old approach gpio lib

bsp_q7s/ObjectFactory.cpp

@@ -56,9 +56,9 @@ void ObjectFactory::produce(){
 	CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
 				addresses::ACU);
 	I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
-			TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
+			TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
 	I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
-			TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
+			TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
 
     /* Communication interfaces */
 	new CspComIF(objects::CSP_COM_IF);
@@ -77,6 +77,7 @@ void ObjectFactory::produce(){
 	new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
 				acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
 				ACU::MAX_HKTABLE_ADDRESS);
+	/* Temperature sensors */
 	Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
 			objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
 			i2cCookieTmp1075tcs1);

bsp_q7s/comIF/GpioComIF.cpp

@@ -0,0 +1,265 @@
+#include <bsp_q7s/comIF/GpioComIF.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fcntl.h>
+#include <string.h>
+
+
+GpioComIF::GpioComIF(object_id_t objectId): SystemObject(objectId){
+}
+
+GpioComIF::~GpioComIF() {}
+
+ReturnValue_t GpioComIF::initializeInterface(CookieIF * cookie) {
+
+	ReturnValue_t result;
+	GpioMap mapToAdd;
+
+	if(cookie == nullptr) {
+		return NULLPOINTER;
+	}
+	GpioCookie* GpioCookie = dynamic_cast<GpioCookie*>(cookie);
+	if(GpioCookie == nullptr) {
+	    sif::error << "GpioComIF: Invalid Gpio Cookie!"
+	            << std::endl;
+	    return NULLPOINTER;
+	}
+
+	mapToAdd = GpioCookie->getGpioMap();
+
+	result = checkForConflicts(mapToAdd);
+	if (result != HasReturnvaluesIF::RETURN_OK){
+		return result;
+	}
+
+	/* Register new GPIOs in gpioMap*/
+	result = initializeAndConfigure(mapToAdd);
+	if (result != HasReturnvaluesIF::RETURN_OK){
+		return result;
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GpioComIF::sendMessage(CookieIF *cookie,
+        const uint8_t *sendData, size_t sendLen) {
+
+	ReturnValue_t result;
+	int fd;
+	std::string deviceFile;
+
+	if(sendData == nullptr) {
+	    sif::error << "GpioComIF::sendMessage: Send Data is nullptr"
+	            << std::endl;
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(sendLen == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "GpioComIF::sendMessasge: Invalid I2C Cookie!"
+				<< std::endl;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "GpioComIF::sendMessage: i2cAddress of Cookie not "
+				<< "registered in i2cDeviceMap" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	deviceFile = i2cCookie->getDeviceFile();
+	result = openDevice(deviceFile, i2cAddress, &fd);
+	if (result != HasReturnvaluesIF::RETURN_OK){
+		return result;
+	}
+
+	if (write(fd, sendData, sendLen) != (int)sendLen) {
+		sif::error << "GpioComIF::sendMessage: Failed to send data to I2C "
+				"device with error code " << errno << ". Error description: "
+				<< strerror(errno) << std::endl;
+		close(fd);
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	close(fd);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GpioComIF::getSendSuccess(CookieIF *cookie) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GpioComIF::requestReceiveMessage(CookieIF *cookie,
+		size_t requestLen) {
+
+	ReturnValue_t result;
+	int fd;
+	std::string deviceFile;
+
+	if (requestLen == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "GpioComIF::requestReceiveMessage: Invalid I2C Cookie!"
+				<< std::endl;
+		i2cDeviceMapIter->second.replyLen = 0;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "GpioComIF::requestReceiveMessage: i2cAddress of Cookie not "
+				<< "registered in i2cDeviceMap" << std::endl;
+		i2cDeviceMapIter->second.replyLen = 0;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	deviceFile = i2cCookie->getDeviceFile();
+	result = openDevice(deviceFile, i2cAddress, &fd);
+	if (result != HasReturnvaluesIF::RETURN_OK){
+		i2cDeviceMapIter->second.replyLen = 0;
+		return result;
+	}
+
+	uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
+
+	if (read(fd, replyBuffer, requestLen) != (int)requestLen) {
+		sif::error << "GpioComIF::requestReceiveMessage: Reading from I2C "
+				<< "device failed with error code " << errno <<". Description"
+				<< " of error: " << strerror(errno) << std::endl;
+		close(fd);
+		i2cDeviceMapIter->second.replyLen = 0;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	i2cDeviceMapIter->second.replyLen = requestLen;
+
+	close(fd);
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GpioComIF::readReceivedMessage(CookieIF *cookie,
+		uint8_t **buffer, size_t* size) {
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "GpioComIF::readReceivedMessage: Invalid I2C Cookie!"
+				<< std::endl;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "GpioComIF::readReceivedMessage: i2cAddress of Cookie not "
+				<< "found in i2cDeviceMap" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	*buffer = i2cDeviceMapIter->second.replyBuffer.data();
+	*size = i2cDeviceMapIter->second.replyLen;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GpioComIF::openDevice(std::string deviceFile,
+		address_t i2cAddress, int* fileDescriptor) {
+	*fileDescriptor = open(deviceFile.c_str(), O_RDWR);
+	if (*fileDescriptor < 0) {
+		sif::error << "GpioComIF: Opening i2c device failed with error code "
+				<< errno << ". Error description: " << strerror(errno)
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
+		sif::error << "GpioComIF: Specifying target device failed with error "
+				<< "code " << errno << ". Error description "
+				<< strerror(errno) << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GpioComIF::checkForConflicts(GpioMap mapToAdd){
+	gpio_t gpio;
+	GpioMapIter mapToAddIter = mapToAdd.begin();
+	for(; mapToAddIter != mapToAdd.end(); mapToAddIter++){
+		gpio = mapToAddIter.first();
+		if(gpioMapIter.find(gpio) != mapToAdd.end()){
+			/* An entry for this GPIO already exists. Check if configuration
+			 * of direction is equivalent */
+			if (mapToAddIter.second() != gpioMapIter.second()){
+				sif::error << "GpioComIF::checkForConflicts: Detected conflict "
+						<< "for GPIO " << mapToAddIter.first() << std::endl;
+				return HasReturnvaluesIF::RETURN_OK;
+			}
+			/* Remove element from map to add because a entry for this GPIO
+			 * already exists */
+			mapToAdd.erase(mapToAddIter);
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GpioComIF::initializeAndConfigure(GpioMap mapToAdd){
+
+	int exportfd;
+	int directionfd;
+	std::string gpioStr;
+	GpioMapIter mapToAddItr;
+
+	mapToAddItr = mapToAdd.begin();
+	/* Perform initialization for all GPIOs in map */
+	for(; mapToAddItr != mapToAdd.end(); mapToAddItr++){
+		/* The GPIO has to be exported to be able to see it in sysfs */
+		exportfd = open("/sys/class/gpio/export", O_WRONLY);
+		if (exportfd < 0)
+		{
+			sif::error << "GpioComIF::initializeAndConfigure: Cannot open GPIO "
+					<< mapToAddItr.first() << " to export it" << std::endl;
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		gpioStr = std::to_string(mapToAddItr.first());
+		write(exportfd, gpioStr.c_str(), gpioStr.length() + 1);
+		close(exportfd);
+
+		/* Set direction of the GPIO */
+		std::string directionPath = "/sys/class/gpio/" + gpioStr +
+				"/direction";
+		directionfd = open(directionPath.c_str(), O_RDWR);
+		if (directionfd < 0)
+		{
+			sif::error << "Cannot open " << directionPath.c_str() << std::endl;
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+
+		if (mapToAdd.second() == Gpio::IN) {
+			write(directionfd, "in", 3);
+		}
+		else if (mapToAdd.second() == Gpio::OUT) {
+			write(directionfd, "out", 4);
+		}
+		else {
+			sif::error << "GpioComIF::initializeAndConfigure: Invalid direction"
+					<< " specified" << std::endl;
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		close(directionfd);
+
+		/* Add GPIO to GpioMap of GpioComIF */
+		std::pair insertionResult = gpioMap.insert(mapToAddItr);
+		if (insertionResult.second() != true) {
+			sif::error << "GpioComIF::initializeAndConfigure: Failed to add "
+					<< "GPIO " << gpioStr.c_st() << " to gpioMap" << std::endl;
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}

bsp_q7s/comIF/GpioComIF.h

@@ -0,0 +1,57 @@
+#ifndef BSP_Q7S_COMIF_I2s	COMIF_H_
+#define BSP_Q7S_COMIF_I2COMIF_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <bsp_q7s/comIF/cookies/GpioCookie.h>
+
+/**
+ * @brief 	This is the communication interface to drive GPIOs by using the
+ * 			the linux sysfs.
+ *
+ * @author 	J. Meier
+ */
+class GpioComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+	GpioComIF(object_id_t objectId);
+
+	virtual ~GpioComIF();
+
+	ReturnValue_t initializeInterface(CookieIF * cookie) override;
+	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+			size_t sendLen) override;
+	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+	        size_t requestLen) override;
+	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) override;
+
+private:
+
+	/* All GPIOs will be stored in this map after successful initialization */
+	GpioMap gpioMap;
+	GpioMapIter gpioMapIter;
+
+	/**
+	 * @brief	This function checks if GPIOs are already registered and whether
+	 * 			there exists a conflict in the GPIO configuration. E.g. the
+	 * 			direction.
+	 *
+	 * @param mapToAdd	The GPIOs which shall be added to the gpioMap
+	 *
+	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED
+	 */
+	ReturnValue_t checkForConflicts(GpioMap mapToAdd);
+
+	/**
+	 * @brief	This function initializes all GPIOs specified in the mapToAdd.
+	 *
+	 * @param	Map with the GPIOs to initialize.
+	 *
+	 * @return 	RETURN_OK if successful, otherwise RETURN_FAILED
+	 */
+	ReturnValue_t GpioComIF::initializeAndConfigure(GpioMap mapToAdd);
+
+};
+
+#endif /* BSP_Q7S_COMIF_I2COMIF_H_ */

bsp_q7s/comIF/I2cComIF.cpp

@@ -121,7 +121,7 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
 
 	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
 	if(i2cCookie == nullptr) {
-		sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!"
+		sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!"
 				<< std::endl;
 		i2cDeviceMapIter->second.replyLen = 0;
 		return NULLPOINTER;

bsp_q7s/comIF/cookies/GpioCookie.cpp

@@ -0,0 +1,26 @@
+#include <bsp_q7s/comIF/cookies/GpioCookie.h>
+
+GpioCookie::GpioCookie() {
+}
+
+void GpioCookie::addGpio(gpioMap newEntry){
+	gpioMapIter = gpioMap.find(newEntry);
+	if(gpioMapIter == gpioMap.end()) {
+		std::pair status = i2cDeviceMap.emplace(newEntry);
+		if (status.second == false) {
+			sif::error << "GpioCookie::addGpio: Failed to add GPIO "
+					<< newEntry.first << "to GPIO map" << std::endl;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	else {
+		sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map "
+				<< std::endl;
+	}
+}
+
+GpioMap getGpioMap() const{
+	return gpioMap;
+}
+
+GpioCookie::~GpioCookie() {}

bsp_q7s/comIF/cookies/GpioCookie.h

@@ -0,0 +1,48 @@
+#ifndef SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+#define SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <string>
+
+namespace Gpio {
+	enum Direction {
+		IN = 0,
+		OUT = 1
+	};
+}
+
+using gpio_t = uint32_t;
+using direction_t = bool;
+using GpioMap = std::unordered_map<gpio_t, direction_t>;
+using GpioMapIter = GpioMap::iterator;
+
+/**
+ * @brief   Cookie for the GpioComIF. Allows the GpioComIF 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(gpioMap newEntry);
+	/**
+	 * @brief	Get map with register GPIOs.
+	 */
+	GpioMap getGpioMap() const;
+
+private:
+
+	GpioMap gpioMap;
+	GpioMapIter gpioMapIter;
+};
+
+#endif