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Driver: Refactor MCP23009 GPIO expander into uORB driver #21466

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merged 1 commit into from
Jun 19, 2023
Merged

Driver: Refactor MCP23009 GPIO expander into uORB driver #21466

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1 change: 1 addition & 0 deletions boards/px4/fmu-v5x/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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11 changes: 11 additions & 0 deletions boards/px4/fmu-v5x/init/rc.board_defaults
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Expand Up @@ -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
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Is reading the pin every 10ms too much? The ADC tasks queries this data every 10ms, but since it's async now, the data may be 20ms delayed in the worst case (probably even more with prioritized scheduling).

fi
4 changes: 2 additions & 2 deletions boards/px4/fmu-v5x/src/board_config.h
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Expand Up @@ -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"
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Well, well, well… I was wondering why my driver worked in firmware_private, but not in upstream.

Turns out, the pins are actually registered at /dev/gpio4 and /dev/gpio5. So the function ADC::open_gpio_devices() always got -1 as file handles and thus never actually called the MCP23009 driver.

This was working when the driver was added (e2337a3), but since then NuttX changed the format string to generic gpio.

So since then, apparently nobody ever noticed this stopped working… 🫠
Fortunately these are the only occurances of /dev/gpin, /dev/gpint, and /dev/gpout in PX4.

We should be careful when we upgrade NuttX in firmware_private.

#define BOARD_GPIO_VDD_5V_COMP_VALID "/dev/gpio4"
#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpio5"

/* Spare GPIO */

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32 changes: 7 additions & 25 deletions boards/px4/fmu-v5x/src/init.cpp
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Expand Up @@ -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);
Expand All @@ -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;
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6 changes: 5 additions & 1 deletion msg/CMakeLists.txt
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Expand Up @@ -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
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28 changes: 28 additions & 0 deletions msg/GpioConfig.msg
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@@ -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
6 changes: 6 additions & 0 deletions msg/GpioIn.msg
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@@ -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
7 changes: 7 additions & 0 deletions msg/GpioOut.msg
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@@ -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
4 changes: 4 additions & 0 deletions msg/GpioRequest.msg
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@@ -0,0 +1,4 @@
# Request GPIO mask to be read

uint64 timestamp # time since system start (microseconds)
uint32 device_id # Device id
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