2021-03-23 15:41:49 +01:00
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#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
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#define LINUX_GPIO_LINUXLIBGPIOIF_H_
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2021-03-23 16:01:19 +01:00
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#include "GpioIF.h"
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#include <returnvalues/classIds.h>
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2021-03-23 15:41:49 +01:00
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#include <fsfw/objectmanager/SystemObject.h>
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class GpioCookie;
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/**
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* @brief This class implements the GpioIF for a linux based system. The
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* implementation is based on the libgpiod lib which requires linux 4.8
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* or higher.
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* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux
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* 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::LINUX_LIBGPIO_IF;
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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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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, int* gpioState) override;
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private:
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/* Holds the information and configuration of all used GPIOs */
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GpioMap gpioMap;
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GpioMapIter 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, GpiodRegular* regularGpio, unsigned int logiclevel);
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ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
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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 checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
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GpioMap& mapToAdd);
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ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
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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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};
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#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */
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