Driver: Refactor MCP23009 GPIO expander into uORB driver

PX4 · Jun 19, 2023 · 8fe65c6 · 8fe65c6
1 parent 3303323
commit 8fe65c6
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Showing 19 changed files with 681 additions and 284 deletions.
diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
@@ -17,6 +17,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y

diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults
@@ -19,3 +19,14 @@ param set-default SENS_EN_INA226 1
 param set-default SYS_USE_IO 1
 
 safety_button start
+
+# GPIO Expander driver on external I2C3
+if ver hwtypecmp V5X009000 V5X009001
+then
+	# No USB
+	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
+fi
+if ver hwtypecmp V5X00a000 V5X00a001 V5X008000 V5X008001
+then
+	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
+fi
diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h
@@ -250,8 +250,8 @@
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
 /* MCP23009 GPIO expander */
-#define BOARD_GPIO_VDD_5V_COMP_VALID           "/dev/gpin4"
-#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID      "/dev/gpin5"
+#define BOARD_GPIO_VDD_5V_COMP_VALID           "/dev/gpio4"
+#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID      "/dev/gpio5"
 
 /* Spare GPIO */
 

diff --git a/boards/px4/fmu-v5x/src/init.cpp b/boards/px4/fmu-v5x/src/init.cpp
@@ -264,8 +264,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}
 
+	int ret;
 #ifdef CONFIG_MMCSD
-	int ret = stm32_sdio_initialize();
+	ret = stm32_sdio_initialize();
 
 	if (ret != OK) {
 		led_on(LED_RED);
@@ -274,30 +275,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif /* CONFIG_MMCSD */
 
-	int hw_version = board_get_hw_version();
-
-	if (hw_version == 0x9 || hw_version == 0xa) {
-		static MCP23009 mcp23009{3, 0x25};
-
-		// No USB
-		if (hw_version == 0x9) {
-			// < P8
-			ret = mcp23009.init(0xf0, 0xf0, 0x0f);
-			// >= P8
-			//ret = mcp23009.init(0xf1, 0xf0, 0x0f);
-		}
-
-		if (hw_version == 0xa) {
-			// < P6
-			//ret = mcp23009.init(0xf0, 0xf0, 0x0f);
-			// >= P6
-			ret = mcp23009.init(0xf1, 0xf0, 0x0f);
-		}
-
-		if (ret != OK) {
-			led_on(LED_RED);
-			return ret;
-		}
+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
 	}
 
 	return OK;

diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
@@ -90,16 +90,20 @@ set(msg_files
 	FollowTargetStatus.msg
 	GeneratorStatus.msg
 	GeofenceResult.msg
+	GimbalControls.msg
 	GimbalDeviceAttitudeStatus.msg
 	GimbalDeviceInformation.msg
 	GimbalDeviceSetAttitude.msg
 	GimbalManagerInformation.msg
 	GimbalManagerSetAttitude.msg
 	GimbalManagerSetManualControl.msg
 	GimbalManagerStatus.msg
+	GpioConfig.msg
+	GpioIn.msg
+	GpioOut.msg
+	GpioRequest.msg
 	GpsDump.msg
 	GpsInjectData.msg
-	GimbalControls.msg
 	Gripper.msg
 	HealthReport.msg
 	HeaterStatus.msg

diff --git a/msg/GpioConfig.msg b/msg/GpioConfig.msg
@@ -0,0 +1,28 @@
+# GPIO configuration
+
+uint64 timestamp			# time since system start (microseconds)
+uint32 device_id			# Device id
+
+uint32 mask				# Pin mask
+uint32 state				# Initial pin output state
+
+# Configuration Mask
+# Bit 0-3: Direction: 0=Input, 1=Output
+# Bit 4-7: Input Config: 0=Floating, 1=PullUp, 2=PullDown
+# Bit 8-12: Output Config: 0=PushPull, 1=OpenDrain
+# Bit 13-31: Reserved
+uint32 INPUT			= 0	# 0x0000
+uint32 OUTPUT			= 1	# 0x0001
+uint32 PULLUP			= 16	# 0x0010
+uint32 PULLDOWN			= 32	# 0x0020
+uint32 OPENDRAIN		= 256	# 0x0100
+
+uint32 INPUT_FLOATING		= 0	# 0x0000
+uint32 INPUT_PULLUP		= 16	# 0x0010
+uint32 INPUT_PULLDOWN		= 32	# 0x0020
+
+uint32 OUTPUT_PUSHPULL		= 0	# 0x0000
+uint32 OUTPUT_OPENDRAIN		= 256	# 0x0100
+uint32 OUTPUT_OPENDRAIN_PULLUP	= 272	# 0x0110
+
+uint32 config
diff --git a/msg/GpioIn.msg b/msg/GpioIn.msg
@@ -0,0 +1,6 @@
+# GPIO mask and state
+
+uint64 timestamp			# time since system start (microseconds)
+uint32 device_id			# Device id
+
+uint32 state				# pin state mask
diff --git a/msg/GpioOut.msg b/msg/GpioOut.msg
@@ -0,0 +1,7 @@
+# GPIO mask and state
+
+uint64 timestamp			# time since system start (microseconds)
+uint32 device_id			# Device id
+
+uint32 mask				# pin mask
+uint32 state				# pin state mask
diff --git a/msg/GpioRequest.msg b/msg/GpioRequest.msg
@@ -0,0 +1,4 @@
+# Request GPIO mask to be read
+
+uint64 timestamp			# time since system start (microseconds)
+uint32 device_id			# Device id