fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 02:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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
co-authored by Alexander Lerach
parent 38f89a8b69
commit 3438d593a1
36 changed files with 1425 additions and 625 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/accton-godwit/ga1/src/CMakeLists.txt
-1
View File
@@ -71,6 +71,5 @@ else()
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
)
endif()
boards/accton-godwit/ga1/src/init.cpp
-8
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;
boards/auterion/fmu-v6x/init/rc.board_defaults
+2 -2
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
boards/auterion/fmu-v6x/src/CMakeLists.txt
+1 -1
View File
@@ -69,6 +69,6 @@ else()
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
platform_gpio_mcp
)
endif()
boards/auterion/fmu-v6x/src/init.cpp
-8
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;
boards/cuav/fmu-v6x/src/CMakeLists.txt
-1
View File
@@ -71,6 +71,5 @@ else()
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
)
endif()
boards/cuav/fmu-v6x/src/init.cpp
-8
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;
boards/px4/fmu-v5x/init/rc.board_defaults
+2 -2
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
boards/px4/fmu-v5x/src/CMakeLists.txt
+1 -3
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
)
boards/px4/fmu-v5x/src/init.cpp
-8
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;
}
boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
+1
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