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Update Linux GPIO #20

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meierj merged 26 commits from mueller/update-linux-gpio into eive/develop 2021-09-27 15:28:20 +02:00
Conversation 0 Commits 26 Files Changed 17 +39 -33
3 changed files with 39 additions and 33 deletions
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Showing only changes of commit a84c770dfb - Show all commits

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) {}

19
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>
@ -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;
@ -254,7 +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;
@ -299,10 +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;
} }

19
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:
@ -46,7 +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;
@ -79,7 +79,6 @@ private:
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
GpioMap& mapToAdd); GpioMap& mapToAdd);
//ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioMap& mapToAdd);
/** /**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd. * @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.