469 lines
16 KiB
C++
469 lines
16 KiB
C++
#include "LinuxLibgpioIF.h"
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#include <gpiod.h>
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#include <unistd.h>
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#include <utility>
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include "fsfw_hal/common/gpio/gpioDefinitions.h"
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LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
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LinuxLibgpioIF::~LinuxLibgpioIF() {
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for (auto& config : gpioMap) {
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delete (config.second);
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}
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}
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ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
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ReturnValue_t result;
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if (gpioCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
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#endif
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return RETURN_FAILED;
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}
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GpioMap mapToAdd = gpioCookie->getGpioMap();
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/* Check whether this ID already exists in the map and remove duplicates */
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result = checkForConflicts(mapToAdd);
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if (result != RETURN_OK) {
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return result;
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}
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result = configureGpios(mapToAdd);
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if (result != RETURN_OK) {
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return RETURN_FAILED;
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}
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/* Register new GPIOs in gpioMap */
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gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
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ReturnValue_t result = RETURN_OK;
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for (auto& gpioConfig : mapToAdd) {
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auto& gpioType = gpioConfig.second->gpioType;
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switch (gpioType) {
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case (gpio::GpioTypes::NONE): {
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return GPIO_INVALID_INSTANCE;
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}
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case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
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auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
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if (regularGpio == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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result = configureGpioByChip(gpioConfig.first, *regularGpio);
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break;
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}
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case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
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auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
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if (regularGpio == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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result = configureGpioByLabel(gpioConfig.first, *regularGpio);
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break;
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}
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case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
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auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
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if (regularGpio == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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result = configureGpioByLineName(gpioConfig.first, *regularGpio);
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break;
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}
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case (gpio::GpioTypes::CALLBACK): {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
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if (gpioCallback->callback == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
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gpioCallback->initValue, gpioCallback->callbackArgs);
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}
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}
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if (result != RETURN_OK) {
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return GPIO_INIT_FAILED;
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}
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}
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return result;
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}
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ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
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GpiodRegularByLabel& gpioByLabel) {
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std::string& label = gpioByLabel.label;
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struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
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if (chip == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
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<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
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#endif
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return RETURN_FAILED;
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}
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std::string failOutput = "label: " + label;
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return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
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}
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ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip) {
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std::string& chipname = gpioByChip.chipname;
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struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
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if (chip == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
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<< ". Gpio ID: " << gpioId << std::endl;
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#endif
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return RETURN_FAILED;
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}
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std::string failOutput = "chipname: " + chipname;
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return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
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}
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ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
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GpiodRegularByLineName& gpioByLineName) {
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std::string& lineName = gpioByLineName.lineName;
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char chipname[MAX_CHIPNAME_LENGTH];
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unsigned int lineOffset;
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int result =
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gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
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if (result != LINE_FOUND) {
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parseFindeLineResult(result, lineName);
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return RETURN_FAILED;
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}
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gpioByLineName.lineNum = static_cast<int>(lineOffset);
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struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
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if (chip == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
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<< ". <Gpio ID: " << gpioId << std::endl;
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#endif
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return RETURN_FAILED;
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}
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std::string failOutput = "line name: " + lineName;
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return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
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}
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ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
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GpiodRegularBase& regularGpio,
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std::string failOutput) {
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unsigned int lineNum;
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gpio::Direction direction;
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std::string consumer;
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struct gpiod_line* lineHandle;
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int result = 0;
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lineNum = regularGpio.lineNum;
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lineHandle = gpiod_chip_get_line(chip, lineNum);
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if (!lineHandle) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
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sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
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<< std::endl;
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sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
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#endif
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gpiod_chip_close(chip);
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return RETURN_FAILED;
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}
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direction = regularGpio.direction;
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consumer = regularGpio.consumer;
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/* Configure direction and add a description to the GPIO */
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switch (direction) {
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case (gpio::Direction::OUT): {
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result = gpiod_line_request_output(lineHandle, consumer.c_str(),
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static_cast<int>(regularGpio.initValue));
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break;
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}
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case (gpio::Direction::IN): {
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result = gpiod_line_request_input(lineHandle, consumer.c_str());
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break;
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}
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default: {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
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#endif
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return GPIO_INVALID_INSTANCE;
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}
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if (result < 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
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<< " from GPIO instance with ID: " << gpioId << std::endl;
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#else
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sif::printError(
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"LinuxLibgpioIF::configureRegularGpio: "
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"Failed to request line %d from GPIO instance with ID: %d\n",
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lineNum, gpioId);
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#endif
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gpiod_line_release(lineHandle);
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return RETURN_FAILED;
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}
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}
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/**
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* Write line handle to GPIO configuration instance so it can later be used to set or
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* read states of GPIOs.
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*/
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regularGpio.lineHandle = lineHandle;
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
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gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
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#endif
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return UNKNOWN_GPIO_ID;
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}
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auto gpioType = gpioMapIter->second->gpioType;
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if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
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auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
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if (regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
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} else {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
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if (gpioCallback->callback == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
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gpioCallback->callbackArgs);
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return RETURN_OK;
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}
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return GPIO_TYPE_FAILURE;
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}
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ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
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gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
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#else
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sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
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#endif
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return UNKNOWN_GPIO_ID;
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}
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auto& gpioType = gpioMapIter->second->gpioType;
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if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
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auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
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if (regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
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} else {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
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if (gpioCallback->callback == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
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gpioCallback->callbackArgs);
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return RETURN_OK;
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}
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return GPIO_TYPE_FAILURE;
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}
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ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
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gpio::Levels logicLevel) {
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int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
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if (result < 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
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<< " to logic level " << static_cast<int>(logicLevel) << std::endl;
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#else
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sif::printWarning(
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"LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
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"logic level %d\n",
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gpioId, logicLevel);
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#endif
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return DRIVE_GPIO_FAILURE;
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}
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
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gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
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#else
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sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
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#endif
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return UNKNOWN_GPIO_ID;
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}
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auto gpioType = gpioMapIter->second->gpioType;
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if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
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auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
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if (regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
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if (gpioState == gpio::Levels::FAILED) {
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return GPIO_GET_VALUE_FAILED;
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}
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} else {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
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if (gpioCallback->callback == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
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gpioCallback->callbackArgs);
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return RETURN_OK;
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}
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
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ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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for (auto& gpioConfig : mapToAdd) {
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switch (gpioConfig.second->gpioType) {
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case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
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case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
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case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
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auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
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if (regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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// Check for conflicts and remove duplicates if necessary
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result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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status = result;
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}
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break;
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}
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case (gpio::GpioTypes::CALLBACK): {
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auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
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if (callbackGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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// Check for conflicts and remove duplicates if necessary
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result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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status = result;
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}
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break;
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}
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default: {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
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#else
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sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
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#endif
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status = GPIO_TYPE_FAILURE;
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}
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}
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}
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return status;
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}
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ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
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gpio::GpioTypes expectedType,
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GpioMap& mapToAdd) {
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// Cross check with private map
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gpioMapIter = gpioMap.find(gpioIdToCheck);
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if (gpioMapIter != gpioMap.end()) {
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auto& gpioType = gpioMapIter->second->gpioType;
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bool eraseDuplicateDifferentType = false;
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switch (expectedType) {
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case (gpio::GpioTypes::NONE): {
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break;
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}
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case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
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case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
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case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
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if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
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eraseDuplicateDifferentType = true;
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}
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break;
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}
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case (gpio::GpioTypes::CALLBACK): {
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if (gpioType != gpio::GpioTypes::CALLBACK) {
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eraseDuplicateDifferentType = true;
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}
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}
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}
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if (eraseDuplicateDifferentType) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
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"different GPIO type "
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<< gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
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#else
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sif::printWarning(
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"LinuxLibgpioIF::checkForConflicts: ID already exists for "
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"different GPIO type %d. Removing duplicate from map to add\n",
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gpioIdToCheck);
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#endif
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mapToAdd.erase(gpioIdToCheck);
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return GPIO_DUPLICATE_DETECTED;
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}
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// Remove element from map to add because a entry for this GPIO already exists
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
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"definition with ID "
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<< gpioIdToCheck << " detected. "
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<< "Duplicate will be removed from map to add" << std::endl;
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#else
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sif::printWarning(
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"LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
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"with ID %d detected. Duplicate will be removed from map to add\n",
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gpioIdToCheck);
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#endif
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mapToAdd.erase(gpioIdToCheck);
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return GPIO_DUPLICATE_DETECTED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
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switch (result) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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case LINE_NOT_EXISTS:
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case LINE_ERROR: {
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sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
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<< " does not exist" << std::endl;
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break;
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}
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default: {
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sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
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"with name "
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<< lineName << std::endl;
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break;
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}
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#else
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case LINE_NOT_EXISTS:
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case LINE_ERROR: {
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sif::printWarning(
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"LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
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"does not exist\n",
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lineName);
|
|
break;
|
|
}
|
|
default: {
|
|
sif::printWarning(
|
|
"LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
|
|
"with name %s\n",
|
|
lineName);
|
|
break;
|
|
}
|
|
#endif
|
|
}
|
|
}
|