Merge pull request 'GPIO code update' (#479) from eive/fsfw:mueller/gpio-update into development
Reviewed-on: #479
This commit is contained in:
commit
71d66c406f
@ -26,7 +26,8 @@ enum GpioOperation {
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enum GpioTypes {
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NONE,
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GPIO_REGULAR,
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GPIO_REGULAR_BY_CHIP,
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GPIO_REGULAR_BY_LABEL,
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CALLBACK
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};
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@ -68,28 +69,57 @@ public:
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int initValue = 0;
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};
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class GpiodRegular: public GpioBase {
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class GpiodRegularBase: public GpioBase {
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public:
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GpiodRegular() :
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GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
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GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
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int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
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lineNum(lineNum) {
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}
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;
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GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
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gpio::Direction direction_, int initValue_) :
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GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
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chipname(chipname_), lineNum(lineNum_) {
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}
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GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
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GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
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chipname(chipname_), lineNum(lineNum_) {
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}
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std::string chipname;
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int lineNum = 0;
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struct gpiod_line* lineHandle = nullptr;
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};
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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,
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std::string(), gpio::Direction::IN, gpio::LOW, 0) {
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}
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GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
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gpio::Direction direction_, int initValue_) :
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GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
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consumer_, direction_, initValue_, lineNum_),
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chipname(chipname_){
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}
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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_,
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gpio::Direction::IN, gpio::LOW, lineNum_),
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chipname(chipname_) {
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}
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std::string chipname;
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};
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class GpiodRegularByLabel: public GpiodRegularBase {
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public:
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GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
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gpio::Direction direction_, int initValue_) :
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GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
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direction_, initValue_, lineNum_),
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label(label_) {
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}
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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_,
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gpio::Direction::IN, gpio::LOW, lineNum_),
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label(label_) {
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}
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std::string label;
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};
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class GpioCallback: public GpioBase {
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public:
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GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
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@ -20,7 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
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ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
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ReturnValue_t result;
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if(gpioCookie == nullptr) {
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sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
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sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
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return RETURN_FAILED;
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}
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@ -45,16 +45,25 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
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ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
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for(auto& gpioConfig: mapToAdd) {
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switch(gpioConfig.second->gpioType) {
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auto& gpioType = gpioConfig.second->gpioType;
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switch(gpioType) {
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case(gpio::GpioTypes::NONE): {
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return GPIO_INVALID_INSTANCE;
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}
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case(gpio::GpioTypes::GPIO_REGULAR): {
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GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
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case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
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auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
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if(regularGpio == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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configureRegularGpio(gpioConfig.first, regularGpio);
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configureGpioByChip(gpioConfig.first, *regularGpio);
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break;
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}
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case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
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auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
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if(regularGpio == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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configureGpioByLabel(gpioConfig.first, *regularGpio);
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break;
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}
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case(gpio::GpioTypes::CALLBACK): {
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@ -70,41 +79,59 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
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std::string chipname;
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ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
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GpiodRegularByLabel &gpioByLabel) {
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std::string& label = gpioByLabel.label;
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struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
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if (chip == nullptr) {
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sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
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<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
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return RETURN_FAILED;
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}
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std::string failOutput = "label: " + label;
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return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput);
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}
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ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
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GpiodRegularByChip &gpioByChip) {
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std::string& chipname = gpioByChip.chipname;
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struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
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if (chip == nullptr) {
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sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
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<< chipname << ". Gpio ID: " << gpioId << std::endl;
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return RETURN_FAILED;
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}
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std::string failOutput = "chipname: " + chipname;
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return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
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}
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ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
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struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
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unsigned int lineNum;
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struct gpiod_chip *chip;
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gpio::Direction direction;
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std::string consumer;
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struct gpiod_line *lineHandle;
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int result = 0;
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chipname = regularGpio->chipname;
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chip = gpiod_chip_open_by_name(chipname.c_str());
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if (!chip) {
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sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
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<< chipname << ". Gpio ID: " << gpioId << std::endl;
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return RETURN_FAILED;
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}
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lineNum = regularGpio->lineNum;
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lineNum = regularGpio.lineNum;
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lineHandle = gpiod_chip_get_line(chip, lineNum);
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if (!lineHandle) {
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sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
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sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
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", chipname: " << chipname << std::endl;
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sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
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sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
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sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
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", " << failOutput << std::endl;
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sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
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gpiod_chip_close(chip);
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return RETURN_FAILED;
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}
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direction = regularGpio->direction;
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consumer = regularGpio->consumer;
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direction = regularGpio.direction;
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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(),
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regularGpio->initValue);
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regularGpio.initValue);
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if (result < 0) {
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sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
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" from GPIO instance with ID: " << gpioId << std::endl;
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@ -134,7 +161,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
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* Write line handle to GPIO configuration instance so it can later be used to set or
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* read states of GPIOs.
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*/
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regularGpio->lineHandle = lineHandle;
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regularGpio.lineHandle = lineHandle;
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return RETURN_OK;
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}
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@ -145,8 +172,14 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
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return UNKNOWN_GPIO_ID;
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}
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if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
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return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
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auto gpioType = gpioMapIter->second->gpioType;
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if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
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auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
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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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}
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else {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
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@ -167,8 +200,14 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
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return UNKNOWN_GPIO_ID;
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}
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if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
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return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
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auto& gpioType = gpioMapIter->second->gpioType;
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if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
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auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
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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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}
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else {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
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@ -183,12 +222,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
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}
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ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
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GpiodRegular* regularGpio, unsigned int logicLevel) {
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if(regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
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GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
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int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
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if (result < 0) {
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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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@ -204,9 +239,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
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sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
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return UNKNOWN_GPIO_ID;
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}
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if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
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GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
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auto gpioType = gpioMapIter->second->gpioType;
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if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
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gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
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auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
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if(regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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@ -225,13 +261,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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for(auto& gpioConfig: mapToAdd) {
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switch(gpioConfig.second->gpioType) {
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case(gpio::GpioTypes::GPIO_REGULAR): {
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auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
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case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
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case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
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auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
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if(regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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/* Check for conflicts and remove duplicates if necessary */
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result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
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result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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status = result;
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}
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@ -259,17 +296,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
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ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
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GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
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GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
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/* Cross check with private map */
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gpioMapIter = gpioMap.find(gpioIdToCheck);
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if(gpioMapIter != gpioMap.end()) {
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if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
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auto& gpioType = gpioMapIter->second->gpioType;
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if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
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gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
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sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
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"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
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mapToAdd.erase(gpioIdToCheck);
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return HasReturnvaluesIF::RETURN_OK;
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}
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auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
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auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
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if(ownRegularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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@ -6,6 +6,7 @@
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#include <fsfw/objectmanager/SystemObject.h>
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class GpioCookie;
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class GpiodRegularIF;
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/**
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* @brief This class implements the GpioIF for a linux based system. The
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@ -47,9 +48,13 @@ private:
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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 driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
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gpio::Levels logicLevel);
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ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
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ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
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ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
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ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
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struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput);
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/**
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* @brief This function checks if GPIOs are already registered and whether
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@ -62,7 +67,7 @@ private:
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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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ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& 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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@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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GpiodRegular* config = new GpiodRegular();
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auto config = new GpiodRegularByChip();
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/* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
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will not need this */
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config->chipname = "gpiochip0";
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