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refactored GPIO to support callbacks

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This commit is contained in:
Robin Müller 2021-02-23 13:24:05 +01:00
parent c042bbea63
commit 434d0586b3
9 changed files with 268 additions and 125 deletions
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2
bsp_rpi/gpio/GPIORPi.cpp
View File

@ -10,7 +10,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
return HasReturnvaluesIF::RETURN_FAILED;
}
GpioConfig_t config;
GpiodRegular config;
/* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
will not need this */
config.chipname = "gpiochip0";

2
linux/boardtest/LibgpiodTest.cpp
View File

@ -13,7 +13,7 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
if (gpioInterface == nullptr) {
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
}
gpioInterface->initialize(gpioCookie);
gpioInterface->addGpios(gpioCookie);
testCase = TestCases::LOOPBACK;
}

4
linux/gpio/GpioCookie.cpp
View File

@ -4,10 +4,10 @@
GpioCookie::GpioCookie() {
}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioConfig_t& gpioConfig){
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpiodRegular& gpioConfig){
auto gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) {
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
auto statusPair = gpioMap.emplace(gpioId, new GpiodRegular(gpioConfig));
if (statusPair.second == false) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<

2
linux/gpio/GpioCookie.h
View File

@ -23,7 +23,7 @@ public:
virtual ~GpioCookie();
ReturnValue_t addGpio(gpioId_t gpioId, GpioConfig_t& gpioConfig);
ReturnValue_t addGpio(gpioId_t gpioId, GpiodRegular& gpioConfig);
/**
* @brief Get map with registered GPIOs.
*/

2
linux/gpio/GpioIF.h
View File

@ -22,7 +22,7 @@ public:
* @param cookie Cookie specifying informations of the GPIOs required
* by a object.
*/
virtual ReturnValue_t initialize(GpioCookie* cookie) = 0;
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
/**
* @brief By implementing this function a child must provide the

292
linux/gpio/LinuxLibgpioIF.cpp
View File

@ -2,18 +2,20 @@
#include "GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <linux/gpio/gpioDefinitions.h>
#include <utility>
#include <unistd.h>
#include <gpiod.h>
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
}
LinuxLibgpioIF::~LinuxLibgpioIF() {
}
ReturnValue_t LinuxLibgpioIF::initialize(GpioCookie* gpioCookie){
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if(gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
@ -32,101 +34,153 @@ ReturnValue_t LinuxLibgpioIF::initialize(GpioCookie* gpioCookie){
return RETURN_FAILED;
}
/* Register new GPIOs in gpioMap*/
/* Register new GPIOs in gpioMap */
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE;
}
case(gpio::GpioTypes::GPIOD_REGULAR): {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
configureRegularGpio(gpioConfig.first, regularGpio);
break;
}
case(gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
0, gpioCallback->callbackArgs);
}
}
}
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
std::string chipname;
unsigned int lineNum;
struct gpiod_chip *chip;
gpio::Direction direction;
std::string consumer;
struct gpiod_line *lineHandle;
int result;
int result = 0;
for(auto& gpioConfig: mapToAdd) {
chipname = gpioConfig.second.chipname;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioConfig.first << std::endl;
return RETURN_FAILED;
}
lineNum = gpioConfig.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 = gpioConfig.second.direction;
consumer = gpioConfig.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(),
gpioConfig.second.initValue);
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
<< lineNum << " from GPIO instance with ID: " << gpioConfig.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: " << gpioConfig.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.
*/
gpioConfig.second.lineHandle = lineHandle;
}
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId){
return driveGpio(gpioId, 1);
}
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId){
return driveGpio(gpioId, 0);
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
unsigned int logiclevel) {
int result;
struct gpiod_line *lineHandle;
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()){
sif::debug << "LinuxLibgpioIF::driveGpio: Unknown gpio id " << gpioId << std::endl;
chipname = regularGpio->chipname;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
lineHandle = gpioMapIter->second.lineHandle;
result = gpiod_line_set_value(lineHandle, logiclevel);
lineNum = regularGpio->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 = regularGpio->direction;
consumer = regularGpio->consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case(gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio->initValue);
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum <<
" from GPIO instance with ID: " << gpioId << 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: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
break;
}
default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
<< std::endl;
return GPIO_INVALID_INSTANCE;
}
}
/**
* Write line handle to GPIO configuration instance so it can later be used to set or
* read states of GPIOs.
*/
regularGpio->lineHandle = lineHandle;
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
}
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
1, gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
}
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
0, gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegular* regularGpio, unsigned int logicLevel) {
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
if (result < 0) {
sif::error << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID "
<< gpioId << " to logic level " << logiclevel << std::endl;
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
" to logic level " << logicLevel << std::endl;
return DRIVE_GPIO_FAILURE;
}
@ -134,38 +188,76 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
}
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;
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
}
else {
}
lineHandle = gpioMapIter->second.lineHandle;
*gpioState = gpiod_line_get_value(lineHandle);
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
gpioId_t gpioId;
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for(auto& gpioConfig: mapToAdd) {
gpioId = gpioConfig.first;
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter != mapToAdd.end()) {
/* An entry for this GPIO already exists. Check if configuration
* of direction is equivalent */
if (gpioConfig.second.direction != gpioMapIter->second.direction){
sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict for GPIO " <<
gpioConfig.first << std::endl;
return RETURN_FAILED;
switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIOD_REGULAR): {
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Remove element from map to add because a entry for this GPIO
* already exists */
mapToAdd.erase(gpioConfig.first);
result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
default: {
}
}
}
return RETURN_OK;
return status;
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
GpiodRegular* gpioToCheck) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) {
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if(ownRegularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* An entry for this GPIO already exists. Check if configuration
* of direction is equivalent */
if (gpioToCheck->direction != ownRegularGpio->direction){
sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict for GPIO " <<
gpioIdToCheck << std::endl;
return RETURN_FAILED;
}
}
/* Remove element from map to add because a entry for this GPIO
* already exists */
gpioMap.erase(gpioIdToCheck);
}
return HasReturnvaluesIF::RETURN_OK;
}

