moved i2c to fsfw_hal as well
This commit is contained in:
parent
c0bb934ddb
commit
ed46e6f1bb
@ -22,8 +22,8 @@
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#include <linux/csp/CspCookie.h>
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#include <linux/csp/CspCookie.h>
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#include <linux/csp/CspComIF.h>
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#include <linux/csp/CspComIF.h>
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#include <linux/i2c/I2cCookie.h>
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#include <fsfw_hal/linux/i2c/I2cCookie.h>
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#include <linux/i2c/I2cComIF.h>
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#include <fsfw_hal/linux/i2c/I2cComIF.h>
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#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
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#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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2
fsfw_hal
2
fsfw_hal
@ -1 +1 @@
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Subproject commit 8f3b0eccdb1cf9ac5863d3d6411e6ef6528b8005
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Subproject commit 7a3190e5b6980ad2addc5e8a76d21994b542f0e0
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@ -1,6 +1,4 @@
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target_sources(${TARGET_NAME} PUBLIC
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target_sources(${TARGET_NAME} PUBLIC
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I2cComIF.cpp
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I2cCookie.cpp
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)
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)
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@ -1,199 +0,0 @@
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#include "I2cComIF.h"
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <fsfw_hal/linux/utility.h>
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#include <fsfw_hal/linux/UnixFileGuard.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <linux/i2c-dev.h>
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#include <errno.h>
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#include <cstring>
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I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
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}
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I2cComIF::~I2cComIF() {}
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ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
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address_t i2cAddress;
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std::string deviceFile;
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if(cookie == nullptr) {
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sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
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return NULLPOINTER;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
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return NULLPOINTER;
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}
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i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if(i2cDeviceMapIter == i2cDeviceMap.end()) {
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size_t maxReplyLen = i2cCookie->getMaxReplyLen();
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I2cInstance_t i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
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auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
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if (not statusPair.second) {
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sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
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i2cAddress << "to I2C device " << "map" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
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"already in use" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
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const uint8_t *sendData, size_t sendLen) {
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ReturnValue_t result;
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int fd;
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std::string deviceFile;
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if(sendData == nullptr) {
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sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
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<< std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if(sendLen == 0) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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deviceFile = i2cCookie->getDeviceFile();
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UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
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if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
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return fileHelper.getOpenResult();
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}
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result = openDevice(deviceFile, i2cAddress, &fd);
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if (result != HasReturnvaluesIF::RETURN_OK){
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return result;
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}
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if (write(fd, sendData, sendLen) != (int)sendLen) {
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sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
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"device with error code " << errno << ". Error description: "
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<< strerror(errno) << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) {
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ReturnValue_t result;
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int fd;
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std::string deviceFile;
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if (requestLen == 0) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
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i2cDeviceMapIter->second.replyLen = 0;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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i2cDeviceMapIter->second.replyLen = 0;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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deviceFile = i2cCookie->getDeviceFile();
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UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
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if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
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return fileHelper.getOpenResult();
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}
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result = openDevice(deviceFile, i2cAddress, &fd);
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if (result != HasReturnvaluesIF::RETURN_OK){
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i2cDeviceMapIter->second.replyLen = 0;
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return result;
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}
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uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
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if (read(fd, replyBuffer, requestLen) != static_cast<int>(requestLen)) {
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sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
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<< "device failed with error code " << errno <<". Description"
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<< " of error: " << strerror(errno) << std::endl;
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i2cDeviceMapIter->second.replyLen = 0;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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i2cDeviceMapIter->second.replyLen = requestLen;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
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uint8_t **buffer, size_t* size) {
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
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<< "found in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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*buffer = i2cDeviceMapIter->second.replyBuffer.data();
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*size = i2cDeviceMapIter->second.replyLen;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
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address_t i2cAddress, int* fileDescriptor) {
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if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
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<< std::endl;
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sif::warning << "Error description " << strerror(errno) << std::endl;
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#else
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sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
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sif::printWarning("Error description: %s\n", strerror(errno));
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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#endif /* FSFW_VERBOSE_LEVEL >= 1 */
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -1,59 +0,0 @@
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#ifndef LINUX_I2C_I2COMIF_H_
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#define LINUX_I2C_I2COMIF_H_
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#include "I2cCookie.h"
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
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#include <unordered_map>
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#include <vector>
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/**
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* @brief This is the communication interface for i2c devices connected
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* to a system running a linux OS.
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*
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* @author J. Meier
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*/
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class I2cComIF: public DeviceCommunicationIF, public SystemObject {
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public:
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I2cComIF(object_id_t objectId);
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virtual ~I2cComIF();
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ReturnValue_t initializeInterface(CookieIF * cookie) override;
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ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
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size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF *cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
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size_t *size) override;
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private:
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typedef struct I2cInstance {
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std::vector<uint8_t> replyBuffer;
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size_t replyLen;
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} I2cInstance_t;
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using I2cDeviceMap = std::unordered_map<address_t, I2cInstance_t>;
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using I2cDeviceMapIter = I2cDeviceMap::iterator;
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/* In this map all i2c devices will be registered with their address and
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* the appropriate file descriptor will be stored */
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I2cDeviceMap i2cDeviceMap;
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I2cDeviceMapIter i2cDeviceMapIter;
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/**
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* @brief This function opens an I2C device and binds the opened file
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* to a specific I2C address.
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* @param deviceFile The name of the device file. E.g. i2c-0
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* @param i2cAddress The address of the i2c slave device.
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* @param fileDescriptor Pointer to device descriptor.
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* @return RETURN_OK if successful, otherwise RETURN_FAILED.
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*/
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ReturnValue_t openDevice(std::string deviceFile,
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address_t i2cAddress, int* fileDescriptor);
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};
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#endif /* LINUX_I2C_I2COMIF_H_ */
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@ -1,20 +0,0 @@
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#include "I2cCookie.h"
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I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
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std::string deviceFile_) :
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i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
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}
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address_t I2cCookie::getAddress() const {
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return i2cAddress;
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}
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size_t I2cCookie::getMaxReplyLen() const {
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return maxReplyLen;
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}
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std::string I2cCookie::getDeviceFile() const {
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return deviceFile;
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}
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I2cCookie::~I2cCookie() {}
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@ -1,37 +0,0 @@
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#ifndef LINUX_I2C_I2CCOOKIE_H_
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#define LINUX_I2C_I2CCOOKIE_H_
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#include <fsfw/devicehandlers/CookieIF.h>
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#include <string>
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/**
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* @brief Cookie for the i2cDeviceComIF.
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*
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* @author J. Meier
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*/
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class I2cCookie: public CookieIF {
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public:
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/**
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* @brief Constructor for the I2C cookie.
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* @param i2cAddress_ The i2c address of the target device.
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* @param maxReplyLen The maximum expected length of a reply from the
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* target device.
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*/
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I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
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std::string deviceFile_);
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virtual ~I2cCookie();
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address_t getAddress() const;
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size_t getMaxReplyLen() const;
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std::string getDeviceFile() const;
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private:
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address_t i2cAddress = 0;
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size_t maxReplyLen = 0;
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std::string deviceFile;
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};
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#endif /* LINUX_I2C_I2CCOOKIE_H_ */
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