From c46bde417e7b56b39bab50a1faa2688b3e65eff4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 11 Oct 2021 19:37:23 +0200 Subject: [PATCH 1/2] small bugfix for LIS3 handler --- hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index 804e83f2..1a61bfe2 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -73,7 +73,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand( switch (internalState) { case(InternalState::STATE_NONE): case(InternalState::STATE_NORMAL): { - return HasReturnvaluesIF::RETURN_OK; + return DeviceHandlerBase::NOTHING_TO_SEND; } case(InternalState::STATE_FIRST_CONTACT): { *id = MGMLIS3MDL::IDENTIFY_DEVICE; From cae3feb5da403405c241690220b316ef17d1892f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 11 Oct 2021 19:55:37 +0200 Subject: [PATCH 2/2] Add feature to open GPIO by line name This features was provided by Jakob Meier as part of https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/19 . It adds the feature to open GPIOs supplying their line names. --- .../fsfw_hal/common/gpio/gpioDefinitions.h | 54 +++- .../fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 242 ++++++++++++------ hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h | 37 ++- 3 files changed, 235 insertions(+), 98 deletions(-) diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index 688d9c9b..c6f21195 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -9,12 +9,13 @@ using gpioId_t = uint16_t; namespace gpio { -enum Levels { +enum Levels: uint8_t { LOW = 0, - HIGH = 1 + HIGH = 1, + NONE = 99 }; -enum Direction { +enum Direction: uint8_t { IN = 0, OUT = 1 }; @@ -24,16 +25,18 @@ enum GpioOperation { WRITE }; -enum GpioTypes { +enum class GpioTypes { NONE, GPIO_REGULAR_BY_CHIP, GPIO_REGULAR_BY_LABEL, + GPIO_REGULAR_BY_LINE_NAME, CALLBACK }; 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(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, - int initValue): + gpio::Levels initValue): gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {} virtual~ GpioBase() {}; @@ -66,15 +69,21 @@ public: gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; std::string consumer; gpio::Direction direction = gpio::Direction::IN; - int initValue = 0; + gpio::Levels initValue = gpio::Levels::NONE; }; class GpiodRegularBase: public GpioBase { public: GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, - int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue), - lineNum(lineNum) { + gpio::Levels initValue, int 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; struct gpiod_line* lineHandle = nullptr; }; @@ -87,7 +96,7 @@ public: } 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, consumer_, direction_, initValue_, lineNum_), chipname(chipname_){ @@ -105,7 +114,7 @@ public: class GpiodRegularByLabel: public GpiodRegularBase { public: 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_, direction_, initValue_, lineNum_), label(label_) { @@ -120,9 +129,30 @@ public: 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 { 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): GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), callback(callback), callbackArgs(callbackArgs) {} diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 15c3d118..020ba964 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -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/GpioCookie.h" -#include +#include "fsfw/serviceinterface/ServiceInterface.h" #include #include @@ -66,6 +67,14 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { configureGpioByLabel(gpioConfig.first, *regularGpio); break; } + case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{ + auto regularGpio = dynamic_cast(gpioConfig.second); + if(regularGpio == nullptr) { + return GPIO_INVALID_INSTANCE; + } + configureGpioByLineName(gpioConfig.first, *regularGpio); + break; + } case(gpio::GpioTypes::CALLBACK): { auto gpioCallback = dynamic_cast(gpioConfig.second); if(gpioCallback->callback == nullptr) { @@ -84,13 +93,13 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId, 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 " + sif::warning << "LinuxLibgpioIF::configureGpioByLabel: 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); + return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput); } ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, @@ -98,16 +107,41 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, 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 " + sif::warning << "LinuxLibgpioIF::configureGpioByChip: 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); + return configureRegularGpio(gpioId, chip, gpioByChip, failOutput); } -ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType, - struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) { +ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId, + 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(lineOffset); + + struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname); + if (chip == nullptr) { + sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " + << chipname << ". second->gpioType; - if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or - gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { + if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP + or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL + or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { auto regularGpio = dynamic_cast(gpioMapIter->second); if(regularGpio == nullptr) { return GPIO_TYPE_FAILURE; @@ -187,7 +222,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) { return GPIO_INVALID_INSTANCE; } gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, - 1, gpioCallback->callbackArgs); + gpio::Levels::HIGH, gpioCallback->callbackArgs); return RETURN_OK; } return GPIO_TYPE_FAILURE; @@ -196,13 +231,18 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) { ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { gpioMapIter = gpioMap.find(gpioId); if (gpioMapIter == gpioMap.end()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 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; } auto& gpioType = gpioMapIter->second->gpioType; - if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or - gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { + if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP + or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL + or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { auto regularGpio = dynamic_cast(gpioMapIter->second); if(regularGpio == nullptr) { return GPIO_TYPE_FAILURE; @@ -215,7 +255,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { return GPIO_INVALID_INSTANCE; } gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, - 0, gpioCallback->callbackArgs); + gpio::Levels::LOW, gpioCallback->callbackArgs); return RETURN_OK; } return GPIO_TYPE_FAILURE; @@ -225,8 +265,13 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel) { int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel); if (result < 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId << " 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; } @@ -236,12 +281,18 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { gpioMapIter = gpioMap.find(gpioId); if (gpioMapIter == gpioMap.end()){ +#if FSFW_CPP_OSTREAM_ENABLED == 1 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; } + auto gpioType = gpioMapIter->second->gpioType; - if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or - gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { + if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP + or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL + or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { auto regularGpio = dynamic_cast(gpioMapIter->second); if(regularGpio == nullptr) { return GPIO_TYPE_FAILURE; @@ -249,10 +300,14 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { *gpioState = gpiod_line_get_value(regularGpio->lineHandle); } else { - + auto gpioCallback = dynamic_cast(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; } @@ -262,13 +317,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){ for(auto& gpioConfig: mapToAdd) { switch(gpioConfig.second->gpioType) { 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(gpioConfig.second); if(regularGpio == nullptr) { return GPIO_TYPE_FAILURE; } - /* Check for conflicts and remove duplicates if necessary */ - result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd); + // Check for conflicts and remove duplicates if necessary + result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd); if(result != HasReturnvaluesIF::RETURN_OK) { status = result; } @@ -279,66 +335,108 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){ if(callbackGpio == nullptr) { return GPIO_TYPE_FAILURE; } - /* Check for conflicts and remove duplicates if necessary */ - result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd); + // Check for conflicts and remove duplicates if necessary + result = checkForConflictsById(gpioConfig.first, + gpioConfig.second->gpioType, mapToAdd); if(result != HasReturnvaluesIF::RETURN_OK) { status = result; } break; } 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; } - -ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck, - GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) { - /* Cross check with private map */ +ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck, + gpio::GpioTypes expectedType, GpioMap& mapToAdd) { + // Cross check with private map gpioMapIter = gpioMap.find(gpioIdToCheck); if(gpioMapIter != gpioMap.end()) { 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 " - "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl; - mapToAdd.erase(gpioIdToCheck); - return HasReturnvaluesIF::RETURN_OK; + bool eraseDuplicateDifferentType = false; + switch(expectedType) { + case(gpio::GpioTypes::NONE): { + break; } - auto ownRegularGpio = dynamic_cast(gpioMapIter->second); - if(ownRegularGpio == nullptr) { - return GPIO_TYPE_FAILURE; + case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): + case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): + 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 - already exists */ - sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition" - << " detected. Duplicate will be removed from map to add." << std::endl; + // Remove element from map to add because a entry for this GPIO already exists +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO " + "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); + return GPIO_DUPLICATE_DETECTED; } return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck, - GpioCallback *callbackGpio, GpioMap& mapToAdd) { - /* Cross check with private map */ - gpioMapIter = gpioMap.find(gpioIdToCheck); - if(gpioMapIter != gpioMap.end()) { - if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) { - sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different " - "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl; - 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); +void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) { + switch (result) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + case LINE_NOT_EXISTS: + case LINE_ERROR: { + sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName << + " does not exist" << std::endl; + break; } - 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 + } + } diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h index 31e4a7e8..cc32bd70 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h @@ -1,19 +1,19 @@ #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_ #define LINUX_GPIO_LINUXLIBGPIOIF_H_ -#include "../../common/gpio/GpioIF.h" -#include -#include +#include "fsfw/returnvalues/FwClassIds.h" +#include "fsfw_hal/common/gpio/GpioIF.h" +#include "fsfw/objectmanager/SystemObject.h" class GpioCookie; class GpiodRegularIF; /** - * @brief This class implements the GpioIF for a linux based system. The - * implementation is based on the libgpiod lib which requires linux 4.8 - * or higher. - * @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux - * 2019.1. + * @brief This class implements the GpioIF for a linux based system. + * @details + * 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 2019.1. */ class LinuxLibgpioIF : public GpioIF, public SystemObject { public: @@ -28,6 +28,8 @@ public: HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3); static constexpr ReturnValue_t GPIO_INVALID_INSTANCE = HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4); + static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED = + HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5); LinuxLibgpioIF(object_id_t objectId); virtual ~LinuxLibgpioIF(); @@ -38,7 +40,13 @@ public: ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; 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; GpioUnorderedMapIter gpioMapIter; @@ -53,8 +61,10 @@ private: 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); + ReturnValue_t configureGpioByLineName(gpioId_t gpioId, + 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 @@ -67,16 +77,15 @@ private: */ ReturnValue_t checkForConflicts(GpioMap& mapToAdd); - ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio, + ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, 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. */ ReturnValue_t configureGpios(GpioMap& mapToAdd); + void parseFindeLineResult(int result, std::string& lineName); }; #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */