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drivers: MCP23009 & MCP23017 shared code base (#25924)

Browse Source 
* Implemented driver for MCP23017

* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)

* removed some comments

* removed even more comments

* commented out instatntiation of driver since it will not be used with v6x

* removed last useless comments

* re-activated gpio_mcp23009 driver, removed useless comments and empty lines

* removed empty lines at the end of mcp23017.cpp

* removed empty line

* Implemented driver for MCP23017

* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)

* removed some comments

* removed even more comments

* commented out instatntiation of driver since it will not be used with v6x

* removed last useless comments

* re-activated gpio_mcp23009 driver, removed useless comments and empty lines

* removed empty lines at the end of mcp23017.cpp

* removed empty line

* basic working implementation

* first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks)

* removed unused imports

* changed module name from MCP to MCP230XX

* removed debug print statements

* adjusted auto start command of driver

* removed comments

* -added seperate main functions for both derivative modules (mcp23009 and mcp23017)

* compile common functions as shared library in src/lib/drivers

* fixed cleanup of modules

* ->unclean working version with shared common library

* used make format

* working & cleaned version

* -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously
-> Removed old mcap23009 calls and pin registrations
-> Adjusted GpioIn.msg to contain MAX_INSTANCES

* ->removed unused imports
->used make format

* Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x

* Fix: enabled platform_mcp_gpio in px4/fmu-v5x

* added depency to fmu-v5x

* Fix: removed new lines

* Fix: fixed linker errors

* removed unused linkage against mcp-library

* Made mcp start calls consistent for fmu-v5x and fmu-v6x

* moved logging of comm errors to read/write function directly

* added perf_count for sanity_check

* removed error message

* ensured member variables follow naming convention

* added retries to probe function

* simplyfied state-logic

* add break to terminate loop early

* ensured clean state when register_gpios() fails

* add registered-flag to pins

* used path from top dir instead of relative path in CMakeLists

* used constexpr to set parameters instead of calculating them at runtime

* style: used make format

* fix: corrected i2c_bus assignment

* style: init input of callbackhandler to 0

* fix: mark pin as registered if successful

* style: made arguments const type

---------

Co-authored-by: Alexander Lerach <alexander@auterion.com>
This commit is contained in:
Phil-Engljaehringer 2025-12-17 17:48:30 +01:00 committed by GitHub
parent 38f89a8b69
commit 3438d593a1
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
36 changed files with 1425 additions and 625 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
boards/accton-godwit/ga1/src/CMakeLists.txt
View File

@ -71,6 +71,5 @@ else()
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
)
endif()

8
boards/accton-godwit/ga1/src/init.cpp
View File

@ -74,7 +74,6 @@
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
#include <px4_platform/gpio/mcp23009.hpp>
/****************************************************************************
* Pre-Processor Definitions
@ -286,13 +285,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
# endif /* CONFIG_MMCSD */
ret = mcp23009_register_gpios(3, 0x25);
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif /* !defined(BOOTLOADER) */
return OK;

4
boards/auterion/fmu-v6x/init/rc.board_defaults
View File

@ -20,9 +20,9 @@ safety_button start
if ver hwbasecmp 009 010 011
then
# No USB
mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -M 0 -U 10
fi
if ver hwbasecmp 00a 008
then
mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -M 0 -U 10
fi

2
boards/auterion/fmu-v6x/src/CMakeLists.txt
View File

@ -69,6 +69,6 @@ else()
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
platform_gpio_mcp
)
endif()

8
boards/auterion/fmu-v6x/src/init.cpp
View File

@ -74,7 +74,6 @@
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
#include <px4_platform/gpio/mcp23009.hpp>
/****************************************************************************
* Pre-Processor Definitions
@ -282,13 +281,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
# endif /* CONFIG_MMCSD */
ret = mcp23009_register_gpios(3, 0x25);
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif /* !defined(BOOTLOADER) */
return OK;

1
boards/cuav/fmu-v6x/src/CMakeLists.txt
View File

@ -71,6 +71,5 @@ else()
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
)
endif()

8
boards/cuav/fmu-v6x/src/init.cpp
View File

@ -74,7 +74,6 @@
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
#include <px4_platform/gpio/mcp23009.hpp>
/****************************************************************************
* Pre-Processor Definitions
@ -286,13 +285,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
# endif /* CONFIG_MMCSD */
ret = mcp23009_register_gpios(3, 0x25);
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif /* !defined(BOOTLOADER) */
return OK;

4
boards/px4/fmu-v5x/init/rc.board_defaults
View File

@ -29,9 +29,9 @@ safety_button start
if ver hwbasecmp 009
then
# No USB
mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -M 0 -U 10
fi
if ver hwbasecmp 00a 008
then
mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -M 0 -U 10
fi

4
boards/px4/fmu-v5x/src/CMakeLists.txt
View File

@ -43,8 +43,6 @@ add_library(drivers_board
usb.c
)
add_dependencies(drivers_board platform_gpio_mcp23009)
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
@ -54,5 +52,5 @@ target_link_libraries(drivers_board
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
platform_gpio_mcp
)

8
boards/px4/fmu-v5x/src/init.cpp
View File

@ -74,7 +74,6 @@
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
#include <px4_platform/gpio/mcp23009.hpp>
/****************************************************************************
* Pre-Processor Definitions
@ -280,12 +279,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */
ret = mcp23009_register_gpios(3, 0x25);
if (ret != OK) {
led_on(LED_RED);
return ret;
}
return OK;
}

1
boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
View File

@ -54,6 +54,7 @@ CONFIG_DEBUG_MEMFAULT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_TCBINFO=y
CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_GPIO=y
CONFIG_DEV_PIPE_SIZE=70
CONFIG_DEV_URANDOM=y
CONFIG_ETH0_PHY_MULTI=y

1
msg/GpioIn.msg
View File

@ -1,4 +1,5 @@
# GPIO mask and state
uint8 MAX_INSTANCES = 8
uint64 timestamp # time since system start (microseconds)
uint32 device_id # Device id

3
platforms/nuttx/src/px4/common/gpio/CMakeLists.txt
View File

@ -31,5 +31,4 @@
#
############################################################################
add_subdirectory(mcp23009)
add_subdirectory(mcp)

6
platforms/nuttx/src/px4/common/gpio/mcp23009/CMakeLists.txt → platforms/nuttx/src/px4/common/gpio/mcp/CMakeLists.txt
View File

@ -30,7 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_library(platform_gpio_mcp23009
mcp23009.cpp
px4_add_library(platform_gpio_mcp
mcp.cpp
)
target_link_libraries(platform_gpio_mcp23009 PRIVATE drivers__device) # device::I2C
target_link_libraries(platform_gpio_mcp PRIVATE drivers__device) # device::I2C

169
platforms/nuttx/src/px4/common/gpio/mcp/mcp.cpp Normal file
View File

@ -0,0 +1,169 @@
/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/ioexpander/gpio.h>
#include <lib/drivers/device/Device.hpp>
#include <px4_platform/gpio/mcp.hpp>
#include <uORB/topics/gpio_config.h>
#include <uORB/topics/gpio_out.h>
#include <uORB/PublicationMulti.hpp>
#include <drivers/drv_hrt.h>
static int mcp230XX_read(struct gpio_dev_s *dev, bool *value)
{
mcp_gpio_dev_s *gpio = (struct mcp_gpio_dev_s *)dev;
*value = gpio->callback_handler->input & gpio->mask;
return OK;
}
static uORB::PublicationMulti<gpio_out_s> toGpioOut{ORB_ID(gpio_out)};
static int mcp230XX_write(struct gpio_dev_s *dev, bool value)
{
mcp_gpio_dev_s *gpio = (struct mcp_gpio_dev_s *)dev;
gpio_out_s msg{
hrt_absolute_time(),
gpio->callback_handler->dev_id,
gpio->mask, // clear mask
value ? gpio->mask : 0u, // set mask
};
return toGpioOut.publish(msg) ? OK : -ETIMEDOUT;
}
static uORB::PublicationMulti<gpio_config_s> toGpioConfig{ORB_ID(gpio_config)};
static int mcp230XX_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype)
{
mcp_gpio_dev_s *gpio = (struct mcp_gpio_dev_s *)dev;
gpio_config_s msg{
hrt_absolute_time(),
gpio->callback_handler->dev_id,
gpio->mask,
};
switch (pintype) {
case GPIO_INPUT_PIN:
msg.config = gpio_config_s::INPUT;
break;
case GPIO_INPUT_PIN_PULLUP:
msg.config = gpio_config_s::INPUT_PULLUP;
break;
case GPIO_OUTPUT_PIN:
msg.config = gpio_config_s::OUTPUT;
break;
default:
return -ENOTSUP;
}
return toGpioConfig.publish(msg) ? OK : -ETIMEDOUT;
}
static const struct gpio_operations_s mcp_gpio_ops {
mcp230XX_read,
mcp230XX_write,
nullptr,
nullptr,
mcp230XX_setpintype,
};
int mcp230XX_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor, uint16_t dir_mask, int num_pins, uint8_t device_type,
mcp_gpio_dev_s *_gpio)
{
bool all_registered = true;
for (int i = 0; i < num_pins; i++) {
uint16_t mask = 1u << i;
if (!_gpio[i].registered) {
if (dir_mask & mask) {
_gpio[i] = { {GPIO_INPUT_PIN, {}, &mcp_gpio_ops}, mask, false, nullptr};
} else {
_gpio[i] = { {GPIO_OUTPUT_PIN, {}, &mcp_gpio_ops}, mask, false, nullptr};
}
int ret = gpio_pin_register(&_gpio[i].gpio, first_minor + i);
if (ret != OK) {
all_registered = false;
} else {
_gpio[i].registered = true;
}
}
}
const auto device_id = device::Device::DeviceId{device::Device::DeviceBusType_I2C, i2c_bus, i2c_addr, device_type};
CallbackHandler *callback_handler = new CallbackHandler(ORB_ID(gpio_in));
callback_handler->dev_id = device_id.devid;
bool callback_registered = callback_handler->registerCallback();
if (!all_registered || !callback_registered) {
for (int i = 0; i < num_pins; i++) {
if (_gpio[i].registered) {
gpio_pin_unregister(&_gpio[i].gpio, first_minor + i);
_gpio[i].registered = false;
}
}
callback_handler->unregisterCallback();
delete callback_handler;
return ERROR;
}
for (int i = 0; i < num_pins; i++) {
_gpio[i].callback_handler = callback_handler;
}
return OK;
}
int mcp230XX_unregister_gpios(int first_minor, int num_pins, mcp_gpio_dev_s *_gpio)
{
if (_gpio[0].callback_handler) {
CallbackHandler *callback_handler = _gpio[0].callback_handler;
callback_handler->unregisterCallback();
delete callback_handler;
}
for (int i = 0; i < num_pins; ++i) {
if (_gpio[i].registered) {
mcp230XX_setpintype(&_gpio[i].gpio, GPIO_INPUT_PIN);
gpio_pin_unregister(&_gpio[i].gpio, first_minor + i);
_gpio[i].registered = false;
_gpio[i].callback_handler = nullptr;
}
}
return OK;
}

