGPIODTEST_H_ */
|
Loading…
Reference in New Issue
Block a user