GPIO update

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)

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;

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)

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): {
+    case (gpio::Direction::OUT): {
-      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
+      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 "

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;
   }

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_ */