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This commit is contained in:
Robin Müller
2022-02-02 12:02:58 +01:00
parent bf5a11cbd3
commit d8c5bd125e
23 changed files with 237 additions and 61 deletions
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14
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -74,7 +74,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
configureGpioByLineName(gpioConfig.first, *regularGpio);
break;
}
case (gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::TYPE_CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
@ -161,11 +161,11 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case (gpio::OUT): {
case (gpio::DIR_OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
break;
}
case (gpio::IN): {
case (gpio::DIR_IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
break;
}
@ -326,7 +326,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
}
break;
}
case (gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::TYPE_CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE;
@ -366,13 +366,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
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) {
if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) {
eraseDuplicateDifferentType = true;
}
break;
}
case (gpio::GpioTypes::CALLBACK): {
if (gpioType != gpio::GpioTypes::CALLBACK) {
case (gpio::GpioTypes::TYPE_CALLBACK): {
if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) {
eraseDuplicateDifferentType = true;
}
}

5
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
View File

@ -8,8 +8,7 @@
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"
@ -104,7 +103,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
return result;
}
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
if (write(fd, sendData, sendLen) != (int)sendLen) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code "

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

@ -7,7 +7,7 @@
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction,
int initValue) {
gpio::Levels initValue) {
if (cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

3
hal/src/fsfw_hal/linux/rpi/GpioRPi.h
View File

@ -21,7 +21,8 @@ namespace gpio {
* @return
*/
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue);
std::string consumer, gpio::Direction direction,
gpio::Levels initValue);
} // namespace gpio
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

3
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -7,7 +7,6 @@
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h"
@ -313,7 +312,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
if (write(fd, sendData, sendLen) != (int)sendLen) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;

2
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -1,6 +1,6 @@
#include "fsfw_hal/linux/uart/UartCookie.h"
#include <fsfw/serviceinterface.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen)

3
hal/src/fsfw_hal/linux/uio/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
UioMapper.cpp
)

66
hal/src/fsfw_hal/linux/uio/UioMapper.cpp Normal file
View File

@ -0,0 +1,66 @@
#include "UioMapper.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include "fsfw/serviceinterface/ServiceInterface.h"
UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
UioMapper::~UioMapper() {}
ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int fd = open(uioFile.c_str(), O_RDWR);
if (fd < 1) {
sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t size = 0;
result = getMapSize(&size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*address = static_cast<uint32_t*>(
mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
if (*address == MAP_FAILED) {
sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
<< uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UioMapper::getMapSize(size_t* size) {
std::stringstream namestream;
namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
<< SIZE_FILE_PATH;
FILE* fp;
fp = fopen(namestream.str().c_str(), "r");
if (fp == nullptr) {
sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
char hexstring[SIZE_HEX_STRING] = "";
int items = fscanf(fp, "%s", hexstring);
if (items != 1) {
sif::warning << "UioMapper::getMapSize: Failed with error code " << errno
<< " to read size "
"string from file "
<< namestream.str() << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
items = sscanf(hexstring, "%x", size);
if (items != 1) {
sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
<< "size of map" << mapNum << " to integer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
fclose(fp);
return HasReturnvaluesIF::RETURN_OK;
}

58
hal/src/fsfw_hal/linux/uio/UioMapper.h Normal file
View File

@ -0,0 +1,58 @@
#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#include <sys/mman.h>
#include <string>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Class to help opening uio device files and mapping the physical addresses into the user
* address space.
*
* @author J. Meier
*/
class UioMapper {
public:
enum class Permissions : int {
READ_ONLY = PROT_READ,
WRITE_ONLY = PROT_WRITE,
READ_WRITE = PROT_READ | PROT_WRITE
};
/**
* @brief Constructor
*
* @param uioFile The device file of the uiO to open
* @param uioMap Number of memory map. Most UIO drivers have only one map which has than 0.
*/
UioMapper(std::string uioFile, int mapNum = 0);
virtual ~UioMapper();
/**
* @brief Maps the physical address into user address space and returns the mapped address
*
* @address The mapped user space address
* @permissions Specifies the read/write permissions of the address region
*/
ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
private:
static constexpr char UIO_PATH_PREFIX[] = "/sys/class/uio/";
static constexpr char MAP_SUBSTR[] = "/maps/map";
static constexpr char SIZE_FILE_PATH[] = "/size";
static constexpr int SIZE_HEX_STRING = 10;
std::string uioFile;
int mapNum = 0;
/**
* @brief Reads the map size from the associated sysfs size file
*
* @param size The read map size
*/
ReturnValue_t getMapSize(size_t* size);
};
#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */