fsfw-hal/linux/gpio/LinuxLibgpioIF.h

78 lines
2.6 KiB
C++

#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include "../../common/gpio/GpioIF.h"
#include <returnvalues/classIds.h>
#include <fsfw/objectmanager/SystemObject.h>
class GpioCookie;
/**
* @brief This class implements the GpioIF for a linux based system. The
* implementation is based on the libgpiod lib which requires linux 4.8
* or higher.
* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux
* 2019.1.
*/
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF();
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
ReturnValue_t pullHigh(gpioId_t gpioId) override;
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private:
/* Holds the information and configuration of all used GPIOs */
GpioUnorderedMap gpioMap;
GpioUnorderedMapIter gpioMapIter;
/**
* @brief This functions drives line of a GPIO specified by the GPIO ID.
*
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
/**
* @brief This function checks if GPIOs are already registered and whether
* there exists a conflict in the GPIO configuration. E.g. the
* direction.
*
* @param mapToAdd The GPIOs which shall be added to the gpioMap.
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
GpioMap& mapToAdd);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd);
/**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/
ReturnValue_t configureGpios(GpioMap& mapToAdd);
};
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */