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Merge pull request 'Update Linux GPIO' (#20) from mueller/update-linux-gpio into eive/develop

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Reviewed-on: #20
This commit is contained in:
Jakob Meier 2021-09-27 15:28:19 +02:00
commit ac2b196883
17 changed files with 198 additions and 126 deletions
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34
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
}; };
@ -24,7 +25,7 @@ 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,
@ -34,7 +35,8 @@ enum GpioTypes {
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);
} }
@ -58,7 +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() {};
@ -67,19 +69,19 @@ 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 // 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, GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
int initValue): GpioBase(gpioType, consumer, direction, initValue) { gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
} }
int lineNum = 0; int lineNum = 0;
@ -94,7 +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_){
@ -112,7 +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_) {
@ -135,14 +137,14 @@ public:
class GpiodRegularByLineName: public GpiodRegularBase { class GpiodRegularByLineName: public GpiodRegularBase {
public: public:
GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_, GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
int initValue_) : gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_, GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
initValue_), lineName(lineName_) { initValue_), lineName(lineName_) {
} }
GpiodRegularByLineName(std::string lineName_, std::string consumer_) : GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN, GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
gpio::LOW), lineName(lineName_) { gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
} }
std::string lineName; std::string lineName;
@ -150,7 +152,7 @@ public:
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) {}

4
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -1,7 +1,9 @@
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h" #include "GyroL3GD20Handler.h"
#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapool/PoolReadGuard.h"
#include <cmath>
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs): CookieIF *comCookie, uint32_t transitionDelayMs):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), DeviceHandlerBase(objectId, deviceCommunication, comCookie),

1
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
View File

@ -59,7 +59,6 @@ protected:
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
uint8_t switchId = 0;
uint32_t transitionDelayMs = 0; uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset; GyroPrimaryDataset dataset;

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

@ -5,6 +5,8 @@
#include "fsfw/globalfunctions/PeriodicOperationDivider.h" #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif #endif
#include <cmath>
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay): CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), DeviceHandlerBase(objectId, deviceCommunication, comCookie),

19
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -89,9 +89,16 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
break; break;
} }
default: default:
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
// Might be a configuration error // Might be a configuration error
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" << sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
std::endl; "Unknown internal state" << std::endl;
#else
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state\n");
#endif
#endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -342,12 +349,18 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) { if(debugDivider->checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in" sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" << std::endl; " microtesla:" << std::endl;
/* Set terminal to utf-8 if there is an issue with micro printout. */
sif::info << "X: " << fieldStrengthX << " uT" << std::endl; sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
#else
sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", fieldStrengthX);
sif::printInfo("Y: %f uT\n", fieldStrengthY);
sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif
} }
#endif #endif

2
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
View File

@ -154,7 +154,7 @@ enum MgmPoolIds: lp_id_t {
TEMPERATURE_CELCIUS TEMPERATURE_CELCIUS
}; };
class MgmPrimaryDataset: public StaticLocalDataSet<5> { class MgmPrimaryDataset: public StaticLocalDataSet<4> {
public: public:
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner): MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {} StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}

2
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
View File

@ -108,7 +108,7 @@ enum MgmPoolIds: lp_id_t {
FIELD_STRENGTH_Z, FIELD_STRENGTH_Z,
}; };
class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> { class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
public: public:
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner): Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {} StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}

184
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>
@ -165,22 +166,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
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: {
@ -189,6 +178,18 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
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
@ -221,7 +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;
@ -230,7 +231,11 @@ 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;
} }
@ -250,7 +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;
@ -260,8 +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;
} }
@ -271,7 +281,11 @@ 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;
} }
@ -286,10 +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;
} }
@ -299,13 +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;
} }
@ -316,15 +335,22 @@ 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;
} }
} }
} }
@ -332,68 +358,86 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
} }
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck, ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) { gpio::GpioTypes expectedType, 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. " <<
mapToAdd.erase(gpioIdToCheck); "Duplicate will be removed from map to add" << std::endl;
} #else
return HasReturnvaluesIF::RETURN_OK; sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
} "with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
#endif
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); mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) { void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
switch (result) { switch (result) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
case LINE_NOT_EXISTS: case LINE_NOT_EXISTS:
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName case LINE_ERROR: {
<< " does not exist" << std::endl; sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
" does not exist" << std::endl;
break; break;
case LINE_ERROR: }
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: " << "Line with name " default: {
<< lineName << " does not exist" << std::endl; sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name " << lineName << std::endl;
break; break;
default: }
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line with " #else
<< "name " << lineName << std::endl; case LINE_NOT_EXISTS:
case LINE_ERROR: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
"does not exist\n", lineName);
break; break;
} }
default: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name %s\n", lineName);
break;
}
#endif
}
} }

24
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();
@ -44,7 +46,7 @@ private:
static const int LINE_ERROR = -1; static const int LINE_ERROR = -1;
static const int LINE_FOUND = 1; static const int LINE_FOUND = 1;
/* Holds the information and configuration of all used GPIOs */ // Holds the information and configuration of all used GPIOs
GpioUnorderedMap gpioMap; GpioUnorderedMap gpioMap;
GpioUnorderedMapIter gpioMapIter; GpioUnorderedMapIter gpioMapIter;
@ -75,9 +77,7 @@ 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);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd); GpioMap& mapToAdd);
/** /**

2
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -227,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error."); utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED; result = FULL_DUPLEX_TRANSFER_FAILED;
} }
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1 #if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie); performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */ #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
} }

6
src/fsfw/FSFW.h.in
View File

@ -20,9 +20,9 @@
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0 #define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
#endif #endif
/* Can be used for low-level debugging of the SPI bus */ // Can be used for low-level debugging of the SPI bus
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING #ifndef FSFW_HAL_SPI_WIRETAPPING
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0 #define FSFW_HAL_SPI_WIRETAPPING 0
#endif #endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG

2
src/fsfw/events/fwSubsystemIdRanges.h
View File

@ -29,6 +29,8 @@ enum: uint8_t {
PUS_SERVICE_9 = 89, PUS_SERVICE_9 = 89,
PUS_SERVICE_17 = 97, PUS_SERVICE_17 = 97,
PUS_SERVICE_23 = 103, PUS_SERVICE_23 = 103,
MGM_LIS3MDL = 106,
MGM_RM3100 = 107,
FW_SUBSYSTEM_ID_RANGE FW_SUBSYSTEM_ID_RANGE
}; };

2
src/fsfw/returnvalues/FwClassIds.h
View File

@ -78,6 +78,8 @@ enum: uint8_t {
HAL_I2C, //HI2C HAL_I2C, //HI2C
HAL_GPIO, //HGIO HAL_GPIO, //HGIO
FIXED_SLOT_TASK_IF, //FTIF FIXED_SLOT_TASK_IF, //FTIF
MGM_LIS3MDL, //MGMLIS3
MGM_RM3100, //MGMRM3100
FW_CLASS_ID_COUNT // [EXPORT] : [END] FW_CLASS_ID_COUNT // [EXPORT] : [END]
}; };

5
tests/src/fsfw_tests/internal/InternalUnitTester.cpp
View File

@ -16,15 +16,18 @@ InternalUnitTester::~InternalUnitTester() {}
ReturnValue_t InternalUnitTester::performTests( ReturnValue_t InternalUnitTester::performTests(
const struct InternalUnitTester::TestConfig& testConfig) { const struct InternalUnitTester::TestConfig& testConfig) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Running internal unit tests.." << std::endl; sif::info << "Running internal unit tests.. Error messages might follow" <<
std::endl;
#else #else
sif::printInfo("Running internal unit tests..\n"); sif::printInfo("Running internal unit tests..\n");
#endif #endif
testserialize::test_serialization(); testserialize::test_serialization();
testmq::testMq(); testmq::testMq();
if(testConfig.testSemaphores) {
testsemaph::testBinSemaph(); testsemaph::testBinSemaph();
testsemaph::testCountingSemaph(); testsemaph::testCountingSemaph();
}
testmutex::testMutex(); testmutex::testMutex();
if(testConfig.testArrayPrinter) { if(testConfig.testArrayPrinter) {
arrayprinter::testArrayPrinter(); arrayprinter::testArrayPrinter();

1
tests/src/fsfw_tests/internal/InternalUnitTester.h
View File

@ -18,6 +18,7 @@ class InternalUnitTester: public HasReturnvaluesIF {
public: public:
struct TestConfig { struct TestConfig {
bool testArrayPrinter = false; bool testArrayPrinter = false;
bool testSemaphores = true;
}; };
InternalUnitTester(); InternalUnitTester();

11
tests/src/fsfw_tests/internal/osal/IntTestMutex.cpp
View File

@ -1,10 +1,12 @@
#include "fsfw_tests/internal/osal/IntTestMutex.h" #include "fsfw_tests/internal/osal/IntTestMutex.h"
#include "fsfw_tests/internal/UnittDefinitions.h" #include "fsfw_tests/internal/UnittDefinitions.h"
#include "fsfw/platform.h"
#include <fsfw/ipc/MutexFactory.h> #include <fsfw/ipc/MutexFactory.h>
#if defined(WIN32) || defined(UNIX) #if defined PLATFORM_WIN || defined PLATFORM_UNIX
#include <fsfw/osal/host/Mutex.h> #include "fsfw/osal/host/Mutex.h"
#include <thread> #include <thread>
#include <future> #include <future>
#endif #endif
@ -20,7 +22,7 @@ void testmutex::testMutex() {
// timed_mutex from the C++ library specifies undefined behaviour if // timed_mutex from the C++ library specifies undefined behaviour if
// the timed mutex is locked twice from the same thread. // the timed mutex is locked twice from the same thread.
// TODO: we should pass a define like FSFW_OSAL_HOST to the build. // TODO: we should pass a define like FSFW_OSAL_HOST to the build.
#if defined(WIN32) || defined(UNIX) #if defined PLATFORM_WIN || defined PLATFORM_UNIX
// This calls the function from // This calls the function from
// another thread and stores the returnvalue in a future. // another thread and stores the returnvalue in a future.
auto future = std::async(&MutexIF::lockMutex, mutex, MutexIF::TimeoutType::WAITING, 1); auto future = std::async(&MutexIF::lockMutex, mutex, MutexIF::TimeoutType::WAITING, 1);
@ -37,8 +39,7 @@ void testmutex::testMutex() {
unitt::put_error(id); unitt::put_error(id);
} }
// TODO: we should pass a define like FSFW_OSAL_HOST to the build. #if !defined PLATFORM_WIN && !defined PLATFORM_UNIX
#if !defined(WIN32) && !defined(UNIX)
result = mutex->unlockMutex(); result = mutex->unlockMutex();
if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) { if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) {
unitt::put_error(id); unitt::put_error(id);

13
tests/src/fsfw_tests/internal/osal/IntTestSemaphore.cpp
View File

@ -1,9 +1,10 @@
#include "fsfw/FSFW.h"
#include "fsfw_tests/internal/osal/IntTestSemaphore.h" #include "fsfw_tests/internal/osal/IntTestSemaphore.h"
#include "fsfw_tests/internal/UnittDefinitions.h" #include "fsfw_tests/internal/UnittDefinitions.h"
#include <fsfw/tasks/SemaphoreFactory.h> #include "fsfw/tasks/SemaphoreFactory.h"
#include <fsfw/serviceinterface/ServiceInterface.h> #include "fsfw/serviceinterface/ServiceInterface.h"
#include <fsfw/timemanager/Stopwatch.h> #include "fsfw/timemanager/Stopwatch.h"
#include <cstdlib> #include <cstdlib>
@ -16,7 +17,7 @@ void testsemaph::testBinSemaph() {
} }
testBinSemaphoreImplementation(binSemaph, id); testBinSemaphoreImplementation(binSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(binSemaph); SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
#if defined(freeRTOS) #if defined FSFW_OSAL_FREERTOS
SemaphoreIF* binSemaphUsingTask = SemaphoreIF* binSemaphUsingTask =
SemaphoreFactory::instance()->createBinarySemaphore(1); SemaphoreFactory::instance()->createBinarySemaphore(1);
testBinSemaphoreImplementation(binSemaphUsingTask, id); testBinSemaphoreImplementation(binSemaphUsingTask, id);
@ -36,7 +37,7 @@ void testsemaph::testCountingSemaph() {
} }
testBinSemaphoreImplementation(countingSemaph, id); testBinSemaphoreImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph); SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#if defined(freeRTOS) #if defined FSFW_OSAL_FREERTOS
countingSemaph = SemaphoreFactory::instance()-> countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(1, 1, 1); createCountingSemaphore(1, 1, 1);
testBinSemaphoreImplementation(countingSemaph, id); testBinSemaphoreImplementation(countingSemaph, id);
@ -50,7 +51,7 @@ void testsemaph::testCountingSemaph() {
createCountingSemaphore(3,3); createCountingSemaphore(3,3);
testCountingSemaphImplementation(countingSemaph, id); testCountingSemaphImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph); SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#if defined(freeRTOS) #if defined FSFW_OSAL_FREERTOS
countingSemaph = SemaphoreFactory::instance()-> countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(3, 0, 1); createCountingSemaphore(3, 0, 1);
uint8_t semaphCount = countingSemaph->getSemaphoreCounter(); uint8_t semaphCount = countingSemaph->getSemaphoreCounter();