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