172
platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009.cpp
View File

@ -1,172 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/ioexpander/gpio.h>
#include <drivers/drv_sensor.h>
#include <lib/drivers/device/Device.hpp>
#include <uORB/topics/gpio_config.h>
#include <uORB/topics/gpio_in.h>
#include <uORB/topics/gpio_out.h>
#include <uORB/topics/gpio_request.h>
#include <uORB/Publication.hpp>
#include <uORB/SubscriptionCallback.hpp>
static uint32_t DEVID{0};
struct mcp23009_gpio_dev_s {
struct gpio_dev_s gpio;
uint8_t mask;
};
/* Copy the read input data */
class ReadCallback : public uORB::SubscriptionCallback
{
public:
using SubscriptionCallback::SubscriptionCallback;
void call() override
{
px4::msg::GpioIn new_input;
if (update(&new_input) && new_input.device_id == DEVID) {
input = new_input.state;
}
}
uint8_t input;
};
static uORB::Publication<px4::msg::GpioRequest> toGpioRequest{ORB_ID(gpio_request)};
static ReadCallback fromGpioIn{ORB_ID(gpio_in)};
static int mcp23009_read(struct gpio_dev_s *dev, bool *value)
{
mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
*value = fromGpioIn.input & gpio->mask;
return OK;
}
static uORB::Publication<gpio_out_s> toGpioOut{ORB_ID(gpio_out)};
static int mcp23009_write(struct gpio_dev_s *dev, bool value)
{
mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
gpio_out_s msg{
hrt_absolute_time(),
DEVID,
gpio->mask, // clear mask
value ? gpio->mask : 0u, // set mask
};
return toGpioOut.publish(msg) ? OK : -ETIMEDOUT;
}
static uORB::Publication<gpio_config_s> toGpioConfig{ORB_ID(gpio_config)};
static int mcp23009_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype)
{
mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
gpio_config_s msg{
hrt_absolute_time(),
DEVID,
gpio->mask,
};
switch (pintype) {
case GPIO_INPUT_PIN:
msg.config = gpio_config_s::INPUT;
break;
case GPIO_INPUT_PIN_PULLUP:
msg.config = gpio_config_s::INPUT_PULLUP;
break;
case GPIO_OUTPUT_PIN:
msg.config = gpio_config_s::OUTPUT;
break;
default:
return -ENOTSUP;
}
return toGpioConfig.publish(msg) ? OK : -ETIMEDOUT;
}
// ----------------------------------------------------------------------------
static const struct gpio_operations_s mcp23009_gpio_ops {
mcp23009_read,
mcp23009_write,
nullptr,
nullptr,
mcp23009_setpintype,
};
static constexpr uint8_t NUM_GPIOS = 8;
static mcp23009_gpio_dev_s _gpio[NUM_GPIOS] {
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 0) },
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 1) },
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 2) },
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 3) },
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 4) },
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 5) },
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 6) },
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 7) }
};
// ----------------------------------------------------------------------------
int mcp23009_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor)
{
const auto device_id = device::Device::DeviceId{
device::Device::DeviceBusType_I2C, i2c_bus, i2c_addr, DRV_GPIO_DEVTYPE_MCP23009};
DEVID = device_id.devid;
for (int i = 0; i < NUM_GPIOS; ++i) {
int ret = gpio_pin_register(&_gpio[i].gpio, first_minor + i);
if (ret != OK) {
return ret;
}
}
fromGpioIn.registerCallback();
return OK;
}
int mcp23009_unregister_gpios(int first_minor)
{
for (int i = 0; i < NUM_GPIOS; ++i) {
mcp23009_setpintype(&_gpio[i].gpio, GPIO_INPUT_PIN);
gpio_pin_unregister(&_gpio[i].gpio, first_minor + i);
}
fromGpioIn.unregisterCallback();
return OK;
}

53
platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp.hpp Normal file
View File

@ -0,0 +1,53 @@
/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#include <nuttx/config.h>
#include <nuttx/ioexpander/gpio.h>
#include <lib/drivers/mcp_common/CallbackHandler.hpp>
#ifndef CONFIG_DEV_GPIO
# error "CONFIG_DEV_GPIO is required to use MCP GPIO expander, enable it in your NuttX config"
#endif
struct mcp_gpio_dev_s {
struct gpio_dev_s gpio;
uint16_t mask;
bool registered = false;
CallbackHandler *callback_handler;
};
int mcp230XX_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor = 0, uint16_t dir_mask = 0x0000, int num_pins = 8,
uint8_t device_type = 0, mcp_gpio_dev_s *_gpio = nullptr);
int mcp230XX_unregister_gpios(int first_minor = 0, int num_pins = 0, mcp_gpio_dev_s *_gpio = nullptr);

1
src/drivers/drv_sensor.h
View File

@ -201,6 +201,7 @@
#define DRV_DIST_DEVTYPE_GY_US42 0x9C
#define DRV_BAT_DEVTYPE_BATMON_SMBUS 0x9d
#define DRV_GPIO_DEVTYPE_MCP23017 0x9E
#define DRV_GPIO_DEVTYPE_MCP23009 0x9F
#define DRV_GPS_DEVTYPE_ASHTECH 0xA0

6
src/drivers/gpio/Kconfig
View File

@ -1,9 +1,3 @@
menu "GPIO"
menuconfig COMMON_GPIO
bool "Common GPIOs"
default n
select DRIVERS_GPIO_MCP23009
---help---
Enable default set of GPIO drivers
rsource "*/Kconfig"
endmenu

9
src/drivers/gpio/mcp23009/CMakeLists.txt
View File

@ -30,12 +30,13 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__mcp23009
MODULE drivers__gpio__mcp23009
MAIN mcp23009
COMPILE_FLAGS
SRCS
mcp23009_main.cpp
mcp23009.cpp
MCP23009_main.cpp
MCP23009.cpp
DEPENDS
mcp_common
)

4
src/drivers/gpio/mcp23009/Kconfig
View File

@ -1,5 +1,5 @@
menuconfig DRIVERS_GPIO_MCP23009
bool "mcp23009"
bool "MCP23009"
default n
---help---
Enable support for mcp23009
Enable support for MCP23009 8-bit GPIO expander

