91 lines
3.5 KiB
C++
91 lines
3.5 KiB
C++
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
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#define LINUX_GPIO_LINUXLIBGPIOIF_H_
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/returnvalues/FwClassIds.h"
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#include "fsfw_hal/common/gpio/GpioIF.h"
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class GpioCookie;
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class GpiodRegularIF;
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/**
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* @brief This class implements the GpioIF for a linux based system.
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* @details
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* This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
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* @note
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* The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
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*/
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class LinuxLibgpioIF : public GpioIF, public SystemObject {
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public:
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static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
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static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
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static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
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static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
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static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
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static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
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static constexpr ReturnValue_t GPIO_INIT_FAILED =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
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// Will be returned if getting the line value failed. Error type will be set to errno in this case
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static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7);
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LinuxLibgpioIF(object_id_t objectId);
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virtual ~LinuxLibgpioIF();
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ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
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ReturnValue_t pullHigh(gpioId_t gpioId) override;
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ReturnValue_t pullLow(gpioId_t gpioId) override;
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ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
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private:
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static const size_t MAX_CHIPNAME_LENGTH = 11;
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static const int LINE_NOT_EXISTS = 0;
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static const int LINE_ERROR = -1;
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static const int LINE_FOUND = 1;
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// Holds the information and configuration of all used GPIOs
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GpioUnorderedMap gpioMap;
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GpioUnorderedMapIter gpioMapIter;
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/**
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* @brief This functions drives line of a GPIO specified by the GPIO ID.
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*
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* @param gpioId The GPIO ID of the GPIO to drive.
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* @param logiclevel The logic level to set. O or 1.
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*/
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ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
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ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
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ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
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ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
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ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
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GpiodRegularBase& regularGpio, std::string failOutput);
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/**
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* @brief This function checks if GPIOs are already registered and whether
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* there exists a conflict in the GPIO configuration. E.g. the
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* direction.
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*
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* @param mapToAdd The GPIOs which shall be added to the gpioMap.
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*
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* @return RETURN_OK if successful, otherwise RETURN_FAILED
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*/
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ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
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ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
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/**
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* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
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*/
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ReturnValue_t configureGpios(GpioMap& mapToAdd);
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void parseFindeLineResult(int result, std::string& lineName);
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};
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#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */
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