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commanding of HeaterHandler and GpioIF working

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This commit is contained in:
Jakob Meier
2021-02-01 11:17:20 +01:00
parent 560e538f62
commit fd1e4f3473
20 changed files with 474 additions and 264 deletions
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14
bsp_q7s/ObjectFactory.cpp
View File

@ -12,6 +12,8 @@
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfwconfig/devices/powerSwitcherList.h>
#include <mission/core/GenericFactory.h>
#include <mission/devices/PDU1Handler.h>
#include <mission/devices/PDU2Handler.h>
@ -19,6 +21,7 @@
#include <mission/devices/PCDUHandler.h>
#include <mission/devices/P60DockHandler.h>
#include <mission/devices/Tmp1075Handler.h>
#include <mission/devices/HeaterHandler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/utility/TmFunnel.h>
@ -102,19 +105,20 @@ void ObjectFactory::produce(){
tmp1075Handler_2->setStartUpImmediately();
/* Thermal objects */
GpioCookie gpioCookie = new GpioCookie;
GpioCookie* gpioCookie = new GpioCookie;
#if TE0720 == 1
// Configuration for MIO0 on TE0720-03-1CFA
GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
std::string("Heater0"), Gpio::OUT);
gpioCookie.add(gpioIds::HEATER_0, gpioConfigForDummyHeater);
gpioCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
#else
GpioConfig_t gpioConfigHeater0(std::string("gpiochip5"), 6,
std::string("Heater0"), Gpio::OUT);
gpioCookie.add(gpioIds::HEATER_0, gpioConfigHeater0);
gpioCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
#endif
LinuxLibgpioIF linuxLibgpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie);
new LinuxLibgpioIF(objects::GPIO_IF);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR,

2
bsp_q7s/gpio/GpioIF.h
View File

@ -14,7 +14,7 @@ typedef uint16_t gpioId_t;
class GpioIF : public HasReturnvaluesIF{
public:
virtual ~GpioIF();
virtual ~GpioIF() {};
/**
* @brief Called by the GPIO using object.

65
bsp_q7s/gpio/LinuxLibgpioIF.cpp
View File

@ -1,6 +1,9 @@
#include <bsp_q7s/gpio/LinuxLibgpioIF.h>
#include <gpio.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <utility>
#include <unistd.h>
#include <gpiod.h>
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
}
@ -14,16 +17,17 @@ ReturnValue_t LinuxLibgpioIF::initialize(CookieIF * cookie){
GpioMapIter mapToAddIter;
if(cookie == nullptr) {
return NULLPOINTER;
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
return RETURN_FAILED;
}
GpioCookie* GpioCookie = dynamic_cast<GpioCookie*>(cookie);
if(GpioCookie == nullptr) {
GpioCookie* gpioCookie = dynamic_cast<GpioCookie*>(cookie);
if(gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF: Invalid Gpio Cookie!"
<< std::endl;
return NULLPOINTER;
return RETURN_FAILED;
}
mapToAdd = GpioCookie->getGpioMap();
mapToAdd = gpioCookie->getGpioMap();
result = checkForConflicts(mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK){
@ -31,20 +35,7 @@ ReturnValue_t LinuxLibgpioIF::initialize(CookieIF * cookie){
}
/* Register new GPIOs in gpioMap*/
result = initializeAndConfigure(mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK){
return result;
}
/* Register new GPIOs in gpioMap*/
std::pair insertionResult = gpioMap.insert(mapToAdd.begin(),
mapToAdd.end());
if (insertionResult.second() != true) {
sif::error << "LinuxLibgpioIF::initialize: Failed to add "
<< "GPIO with ID " << mapToAddIter.first << " to gpioMap"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
return HasReturnvaluesIF::RETURN_OK;
}
@ -60,41 +51,43 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId){
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
unsigned int logiclevel) {
GpioMapIter gpioMapIter = gpioMap.find(gpioId);
char *chipname;
std::string chipname;
unsigned int lineNum;
struct gpiod_chip *chip;
struct gpiod_line *line;
int result;
Gpio::Direction direction;
std::string consumer;
/* Verify if GPIO has been configured as output */
direction = gpioMapIter.second.direction;
direction = gpioMapIter->second.direction;
if (direction != Gpio::OUT) {
sif::error << "LinuxLibgpioIF::pullHigh: GPIO with ID " << gpioId
sif::error << "LinuxLibgpioIF::driveGpio: GPIO with ID " << gpioId
<< "not configured as output" << std::endl;
return CONFIGURATION_FAILURE;
}
chipname = gpioMapIter.second.chipname;
chip = gpiod_chip_open_by_name(chipname);
chipname = gpioMapIter->second.chipname;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::error << "LinuxLibgpioIF::pullHigh: Failed to open chip "
sif::error << "LinuxLibgpioIF::driveGpio: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return OPEN_CHIP_FAILURE;
}
lineNum = gpioMapIter.second.lineNum;
lineNum = gpioMapIter->second.lineNum;
line = gpiod_chip_get_line(chip, lineNum);
if (!line) {
sif::error << "LinuxLibgpioIF::pullHigh: Failed to open line. Gpio ID "
sif::error << "LinuxLibgpioIF::driveGpio: Failed to open line. Gpio ID "
<< gpioId << std::endl;
gpiod_chip_close(chip);
return OPEN_LINE_FAILURE;
}
result = gpiod_line_request_output(line, CONSUMER, 0);
consumer = gpioMapIter->second.consumer;
result = gpiod_line_request_output(line, consumer.c_str(), 0);
if (result < 0) {
sif::error << "LinuxLibgpioIF::pullHigh: Failed to request line "
sif::error << "LinuxLibgpioIF::driveGpio: Failed to request line "
<< line << " from GPIO instance with ID: " << gpioId
<< std::endl;
gpiod_line_release(line);
@ -103,11 +96,12 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
result = gpiod_line_set_value(line, logiclevel);
if (result < 0) {
sif::error << "LinuxLibgpioIF::pullHigh: Failed to pull GPIO with ID "
sif::error << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID "
<< gpioId << "to low" << std::endl;
gpiod_line_release(line);
return PULLING_HIGH_FAILURE;
}
gpiod_line_release(line);
return HasReturnvaluesIF::RETURN_OK;
}
@ -116,13 +110,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap mapToAdd){
gpioId_t gpioId;
GpioMapIter mapToAddIter = mapToAdd.begin();
for(; mapToAddIter != mapToAdd.end(); mapToAddIter++){
gpio = mapToAddIter.first();
if(gpioMapIter.find(gpioId) != mapToAdd.end()){
gpioId = mapToAddIter->first;
gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter != mapToAdd.end()){
/* An entry for this GPIO already exists. Check if configuration
* of direction is equivalent */
if (mapToAddIter.second.direction != gpioMapIter.second.direction){
if (mapToAddIter->second.direction != gpioMapIter->second.direction){
sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict "
<< "for GPIO " << mapToAddIter.first() << std::endl;
<< "for GPIO " << mapToAddIter->first << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
/* Remove element from map to add because a entry for this GPIO

8
bsp_q7s/gpio/LinuxLibgpioIF.h
View File

@ -4,6 +4,7 @@
#include <bsp_q7s/gpio/GpioIF.h>
#include <fsfwconfig/returnvalues/classIds.h>
#include <bsp_q7s/gpio/cookies/GpioCookie.h>
#include <fsfw/objectmanager/SystemObject.h>
/**
* @brief This class implements the GpioIF for a linux based system. The
@ -12,9 +13,11 @@
* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux
* 2019.1.
*/
class LinuxLibgpioIF: public GpioIF, public SystemObject {
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::LINUX_LIBGPIO_IF;
static const ReturnValue_t CONFIGURATION_FAILURE = MAKE_RETURN_CODE(0x1);
static const ReturnValue_t OPEN_CHIP_FAILURE = MAKE_RETURN_CODE(0x2);
static const ReturnValue_t OPEN_LINE_FAILURE = MAKE_RETURN_CODE(0x3);
@ -30,10 +33,9 @@ public:
private:
static const uint8_t INTERFACE_ID = CLASS_ID::LINUX_LIBGPIO_IF;
/*Holds the information and configuration of all used GPIOs */
GpioMap gpioMap;
GpioMapIter gpioMapIter;
/**
* @brief This functions drives line of a GPIO specified by the GPIO ID.

11
bsp_q7s/gpio/cookies/GpioCookie.cpp
View File

@ -1,15 +1,16 @@
#include <bsp_q7s/gpio/cookies/GpioCookie.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
GpioCookie::GpioCookie() {
}
void GpioCookie::addGpio(GpioMap newEntry){
gpioMapIter = gpioMap.find(newEntry);
void GpioCookie::addGpio(gpioId_t gpioId, GpioConfig_t gpioConfig){
gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) {
std::pair status = gpioMap.emplace(newEntry);
std::pair status = gpioMap.emplace(gpioId, gpioConfig);
if (status.second == false) {
sif::error << "GpioCookie::addGpio: Failed to add GPIO "
<< newEntry.first << "to GPIO map" << std::endl;
<< gpioId << "to GPIO map" << std::endl;
}
}
else {
@ -18,7 +19,7 @@ void GpioCookie::addGpio(GpioMap newEntry){
}
}
GpioMap getGpioMap() const{
GpioMap GpioCookie::getGpioMap() const{
return gpioMap;
}

5
bsp_q7s/gpio/cookies/GpioCookie.h
View File

@ -5,6 +5,7 @@
#include <bsp_q7s/gpio/GpioIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <string>
#include <unordered_map>
namespace Gpio {
enum Direction {
@ -27,7 +28,7 @@ typedef struct GpioConfig {
GpioConfig(std::string chipname_, int lineNum_, std::string consumer_,
Gpio::Direction direction_) :
chipname(chipname_), lineNum(lineNum_), consumer(consumer_), direction(
directio_) {
direction_) {
}
std::string chipname;
int lineNum;
@ -54,7 +55,7 @@ public:
virtual ~GpioCookie();
void addGpio(GpioMap newEntry);
void addGpio(gpioId_t gpioId, GpioConfig_t gpioConfig);
/**
* @brief Get map with registered GPIOs.
*/