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src/drivers/gpio/mcp23009/MCP23009.cpp Normal file
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/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "MCP23009.hpp"
MCP23009::MCP23009(const I2CSPIDriverConfig &config) :
MCP230XX(config)
{
}
int MCP23009::get_olat(int bank, uint8_t *addr)
{
switch (bank) {
case 0:
*addr = (uint8_t) Register::OLAT;
return PX4_OK;
default:
return PX4_ERROR;
}
}
int MCP23009::get_gppu(int bank, uint8_t *addr)
{
switch (bank) {
case 0:
*addr = (uint8_t) Register::GPPU;
return PX4_OK;
default:
return PX4_ERROR;
}
}
int MCP23009::get_iodir(int bank, uint8_t *addr)
{
switch (bank) {
case 0:
*addr = (uint8_t) Register::IODIR;
return PX4_OK;
default:
return PX4_ERROR;
}
}
int MCP23009::get_gpio(int bank, uint8_t *addr)
{
switch (bank) {
case 0:
*addr = (uint8_t) Register::GPIO;
return PX4_OK;
default:
return PX4_ERROR;
}
}
int MCP23009::get_probe_reg(uint8_t *addr)
{
*addr = (uint8_t) Register::IOCON;
return PX4_OK;
}

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src/drivers/gpio/mcp23009/MCP23009.hpp Normal file
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/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <lib/drivers/mcp_common/MCP.hpp>
using namespace time_literals;
class MCP23009 : public MCP230XX
{
public:
MCP23009(const I2CSPIDriverConfig &config);
private:
enum class
Register : uint8_t {
IODIR = 0x00,
IPOL = 0x01,
GPINTEN = 0x02,
DEFVAL = 0x03,
INTCON = 0x04,
IOCON = 0x05,
GPPU = 0x06,
INTF = 0x07,
INTCAP = 0x08,
GPIO = 0x09,
OLAT = 0x0a
};
int get_olat(int bank, uint8_t *addr) override;
int get_gppu(int bank, uint8_t *addr) override;
int get_iodir(int bank, uint8_t *addr) override;
int get_gpio(int bank, uint8_t *addr) override;
int get_probe_reg(uint8_t *addr) override;
};

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/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "MCP23009.hpp"
constexpr MCP230XX_config_t def_mcp_config{
.device_type = DRV_GPIO_DEVTYPE_MCP23009,
.i2c_addr = I2C_ADDRESS_MCP23009,
.num_pins = 8,
.num_banks = 1,
};
extern "C" int mcp23009_main(int argc, char *argv[])
{
using ThisDriver = MCP23009;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 400000;
cli.i2c_address = 0x25;
MCP230XX_config_t mcp_config = def_mcp_config;
int ch;
while ((ch = cli.getOpt(argc, argv, "D:O:P:U:R:M:")) != EOF) {
switch (ch) {
case 'D':
mcp_config.direction = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'O':
mcp_config.state = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'P':
mcp_config.pullup = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'U':
mcp_config.interval = (uint16_t)atoi(cli.optArg());
break;
case 'M':
mcp_config.first_minor = (uint8_t)atoi(cli.optArg());
break;
}
}
const char *verb = cli.optArg();
if (!verb) {
MCP230XX::print_usage();
return -1;
}
cli.custom_data = &mcp_config;
BusInstanceIterator iterator("MCP23009", cli, mcp_config.device_type);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
MCP230XX::print_usage();
return -1;
}

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src/drivers/gpio/mcp23009/mcp23009.cpp
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/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "mcp23009.h"
int MCP23009::read_reg(Register address, uint8_t &data)
{
return transfer((uint8_t *)&address, 1, &data, 1);
}
int MCP23009::write_reg(Register address, uint8_t value)
{
uint8_t data[2] = {(uint8_t)address, value};
return transfer(data, sizeof(data), nullptr, 0);
}
int MCP23009::init(uint8_t direction, uint8_t state, uint8_t pull_up)
{
// do I2C init (and probe) first
int ret = I2C::init();
if (ret != PX4_OK) {
PX4_ERR("I2C init failed");
return ret;
}
// buffer the new initial states
_iodir = direction;
_olat = state;
_gppu = pull_up;
// Write the initial state to the device
ret = write_reg(Register::OLAT, _olat);
ret |= write_reg(Register::IODIR, _iodir);
ret |= write_reg(Register::GPPU, _gppu);
if (ret != PX4_OK) {
PX4_ERR("Device init failed (%i)", ret);
return ret;
}
return init_uorb();
}
int MCP23009::probe()
{
// no whoami, try to read IOCON
uint8_t data;
return read_reg(Register::IOCON, data);
}
int MCP23009::read(uint8_t *mask)
{
return read_reg(Register::GPIO, *mask);
}
int MCP23009::write(uint8_t mask_set, uint8_t mask_clear)
{
// no need to read, we can use the buffered register value
_olat = (_olat & ~mask_clear) | mask_set;
return write_reg(Register::OLAT, _olat);
}
int MCP23009::configure(uint8_t mask, PinType type)
{
// no need to read, we can use the buffered register values
switch (type) {
case PinType::Input:
_iodir |= mask;
_gppu &= ~mask;
break;
case PinType::InputPullUp:
_iodir |= mask;
_gppu |= mask;
break;
case PinType::Output:
_iodir &= ~mask;
break;
default:
return -EINVAL;
}
int ret = write_reg(Register::GPPU, _gppu);
if (ret != 0) {
return ret;
}
return write_reg(Register::IODIR, _iodir);
}

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src/drivers/gpio/mcp23009/mcp23009_main.cpp
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/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Driver for the MCP23009 connected via I2C.
*/
#include "mcp23009.h"
#include <px4_platform_common/module.h>
MCP23009::MCP23009(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample"))
{
}
MCP23009::~MCP23009()
{
ScheduleClear();
perf_free(_cycle_perf);
}
int MCP23009::init_uorb()
{
if (!_gpio_config_sub.registerCallback() ||
!_gpio_request_sub.registerCallback() ||
!_gpio_out_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return -1;
}
return PX4_OK;
}
void MCP23009::exit_and_cleanup()
{
_gpio_config_sub.unregisterCallback();
_gpio_request_sub.unregisterCallback();
_gpio_out_sub.unregisterCallback();
}
void MCP23009::RunImpl()
{
perf_begin(_cycle_perf);
gpio_config_s config;
if (_gpio_config_sub.update(&config) && config.device_id == get_device_id()) {
PinType type = PinType::Input;
switch (config.config) {
case config.INPUT_PULLUP: type = PinType::InputPullUp; break;
case config.OUTPUT: type = PinType::Output; break;
}
write(config.state, config.mask);
configure(config.mask, type);
}
gpio_out_s output;
if (_gpio_out_sub.update(&output) && output.device_id == get_device_id()) {
write(output.state, output.mask);
}
// read every time we run, either when requested or when scheduled on interval
{
gpio_in_s _gpio_in;
_gpio_in.timestamp = hrt_absolute_time();
_gpio_in.device_id = get_device_id();
uint8_t input;
read(&input);
_gpio_in.state = input;
_to_gpio_in.publish(_gpio_in);
}
perf_end(_cycle_perf);
}
void MCP23009::print_usage()
{
PRINT_MODULE_USAGE_NAME("MCP23009", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x25);
PRINT_MODULE_USAGE_PARAM_INT('D', 0, 0, 255, "Direction", true);
PRINT_MODULE_USAGE_PARAM_INT('O', 0, 0, 255, "Output", true);
PRINT_MODULE_USAGE_PARAM_INT('P', 0, 0, 255, "Pullups", true);
PRINT_MODULE_USAGE_PARAM_INT('U', 0, 0, 1000, "Update Interval [ms]", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
void MCP23009::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_cycle_perf);
}
struct init_config_t {
uint16_t interval;
uint8_t direction;
uint8_t state;
uint8_t pullup;
};
I2CSPIDriverBase *MCP23009::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
auto *init = (const init_config_t *)config.custom_data;
auto *instance = new MCP23009(config);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init(init->direction, init->state, init->pullup)) {
delete instance;
return nullptr;
}
if (init->interval) {
instance->ScheduleOnInterval(init->interval * 1000);
}
return instance;
}
extern "C" int mcp23009_main(int argc, char *argv[])
{
using ThisDriver = MCP23009;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 400000;
cli.i2c_address = 0x25;
init_config_t config_data{};
int ch;
while ((ch = cli.getOpt(argc, argv, "D:O:P:U:")) != EOF) {
switch (ch) {
case 'D':
config_data.direction = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'O':
config_data.state = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'P':
config_data.pullup = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'U':
config_data.interval = atoi(cli.optArg());
break;
}
}
cli.custom_data = &config_data;
const char *verb = cli.optArg();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_GPIO_DEVTYPE_MCP23009);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

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src/drivers/gpio/mcp23017/CMakeLists.txt Normal file
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############################################################################
#
# Copyright (c) 2023 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__gpio__mcp23017
MAIN mcp23017
SRCS
MCP23017_main.cpp
MCP23017.cpp
DEPENDS
mcp_common
)

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menuconfig DRIVERS_GPIO_MCP23017
bool "MCP23017"
default n
---help---
Enable support for MCP23017 16-bit GPIO expander

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src/drivers/gpio/mcp23017/MCP23017.cpp Normal file
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/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "MCP23017.hpp"
MCP23017::MCP23017(const I2CSPIDriverConfig &config) :
MCP230XX(config)
{
}
int MCP23017::get_olat(int bank, uint8_t *addr)
{
switch (bank) {
case 0:
*addr = (uint8_t) Register::OLATA;
return PX4_OK;
case 1:
*addr = (uint8_t) Register::OLATB;
return PX4_OK;
default:
return PX4_ERROR;
}
}
int MCP23017::get_gppu(int bank, uint8_t *addr)
{
switch (bank) {
case 0:
*addr = (uint8_t) Register::GPPUA;
return PX4_OK;
case 1:
*addr = (uint8_t) Register::GPPUB;
return PX4_OK;
default:
return PX4_ERROR;
}
}
int MCP23017::get_iodir(int bank, uint8_t *addr)
{
switch (bank) {
case 0:
*addr = (uint8_t) Register::IODIRA;
return PX4_OK;
case 1:
*addr = (uint8_t) Register::IODIRB;
return PX4_OK;
default:
return PX4_ERROR;
}
}
int MCP23017::get_gpio(int bank, uint8_t *addr)
{
switch (bank) {
case 0:
*addr = (uint8_t) Register::GPIOA;
return PX4_OK;
case 1:
*addr = (uint8_t) Register::GPIOB;
return PX4_OK;
default:
return PX4_ERROR;
}
}
int MCP23017::get_probe_reg(uint8_t *addr)
{
*addr = (uint8_t) Register::IOCONA;
return PX4_OK;
}

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/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <lib/drivers/mcp_common/MCP.hpp>
using namespace time_literals;
class MCP23017 : public MCP230XX
{
public:
MCP23017(const I2CSPIDriverConfig &config);
private:
enum class
Register : uint8_t {
IODIRA = 0x00,
IODIRB = 0x01,
IPOLA = 0x02,
IPOLB = 0x03,
GPINTENA = 0x04,
GPINTENB = 0x05,
DEFVALA = 0x06,
DEFVALB = 0x07,
INTCONA = 0x08,
INTCONB = 0x09,
IOCONA = 0x0a,
IOCONB = 0x0b,
GPPUA = 0x0c,
GPPUB = 0x0d,
INTFA = 0x0e,
INTFB = 0x0f,
INTCAPA = 0x10,
INTCAPB = 0x11,
GPIOA = 0x12,
GPIOB = 0x13,
OLATA = 0x14,
OLATB = 0x15
};
int get_olat(int bank, uint8_t *addr) override;
int get_gppu(int bank, uint8_t *addr) override;
int get_iodir(int bank, uint8_t *addr) override;
int get_gpio(int bank, uint8_t *addr) override;
int get_probe_reg(uint8_t *addr) override;
};

