diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index f3bafc42c..688d9c9bf 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -26,7 +26,8 @@ enum GpioOperation { enum GpioTypes { NONE, - GPIO_REGULAR, + GPIO_REGULAR_BY_CHIP, + GPIO_REGULAR_BY_LABEL, CALLBACK }; @@ -68,40 +69,57 @@ public: int initValue = 0; }; -class GpiodRegular: public GpioBase { +class GpiodRegularBase: public GpioBase { public: - GpiodRegular() : - GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) { + GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, + int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue), + lineNum(lineNum) { } - ; - - GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_, - gpio::Direction direction_, int initValue_) : - GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_), - chipname(chipname_), lineNum(lineNum_) { - } - - GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) : - GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0), - chipname(chipname_), lineNum(lineNum_) { - } - - GpiodRegular(std::string consumer_, gpio::Direction direction_, int initValue_, - std::string label_, int lineNum_) : - GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_), label( - label_), lineNum(lineNum_) { - } - - GpiodRegular(std::string consumer_, std::string label_, int lineNum_) : - GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0), label( - label_), lineNum(lineNum_) { - } - std::string chipname = "NONE"; - std::string label = "NONE"; int lineNum = 0; struct gpiod_line* lineHandle = nullptr; }; +class GpiodRegularByChip: public GpiodRegularBase { +public: + GpiodRegularByChip() : + GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, + std::string(), gpio::Direction::IN, gpio::LOW, 0) { + } + + GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_, + gpio::Direction direction_, int initValue_) : + GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, + consumer_, direction_, initValue_, lineNum_), + chipname(chipname_){ + } + + GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) : + GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, + gpio::Direction::IN, gpio::LOW, lineNum_), + chipname(chipname_) { + } + + std::string chipname; +}; + +class GpiodRegularByLabel: public GpiodRegularBase { +public: + GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_, + gpio::Direction direction_, int initValue_) : + GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, + direction_, initValue_, lineNum_), + label(label_) { + } + + GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) : + GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, + gpio::Direction::IN, gpio::LOW, lineNum_), + label(label_) { + } + + std::string label; +}; + class GpioCallback: public GpioBase { public: GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_, diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index b483b6bf2..467141de2 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -13,7 +13,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this), switchId(switchId), transitionDelay(transitionDelay) { #if FSFW_HAL_RM3100_MGM_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(1); + debugDivider = new PeriodicOperationDivider(3); #endif } diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 4ee0749b5..15c3d1187 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -45,16 +45,25 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) { ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { for(auto& gpioConfig: mapToAdd) { - switch(gpioConfig.second->gpioType) { + auto& gpioType = gpioConfig.second->gpioType; + switch(gpioType) { case(gpio::GpioTypes::NONE): { return GPIO_INVALID_INSTANCE; } - case(gpio::GpioTypes::GPIO_REGULAR): { - GpiodRegular* regularGpio = dynamic_cast(gpioConfig.second); + case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): { + auto regularGpio = dynamic_cast(gpioConfig.second); if(regularGpio == nullptr) { return GPIO_INVALID_INSTANCE; } - configureRegularGpio(gpioConfig.first, regularGpio); + configureGpioByChip(gpioConfig.first, *regularGpio); + break; + } + case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{ + auto regularGpio = dynamic_cast(gpioConfig.second); + if(regularGpio == nullptr) { + return GPIO_INVALID_INSTANCE; + } + configureGpioByLabel(gpioConfig.first, *regularGpio); break; } case(gpio::GpioTypes::CALLBACK): { @@ -70,58 +79,59 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { return RETURN_OK; } -ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) { - std::string chipname; - std::string label; +ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId, + GpiodRegularByLabel &gpioByLabel) { + std::string& label = gpioByLabel.label; + struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str()); + if (chip == nullptr) { + sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio " + << "group with label " << label << ". Gpio ID: " << gpioId << std::endl; + return RETURN_FAILED; + + } + std::string failOutput = "label: " + label; + return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput); +} + +ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, + GpiodRegularByChip &gpioByChip) { + std::string& chipname = gpioByChip.chipname; + struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str()); + if (chip == nullptr) { + sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip " + << chipname << ". Gpio ID: " << gpioId << std::endl; + return RETURN_FAILED; + } + std::string failOutput = "chipname: " + chipname; + return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput); +} + +ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType, + struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) { unsigned int lineNum; - struct gpiod_chip *chip; gpio::Direction direction; std::string consumer; struct gpiod_line *lineHandle; int result = 0; - chipname = regularGpio->chipname; - - if (chipname != "NONE") { - chip = gpiod_chip_open_by_name(chipname.c_str()); - if (!chip) { - sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip " - << chipname << ". Gpio ID: " << gpioId << std::endl; - return RETURN_FAILED; - } - } - else if (label != "NONE") { - label = regularGpio->label; - chip = gpiod_chip_open_by_label(label.c_str()); - if (!chip) { - sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio " - << "group with label " << label << ". Gpio ID: " << gpioId << std::endl; - return RETURN_FAILED; - } - } - else { - sif::warning << "LinuxLibgpioIF::configureRegularGpio: No gpio group specified" - << std::endl; - } - - lineNum = regularGpio->lineNum; + lineNum = regularGpio.lineNum; lineHandle = gpiod_chip_get_line(chip, lineNum); if (!lineHandle) { - sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl; - sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum << - ", chipname: " << chipname << std::endl; - sif::debug << "Check if linux GPIO configuration has changed. " << std::endl; + sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl; + sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << + ", " << failOutput << std::endl; + sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl; gpiod_chip_close(chip); return