124 lines
2.8 KiB
C++
124 lines
2.8 KiB
C++
#include "RPiGPIO.h"
|
|
|
|
#include <fsfw/serviceinterface/ServiceInterface.h>
|
|
#include <fcntl.h>
|
|
#include <sys/types.h>
|
|
#include <unistd.h>
|
|
#include <cstdint>
|
|
|
|
|
|
int RPiGPIO::enablePin(int pin) {
|
|
char buffer[BUFFER_MAX];
|
|
ssize_t bytes_written;
|
|
int fd;
|
|
|
|
fd = open("/sys/class/gpio/export", O_WRONLY);
|
|
if (fd == -1) {
|
|
sif::error << "Failed to open export of pin " << pin << " for writing!" << std::endl;
|
|
return -1;
|
|
}
|
|
|
|
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
|
|
write(fd, buffer, bytes_written);
|
|
close(fd);
|
|
return 0;
|
|
}
|
|
|
|
int RPiGPIO::disablePin(int pin) {
|
|
char buffer[BUFFER_MAX];
|
|
ssize_t bytes_written;
|
|
int fd;
|
|
|
|
fd = open("/sys/class/gpio/unexport", O_WRONLY);
|
|
if (fd == -1) {
|
|
sif::error << "Failed to open unexport of pin " << pin << " for writing!" << std::endl;
|
|
return -1;
|
|
}
|
|
|
|
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
|
|
write(fd, buffer, bytes_written);
|
|
close(fd);
|
|
return(0);
|
|
}
|
|
|
|
int RPiGPIO::pinDirection(int pin, Directions dir) {
|
|
|
|
char path[DIRECTION_MAX];
|
|
|
|
snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
|
|
int fd = open(path, O_WRONLY);
|
|
if (fd == -1) {
|
|
sif::error << "Failed to open gpio " << pin << " direction for writing!" << std::endl;
|
|
return -1;
|
|
}
|
|
|
|
int result = 0;
|
|
if(dir == Directions::IN) {
|
|
result = write(fd, "in", IN_WRITE_SIZE);
|
|
}
|
|
else {
|
|
result = write(fd, "out", OUT_WRITE_SIZE);
|
|
}
|
|
|
|
if (result != 0) {
|
|
sif::error << "Failed to set direction!" << std::endl;
|
|
return -2;
|
|
}
|
|
|
|
close(fd);
|
|
return 0;
|
|
}
|
|
|
|
int RPiGPIO::readPin(int pin) {
|
|
char path[VALUE_MAX];
|
|
char value_str[3];
|
|
|
|
snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
|
|
int fd = open(path, O_RDONLY);
|
|
if (fd == -1) {
|
|
sif::error << "RPiGPIO::readPin: Failed to open GPIO pin " << pin << "!" << std::endl;
|
|
return -1;
|
|
}
|
|
|
|
if (read(fd, value_str, 3) == -1) {
|
|
sif::error << "Failed to read value!" << std::endl;
|
|
return -1;
|
|
}
|
|
|
|
close(fd);
|
|
char* endPtr = nullptr;
|
|
|
|
return strtol(value_str, &endPtr, 10);
|
|
}
|
|
|
|
int RPiGPIO::writePin(int pin, States state) {
|
|
|
|
char path[VALUE_MAX];
|
|
int fd;
|
|
|
|
snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
|
|
fd = open(path, O_WRONLY);
|
|
if (fd == -1) {
|
|
sif::error << "RPiGPIO::writePin: Failed to open GPIO pin " << pin << "!" << std::endl;
|
|
return -1;
|
|
}
|
|
|
|
int result = 0;
|
|
if(state == States::LOW) {
|
|
result = write(fd, "0", 1);
|
|
}
|
|
else {
|
|
result = write(fd, "1", 1);
|
|
}
|
|
|
|
|
|
if (result != 0) {
|
|
sif::error << "Failed to write pin " << pin << " value to " << static_cast<int>(state)
|
|
<< "!" << std::endl;
|
|
return -1;
|
|
}
|
|
|
|
close(fd);
|
|
return 0;
|
|
}
|