Merge pull request 'HAL: Update for GPIO code' (#572) from eive/fsfw:mueller/gpio-update into development

Reviewed-on: fsfw/fsfw#572
2022-03-14 14:13:33 +01:00 · 2022-03-14 14:13:33 +01:00 · 378c6c8006
commit 378c6c8006
parent f4922a8686 14620fdd72
7 changed files with 26 additions and 16 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -12,6 +12,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 ## Changes

+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
+- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore

--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
 # Linux. The only exception from this is the gpiod library which requires a dedicated installation,
 # but CMake is able to determine whether this library is installed with find_library.
 option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)

 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
--- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
+++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
@ -9,11 +9,11 @@ using gpioId_t = uint16_t;

 namespace gpio {

-enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };

-enum Direction : uint8_t { IN = 0, OUT = 1 };
+enum class Direction : int { IN = 0, OUT = 1 };

-enum GpioOperation { READ, WRITE };
+enum class GpioOperation { READ, WRITE };

 enum class GpioTypes {
  NONE,
@ -80,7 +80,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
 public:
  GpiodRegularByChip()
      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
-                         gpio::LOW, 0) {}
+                         gpio::Levels::LOW, 0) {}

  GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
                     gpio::Direction direction_, gpio::Levels initValue_)
@ -90,7 +90,7 @@ class GpiodRegularByChip : public GpiodRegularBase {

  GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
-                         gpio::LOW, lineNum_),
+                         gpio::Levels::LOW, lineNum_),
        chipname(chipname_) {}

  std::string chipname;
@ -106,7 +106,7 @@ class GpiodRegularByLabel : public GpiodRegularBase {

  GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
-                         gpio::LOW, lineNum_),
+                         gpio::Levels::LOW, lineNum_),
        label(label_) {}

  std::string label;
@ -127,7 +127,7 @@ class GpiodRegularByLineName : public GpiodRegularBase {

  GpiodRegularByLineName(std::string lineName_, std::string consumer_)
      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
-                         gpio::LOW),
+                         gpio::Levels::LOW),
        lineName(lineName_) {}

  std::string lineName;
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/CMakeLists.txt
@ -9,7 +9,9 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
 )

 if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
 	add_subdirectory(gpio)
+endif()
 	add_subdirectory(spi)
 	add_subdirectory(i2c)
 	add_subdirectory(uart)
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@ -161,11 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
  consumer = regularGpio.consumer;
  /* Configure direction and add a description to the GPIO */
  switch (direction) {
-    case (gpio::OUT): {
-      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
+    case (gpio::Direction::OUT): {
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+                                         static_cast<int>(regularGpio.initValue));
      break;
    }
-    case (gpio::IN): {
+    case (gpio::Direction::IN): {
      result = gpiod_line_request_input(lineHandle, consumer.c_str());
      break;
    }
@ -211,7 +212,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
    if (regularGpio == nullptr) {
      return GPIO_TYPE_FAILURE;
    }
-    return driveGpio(gpioId, *regularGpio, gpio::HIGH);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
  } else {
    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
    if (gpioCallback->callback == nullptr) {
@ -243,7 +244,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
    if (regularGpio == nullptr) {
      return GPIO_TYPE_FAILURE;
    }
-    return driveGpio(gpioId, *regularGpio, gpio::LOW);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
  } else {
    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
    if (gpioCallback->callback == nullptr) {
@ -258,11 +259,11 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {

 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
                                        gpio::Levels logicLevel) {
-  int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
+  int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(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;
+                 << " to logic level " << static_cast<int>(logicLevel) << std::endl;
 #else
    sif::printWarning(
        "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
--- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
+++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
@ -7,7 +7,7 @@

 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
                                        std::string consumer, gpio::Direction direction,
-                                        int initValue) {
+                                        gpio::Levels initValue) {
  if (cookie == nullptr) {
    return HasReturnvaluesIF::RETURN_FAILED;
  }
--- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.h
+++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.h
@ -21,7 +21,8 @@ namespace gpio {
 * @return
 */
 ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-                                  std::string consumer, gpio::Direction direction, int initValue);
+                                  std::string consumer, gpio::Direction direction,
+                                  gpio::Levels initValue);
 }  // namespace gpio

 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */