using _ instead of - now
This commit is contained in:
12
hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
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12
hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
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@ -0,0 +1,12 @@
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target_sources(${LIB_FSFW_NAME} PRIVATE
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LinuxLibgpioIF.cpp
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)
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# This abstraction layer requires the gpiod library. You can install this library
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# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
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# to install the package before syncing the sysroot to your host computer.
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find_library(LIB_GPIO gpiod REQUIRED)
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target_link_libraries(${LIB_FSFW_NAME} PRIVATE
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${LIB_GPIO}
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)
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305
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
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305
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
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#include "fsfw-hal/linux/gpio/LinuxLibgpioIF.h"
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#include "fsfw-hal/common/gpio/gpioDefinitions.h"
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#include "fsfw-hal/common/gpio/GpioCookie.h"
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <utility>
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#include <unistd.h>
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#include <gpiod.h>
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LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
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}
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LinuxLibgpioIF::~LinuxLibgpioIF() {
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for(auto& config: gpioMap) {
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delete(config.second);
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}
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}
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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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return RETURN_FAILED;
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}
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GpioMap mapToAdd = gpioCookie->getGpioMap();
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/* Check whether this ID already exists in the map and remove duplicates */
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result = checkForConflicts(mapToAdd);
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if (result != RETURN_OK){
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return result;
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}
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result = configureGpios(mapToAdd);
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if (result != RETURN_OK) {
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return RETURN_FAILED;
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}
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/* Register new GPIOs in gpioMap */
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gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
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return RETURN_OK;
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}
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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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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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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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break;
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}
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case(gpio::GpioTypes::CALLBACK): {
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auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
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if(gpioCallback->callback == nullptr) {
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return GPIO_INVALID_INSTANCE;
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}
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gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
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gpioCallback->initValue, gpioCallback->callbackArgs);
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}
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}
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}
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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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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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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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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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/* 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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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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gpiod_line_release(lineHandle);
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return RETURN_FAILED;
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}
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break;
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}
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case(gpio::IN): {
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result = gpiod_line_request_input(lineHandle, consumer.c_str());
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if (result < 0) {
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sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
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<< lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
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gpiod_line_release(lineHandle);
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return RETURN_FAILED;
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}
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break;
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}
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default: {
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sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
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<< std::endl;
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return GPIO_INVALID_INSTANCE;
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}
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}
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/**
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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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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
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gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()) {
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sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO 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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return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
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}
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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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return GPIO_INVALID_INSTANCE;
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}
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gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
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1, gpioCallback->callbackArgs);
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return RETURN_OK;
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}
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return GPIO_TYPE_FAILURE;
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}
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ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
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gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()) {
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sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO 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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return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
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}
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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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return GPIO_INVALID_INSTANCE;
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}
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gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
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0, gpioCallback->callbackArgs);
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return RETURN_OK;
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}
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return GPIO_TYPE_FAILURE;
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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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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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return DRIVE_GPIO_FAILURE;
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}
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
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gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()){
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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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if(regularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
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}
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else {
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}
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return RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
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ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
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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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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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if(result != HasReturnvaluesIF::RETURN_OK) {
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status = result;
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}
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break;
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}
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case(gpio::GpioTypes::CALLBACK): {
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auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
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if(callbackGpio == 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 = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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status = result;
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}
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break;
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}
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default: {
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}
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}
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}
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return status;
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}
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ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
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GpiodRegular* 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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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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if(ownRegularGpio == nullptr) {
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return GPIO_TYPE_FAILURE;
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}
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/* Remove element from map to add because a entry for this GPIO
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already exists */
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sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
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<< " detected. Duplicate will be removed from map to add." << std::endl;
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mapToAdd.erase(gpioIdToCheck);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
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GpioCallback *callbackGpio, 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::CALLBACK) {
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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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/* Remove element from map to add because a entry for this GPIO
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already exists */
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sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
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<< " detected. Duplicate will be removed from map to add." << std::endl;
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mapToAdd.erase(gpioIdToCheck);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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77
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
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77
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
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@ -0,0 +1,77 @@
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#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
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#define LINUX_GPIO_LINUXLIBGPIOIF_H_
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#include "../../common/gpio/GpioIF.h"
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#include <returnvalues/classIds.h>
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#include <fsfw/objectmanager/SystemObject.h>
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class GpioCookie;
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/**
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* @brief This class implements the GpioIF for a linux based system. The
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* implementation is based on the libgpiod lib which requires linux 4.8
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* or higher.
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* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux
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* 2019.1.
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*/
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class LinuxLibgpioIF : public GpioIF, public SystemObject {
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public:
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static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
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static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
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static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
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static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
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static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
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HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
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LinuxLibgpioIF(object_id_t objectId);
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virtual ~LinuxLibgpioIF();
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ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
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ReturnValue_t pullHigh(gpioId_t gpioId) override;
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ReturnValue_t pullLow(gpioId_t gpioId) override;
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ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
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private:
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/* Holds the information and configuration of all used GPIOs */
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GpioUnorderedMap gpioMap;
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GpioUnorderedMapIter gpioMapIter;
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/**
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* @brief This functions drives line of a GPIO specified by the GPIO ID.
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*
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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 configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
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/**
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* @brief This function checks if GPIOs are already registered and whether
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* there exists a conflict in the GPIO configuration. E.g. the
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* direction.
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*
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* @param mapToAdd The GPIOs which shall be added to the gpioMap.
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*
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* @return RETURN_OK if successful, otherwise RETURN_FAILED
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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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GpioMap& mapToAdd);
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ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
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GpioMap& mapToAdd);
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/**
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* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
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*/
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ReturnValue_t configureGpios(GpioMap& mapToAdd);
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};
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#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */
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