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/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "MCP23017.hpp"
constexpr MCP230XX_config_t def_mcp_config{
.device_type = DRV_GPIO_DEVTYPE_MCP23017,
.i2c_addr = I2C_ADDRESS_MCP23017,
.num_pins = 16,
.num_banks = 2,
};
extern "C" int mcp23017_main(int argc, char *argv[])
{
using ThisDriver = MCP23017;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 400000;
cli.i2c_address = 0x27;
MCP230XX_config_t mcp_config = def_mcp_config;
int ch;
while ((ch = cli.getOpt(argc, argv, "D:O:P:U:R:M:")) != EOF) {
switch (ch) {
case 'D':
mcp_config.direction = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'O':
mcp_config.state = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'P':
mcp_config.pullup = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'U':
mcp_config.interval = (uint16_t)atoi(cli.optArg());
break;
case 'M':
mcp_config.first_minor = (uint8_t)atoi(cli.optArg());
break;
}
}
const char *verb = cli.optArg();
if (!verb) {
MCP230XX::print_usage();
return -1;
}
cli.custom_data = &mcp_config;
BusInstanceIterator iterator("MCP23017", cli, mcp_config.device_type);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
MCP230XX::print_usage();
return -1;
}

1
src/lib/drivers/CMakeLists.txt
View File

@ -36,6 +36,7 @@ add_subdirectory(device)
add_subdirectory(gyroscope)
add_subdirectory(led)
add_subdirectory(magnetometer)
add_subdirectory(mcp_common)
add_subdirectory(rangefinder)
add_subdirectory(smbus)
add_subdirectory(smbus_sbs)

40
src/lib/drivers/mcp_common/CMakeLists.txt Normal file
View File

@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2023 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_library(mcp_common
MCP.cpp
${PX4_SOURCE_DIR}/src/drivers/gpio/mcp23009/MCP23009.cpp
${PX4_SOURCE_DIR}/src/drivers/gpio/mcp23017/MCP23017.cpp
)
target_link_libraries(mcp_common PUBLIC platform_gpio_mcp)

30
platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp23009.hpp → src/lib/drivers/mcp_common/CallbackHandler.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -30,10 +30,32 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#include <uORB/topics/gpio_in.h>
#include <uORB/SubscriptionCallback.hpp>
int mcp23009_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor = 0);
int mcp23009_unregister_gpios(int first_minor = 0);
class CallbackHandler : public uORB::SubscriptionCallback
{
public:
uint32_t dev_id;
uint16_t input{0};
CallbackHandler(orb_id_t id) : uORB::SubscriptionCallback(id) {}
virtual ~CallbackHandler() {}
void call() override
{
px4::msg::GpioIn new_input;
for (int i = 0; i < new_input.MAX_INSTANCES; i++) {
ChangeInstance(i);
if (update(&new_input) && new_input.device_id == dev_id) {
input = new_input.state;
break;
}
}
}
};

457
src/lib/drivers/mcp_common/MCP.cpp Normal file
View File

@ -0,0 +1,457 @@
/****************************************************************************
*
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "MCP.hpp"
#include <drivers/gpio/mcp23009/MCP23009.hpp>
#include <drivers/gpio/mcp23017/MCP23017.hpp>
MCP230XX::MCP230XX(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors")),
_register_check(perf_alloc(PC_COUNT, MODULE_NAME": register check"))
{
}
MCP230XX::~MCP230XX()
{
ScheduleClear();
perf_free(_cycle_perf);
perf_free(_comms_errors);
perf_free(_register_check);
}
int MCP230XX::init_uorb()
{
if (!_gpio_config_sub.registerCallback() ||
!_gpio_out_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return PX4_ERROR;
}
return PX4_OK;
}
void MCP230XX::cleanup_uorb()
{
_gpio_config_sub.unregisterCallback();
_gpio_out_sub.unregisterCallback();
mcp230XX_unregister_gpios(mcp_config.first_minor, mcp_config.num_pins, mcp_config._gpio_handle);
}
int MCP230XX::read(uint16_t *mask)
{
*mask = 0;
int ret = PX4_OK;
for (int i = 0; i < mcp_config.num_banks; i++) {
uint8_t gpio_addr;
uint8_t data;
ret |= get_gpio(i, &gpio_addr);
ret |= read_reg(gpio_addr, data);
*mask |= (((uint16_t) data) << (8 * i));
}
return ret;
}
int MCP230XX::write(const uint16_t mask_set, const uint16_t mask_clear)
{
int ret = PX4_OK;
_olat = (_olat & ~mask_clear) | mask_set;
for (int i = 0; i < mcp_config.num_banks; i++) {
uint8_t reg_addr;
uint8_t data;
uint8_t curr_olat = (uint8_t)((_olat >> (8 * i)) & 0x00FF);
ret = get_olat(i, &reg_addr);
if (ret != PX4_OK) {
return ret;
}
ret |= write_reg(reg_addr, curr_olat);
ret |= read_reg(reg_addr, data);
if (ret != PX4_OK || data != curr_olat) {
return PX4_ERROR;
}
}
return ret;
}
int MCP230XX::read_reg(const uint8_t address, uint8_t &data)
{
int ret = transfer(&address, 1, &data, 1);
if (ret != PX4_OK) {
perf_count(_comms_errors);
}
return ret;
}
int MCP230XX::write_reg(const uint8_t address, const uint8_t value)
{
uint8_t data[2] = {address, value};
int ret = transfer(data, 2, nullptr, 0);
if (ret != PX4_OK) {
perf_count(_comms_errors);
}
return ret;
}
int MCP230XX::configure(const uint16_t mask, PinType type)
{
switch (type) {
case PinType::Input:
_iodir |= mask;
_gppu &= ~mask;
break;
case PinType::InputPullUp:
_iodir |= mask;
_gppu |= mask;
break;
case PinType::Output:
_iodir &= ~mask;
break;
default:
return -EINVAL;
}
int ret = PX4_OK;
for (int i = 0; i < mcp_config.num_banks; i++) {
uint8_t curr_iodir = (uint8_t)((_iodir >> (8 * i)) & 0x00FF);
uint8_t curr_gppu = (uint8_t)((_gppu >> (8 * i)) & 0x00FF);
uint8_t iodir_addr;
uint8_t gppu_addr;
ret = get_iodir(i, &iodir_addr);
ret |= get_gppu(i, &gppu_addr);
if (ret != PX4_OK) {
return ret;
}
ret = write_reg(iodir_addr, curr_iodir);
ret |= write_reg(gppu_addr, curr_gppu);
if (ret != PX4_OK) {
PX4_ERR("MCP configure failed");
return ret;
}
}
return PX4_OK;
}
int MCP230XX::init()
{
int ret = I2C::init();
if (ret != PX4_OK) {
PX4_ERR("I2C init failed");
return ret;
}
ScheduleNow();
return PX4_OK;
}
int MCP230XX::init_communication()
{
int ret = mcp230XX_register_gpios(mcp_config.i2c_bus, mcp_config.i2c_addr, mcp_config.first_minor, _iodir, mcp_config.num_pins,
mcp_config.device_type, mcp_config._gpio_handle);
ret |= init_uorb();
return ret;
}
int MCP230XX::set_up()
{
int ret = PX4_OK;
uint8_t iodir_addr;
uint8_t olat_addr;
uint8_t gppu_addr;
for (int i = 0; i < mcp_config.num_banks; i++) {
uint8_t curr_iodir = (uint8_t)((_iodir >> (8 * i)) & 0x00FF);
uint8_t curr_olat = (uint8_t)((_olat >> (8 * i)) & 0x00FF);
uint8_t curr_gppu = (uint8_t)((_gppu >> (8 * i)) & 0x00FF);
ret |= get_olat(i, &olat_addr);
ret |= get_iodir(i, &iodir_addr);
ret |= get_gppu(i, &gppu_addr);
if (ret != PX4_OK) {
return ret;
}
ret |= write_reg(iodir_addr, curr_iodir);
ret |= write_reg(olat_addr, curr_olat);
ret |= write_reg(gppu_addr, curr_gppu);
if (ret != PX4_OK) {
return ret;
}
}
return ret;
}
int MCP230XX::sanity_check()
{
int ret = PX4_OK;
for (int i = 0; i < mcp_config.num_banks; i++) {
uint8_t curr_iodir = (uint8_t)((_iodir >> (8 * i)) & 0x00FF);
uint8_t curr_olat = (uint8_t)((_olat >> (8 * i)) & 0x00FF);
uint8_t curr_gppu = (uint8_t)((_gppu >> (8 * i)) & 0x00FF);
uint8_t iodir_addr;
uint8_t olat_addr;
uint8_t gppu_addr;
uint8_t read_iodir;
uint8_t read_olat;
uint8_t read_gppu;
ret |= get_olat(i, &olat_addr);
ret |= get_iodir(i, &iodir_addr);
ret |= get_gppu(i, &gppu_addr);
ret |= read_reg(iodir_addr, read_iodir);
ret |= read_reg(olat_addr, read_olat);
ret |= read_reg(gppu_addr, read_gppu);
if (read_iodir != curr_iodir || read_olat != curr_olat || read_gppu != curr_gppu) {
perf_count(_register_check);
return PX4_ERROR;
}
}
return ret;
}
int MCP230XX::probe()
{
// no whoami, try to read IOCONA
uint8_t data;
uint8_t addr;
int ret = PX4_OK;
for (int i = 0; i < 10; i++) {
ret = get_probe_reg(&addr);
if (ret == PX4_OK) {
ret = read_reg(addr, data);
if (ret == PX4_OK) {
return PX4_OK;
}
}
px4_usleep(10'000);
}
return PX4_ERROR;
}
void MCP230XX::RunImpl()
{
if (should_exit()) {
cleanup_uorb();
exit_and_cleanup();
return;
}
int ret = PX4_OK;
switch (_curr_state) {
case STATE::INIT_COMMUNICATION:
ret = init_communication();
if (ret == PX4_OK) {
_curr_state = STATE::CONFIGURE;
ScheduleNow();
} else {
ScheduleDelayed(mcp_config.interval * 1000);
}
break;
case STATE::CONFIGURE:
ret = set_up();
if (ret == PX4_OK) {
_curr_state = STATE::CHECK;
ScheduleNow();
} else {
ScheduleDelayed(mcp_config.interval * 1000);
}
break;
case STATE::CHECK:
ret = sanity_check();
if (ret == PX4_OK) {
_curr_state = STATE::RUNNING;
ScheduleOnInterval(mcp_config.interval * 1000);
} else {
_curr_state = STATE::CONFIGURE;
ScheduleDelayed(mcp_config.interval * 1000);
}
break;
case STATE::RUNNING:
perf_begin(_cycle_perf);
gpio_config_s config;
if (_gpio_config_sub.update(&config) && config.device_id == get_device_id()) {
PinType type = PinType::Input;
switch (config.config) {
case config.INPUT_PULLUP: type = PinType::InputPullUp; break;
case config.OUTPUT: type = PinType::Output; break;
}
ret |= write(config.state, config.mask);
ret |= configure(config.mask, type);
}
gpio_out_s output;
if (_gpio_out_sub.update(&output) && output.device_id == get_device_id()) {
ret |= write(output.state, output.mask);
}
{
gpio_in_s _gpio_in;
_gpio_in.timestamp = hrt_absolute_time();
_gpio_in.device_id = get_device_id();
uint16_t input = 0;
if (read(&input) == PX4_OK) {
_gpio_in.state = input;
_to_gpio_in.publish(_gpio_in);
}
}
_count++;
if (_count >= _checking_freq || ret != PX4_OK) {
_curr_state = STATE::CHECK;
_count = 0;
ScheduleClear();
ScheduleNow();
}
perf_end(_cycle_perf);
}
}
void MCP230XX::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_cycle_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_register_check);
}
void MCP230XX::print_usage()
{
PRINT_MODULE_USAGE_NAME("mcp230xx", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x27);
PRINT_MODULE_USAGE_PARAM_INT('D', 0, 0, 65535, "Direction (1=Input, 0=Output)", true);
PRINT_MODULE_USAGE_PARAM_INT('O', 0, 0, 65535, "Output", true);
PRINT_MODULE_USAGE_PARAM_INT('P', 0, 0, 65535, "Pullups", true);
PRINT_MODULE_USAGE_PARAM_INT('U', 0, 0, 1000, "Update Interval [ms]", true);
PRINT_MODULE_USAGE_PARAM_INT('M', 0, 0, 255, "First minor number", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *MCP230XX::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
MCP230XX *instance = nullptr;
switch (config.devid_driver_index) {
case DRV_GPIO_DEVTYPE_MCP23009:
instance = new MCP23009(config);
break;
case DRV_GPIO_DEVTYPE_MCP23017:
instance = new MCP23017(config);
break;
default:
instance = nullptr;
break;
}
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
MCP230XX_config_t tmp_config = *static_cast<const MCP230XX_config_t *>(config.custom_data);
instance->mcp_config = tmp_config;
instance->mcp_config.i2c_bus = config.bus;
if (OK != instance->init()) {
delete instance;
return nullptr;
}
instance->_iodir = instance->mcp_config.direction;
instance->_olat = instance->mcp_config.state;
instance->_gppu = instance->mcp_config.pullup;
return instance;
}

121
src/drivers/gpio/mcp23009/mcp23009.h → src/lib/drivers/mcp_common/MCP.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (C) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -30,7 +30,6 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
@ -39,73 +38,91 @@
#include <uORB/topics/gpio_config.h>
#include <uORB/topics/gpio_in.h>
#include <uORB/topics/gpio_out.h>
#include <uORB/topics/gpio_request.h>
#include <uORB/Publication.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/PublicationMulti.hpp>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <px4_platform/gpio/mcp.hpp>
#include <px4_platform_common/module.h>
using namespace time_literals;
static constexpr uint8_t I2C_ADDRESS_MCP23009 = 0x25;
static constexpr uint8_t I2C_ADDRESS_MCP23017 = 0x27;
class MCP23009 : public device::I2C, public I2CSPIDriver<MCP23009>
enum class
PinType : uint8_t {
Output,
Input,
InputPullUp,
};
struct MCP230XX_config_t {
uint16_t device_type;
uint8_t i2c_addr = 0;
uint8_t i2c_bus = 0;
uint8_t first_minor = 0;
uint8_t num_pins = 8;
int num_banks = 1;
uint16_t interval = 10;
mcp_gpio_dev_s _gpio_handle[16];
CallbackHandler *_callback_handler = nullptr;
uint16_t direction = 0xFFFF;
uint16_t state = 0x0000;
uint16_t pullup = 0x0000;
};
class MCP230XX : public device::I2C, public I2CSPIDriver<MCP230XX>
{
public:
MCP23009(const I2CSPIDriverConfig &config);
~MCP23009() override;
MCP230XX(const I2CSPIDriverConfig &config);
virtual ~MCP230XX();
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
static void print_usage();
void RunImpl();
static void print_usage();
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
void print_status() override;
int probe();
virtual int init();
protected:
int init_uorb();
int init(uint8_t direction, uint8_t state, uint8_t pull_up);
int probe() override;
void print_status() override;
void exit_and_cleanup() override;
MCP230XX_config_t mcp_config;
private:
enum class
Register : uint8_t {
IODIR = 0x00,
IPOL = 0x01,
GPINTEN = 0x02,
DEFVAL = 0x03,
INTCON = 0x04,
IOCON = 0x05,
GPPU = 0x06,
INTF = 0x07,
INTCAP = 0x08,
GPIO = 0x09,
OLAT = 0x0a
};
enum class
PinType : uint8_t {
Output,
Input,
InputPullUp,
};
uORB::SubscriptionCallbackWorkItem _gpio_out_sub{this, ORB_ID(gpio_out)};
uORB::SubscriptionCallbackWorkItem _gpio_request_sub{this, ORB_ID(gpio_request)};
uORB::SubscriptionCallbackWorkItem _gpio_config_sub{this, ORB_ID(gpio_config)};
uORB::Publication<gpio_in_s> _to_gpio_in{ORB_ID(gpio_in)};
uORB::PublicationMulti<gpio_in_s> _to_gpio_in{ORB_ID(gpio_in)};
perf_counter_t _cycle_perf;
perf_counter_t _comms_errors;
perf_counter_t _register_check;
// buffer often used (write-only!) registers here
uint8_t _olat;
uint8_t _iodir;
uint8_t _gppu;
virtual int configure(uint16_t mask, PinType type);
virtual int read(uint16_t *mask);
int read_reg(uint8_t address, uint8_t &data);
int write(uint16_t mask_set, uint16_t mask_clear);
int write_reg(uint8_t address, uint8_t value);
int set_up();
int sanity_check();
int init_communication();
int init_uorb();
void cleanup_uorb();
int read(uint8_t *mask);
int write(uint8_t mask_set, uint8_t mask_clear);
int configure(uint8_t mask, PinType type);
virtual int get_olat(int bank, uint8_t *addr) = 0;
virtual int get_gppu(int bank, uint8_t *addr) = 0;
virtual int get_iodir(int bank, uint8_t *addr) = 0;
virtual int get_gpio(int bank, uint8_t *addr) = 0;
virtual int get_probe_reg(uint8_t *addr) = 0;
int read_reg(Register address, uint8_t &data);
int write_reg(Register address, uint8_t data);
uint16_t _olat;
uint16_t _iodir;
uint16_t _gppu;
uint16_t _checking_freq = 10;
int _count = 0;
enum class STATE : uint8_t {
INIT_COMMUNICATION,
CONFIGURE,
CHECK,
RUNNING
} _curr_state {STATE::INIT_COMMUNICATION};
};