130 lines
3.7 KiB
C++
130 lines
3.7 KiB
C++
#include <bsp_q7s/gpio/LinuxLibgpioIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <utility>
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#include <unistd.h>
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#include <gpiod.h>
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LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
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}
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LinuxLibgpioIF::~LinuxLibgpioIF() {
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}
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ReturnValue_t LinuxLibgpioIF::initialize(CookieIF * cookie){
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ReturnValue_t result;
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GpioMap mapToAdd;
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GpioMapIter mapToAddIter;
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if(cookie == nullptr) {
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sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
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return RETURN_FAILED;
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}
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GpioCookie* gpioCookie = dynamic_cast<GpioCookie*>(cookie);
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if(gpioCookie == nullptr) {
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sif::error << "LinuxLibgpioIF: Invalid Gpio Cookie!"
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<< std::endl;
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return RETURN_FAILED;
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}
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mapToAdd = gpioCookie->getGpioMap();
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result = checkForConflicts(mapToAdd);
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if (result != HasReturnvaluesIF::RETURN_OK){
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return result;
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}
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/* Register new GPIOs in gpioMap*/
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gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId){
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return driveGpio(gpioId, 1);
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}
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ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId){
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return driveGpio(gpioId, 0);
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}
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ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
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unsigned int logiclevel) {
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GpioMapIter gpioMapIter = gpioMap.find(gpioId);
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std::string chipname;
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unsigned int lineNum;
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struct gpiod_chip *chip;
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struct gpiod_line *line;
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int result;
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Gpio::Direction direction;
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std::string consumer;
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/* Verify if GPIO has been configured as output */
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direction = gpioMapIter->second.direction;
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if (direction != Gpio::OUT) {
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sif::error << "LinuxLibgpioIF::driveGpio: GPIO with ID " << gpioId
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<< "not configured as output" << std::endl;
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return CONFIGURATION_FAILURE;
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}
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chipname = gpioMapIter->second.chipname;
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chip = gpiod_chip_open_by_name(chipname.c_str());
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if (!chip) {
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sif::error << "LinuxLibgpioIF::driveGpio: Failed to open chip "
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<< chipname << ". Gpio ID: " << gpioId << std::endl;
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return OPEN_CHIP_FAILURE;
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}
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lineNum = gpioMapIter->second.lineNum;
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line = gpiod_chip_get_line(chip, lineNum);
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if (!line) {
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sif::error << "LinuxLibgpioIF::driveGpio: Failed to open line. Gpio ID "
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<< gpioId << std::endl;
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gpiod_chip_close(chip);
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return OPEN_LINE_FAILURE;
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}
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consumer = gpioMapIter->second.consumer;
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result = gpiod_line_request_output(line, consumer.c_str(), 0);
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if (result < 0) {
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sif::error << "LinuxLibgpioIF::driveGpio: Failed to request line "
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<< line << " from GPIO instance with ID: " << gpioId
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<< std::endl;
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gpiod_line_release(line);
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return REQUEST_LINE_FAILURE;
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}
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result = gpiod_line_set_value(line, logiclevel);
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if (result < 0) {
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sif::error << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID "
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<< gpioId << "to low" << std::endl;
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gpiod_line_release(line);
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return PULLING_HIGH_FAILURE;
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}
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gpiod_line_release(line);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap mapToAdd){
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gpioId_t gpioId;
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GpioMapIter mapToAddIter = mapToAdd.begin();
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for(; mapToAddIter != mapToAdd.end(); mapToAddIter++){
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gpioId = mapToAddIter->first;
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gpioMapIter = gpioMap.find(gpioId);
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if(gpioMapIter != mapToAdd.end()){
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/* An entry for this GPIO already exists. Check if configuration
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* of direction is equivalent */
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if (mapToAddIter->second.direction != gpioMapIter->second.direction){
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sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict "
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<< "for GPIO " << mapToAddIter->first << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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/* Remove element from map to add because a entry for this GPIO
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* already exists */
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mapToAdd.erase(mapToAddIter);
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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