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GPIO Demo and Adapter Setup

This demo consists of two GPIO chips which are connected to the SIL Kit via sil-kit-adapter-generic-linux-io as a SIL Kit participant. These GPIO chips are attached to the SIL Kit in the form of a DataPublisher/DataSubscriber.

Simulate GPIO chips

For this demo some GPIO chips have to be simulated. There are multiple ways to do that, the easiest ones are using one the following Linux modules:

  • gpio-mockup: it needs to be built with the Linux kernel, that is the reason why we don't provide further information for this module.
  • gpio-sim: requires Linux kernel version v5.17-rc1 or higher. This is the module used to simulate GPIO chips in this demo.

To create two GPIO chips like in the following diagram you can run sudo ./gpio/demos/create_gpio_sim.sh. This script sets up the GPIO chips using the gpio-sim module and creates the two instances which appear on the file system as /dev/gpiochip0 and /dev/gpiochip1.

The following diagram illustrates the data flow going through each component involved.

+---[ GPIO chip ]---+
|  /dev/gpiochip0   |
|  |-- offset0      |
|  |-- offset1      |
|  |-- offset2      |
|  |-- offset3      |
|  |-- offset4      |                                         SIL Kit topics:
+-------------------+
        |                                           |  -- >        ...         > --  |     +--[ SIL Kit Participant ]--+
         \_____ +---[ SIL Kit Participant ]---+     |  -- > fromGpiochip1Line2 > --  | --- |          CANoe            |
                |                             |     |  -- > fromGpiochip0Line0 > --  |     +---------------------------+
                | SilKitAdapterGenericLinuxIO | --- |                                |  
          _____ |                             |     |  -- <  toGpiochip0Line1  < --  |     +--[ SIL Kit Participant ]--+
         /      +-----------------------------+     |  -- <  toGpiochip1Line1  < --  | --- |       ForwardDevice       |
        |                                           |  -- <        ...         < --  |     +---------------------------+
+---[ GPIO chip ]---+
|  /dev/gpiochip1   |
|  |-- offset0      |
|  |-- offset1      |
|  |-- offset2      |
+-------------------+

Note 1: In order to avoid running the GLIO adapter as sudo, you should change the owner of the two GPIO chips to you instead of root. This can be done by the following command:

sudo chown <new_owner> /dev/gpiochip*

Note 2: In this demo, the gpiochip0 offset3 and gpiochip1 offset0 are not used.

Note 3: In order to clean your system after running the demo, run sudo ./gpio/demos/clean_gpio_sim.sh. This script destroys the simulated chips and cleans the created repositories.

Note 4: If needed, you can unload the gpio-sim module with the following command: sudo modprobe -r gpio-sim.

YAML devices configuration file

Configure the GPIO chip paths

By default the GPIO chips are located under /dev/gpiochipX (with X a number). If yours are located somewhere else you should adapt the path attributes in the adapter configuration file ./gpio/demos/DevicesConfig.yaml in order to match your setup.

Running the Demo

Now is a good point to start the sil-kit-registry and the sil-kit-adapter-generic-linux-io. In separate terminals:

/path/to/SilKit-x.y.z-$platform/SilKit/bin/sil-kit-registry --listen-uri 'silkit://0.0.0.0:8501'
    
./bin/sil-kit-adapter-generic-linux-io --log Debug --adapter-configuration ./gpio/demos/DevicesConfig.yaml

You should see the following output:

[date time] [SilKitAdapterGenericLinuxIO] [info] Creating participant 'SilKitAdapterGenericLinuxIO' at 'silkit://localhost:8501', SIL Kit version: 4.0.44
[date time] [SilKitAdapterGenericLinuxIO] [info] Connected to registry at 'tcp://127.0.0.1:8501' via 'tcp://127.0.0.1:57824' (local:///tmp/SilKitRegic044495579071f55.silkit, silkit://localhost:8501)
[date time] [SilKitAdapterGenericLinuxIO] [info] Creating participant SilKitAdapterGenericLinuxIO with registry silkit://localhost:8501
...
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing and publishing initial values
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing data and publishing on topic: fromGpiochip0Line0
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing data and publishing on topic: fromGpiochip0Line1
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing data and publishing on topic: fromGpiochip0Line4
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing data and publishing on topic: fromGpiochip1Line1
...
Press CTRL + C to stop the process...

When the adapter starts it sends the initial values of the handled GPIO chip lines.

The adapter will then produce output when data are written into the GPIO chip lines or when the other participants send new values to them.

Basic Forward Demo

The basic forward demo consists to forward the value from the gpiochip0 line 4 to the gpiochip1 line 2 using their respective topics fromGpiochip0Line4, toGpiochip1Line2. This means the gpiochip0 line 4 direction is INPUT to be able to read its value, and the gpiochip1 line 2 direction will be reconfigured to OUTPUT to set the new value.

The data flow is illustrated in the following drawing:

                                                               SIL Kit topics:

+--[ gpiochip0 ]--+      +---[ SIL Kit Participant ]---+    > fromGpiochip0Line4 >
|     offset4     | ---> |                             |       ---------------- 
+-----------------+      |                             |     /                  \     +--[ SIL Kit Participant ]--+
                         | SilKitAdapterGenericLinuxIO | ---                      --- |       ForwardDevice       |
+--[ gpiochip1 ]--+      |                             |     \                  /     +---------------------------+
|     offset2     | <--- |                             |       ----------------
+-----------------+      +-----------------------------+     < toGpiochip1Line2 <

You can start the forward device:

./bin/sil-kit-demo-glio-gpio-forward-device

You should see the following output:

[date time] [GpioForwardDevice] [info] Creating participant 'GpioForwardDevice' at 'silkit://localhost:8501', SIL Kit version: 4.0.44
[date time] [GpioForwardDevice] [info] Connected to registry at 'tcp://127.0.0.1:8501' via 'tcp://127.0.0.1:34144' (local:///tmp/SilKitRegic044495579071f55.silkit, silkit://localhost:8501)
Press enter to stop the process...
[date time] [GpioForwardDevice] [info] Adapter  >> ForwardDevice: INPUT - LOW
[date time] [GpioForwardDevice] [info] ForwardDevice >> Adapter : OUTPUT - LOW

The GLIO Adapter published the initial value, it means LOW is the initial value from the gpiochip0 line 4. Then the forward demo is publishing the value in order to update the gpiochip1 line 2.

On the GLIO Adapter window you should see new lines:

[date time] [SilKitAdapterGenericLinuxIO] [debug] New values received on topic: toGpiochip1Line2
[date time] [SilKitAdapterGenericLinuxIO] [debug] Deserializing data from topic: toGpiochip1Line2
[date time] [SilKitAdapterGenericLinuxIO] [debug] Updating gpiochip1 line 2

Using the file system, you can see and set the value of your GPIO chip lines. For gpiochip1 line 2:

cat /sys/devices/platform/gpio-sim.0/gpiochip1/sim_gpio2/value
0

Then you can update the gpiochip0 line 4:

echo "pull-up" | sudo tee /sys/devices/platform/gpio-sim.0/gpiochip0/sim_gpio4/pull
cat /sys/devices/platform/gpio-sim.0/gpiochip1/sim_gpio2/value
1

The terminal output of the ForwardDevice and the GLIO Adapter will show that new value as well.

Adding CANoe (17 SP3 or newer) as a participant

Before you can connect CANoe to the SIL Kit network you should adapt the RegistryUri in ./gpio/demos/SilKitConfig_CANoe.silkit.yaml to the IP address of your system where your sil-kit-registry is running.

CANoe Desktop Edition

Load the GLIOControl_gpio_device.cfg from the ./gpio/demos/CANoe directory. After starting the demo, the current file states appears in the Data Window and are updated when a value or direction changes. The DemoPanel allows you to change the direction and value of the configured lines. Optionally you can also start the test unit execution of included test configuration. While the demo is running these tests should be successful. They set the gpiochip0 line 1 to OUTPUT direction with the corresponding value to 0, then send this new value and receive it.

CANoe4SW Server Edition (Windows)

You can also run the same test set with CANoe4SW SE by executing the following powershell script ./gpio/demos/CANoe4SW_SE/run.ps1. The test cases are executed automatically and you should see a short test report in powershell after execution.

CANoe4SW Server Edition (Linux)

You can also run the same test set with CANoe4SW SE (Linux). At first you have to execute the powershell script ./gpio/demos/CANoe4SW_SE/createEnvForLinux.ps1 on your windows system by using tools of CANoe4SW SE (Windows) to prepare your test environment for Linux. In ./gpio/demos/CANoe4SW_SE/run.sh you should adapt canoe4sw_se_install_dir to the path of your CANoe4SW SE installation in your Linux system. Afterwards you can execute ./gpio/demos/CANoe4SW_SE/run.sh in your Linux system. The test cases are executed automatically and you should see a short test report in your terminal after execution.