19
linux/gpio/LinuxLibgpioIF.h
View File

@ -17,14 +17,21 @@ class GpioCookie;
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::LINUX_LIBGPIO_IF;
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
static const ReturnValue_t DRIVE_GPIO_FAILURE = MAKE_RETURN_CODE(0x2);
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF();
ReturnValue_t initialize(GpioCookie* gpioCookie) override;
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
ReturnValue_t pullHigh(gpioId_t gpioId) override;
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
@ -40,7 +47,9 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, unsigned int logiclevel);
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
/**
* @brief This function checks if GPIOs are already registered and whether
@ -53,6 +62,8 @@ private:
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio);
/**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/

68
linux/gpio/gpioDefinitions.h
View File

@ -12,6 +12,17 @@ enum Direction {
OUT = 1
};
enum GpioOperation {
READ,
WRITE
};
enum GpioTypes {
NONE,
GPIOD_REGULAR,
CALLBACK
};
static constexpr gpioId_t NO_GPIO = -1;
}
@ -29,23 +40,52 @@ static constexpr gpioId_t NO_GPIO = -1;
* @param lineHandle The handle returned by gpiod_chip_get_line will be later written to this
* pointer.
*/
typedef struct GpioConfig {
GpioConfig(): chipname(), lineNum(0), consumer(), direction(gpio::Direction::OUT),
initValue(0) {};
class GpioBase {
public:
GpioConfig(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_):
chipname(chipname_), lineNum(lineNum_), consumer(consumer_),
direction(direction_), initValue(initValue_) {}
std::string chipname;
int lineNum;
GpioBase() = default;
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
int initValue):
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
virtual~ GpioBase() {};
/* Can be used to cast GpioBase to a concrete child implementation */
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
std::string consumer;
gpio::Direction direction;
int initValue;
struct gpiod_line* lineHandle = nullptr;
} GpioConfig_t;
gpio::Direction direction = gpio::Direction::IN;
int initValue = 0;
};
using GpioMap = std::unordered_map<gpioId_t, GpioConfig_t>;
class GpiodRegular: public GpioBase {
public:
GpiodRegular(): GpioBase() {};
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_):
GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
chipname(chipname_), lineNum(lineNum_) {}
std::string chipname;
int lineNum = 0;
struct gpiod_line* lineHandle = nullptr;
};
class GpioCallback: public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
void* callbackArgs):
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback), callbackArgs(callbackArgs) {}
void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp,
int value, void* args) = nullptr;
void* callbackArgs = nullptr;
};
using GpioMap = std::unordered_map<gpioId_t, GpioBase*>;
using GpioMapIter = GpioMap::iterator;
#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */

2
mission/devices/SolarArrayDeploymentHandler.cpp
View File

@ -39,7 +39,7 @@ ReturnValue_t SolarArrayDeploymentHandler::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = gpioInterface->initialize(dynamic_cast<GpioCookie*>(gpioCookie));
result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
if (result != RETURN_OK) {
sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
<< std::endl;