RETURN_FAILED; } - direction = regularGpio->direction; - consumer = regularGpio->consumer; + direction = regularGpio.direction; + 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); + regularGpio.initValue); if (result < 0) { sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum << " from GPIO instance with ID: " << gpioId << std::endl; @@ -151,7 +161,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular * Write line handle to GPIO configuration instance so it can later be used to set or * read states of GPIOs. */ - regularGpio->lineHandle = lineHandle; + regularGpio.lineHandle = lineHandle; return RETURN_OK; } @@ -162,8 +172,14 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) { return UNKNOWN_GPIO_ID; } - if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) { - return driveGpio(gpioId, dynamic_cast(gpioMapIter->second), 1); + auto gpioType = gpioMapIter->second->gpioType; + if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or + gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { + auto regularGpio = dynamic_cast(gpioMapIter->second); + if(regularGpio == nullptr) { + return GPIO_TYPE_FAILURE; + } + return driveGpio(gpioId, *regularGpio, gpio::HIGH); } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); @@ -184,8 +200,14 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { return UNKNOWN_GPIO_ID; } - if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) { - return driveGpio(gpioId, dynamic_cast(gpioMapIter->second), 0); + auto& gpioType = gpioMapIter->second->gpioType; + if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or + gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { + auto regularGpio = dynamic_cast(gpioMapIter->second); + if(regularGpio == nullptr) { + return GPIO_TYPE_FAILURE; + } + return driveGpio(gpioId, *regularGpio, gpio::LOW); } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); @@ -200,12 +222,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { } ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, - GpiodRegular* regularGpio, unsigned int logicLevel) { - if(regularGpio == nullptr) { - return GPIO_TYPE_FAILURE; - } - - int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel); + GpiodRegularBase& regularGpio, gpio::Levels logicLevel) { + int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel); if (result < 0) { sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId << " to logic level " << logicLevel << std::endl; @@ -221,9 +239,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl; return UNKNOWN_GPIO_ID; } - - if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) { - GpiodRegular* regularGpio = dynamic_cast(gpioMapIter->second); + auto gpioType = gpioMapIter->second->gpioType; + if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or + gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { + auto regularGpio = dynamic_cast(gpioMapIter->second); if(regularGpio == nullptr) { return GPIO_TYPE_FAILURE; } @@ -242,13 +261,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){ ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; for(auto& gpioConfig: mapToAdd) { switch(gpioConfig.second->gpioType) { - case(gpio::GpioTypes::GPIO_REGULAR): { - auto regularGpio = dynamic_cast(gpioConfig.second); + case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): + case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): { + auto regularGpio = dynamic_cast(gpioConfig.second); if(regularGpio == nullptr) { return GPIO_TYPE_FAILURE; } /* Check for conflicts and remove duplicates if necessary */ - result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd); + result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd); if(result != HasReturnvaluesIF::RETURN_OK) { status = result; } @@ -276,17 +296,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){ ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck, - GpiodRegular* gpioToCheck, GpioMap& mapToAdd) { + GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) { /* Cross check with private map */ gpioMapIter = gpioMap.find(gpioIdToCheck); if(gpioMapIter != gpioMap.end()) { - if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) { + auto& gpioType = gpioMapIter->second->gpioType; + if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and + gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) { sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different " "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl; mapToAdd.erase(gpioIdToCheck); return HasReturnvaluesIF::RETURN_OK; } - auto ownRegularGpio = dynamic_cast(gpioMapIter->second); + auto ownRegularGpio = dynamic_cast(gpioMapIter->second); if(ownRegularGpio == nullptr) { return GPIO_TYPE_FAILURE; } diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h index 00e1bdfea..31e4a7e80 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h @@ -6,6 +6,7 @@ #include class GpioCookie; +class GpiodRegularIF; /** * @brief This class implements the GpioIF for a linux based system. The @@ -47,9 +48,13 @@ private: * @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 driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, + gpio::Levels logicLevel); - ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio); + ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel); + ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip); + ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType, + struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput); /** * @brief This function checks if GPIOs are already registered and whether @@ -62,7 +67,7 @@ private: */ ReturnValue_t checkForConflicts(GpioMap& mapToAdd); - ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio, + ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio, GpioMap& mapToAdd); ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio, GpioMap& mapToAdd); diff --git a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp index 6a71f291c..e1c274c0c 100644 --- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp +++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp @@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int return HasReturnvaluesIF::RETURN_FAILED; } - GpiodRegular* config = new GpiodRegular(); + auto config = new GpiodRegularByChip(); /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users will not need this */ config->chipname = "gpiochip0"; diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index 6cf6675f2..ec55f863d 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -197,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const if(gpioId != gpio::NO_GPIO) { result = spiMutex->lockMutex(timeoutType, timeoutMs); if (result != RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl; +#else + sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n"); +#endif +#endif + return result; + } + ReturnValue_t result = gpioComIF->pullLow(gpioId); + if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl; +#else + sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed"); +#endif #endif return result; } - gpioComIF->pullLow(gpioId); } /* Execute transfer */