using _ instead of - now

hal/src/fsfw_hal/common/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(gpio)

hal/src/fsfw_hal/common/gpio/CMakeLists.txt

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

hal/src/fsfw_hal/common/gpio/GpioCookie.cpp

@@ -0,0 +1,50 @@
+#include "fsfw-hal/common/gpio/GpioCookie.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+GpioCookie::GpioCookie() {
+}
+
+ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
+    if (gpioConfig == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
+#else
+        sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    auto gpioMapIter = gpioMap.find(gpioId);
+    if(gpioMapIter == gpioMap.end()) {
+        auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
+        if (statusPair.second == false) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
+                    " to GPIO map" << std::endl;
+#else
+            sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
+#endif
+#endif
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
+#else
+    sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
+#endif
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+GpioMap GpioCookie::getGpioMap() const {
+    return gpioMap;
+}
+
+GpioCookie::~GpioCookie() {
+    for(auto& config: gpioMap) {
+        delete(config.second);
+    }
+}

hal/src/fsfw_hal/common/gpio/GpioCookie.h

@@ -0,0 +1,41 @@
+#ifndef COMMON_GPIO_GPIOCOOKIE_H_
+#define COMMON_GPIO_GPIOCOOKIE_H_
+
+#include "GpioIF.h"
+#include "gpioDefinitions.h"
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+/**
+ * @brief   Cookie for the GpioIF. Allows the GpioIF to determine which
+ * 			GPIOs to initialize and whether they should be configured as in- or
+ * 			output.
+ * @details	One GpioCookie can hold multiple GPIO configurations. To add a new
+ * 			GPIO configuration to a GpioCookie use the GpioCookie::addGpio
+ * 			function.
+ *
+ * @author 	J. Meier
+ */
+class GpioCookie: public CookieIF {
+public:
+
+    GpioCookie();
+
+    virtual ~GpioCookie();
+
+    ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
+
+    /**
+     * @brief	Get map with registered GPIOs.
+     */
+    GpioMap getGpioMap() const;
+
+private:
+    /**
+     * Returns a copy of the internal GPIO map.
+     */
+    GpioMap gpioMap;
+};
+
+#endif /* COMMON_GPIO_GPIOCOOKIE_H_ */

hal/src/fsfw_hal/common/gpio/GpioIF.h

@@ -0,0 +1,54 @@
+#ifndef COMMON_GPIO_GPIOIF_H_
+#define COMMON_GPIO_GPIOIF_H_
+
+#include "gpioDefinitions.h"
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/devicehandlers/CookieIF.h>
+
+class GpioCookie;
+
+/**
+ * @brief	This class defines the interface for objects requiring the control
+ * 			over GPIOs.
+ * @author	J. Meier
+ */
+class GpioIF : public HasReturnvaluesIF {
+public:
+
+	virtual ~GpioIF() {};
+
+	/**
+	 * @brief   Called by the GPIO using object.
+	 * @param cookie	Cookie specifying informations of the GPIOs required
+	 * 					by a object.
+	 */
+	virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
+
+	/**
+	 * @brief	By implementing this function a child must provide the
+	 * 			functionality to pull a certain GPIO to high logic level.
+	 *
+	 * @param gpioId	A unique number which specifies the GPIO to drive.
+	 * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
+	 */
+	virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
+
+	/**
+	 * @brief	By implementing this function a child must provide the
+	 * 			functionality to pull a certain GPIO to low logic level.
+	 *
+	 * @param gpioId	A unique number which specifies the GPIO to drive.
+	 */
+	virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
+
+	/**
+     * @brief   This function requires a child to implement the functionality to read the state of
+     *          an ouput or input gpio.
+     *
+     * @param gpioId    A unique number which specifies the GPIO to read.
+     * @param gpioState State of GPIO will be written to this pointer.
+     */
+    virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
+};
+
+#endif /* COMMON_GPIO_GPIOIF_H_ */

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -0,0 +1,110 @@
+#ifndef COMMON_GPIO_GPIODEFINITIONS_H_
+#define COMMON_GPIO_GPIODEFINITIONS_H_
+
+#include <string>
+#include <unordered_map>
+#include <map>
+
+using gpioId_t = uint16_t;
+
+namespace gpio {
+
+enum Levels {
+    LOW = 0,
+    HIGH = 1
+};
+
+enum Direction {
+    IN = 0,
+    OUT = 1
+};
+
+enum GpioOperation {
+    READ,
+    WRITE
+};
+
+enum GpioTypes {
+    NONE,
+    GPIO_REGULAR,
+    CALLBACK
+};
+
+static constexpr gpioId_t NO_GPIO = -1;
+
+using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
+
+}
+
+/**
+ * @brief   Struct containing information about the GPIO to use. This is
+ *          required by the libgpiod to access and drive a GPIO.
+ * @param chipname      String of the chipname specifying the group which contains the GPIO to
+ *                      access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
+ *                      the linux command line.
+ * @param lineNum       The offset of the GPIO within the GPIO group.
+ * @param consumer      Name of the consumer. Simply a description of the GPIO configuration.
+ * @param direction     Specifies whether the GPIO should be used as in- or output.
+ * @param initValue     Defines the initial state of the GPIO when configured as output.
+ *                      Only required for output GPIOs.
+ * @param lineHandle    The handle returned by gpiod_chip_get_line will be later written to this
+ *                      pointer.
+ */
+class GpioBase {
+public:
+
+    GpioBase() = default;
+
+    GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+            int initValue):
+            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
+
+    virtual~ GpioBase() {};
+
+    // Can be used to cast GpioBase to a concrete child implementation
+    gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
+    std::string consumer;
+    gpio::Direction direction = gpio::Direction::IN;
+    int initValue = 0;
+};
+
+class GpiodRegular: public GpioBase {
+public:
+    GpiodRegular() :
+            GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
+    }
+    ;
+
+    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;
+    struct gpiod_line* lineHandle = nullptr;
+};
+
+class GpioCallback: public GpioBase {
+public:
+    GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
+            gpio::gpio_cb_t callback, void* callbackArgs):
+            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+            callback(callback), callbackArgs(callbackArgs) {}
+
+    gpio::gpio_cb_t callback = nullptr;
+    void* callbackArgs = nullptr;
+};
+
+
+using GpioMap = std::map<gpioId_t, GpioBase*>;
+using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
+using GpioMapIter = GpioMap::iterator;
+using GpioUnorderedMapIter = GpioUnorderedMap::iterator;
+
+#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */

hal/src/fsfw_hal/common/spi/spiCommon.h

@@ -0,0 +1,17 @@
+#ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+#define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+
+#include <cstdint>
+
+namespace spi {
+
+enum SpiModes: uint8_t {
+    MODE_0,
+    MODE_1,
+    MODE_2,
+    MODE_3
+};
+
+}
+
+#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */