Merge remote-tracking branch 'upstream/development' into mueller/spi-initialize-line-state
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5d6de90859
11
CHANGELOG.md
11
CHANGELOG.md
@ -15,10 +15,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
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and mode
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
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- HAL Devicehandlers: Periodic printout is run-time configurable now.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/561
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- `oneShotAction` flag in the `TestTask` class is not static anymore.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/560
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- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
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name clashes with Windows defines.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
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- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
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- HAL Devicehandlers: Periodic printout is run-time configurable now
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- `oneShotAction` flag in the `TestTask` class is not static anymore
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## Removed
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@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
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# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
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# but CMake is able to determine whether this library is installed with find_library.
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option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
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option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
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option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
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option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
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@ -9,11 +9,11 @@ using gpioId_t = uint16_t;
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namespace gpio {
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enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
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enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
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enum Direction : uint8_t { IN = 0, OUT = 1 };
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enum class Direction : int { IN = 0, OUT = 1 };
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enum GpioOperation { READ, WRITE };
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enum class GpioOperation { READ, WRITE };
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enum class GpioTypes {
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NONE,
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@ -80,7 +80,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
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public:
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GpiodRegularByChip()
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: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
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gpio::LOW, 0) {}
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gpio::Levels::LOW, 0) {}
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GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
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gpio::Direction direction_, gpio::Levels initValue_)
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@ -90,7 +90,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
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GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
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: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
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gpio::LOW, lineNum_),
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gpio::Levels::LOW, lineNum_),
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chipname(chipname_) {}
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std::string chipname;
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@ -106,7 +106,7 @@ class GpiodRegularByLabel : public GpiodRegularBase {
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GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
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: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
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gpio::LOW, lineNum_),
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gpio::Levels::LOW, lineNum_),
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label(label_) {}
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std::string label;
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@ -127,7 +127,7 @@ class GpiodRegularByLineName : public GpiodRegularBase {
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GpiodRegularByLineName(std::string lineName_, std::string consumer_)
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: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
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gpio::LOW),
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gpio::Levels::LOW),
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lineName(lineName_) {}
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std::string lineName;
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@ -9,7 +9,9 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
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)
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if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
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if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
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add_subdirectory(gpio)
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endif()
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add_subdirectory(spi)
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add_subdirectory(i2c)
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add_subdirectory(uart)
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@ -161,11 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
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consumer = regularGpio.consumer;
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/* Configure direction and add a description to the GPIO */
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switch (direction) {
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case (gpio::OUT): {
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result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
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case (gpio::Direction::OUT): {
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result = gpiod_line_request_output(lineHandle, consumer.c_str(),
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static_cast<int>(regularGpio.initValue));
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break;
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}
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case (gpio::IN): {
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case (gpio::Direction::IN): {
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result = gpiod_line_request_input(lineHandle, consumer.c_str());
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break;
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}
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@ -211,7 +212,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
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if (regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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return driveGpio(gpioId, *regularGpio, gpio::HIGH);
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return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
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} else {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
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if (gpioCallback->callback == nullptr) {
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@ -243,7 +244,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
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if (regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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return driveGpio(gpioId, *regularGpio, gpio::LOW);
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return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
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} else {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
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if (gpioCallback->callback == nullptr) {
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@ -258,11 +259,11 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
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ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
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gpio::Levels logicLevel) {
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int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
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int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
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if (result < 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
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<< " to logic level " << logicLevel << std::endl;
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<< " to logic level " << static_cast<int>(logicLevel) << std::endl;
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#else
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sif::printWarning(
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"LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
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@ -7,7 +7,7 @@
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ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
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std::string consumer, gpio::Direction direction,
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int initValue) {
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gpio::Levels initValue) {
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if (cookie == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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@ -21,7 +21,8 @@ namespace gpio {
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* @return
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*/
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ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
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std::string consumer, gpio::Direction direction, int initValue);
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std::string consumer, gpio::Direction direction,
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gpio::Levels initValue);
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} // namespace gpio
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#endif /* BSP_RPI_GPIO_GPIORPI_H_ */
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@ -208,7 +208,7 @@ ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand
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const uint8_t* commandData,
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size_t commandDataLen) {
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if (fullInfoPrintout) {
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#if OBSW_VERBOSE_LEVEL >= 3
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#if FSFW_VERBOSE_LEVEL >= 3
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
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#else
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@ -351,7 +351,7 @@ ReturnValue_t TestDevice::scanForReply(const uint8_t* start, size_t len, DeviceC
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switch (pendingCmd) {
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case (TEST_NORMAL_MODE_CMD): {
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if (fullInfoPrintout) {
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#if OBSW_VERBOSE_LEVEL >= 3
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#if FSFW_VERBOSE_LEVEL >= 3
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID "
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<< TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
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@ -678,7 +678,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
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int32_t newValue = 0;
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ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestDevice" << deviceIdx
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<< "::getParameter: Setting parameter 1 to "
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@ -688,7 +687,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
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sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
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deviceIdx, static_cast<unsigned long>(newValue));
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
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}
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}
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parameterWrapper->set(testParameter1);
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@ -702,7 +700,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
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newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestDevice" << deviceIdx
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<< "::getParameter: Setting parameter 3 to "
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@ -715,7 +712,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
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"[%f, %f, %f]\n",
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deviceIdx, newVector[0], newVector[1], newVector[2]);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
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}
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parameterWrapper->setVector(vectorFloatParams2);
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break;
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