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Merge branch 'development' into mueller/integrated-unittests

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This commit is contained in:
Robin Müller 2021-10-15 18:32:35 +02:00
commit 4251ccacf9
4 changed files with 236 additions and 99 deletions
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54
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -9,12 +9,13 @@ using gpioId_t = uint16_t;
namespace gpio { namespace gpio {
enum Levels { enum Levels: uint8_t {
LOW = 0, LOW = 0,
HIGH = 1 HIGH = 1,
NONE = 99
}; };
enum Direction { enum Direction: uint8_t {
IN = 0, IN = 0,
OUT = 1 OUT = 1
}; };
@ -24,16 +25,18 @@ enum GpioOperation {
WRITE WRITE
}; };
enum GpioTypes { enum class GpioTypes {
NONE, NONE,
GPIO_REGULAR_BY_CHIP, GPIO_REGULAR_BY_CHIP,
GPIO_REGULAR_BY_LABEL, GPIO_REGULAR_BY_LABEL,
GPIO_REGULAR_BY_LINE_NAME,
CALLBACK CALLBACK
}; };
static constexpr gpioId_t NO_GPIO = -1; static constexpr gpioId_t NO_GPIO = -1;
using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args); using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args);
} }
@ -57,7 +60,7 @@ public:
GpioBase() = default; GpioBase() = default;
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
int initValue): gpio::Levels initValue):
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {} gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
virtual~ GpioBase() {}; virtual~ GpioBase() {};
@ -66,15 +69,21 @@ public:
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
std::string consumer; std::string consumer;
gpio::Direction direction = gpio::Direction::IN; gpio::Direction direction = gpio::Direction::IN;
int initValue = 0; gpio::Levels initValue = gpio::Levels::NONE;
}; };
class GpiodRegularBase: public GpioBase { class GpiodRegularBase: public GpioBase {
public: public:
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue), gpio::Levels initValue, int lineNum):
lineNum(lineNum) { GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
} }
// line number will be configured at a later point for the open by line name configuration
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
}
int lineNum = 0; int lineNum = 0;
struct gpiod_line* lineHandle = nullptr; struct gpiod_line* lineHandle = nullptr;
}; };
@ -87,7 +96,7 @@ public:
} }
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_, GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) : gpio::Direction direction_, gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
consumer_, direction_, initValue_, lineNum_), consumer_, direction_, initValue_, lineNum_),
chipname(chipname_){ chipname(chipname_){
@ -105,7 +114,7 @@ public:
class GpiodRegularByLabel: public GpiodRegularBase { class GpiodRegularByLabel: public GpiodRegularBase {
public: public:
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_, GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) : gpio::Direction direction_, gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
direction_, initValue_, lineNum_), direction_, initValue_, lineNum_),
label(label_) { label(label_) {
@ -120,9 +129,30 @@ public:
std::string label; std::string label;
}; };
/**
* @brief Passing this GPIO configuration to the GPIO IF object will try to open the GPIO by its
* line name. This line name can be set in the device tree and must be unique. Otherwise
* the driver will open the first line with the given name.
*/
class GpiodRegularByLineName: public GpiodRegularBase {
public:
GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
initValue_), lineName(lineName_) {
}
GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
}
std::string lineName;
};
class GpioCallback: public GpioBase { class GpioCallback: public GpioBase {
public: public:
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_, GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
gpio::gpio_cb_t callback, void* callbackArgs): gpio::gpio_cb_t callback, void* callbackArgs):
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback), callbackArgs(callbackArgs) {} callback(callback), callbackArgs(callbackArgs) {}

2
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -73,7 +73,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
switch (internalState) { switch (internalState) {
case(InternalState::STATE_NONE): case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): { case(InternalState::STATE_NORMAL): {
return HasReturnvaluesIF::RETURN_OK; return DeviceHandlerBase::NOTHING_TO_SEND;
} }
case(InternalState::STATE_FIRST_CONTACT): { case(InternalState::STATE_FIRST_CONTACT): {
*id = MGMLIS3MDL::IDENTIFY_DEVICE; *id = MGMLIS3MDL::IDENTIFY_DEVICE;

242
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -1,8 +1,9 @@
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h" #include "LinuxLibgpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h" #include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw_hal/common/gpio/GpioCookie.h" #include "fsfw_hal/common/gpio/GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h> #include "fsfw/serviceinterface/ServiceInterface.h"
#include <utility> #include <utility>
#include <unistd.h> #include <unistd.h>
@ -66,6 +67,14 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
configureGpioByLabel(gpioConfig.first, *regularGpio); configureGpioByLabel(gpioConfig.first, *regularGpio);
break; break;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLineName(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::CALLBACK): { case(gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(gpioCallback->callback == nullptr) { if(gpioCallback->callback == nullptr) {
@ -84,13 +93,13 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
std::string& label = gpioByLabel.label; std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str()); struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) { if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio " sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl; << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
std::string failOutput = "label: " + label; std::string failOutput = "label: " + label;
return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput); return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
} }
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
@ -98,16 +107,41 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
std::string& chipname = gpioByChip.chipname; std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str()); struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) { if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip " sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl; << chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
std::string failOutput = "chipname: " + chipname; std::string failOutput = "chipname: " + chipname;
return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput); return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
} }
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType, ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) { GpiodRegularByLineName &gpioByLineName) {
std::string& lineName = gpioByLineName.lineName;
char chipname[MAX_CHIPNAME_LENGTH];
unsigned int lineOffset;
int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
&lineOffset);
if (result != LINE_FOUND) {
parseFindeLineResult(result, lineName);
return RETURN_FAILED;
}
gpioByLineName.lineNum = static_cast<int>(lineOffset);
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
<< chipname << ". <Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "line name: " + lineName;
return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput) {
unsigned int lineNum; unsigned int lineNum;
gpio::Direction direction; gpio::Direction direction;
std::string consumer; std::string consumer;
@ -132,22 +166,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTy
case(gpio::OUT): { case(gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio.initValue); regularGpio.initValue);
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
" from GPIO instance with ID: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
break; break;
} }
case(gpio::IN): { case(gpio::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str()); result = gpiod_line_request_input(lineHandle, consumer.c_str());
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
<< lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
break; break;
} }
default: { default: {
@ -156,6 +178,18 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTy
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
#else
sif::printError("LinuxLibgpioIF::configureRegularGpio: "
"Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
#endif
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
} }
/** /**
* Write line handle to GPIO configuration instance so it can later be used to set or * Write line handle to GPIO configuration instance so it can later be used to set or
@ -173,8 +207,9 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
} }
auto gpioType = gpioMapIter->second->gpioType; auto gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
@ -187,7 +222,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
1, gpioCallback->callbackArgs); gpio::Levels::HIGH, gpioCallback->callbackArgs);
return RETURN_OK; return RETURN_OK;
} }
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
@ -196,13 +231,18 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId); gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) { if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
#endif
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
auto& gpioType = gpioMapIter->second->gpioType; auto& gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
@ -215,7 +255,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
0, gpioCallback->callbackArgs); gpio::Levels::LOW, gpioCallback->callbackArgs);
return RETURN_OK; return RETURN_OK;
} }
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
@ -225,8 +265,13 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegularBase& regularGpio, gpio::Levels logicLevel) { GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel); int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
if (result < 0) { if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId << sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
" to logic level " << logicLevel << std::endl; " to logic level " << logicLevel << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
"logic level %d\n", gpioId, logicLevel);
#endif
return DRIVE_GPIO_FAILURE; return DRIVE_GPIO_FAILURE;
} }
@ -236,12 +281,18 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
gpioMapIter = gpioMap.find(gpioId); gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()){ if (gpioMapIter == gpioMap.end()){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
#endif
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
auto gpioType = gpioMapIter->second->gpioType; auto gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
@ -249,10 +300,14 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
*gpioState = gpiod_line_get_value(regularGpio->lineHandle); *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
} }
else { else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
gpio::Levels::NONE, gpioCallback->callbackArgs);
return RETURN_OK;
} }
return RETURN_OK; return RETURN_OK;
} }
@ -262,13 +317,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
for(auto& gpioConfig: mapToAdd) { for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) { switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): { case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
if(regularGpio == nullptr) { if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
/* Check for conflicts and remove duplicates if necessary */ // Check for conflicts and remove duplicates if necessary
result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd); result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
status = result; status = result;
} }
@ -279,66 +335,108 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
if(callbackGpio == nullptr) { if(callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
/* Check for conflicts and remove duplicates if necessary */ // Check for conflicts and remove duplicates if necessary
result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd); result = checkForConflictsById(gpioConfig.first,
gpioConfig.second->gpioType, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
status = result; status = result;
} }
break; break;
} }
default: { default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
<< std::endl;
#else
sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
#endif
status = GPIO_TYPE_FAILURE;
} }
} }
