moved some files
This commit is contained in:
@ -1,5 +1,6 @@
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target_sources(${TARGET_NAME} PUBLIC
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GpioCookie.cpp
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LinuxLibgpioIF.cpp
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)
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180
linux/gpio/LinuxLibgpioIF.cpp
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180
linux/gpio/LinuxLibgpioIF.cpp
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#include "LinuxLibgpioIF.h"
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <utility>
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#include <unistd.h>
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#include <gpiod.h>
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LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
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}
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LinuxLibgpioIF::~LinuxLibgpioIF() {
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}
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ReturnValue_t LinuxLibgpioIF::initialize(CookieIF * cookie){
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ReturnValue_t result;
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GpioMap mapToAdd;
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if(cookie == nullptr) {
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sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
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return RETURN_FAILED;
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}
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GpioCookie* gpioCookie = dynamic_cast<GpioCookie*>(cookie);
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if(gpioCookie == nullptr) {
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sif::error << "LinuxLibgpioIF: Invalid Gpio Cookie!"
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<< std::endl;
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return RETURN_FAILED;
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}
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mapToAdd = gpioCookie->getGpioMap();
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result = checkForConflicts(mapToAdd);
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if (result != RETURN_OK){
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return result;
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}
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result = configureGpios(&mapToAdd);
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if (result != RETURN_OK) {
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return RETURN_FAILED;
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}
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/* Register new GPIOs in gpioMap*/
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gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap* mapToAdd) {
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GpioMapIter mapToAddIter;
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std::string chipname;
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unsigned int lineNum;
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struct gpiod_chip *chip;
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gpio::Direction direction;
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std::string consumer;
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struct gpiod_line *lineHandle;
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int result;
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mapToAddIter = mapToAdd->begin();
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for (; mapToAddIter != mapToAdd->end(); mapToAddIter++) {
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chipname = mapToAddIter->second.chipname;
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chip = gpiod_chip_open_by_name(chipname.c_str());
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if (!chip) {
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sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip "
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<< chipname << ". Gpio ID: " << mapToAddIter->first << std::endl;
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return RETURN_FAILED;
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}
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lineNum = mapToAddIter->second.lineNum;
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lineHandle = gpiod_chip_get_line(chip, lineNum);
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if (!lineHandle) {
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sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line" << std::endl;
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gpiod_chip_close(chip);
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return RETURN_FAILED;
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}
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direction = mapToAddIter->second.direction;
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consumer = mapToAddIter->second.consumer;
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/* Configure direction and add a description to the GPIO */
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switch (direction) {
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case gpio::OUT:
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result = gpiod_line_request_output(lineHandle, consumer.c_str(),
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mapToAddIter->second.initValue);
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if (result < 0) {
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sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
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<< lineNum << " from GPIO instance with ID: " << mapToAddIter->first
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<< std::endl;
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gpiod_line_release(lineHandle);
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return RETURN_FAILED;
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}
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break;
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case gpio::IN:
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result = gpiod_line_request_input(lineHandle, consumer.c_str());
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if (result < 0) {
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sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
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<< lineNum << " from GPIO instance with ID: " << mapToAddIter->first
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<< std::endl;
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gpiod_line_release(lineHandle);
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return RETURN_FAILED;
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}
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break;
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default:
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sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
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<< std::endl;
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return RETURN_FAILED;
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}
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/**
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* Write line handle to GPIO configuration instance so it can later be used to set or
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* read states of GPIOs.
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*/
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mapToAddIter->second.lineHandle = lineHandle;
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}
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId){
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return driveGpio(gpioId, 1);
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}
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ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId){
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return driveGpio(gpioId, 0);
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}
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ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
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unsigned int logiclevel) {
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int result;
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struct gpiod_line *lineHandle;
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gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()){
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sif::debug << "LinuxLibgpioIF::driveGpio: Unknown gpio id " << gpioId << std::endl;
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return RETURN_FAILED;
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}
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lineHandle = gpioMapIter->second.lineHandle;
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result = gpiod_line_set_value(lineHandle, logiclevel);
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if (result < 0) {
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sif::error << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID "
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<< gpioId << " to logic level " << logiclevel << std::endl;
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return DRIVE_GPIO_FAILURE;
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}
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
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struct gpiod_line *lineHandle;
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gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()){
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sif::debug << "LinuxLibgpioIF::readGpio: Unknown gpio id " << gpioId << std::endl;
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return RETURN_FAILED;
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}
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lineHandle = gpioMapIter->second.lineHandle;
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*gpioState = gpiod_line_get_value(lineHandle);
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap mapToAdd){
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gpioId_t gpioId;
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GpioMapIter mapToAddIter = mapToAdd.begin();
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for(; mapToAddIter != mapToAdd.end(); mapToAddIter++){
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gpioId = mapToAddIter->first;
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gpioMapIter = gpioMap.find(gpioId);
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if(gpioMapIter != mapToAdd.end()){
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/* An entry for this GPIO already exists. Check if configuration
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* of direction is equivalent */
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if (mapToAddIter->second.direction != gpioMapIter->second.direction){
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sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict "
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<< "for GPIO " << mapToAddIter->first << std::endl;
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return RETURN_OK;
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}
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/* Remove element from map to add because a entry for this GPIO
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* already exists */
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mapToAdd.erase(mapToAddIter);
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}
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}
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return RETURN_OK;
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}
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63
linux/gpio/LinuxLibgpioIF.h
Normal file
63
linux/gpio/LinuxLibgpioIF.h
Normal file
@ -0,0 +1,63 @@
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#ifndef BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_
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#define BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_
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#include <linux/gpio/GpioIF.h>
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#include <linux/gpio/GpioCookie.h>
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#include <fsfwconfig/returnvalues/classIds.h>
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#include <fsfw/objectmanager/SystemObject.h>
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/**
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* @brief This class implements the GpioIF for a linux based system. The
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* implementation is based on the libgpiod lib which requires linux 4.8
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* or higher.
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* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux
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* 2019.1.
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*/
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class LinuxLibgpioIF : public GpioIF, public SystemObject {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::LINUX_LIBGPIO_IF;
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static const ReturnValue_t DRIVE_GPIO_FAILURE = MAKE_RETURN_CODE(0x2);
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LinuxLibgpioIF(object_id_t objectId);
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virtual ~LinuxLibgpioIF();
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ReturnValue_t initialize(CookieIF * cookie) override;
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ReturnValue_t pullHigh(gpioId_t gpioId) override;
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ReturnValue_t pullLow(gpioId_t gpioId) override;
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ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
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private:
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/*Holds the information and configuration of all used GPIOs */
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GpioMap gpioMap;
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GpioMapIter gpioMapIter;
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/**
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* @brief This functions drives line of a GPIO specified by the GPIO ID.
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*
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* @param gpioId The GPIO ID of the GPIO to drive.
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* @param logiclevel The logic level to set. O or 1.
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*/
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ReturnValue_t driveGpio(gpioId_t gpioId,
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unsigned int logiclevel);
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/**
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* @brief This function checks if GPIOs are already registered and whether
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* there exists a conflict in the GPIO configuration. E.g. the
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* direction.
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*
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* @param mapToAdd The GPIOs which shall be added to the gpioMap.
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*
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* @return RETURN_OK if successful, otherwise RETURN_FAILED
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*/
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ReturnValue_t checkForConflicts(GpioMap mapToAdd);
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/**
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* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
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*/
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ReturnValue_t configureGpios(GpioMap* mapToAdd);
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};
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#endif /* BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_ */
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