Migrate daemon to libgpiod

cmake/daemon.cmake

@@ -7,7 +7,7 @@ if(NOT WIN32) # added to make program editable in qt-creator on windows
 find_library(CRYPTOPP crypto++ REQUIRED)
 find_library(CONFIGPP config++ REQUIRED)
 if (${MUONDETECTOR_ON_RASPBERRY})
-find_library(PIGPIOD_IF2 pigpiod_if2 REQUIRED)
+find_library(LIBGPIOD gpiod REQUIRED)
 endif ()
 find_library(RT rt REQUIRED)
 find_library(MOSQUITTO mosquitto REQUIRED)
@@ -56,12 +56,13 @@ set(MUONDETECTOR_DAEMON_SOURCE_FILES
     "${MUONDETECTOR_DAEMON_SRC_DIR}/utility/gpio_mapping.cpp"
     "${MUONDETECTOR_DAEMON_SRC_DIR}/logengine.cpp"
     "${MUONDETECTOR_DAEMON_SRC_DIR}/utility/geohash.cpp"
+    "${MUONDETECTOR_DAEMON_SRC_DIR}/utility/ratebuffer.cpp"
     "${MUONDETECTOR_DAEMON_SRC_DIR}/utility/kalman_gnss_filter.cpp"
     "${MUONDETECTOR_DAEMON_SRC_DIR}/geoposmanager.cpp"
     "${MUONDETECTOR_DAEMON_SRC_DIR}/utility/ratebuffer.cpp"
 
     "${MUONDETECTOR_I2C_SOURCE_FILES}"
-    "${MUONDETECTOR_SPI_SOURCE_FILES}"
+#    "${MUONDETECTOR_SPI_SOURCE_FILES}"
     )
 
 
@@ -109,12 +110,13 @@ set(MUONDETECTOR_DAEMON_HEADER_FILES
     "${MUONDETECTOR_DAEMON_HEADER_DIR}/utility/gpio_mapping.h"
     "${MUONDETECTOR_DAEMON_HEADER_DIR}/logengine.h"
     "${MUONDETECTOR_DAEMON_HEADER_DIR}/utility/geohash.h"
+    "${MUONDETECTOR_DAEMON_HEADER_DIR}/utility/ratebuffer.h"
     "${MUONDETECTOR_DAEMON_HEADER_DIR}/utility/kalman_gnss_filter.h"
     "${MUONDETECTOR_DAEMON_HEADER_DIR}/geoposmanager.h"
     "${MUONDETECTOR_DAEMON_HEADER_DIR}/utility/ratebuffer.h"
 
     "${MUONDETECTOR_I2C_HEADER_FILES}"
-    "${MUONDETECTOR_SPI_HEADER_FILES}"
+    #"${MUONDETECTOR_SPI_HEADER_FILES}"
     )
 
 set(MUONDETECTOR_LOGIN_SOURCE_FILES
@@ -166,7 +168,7 @@ target_include_directories(muondetector-daemon PUBLIC
 target_link_libraries(muondetector-daemon
     Qt5::Network Qt5::SerialPort
     crypto++
-    pigpiod_if2
+    gpiod
     rt
     config++
     mosquitto

cmake/version.cmake

@@ -1,4 +1,4 @@
 set(PROJECT_VERSION_MAJOR 2)
 set(PROJECT_VERSION_MINOR 1)
 set(PROJECT_VERSION_PATCH 0)
-set(PROJECT_VERSION_ADDITIONAL "")
+set(PROJECT_VERSION_ADDITIONAL "libgpiod")

daemon/config/changelog

@@ -3,7 +3,12 @@ muondetector-daemon (2.1.0) ; urgency=low
   * Bugfixes:
   - removed wrong QT connect call which resulted in a warning in log messages after daemon startup
   - fixed reconnect to MQTT broker after connection was lost temporarily
-  - fixed bug in I2C subsystem which lead to a stuck bus after certain read operations and preventing detection of a device in the next logical read access
+  - 
+6cecacd
+May 24, 2023
+Git stats
+
+1,254 c
 
   * Updates:
   - restructured data logging system: 

daemon/config/conffiles

@@ -1,2 +1 @@
 /etc/muondetector/muondetector.conf
-/etc/systemd/system/pigpiod.service.d/pigpiod.conf

daemon/config/muondetector-daemon.service

@@ -1,8 +1,6 @@
 [Unit]
 Description=muondetector-daemon - Daemon for custom muondetector board
-Requires=pigpiod.service
-BindsTo=pigpiod.service
-After=pigpiod.service sockets.target network-online.target
+After=sockets.target network-online.target
 
 [Service]
 Type=simple

daemon/config/postinst

@@ -1,3 +1,2 @@
 #!/bin/bash -e
-deb-systemd-helper enable pigpiod.service
 deb-systemd-helper enable muondetector-daemon.service

daemon/config/preinst

@@ -1,6 +1,12 @@
 #!/bin/bash -e
 
 mkdir -p /var/muondetector
-useradd muonuser -g users -G dialout,pi,i2c,users -s /usr/sbin/nologin -r -N -M -b /var/muondetector || echo "User already exists"
+if id muonuser &> /dev/null; then
+    # transitional code until all older versions of muondetector-daemon are updated.
+    echo "muonuser exists, adding to group gpio."
+    adduser muonuser gpio
+else
+    useradd muonuser -g users -G dialout,pi,i2c,users,gpio -s /usr/sbin/nologin -r -N -M -b /var/muondetector
+fi
 chown muonuser:users /var/muondetector
 chmod g+w /var/muondetector

daemon/include/daemon.h

@@ -21,6 +21,7 @@
 
 #include <custom_io_operators.h>
 #include "logengine.h"
+#include "utility/ratebuffer.h"
 #include "logparameter.h"
 #include "pigpiodhandler.h"
 #include "hardware/spidevices.h"
@@ -121,7 +122,8 @@ public slots:
     void onGpsMonHW2Updated(const GnssMonHw2Struct& hw2);
     void receivedTcpMessage(TcpMessage tcpMessage);
     void pollAllUbxMsgRate();
-    void sendGpioPinEvent(uint8_t gpio_pin);
+    void onGpioPinEvent(unsigned int gpio, EventTime event_time);
+    void sendGpioPinEvent(unsigned int gpio, EventTime event_time);
     void onGpsPropertyUpdatedGeodeticPos(const GnssPosStruct& pos);
     void UBXReceivedVersion(const QString& swString, const QString& hwString, const QString& protString);
     void sampleAdc0Event();
@@ -153,18 +155,19 @@ public slots:
     void UBXSetMinMaxSVs(uint8_t minSVs, uint8_t maxSVs);
     void UBXSetMinCNO(uint8_t minCNO);
     void GpioSetInput(unsigned int gpio);
-    void GpioSetOutput(unsigned int gpio);
+    void GpioSetOutput(unsigned int gpio, bool initState = false);
     void GpioSetPullUp(unsigned int gpio);
     void GpioSetPullDown(unsigned int gpio);
     void GpioSetState(unsigned int gpio, bool state);
-    void GpioRegisterForCallback(unsigned int gpio, bool edge); // false=falling, true=rising
+    void GpioRegisterForCallback(unsigned int gpio, PigpiodHandler::EventEdge edge); // false=falling, true=rising
     void UBXSetCfgTP5(const UbxTimePulseStruct& tp);
     void UBXSetAopCfg(bool enable = true, uint16_t maxOrbErr = 0);
     void UBXSaveCfg(uint8_t devMask = QtSerialUblox::DEV_BBR | QtSerialUblox::DEV_FLASH);
     void setSamplingTriggerSignal(GPIO_SIGNAL signalName);
     void timeMarkIntervalCountUpdate(uint16_t newCounts, double lastInterval);
     void requestMqttConnectionStatus();
     void eventMessage(const QString& messageString);
+    void eventInterval(quint64 nsecs);
 
 private slots:
     void onRateBufferReminder();
@@ -227,7 +230,15 @@ private slots:
     std::shared_ptr<DeviceFunction<DeviceType::IO_EXTENDER>> io_extender_p;
     std::shared_ptr<Adafruit_SSD1306> oled_p {};
     std::shared_ptr<UbloxI2c> ublox_i2c_p {};
-
+    /*
+	float biasVoltage = 0.;
+    bool biasON = false;
+    GPIO_SIGNAL eventTrigger { UNDEFINED_SIGNAL };
+    bool gainSwitch = false;
+    bool preampStatus[2];
+    uint8_t pcaPortMask = 0;
+    QVector<float> dacThresh; // do not give values here because of push_back in constructor of deamon
+*/
     QPointer<PigpiodHandler> pigHandler;
     QPointer<TDC7200> tdc7200;
     bool spiDevicePresent = false;

daemon/include/pigpiodhandler.h

@@ -10,78 +10,80 @@
 
 #include "utility/gpio_mapping.h"
 #include <gpio_pin_definitions.h>
+#include <memory>
+#include <muondetector_structs.h>
+#include <mutex>
+#include <thread>
 
-#define XOR_RATE 0
-#define AND_RATE 1
-#define COMBINED_RATE 2
-
-static QVector<unsigned int> DEFAULT_VECTOR;
+#include <gpiod.h>
 
 class PigpiodHandler : public QObject {
     Q_OBJECT
 
 public:
-    explicit PigpiodHandler(QVector<unsigned int> gpioPins = DEFAULT_VECTOR, unsigned int spi_freq = 61035,
-        uint32_t spi_flags = 0, QObject* parent = nullptr);
-    // can't make it private because of access of PigpiodHandler with global pointer
+    enum PinBias : std::uint8_t {
+        BiasDisabled = 0x00,
+        PullDown = 0x01,
+        PullUp = 0x02,
+        ActiveLow = 0x04,
+        OpenDrain = 0x08,
+        OpenSource = 0x10
+    };
+    enum class EventEdge {
+        RisingEdge,
+        FallingEdge,
+        BothEdges
+    };
+
+    static constexpr unsigned int UNDEFINED_GPIO { 256 };
+
+    explicit PigpiodHandler(std::vector<unsigned int> gpioPins, QObject* parent = nullptr);
+    ~PigpiodHandler();
+
     QDateTime startOfProgram, lastSamplingTime; // the exact time when the program starts (Utc)
     QElapsedTimer elapsedEventTimer;
-    GPIO_SIGNAL samplingTriggerSignal = EVT_XOR;
 
     double clockMeasurementSlope = 0.;
     double clockMeasurementOffset = 0.;
     uint64_t gpioTickOverflowCounter = 0;
     quint64 lastTimeMeasurementTick = 0;
 
     bool isInhibited() const { return inhibit; }
-    void setInhibited(bool inh = true) { inhibit = inh; }
 
 signals:
-    void signal(uint8_t gpio_pin);
-    void samplingTrigger();
-    void eventInterval(quint64 nsecs);
-    void timePulseDiff(qint32 usecs);
-
-    // spi related signals
-    void spiData(uint8_t reg, std::string data);
+    void event(unsigned int gpio_pin, EventTime timestamp);
 
 public slots:
+    void start();
     void stop();
     bool initialised();
-    void setInput(unsigned int gpio);
-    void setOutput(unsigned int gpio);
-    void setPullUp(unsigned int gpio);
-    void setPullDown(unsigned int gpio);
-    void setGpioState(unsigned int gpio, bool state);
-    void setSamplingTriggerSignal(GPIO_SIGNAL signalName) { samplingTriggerSignal = signalName; }
-    void registerForCallback(unsigned int gpio, bool edge); // false=falling, true=rising
-
-    // spi related slots
-    void writeSpi(uint8_t command, std::string data);
-    void readSpi(uint8_t command, unsigned int bytesToRead);
+    bool setPinInput(unsigned int gpio);
+    bool setPinOutput(unsigned int gpio, bool initState);
+
+    bool setPinBias(unsigned int gpio, std::uint8_t bias_flags);
+    bool setPinState(unsigned int gpio, bool state);
+    bool registerInterrupt(unsigned int gpio, EventEdge edge);
+    bool unRegisterInterrupt(unsigned int gpio);
+    void setInhibited(bool inh = true) { inhibit = inh; }
 
 private:
-    bool isInitialised = false;
-    bool spiInitialised = false;
-    bool spiInitialise(); // will be executed at first spi read/write command
-    bool isSpiInitialised();
-    unsigned int spiClkFreq; //3906250; // TDC7200: up to 20MHz SCLK
-    // Raspi: Core clock speed of 250MHz can be devided by any even number from 2 to 65536
-    // => 3.814kHz to 125MHz
-    /*
-     * spi_flags consists of the least significant 22 bits.
-
-            21 20 19 18 17 16 15 14 13 12 11 10 9  8  7  6  5  4  3  2  1  0
-            b  b  b  b  b  b  R  T  n  n  n  n  W  A u2 u1 u0 p2 p1 p0  m  m
-            0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0
-            word size bits  msb msb only-3wire 3wire aux CEx?  activ-low? spi-mode
-    */
-    unsigned int spiFlags; // fixed value for now
+    bool isInitialised { false };
+
     QTimer gpioClockTimeMeasurementTimer;
 
     void measureGpioClockTime();
-    bool inhibit = false;
-    int verbose = 0;
+    void reloadInterruptSettings();
+    [[gnu::hot]] void eventHandler(struct gpiod_line* line);
+    [[gnu::hot]] void processEvent(unsigned int gpio, std::shared_ptr<gpiod_line_event> line_event);
+
+    bool inhibit { false };
+    int verbose { 0 };
+    gpiod_chip* fChip { nullptr };
+    std::map<unsigned int, gpiod_line*> fInterruptLineMap {};
+    std::map<unsigned int, gpiod_line*> fLineMap {};
+    bool fThreadRunning { false };
+    std::map<unsigned int, std::unique_ptr<std::thread>> fThreads {};
+    std::mutex fMutex;
 };
 
 #endif // PIGPIODHANDLER_H

daemon/include/utility/gpio_mapping.h

@@ -5,11 +5,9 @@
 
 #define MAX_HW_VER 3
 
-// define pins on the raspberry pi, UBIAS_EN is the power on/off pin for bias voltage
-// PREAMP_1/2 enables the DC voltage to power the preamp through the signal cable
+// Mapping between signals of the MuonPi hardware interface and the actual GPIO pins of the RaspberryPi
 // ATTENTION:
-// TO MAKE IT MORE SIMPLE THERE WILL BE ONLY PIGPIO NAMING STANDARD,
-// NO WIRING PI FROM NOW
+// All pins are numbered according to the BCM designation
 
 static const std::map<GPIO_SIGNAL, unsigned int> GPIO_PINMAP_VERSIONS[MAX_HW_VER + 1] = {
     {
@@ -27,9 +25,9 @@ static const std::map<GPIO_SIGNAL, unsigned int> GPIO_PINMAP_VERSIONS[MAX_HW_VER
         { STATUS1, 13 },
         { STATUS2, 19 },
         { STATUS3, 26 },
-        { TDC_INTB, 20 },
-        { TDC_STATUS, 21 },
-        { EXT_TRIGGER, 21 } },
+        { TDC_INTB, 24 },
+        { TDC_STATUS, 25 },
+        { EXT_TRIGGER, 16 } },
     { /* Pin mapping, HW Version 2 */
         { UBIAS_EN, 26 },
         { PREAMP_1, 4 },
@@ -74,7 +72,7 @@ inline GPIO_SIGNAL bcmToGpioSignal(unsigned int bcmGpioNumber)
     while (i != GPIO_PINMAP.cend() && i->second != bcmGpioNumber)
         ++i;
     if (i == GPIO_PINMAP.cend())
-        return UNDEFINED_PIN;
+        return UNDEFINED_SIGNAL;
     return i->first;
 }
 

daemon/include/utility/ratebuffer.h

@@ -10,9 +10,9 @@
 
 using namespace std::literals;
 
-constexpr double MAX_AVG_RATE { 100. };
-constexpr unsigned long MAX_BURST_MULTIPLICITY { 10 };
-constexpr std::chrono::microseconds MAX_BUFFER_TIME { 60s };
+constexpr double MAX_AVG_RATE { 500. };
+constexpr unsigned long MAX_BURST_MULTIPLICITY { 20 };
+constexpr std::chrono::microseconds MAX_BUFFER_TIME { 30s };
 constexpr std::chrono::microseconds MAX_DEADTIME { static_cast<unsigned long>(1e+6 / MAX_AVG_RATE) };
 constexpr std::chrono::microseconds DEADTIME_INCREMENT { 50 };
 
@@ -65,12 +65,12 @@ class EventRateBuffer : public QObject {
     [[nodiscard]] auto lastEventTime() const -> EventTime;
 
 signals:
-    void filteredEvent(uint8_t gpio, EventTime event_time);
-    void eventIntervalSignal(uint8_t gpio, std::chrono::nanoseconds ns);
+    void filteredEvent(unsigned int gpio, EventTime event_time);
+    void eventIntervalSignal(unsigned int gpio, std::chrono::nanoseconds ns);
 
 public slots:
-    //void onEvent(unsigned int gpio, EventTime event_time);
-    void onEvent(uint8_t gpio);
+    void onEvent(unsigned int gpio, EventTime event_time);
+    //void onEvent(uint8_t gpio);
 
 private:
     double fRateLimit { MAX_AVG_RATE };