} }
return status; return status;
} }
ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck, gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) { // Cross check with private map
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck); gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) { if(gpioMapIter != gpioMap.end()) {
auto& gpioType = gpioMapIter->second->gpioType; auto& gpioType = gpioMapIter->second->gpioType;
if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and bool eraseDuplicateDifferentType = false;
gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { switch(expectedType) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different " case(gpio::GpioTypes::NONE): {
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl; break;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
} }
auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
if(ownRegularGpio == nullptr) { case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
return GPIO_TYPE_FAILURE; case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true;
}
break;
}
case(gpio::GpioTypes::CALLBACK): {
if(gpioType != gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true;
}
}
}
if(eraseDuplicateDifferentType) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type " << gpioIdToCheck <<
". Removing duplicate from map to add" << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
} }
/* Remove element from map to add because a entry for this GPIO // Remove element from map to add because a entry for this GPIO already exists
already exists */ #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition" sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
<< " detected. Duplicate will be removed from map to add." << std::endl; "definition with ID " << gpioIdToCheck << " detected. " <<
"Duplicate will be removed from map to add" << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck); mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck, void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
GpioCallback *callbackGpio, GpioMap& mapToAdd) { switch (result) {
/* Cross check with private map */ #if FSFW_CPP_OSTREAM_ENABLED == 1
gpioMapIter = gpioMap.find(gpioIdToCheck); case LINE_NOT_EXISTS:
if(gpioMapIter != gpioMap.end()) { case LINE_ERROR: {
if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) { sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different " " does not exist" << std::endl;
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl; break;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
/* Remove element from map to add because a entry for this GPIO
already exists */
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
<< " detected. Duplicate will be removed from map to add." << std::endl;
mapToAdd.erase(gpioIdToCheck);
} }
return HasReturnvaluesIF::RETURN_OK; default: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name " << lineName << std::endl;
break;
}
#else
case LINE_NOT_EXISTS:
case LINE_ERROR: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
"does not exist\n", lineName);
break;
}
default: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name %s\n", lineName);
break;
}
#endif
}
} }

37
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -1,19 +1,19 @@
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_ #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_ #define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include "../../common/gpio/GpioIF.h" #include "fsfw/returnvalues/FwClassIds.h"
#include <returnvalues/classIds.h> #include "fsfw_hal/common/gpio/GpioIF.h"
#include <fsfw/objectmanager/SystemObject.h> #include "fsfw/objectmanager/SystemObject.h"
class GpioCookie; class GpioCookie;
class GpiodRegularIF; class GpiodRegularIF;
/** /**
* @brief This class implements the GpioIF for a linux based system. The * @brief This class implements the GpioIF for a linux based system.
* implementation is based on the libgpiod lib which requires linux 4.8 * @details
* or higher. * This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux * @note
* 2019.1. * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
*/ */
class LinuxLibgpioIF : public GpioIF, public SystemObject { class LinuxLibgpioIF : public GpioIF, public SystemObject {
public: public:
@ -28,6 +28,8 @@ public:
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3); HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE = static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4); HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
LinuxLibgpioIF(object_id_t objectId); LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF(); virtual ~LinuxLibgpioIF();
@ -38,7 +40,13 @@ public:
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private: private:
/* Holds the information and configuration of all used GPIOs */
static const size_t MAX_CHIPNAME_LENGTH = 11;
static const int LINE_NOT_EXISTS = 0;
static const int LINE_ERROR = -1;
static const int LINE_FOUND = 1;
// Holds the information and configuration of all used GPIOs
GpioUnorderedMap gpioMap; GpioUnorderedMap gpioMap;
GpioUnorderedMapIter gpioMapIter; GpioUnorderedMapIter gpioMapIter;
@ -53,8 +61,10 @@ private:
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel); ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip); ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType, ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput); GpiodRegularByLineName &gpioByLineName);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput);
/** /**
* @brief This function checks if GPIOs are already registered and whether * @brief This function checks if GPIOs are already registered and whether
@ -67,16 +77,15 @@ private:
*/ */
ReturnValue_t checkForConflicts(GpioMap& mapToAdd); ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio, ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
GpioMap& mapToAdd); GpioMap& mapToAdd);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd);
/** /**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd. * @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/ */
ReturnValue_t configureGpios(GpioMap& mapToAdd); ReturnValue_t configureGpios(GpioMap& mapToAdd);
void parseFindeLineResult(int result, std::string& lineName);
}; };
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */ #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */