eive/fsfw
eive/fsfw
15
1
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests Releases 1 Wiki Activity

Merge pull request 'GPIO code update' (#479) from eive/fsfw:mueller/gpio-update into development

Browse Source 
Reviewed-on: fsfw/fsfw#479
This commit is contained in:
Ulrich Mohr 2021-09-27 15:18:58 +02:00
commit 71d66c406f
4 changed files with 139 additions and 65 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

64
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -26,7 +26,8 @@ enum GpioOperation {
enum GpioTypes { enum GpioTypes {
NONE, NONE,
GPIO_REGULAR, GPIO_REGULAR_BY_CHIP,
GPIO_REGULAR_BY_LABEL,
CALLBACK CALLBACK
}; };
@ -68,28 +69,57 @@ public:
int initValue = 0; int initValue = 0;
}; };
class GpiodRegular: public GpioBase { class GpiodRegularBase: public GpioBase {
public: public:
GpiodRegular() : GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) { int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
lineNum(lineNum) {
} }
;
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
chipname(chipname_), lineNum(lineNum_) {
}
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
chipname(chipname_), lineNum(lineNum_) {
}
std::string chipname;
int lineNum = 0; int lineNum = 0;
struct gpiod_line* lineHandle = nullptr; struct gpiod_line* lineHandle = nullptr;
}; };
class GpiodRegularByChip: public GpiodRegularBase {
public:
GpiodRegularByChip() :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
std::string(), gpio::Direction::IN, gpio::LOW, 0) {
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
consumer_, direction_, initValue_, lineNum_),
chipname(chipname_){
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
chipname(chipname_) {
}
std::string chipname;
};
class GpiodRegularByLabel: public GpiodRegularBase {
public:
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
direction_, initValue_, lineNum_),
label(label_) {
}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
label(label_) {
}
std::string label;
};
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_, int initValue_,

127
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -20,7 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) { ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result; ReturnValue_t result;
if(gpioCookie == nullptr) { if(gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl; sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -45,16 +45,25 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) { for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) { auto& gpioType = gpioConfig.second->gpioType;
switch(gpioType) {
case(gpio::GpioTypes::NONE): { case(gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
case(gpio::GpioTypes::GPIO_REGULAR): { case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
if(regularGpio == nullptr) { if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
configureRegularGpio(gpioConfig.first, regularGpio); configureGpioByChip(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLabel(gpioConfig.first, *regularGpio);
break; break;
} }
case(gpio::GpioTypes::CALLBACK): { case(gpio::GpioTypes::CALLBACK): {
@ -70,41 +79,59 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) { ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
std::string chipname; GpiodRegularByLabel &gpioByLabel) {
std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "label: " + label;
return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
GpiodRegularByChip &gpioByChip) {
std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "chipname: " + chipname;
return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
unsigned int lineNum; unsigned int lineNum;
struct gpiod_chip *chip;
gpio::Direction direction; gpio::Direction direction;
std::string consumer; std::string consumer;
struct gpiod_line *lineHandle; struct gpiod_line *lineHandle;
int result = 0; int result = 0;
chipname = regularGpio->chipname; lineNum = regularGpio.lineNum;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
lineNum = regularGpio->lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum); lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) { if (!lineHandle) {
sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl; sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum << sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
", chipname: " << chipname << std::endl; ", " << failOutput << std::endl;
sif::debug << "Check if linux GPIO configuration has changed. " << std::endl; sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
gpiod_chip_close(chip); gpiod_chip_close(chip);
return RETURN_FAILED; return RETURN_FAILED;
} }
direction = regularGpio->direction; direction = regularGpio.direction;
consumer = regularGpio->consumer; consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */ /* Configure direction and add a description to the GPIO */
switch (direction) { switch (direction) {
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) { if (result < 0) {
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum << sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
" from GPIO instance with ID: " << gpioId << std::endl; " from GPIO instance with ID: " << gpioId << std::endl;
@ -134,7 +161,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
* 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
* read states of GPIOs. * read states of GPIOs.
*/ */
regularGpio->lineHandle = lineHandle; regularGpio.lineHandle = lineHandle;
return RETURN_OK; return RETURN_OK;
} }
@ -145,8 +172,14 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) { auto gpioType = gpioMapIter->second->gpioType;
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1); if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
} }
else { else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@ -167,8 +200,14 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) { auto& gpioType = gpioMapIter->second->gpioType;
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0); if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::LOW);
} }
else { else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@ -183,12 +222,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
} }
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegular* regularGpio, unsigned int logicLevel) { GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
if(regularGpio == nullptr) { int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
return GPIO_TYPE_FAILURE;
}
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
if (result < 0) { if (result < 0) {
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;
@ -204,9 +239,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
auto gpioType = gpioMapIter->second->gpioType;
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) { if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second); gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
@ -225,13 +261,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for(auto& gpioConfig: mapToAdd) { for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) { switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIO_REGULAR): { case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second); case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
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 = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
status = result; status = result;
} }
@ -259,17 +296,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck, ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
GpiodRegular* gpioToCheck, 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()) {
if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) { auto& gpioType = gpioMapIter->second->gpioType;
if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different " sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl; "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck); mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second); auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(ownRegularGpio == nullptr) { if(ownRegularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }

11
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -6,6 +6,7 @@
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
class GpioCookie; class GpioCookie;
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. The
@ -47,9 +48,13 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive. * @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1. * @param logiclevel The logic level to set. O or 1.
*/ */
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel); ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
gpio::Levels logicLevel);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio); ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
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
@ -62,7 +67,7 @@ private:
*/ */
ReturnValue_t checkForConflicts(GpioMap& mapToAdd); ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio, ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
GpioMap& mapToAdd); GpioMap& mapToAdd);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio, ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd); GpioMap& mapToAdd);

2
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
GpiodRegular* config = new GpiodRegular(); auto config = new GpiodRegularByChip();
/* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
will not need this */ will not need this */
config->chipname = "gpiochip0"; config->chipname = "gpiochip0";