eive/eive-obsw
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added new linux folder

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This commit is contained in:
Robin Müller
2021-02-14 12:35:08 +01:00
parent ae47acdbbb
commit 56c89a0751
11 changed files with 62 additions and 53 deletions
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20
bsp_q7s/ObjectFactory.cpp
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@ -115,37 +115,37 @@ void ObjectFactory::produce(){
#if TE0720 == 0
/* Pin H2-11 on stack connector */
GpioConfig_t gpioConfigHeater0(std::string("gpiochip7"), 18,
std::string("Heater0"), Gpio::OUT, 0);
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);
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);
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);
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);
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);
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);
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);
std::string("Heater7"), gpio::OUT, 0);
gpioCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
@ -160,13 +160,13 @@ void ObjectFactory::produce(){
#if TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */
GpioConfig_t gpioConfigMio0(std::string("gpiochip0"), 0,
std::string("MIO0"), Gpio::IN, 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);
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);

4
bsp_q7s/boardtest/LibgpiodTest.h
View File

@ -2,8 +2,8 @@
#define TEST_TESTTASKS_LIBGPIODTEST_H_
#include "TestTask.h"
#include "GpioIF.h"
#include "GpioCookie.h"
#include <bsp_q7s/gpio/GpioIF.h>
#include <bsp_q7s/gpio/cookies/GpioCookie.h>
#include <fsfw/objectmanager/SystemObject.h>
/**

7
bsp_q7s/gpio/CMakeLists.txt
View File

@ -1,11 +1,4 @@
target_sources(${TARGET_NAME} PUBLIC
cookies/GpioCookie.cpp
LinuxLibgpioIF.cpp
)
target_include_directories(${TARGET_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_CURRENT_SOURCE_DIR}/cookies
)

52
bsp_q7s/gpio/GpioIF.h
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@ -1,52 +0,0 @@
#ifndef BSP_Q7S_GPIO_GPIOIF_H_
#define BSP_Q7S_GPIO_GPIOIF_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
typedef uint16_t gpioId_t;
/**
* @brief This class defines the interface for objects requiring the control
* over GPIOs.
* @author J. Meier
*/
class GpioIF : public HasReturnvaluesIF{
public:
virtual ~GpioIF() {};
/**
* @brief Called by the GPIO using object.
* @param cookie Cookie specifying informations of the GPIOs required
* by a object.
*/
virtual ReturnValue_t initialize(CookieIF * cookie) = 0;
/**
* @brief By implementing this function a child must provide the
* functionality to pull a certain GPIO to high logic level.
*
* @param gpioId A unique number which specifies the GPIO to drive.
*/
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
/**
* @brief By implementing this function a child must provide the
* functionality to pull a certain GPIO to low logic level.
*
* @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_ */

10
bsp_q7s/gpio/LinuxLibgpioIF.cpp
View File

@ -1,5 +1,5 @@
#include <bsp_q7s/gpio/LinuxLibgpioIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "LinuxLibgpioIF.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <utility>
#include <unistd.h>
@ -49,7 +49,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap* mapToAdd) {
std::string chipname;
unsigned int lineNum;
struct gpiod_chip *chip;
Gpio::Direction direction;
gpio::Direction direction;
std::string consumer;
struct gpiod_line *lineHandle;
int result;
@ -77,7 +77,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap* mapToAdd) {
consumer = mapToAddIter->second.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case Gpio::OUT:
case gpio::OUT:
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
mapToAddIter->second.initValue);
if (result < 0) {
@ -88,7 +88,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap* mapToAdd) {
return RETURN_FAILED;
}
break;
case Gpio::IN:
case gpio::IN:
result = gpiod_line_request_input(lineHandle, consumer.c_str());
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "

4
bsp_q7s/gpio/LinuxLibgpioIF.h
View File

@ -1,9 +1,9 @@
#ifndef BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_
#define BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_
#include <bsp_q7s/gpio/GpioIF.h>
#include <linux/gpio/GpioIF.h>
#include <linux/gpio/GpioCookie.h>
#include <fsfwconfig/returnvalues/classIds.h>
#include <bsp_q7s/gpio/cookies/GpioCookie.h>
#include <fsfw/objectmanager/SystemObject.h>
/**

26
bsp_q7s/gpio/cookies/GpioCookie.cpp
View File

@ -1,26 +0,0 @@
#include <bsp_q7s/gpio/cookies/GpioCookie.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
GpioCookie::GpioCookie() {
}
void GpioCookie::addGpio(gpioId_t gpioId, GpioConfig_t gpioConfig){
gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) {
std::pair status = gpioMap.emplace(gpioId, gpioConfig);
if (status.second == false) {
sif::error << "GpioCookie::addGpio: Failed to add GPIO "
<< gpioId << "to GPIO map" << std::endl;
}
}
else {
sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map "
<< std::endl;
}
}
GpioMap GpioCookie::getGpioMap() const{
return gpioMap;
}
GpioCookie::~GpioCookie() {}

76
bsp_q7s/gpio/cookies/GpioCookie.h
View File

@ -1,76 +0,0 @@
#ifndef SAM9G20_COMIF_COOKIES_GPIO_COOKIE_H_
#define SAM9G20_COMIF_COOKIES_GPIO_COOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <bsp_q7s/gpio/GpioIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <string>
#include <unordered_map>
namespace Gpio {
enum Direction {
IN = 0,
OUT = 1
};
}
/**
* @brief Struct containing information about the GPIO to use. This is
* required by the libgpiod to access and drive a GPIO.
* @param chipname String of the chipname specifying the group which contains
* 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. 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_, int initValue_) :
chipname(chipname_), lineNum(lineNum_), consumer(consumer_), 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;
/**
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
* GPIOs to initialize and whether they should be configured as in- or
* output.
* @details One GpioCookie can hold multiple GPIO configurations. To add a new
* GPIO configuration to a GpioCookie use the GpioCookie::addGpio
* function.
*
* @author J. Meier
*/
class GpioCookie: public CookieIF {
public:
GpioCookie();
virtual ~GpioCookie();
void addGpio(gpioId_t gpioId, GpioConfig_t gpioConfig);
/**
* @brief Get map with registered GPIOs.
*/
GpioMap getGpioMap() const;
private:
GpioMap gpioMap;
GpioMapIter gpioMapIter;
};
#endif