nuttx: add mcp23009 gpio driver

platforms/nuttx/src/px4/common/CMakeLists.txt

@@ -62,3 +62,5 @@ else()
 	add_library(px4_layer ${PX4_SOURCE_DIR}/platforms/common/empty.c)
 endif()
 add_dependencies(px4_layer prebuild_targets)
+
+add_subdirectory(gpio)

platforms/nuttx/src/px4/common/gpio/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+
+add_subdirectory(mcp23009)

platforms/nuttx/src/px4/common/gpio/mcp23009/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2020 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(platform_gpio_mcp23009
+		mcp23009.cpp
+	)

platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009.cpp

@@ -0,0 +1,212 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 <drivers/drv_sensor.h>
+#include <px4_platform/gpio/mcp23009.hpp>
+#include "mcp23009_registers.hpp"
+
+using namespace Microchip_MCP23009;
+
+const struct gpio_operations_s MCP23009::gpio_ops = {
+go_read : MCP23009::go_read,
+go_write : MCP23009::go_write,
+go_attach : nullptr,
+go_enable : nullptr,
+go_setpintype : MCP23009::go_setpintype,
+};
+
+MCP23009::MCP23009(int bus, int address, int first_minor, int bus_frequency) :
+	I2C(DRV_GPIO_DEVTYPE_MCP23009, "MCP23009", bus, address, bus_frequency),
+	_first_minor(first_minor)
+{
+}
+
+MCP23009::~MCP23009()
+{
+	/* set all as input & unregister */
+	for (int i = 0; i < num_gpios; ++i) {
+		go_setpintype(i, GPIO_INPUT_PIN);
+		gpio_pin_unregister(&_gpio[i].gpio, _first_minor + i);
+	}
+}
+
+int MCP23009::go_read(struct gpio_dev_s *dev, bool *value)
+{
+	mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
+	return gpio->obj->go_read(gpio->id, value);
+}
+
+int MCP23009::go_write(struct gpio_dev_s *dev, bool value)
+{
+	mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
+	return gpio->obj->go_write(gpio->id, value);
+}
+
+int MCP23009::go_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype)
+{
+	mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
+	return gpio->obj->go_setpintype(gpio->id, pintype);
+}
+
+
+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 intital, uint8_t pull_up)
+{
+	/* do I2C init (and probe) first */
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		return ret;
+	}
+
+	/* Use this state as the out puts */
+
+	ret = write_reg(Register::OLAT, intital);
+	ret |= write_reg(Register::IODIR, direction);
+	ret |= write_reg(Register::GPPU, pull_up);
+
+	if (ret != PX4_OK) {
+		return ret;
+	}
+
+	/* register the pins */
+	for (int i = 0; i < num_gpios; ++i) {
+		_gpio[i].gpio.gp_pintype = GPIO_INPUT_PIN;
+		_gpio[i].gpio.gp_ops = &gpio_ops;
+		_gpio[i].id = i;
+		_gpio[i].obj = this;
+		ret = gpio_pin_register(&_gpio[i].gpio, _first_minor + i);
+
+		if (ret != PX4_OK) {
+			return ret;
+		}
+	}
+
+	return ret;
+}
+
+int MCP23009::probe()
+{
+	// no whoami, try to read IOCON
+	uint8_t data;
+	return read_reg(Register::IOCON, data);
+}
+
+int MCP23009::go_read(int id, bool *value)
+{
+
+	uint8_t data;
+	int ret = read_reg(Register::GPIO, data);
+
+	if (ret != 0) {
+		return ret;
+	}
+
+	*value = data & (1 << id);
+	return 0;
+}
+
+int MCP23009::go_write(int id, bool value)
+{
+	uint8_t data;
+	int ret = read_reg(Register::GPIO, data);
+
+	if (ret != 0) {
+		return ret;
+	}
+
+	if (value) {
+		data |= (1 << id);
+
+	} else {
+		data &= ~(1 << id);
+	}
+
+	return write_reg(Register::GPIO, data);
+}
+
+int MCP23009::go_setpintype(int id, enum gpio_pintype_e pintype)
+{
+	uint8_t direction;
+	int ret = read_reg(Register::IODIR, direction);
+
+	if (ret != 0) {
+		return ret;
+	}
+
+	uint8_t pullup;
+	ret = read_reg(Register::GPPU, pullup);
+
+	if (ret != 0) {
+		return ret;
+	}
+
+	switch (pintype) {
+	case GPIO_INPUT_PIN:
+		direction |= (1 << id);
+		pullup &= ~(1 << id);
+		break;
+
+	case GPIO_INPUT_PIN_PULLUP:
+		direction |= (1 << id);
+		pullup |= (1 << id);
+		break;
+
+	case GPIO_OUTPUT_PIN:
+		direction &= ~(1 << id);
+		break;
+
+	default:
+		return -EINVAL;
+	}
+
+	_gpio[id].gpio.gp_pintype = pintype;
+
+	ret = write_reg(Register::GPPU, pullup);
+
+	if (ret != 0) {
+		return ret;
+	}
+
+	return write_reg(Register::IODIR, direction);
+}

platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009_registers.hpp

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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>
+
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+namespace Microchip_MCP23009
+{
+
+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
+
+};
+
+} // namespace Microchip_MCP23009

platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp23009.hpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 <drivers/device/i2c.h>
+
+#include <nuttx/ioexpander/gpio.h>
+
+using namespace time_literals;
+
+namespace Microchip_MCP23009
+{
+enum class Register : uint8_t;
+}
+
+class MCP23009 : public device::I2C
+{
+public:
+	MCP23009(int bus, int address, int first_minor = 0, int bus_frequency = 400000);
+	virtual ~MCP23009();
+
+	int init(uint8_t direction, uint8_t intital = 0, uint8_t pull_up = 0);
+
+protected:
+	int probe() override;
+
+private:
+	static constexpr int num_gpios = 8;
+	static const gpio_operations_s	gpio_ops;
+
+	struct mcp23009_gpio_dev_s {
+		struct gpio_dev_s gpio;
+		uint8_t id;
+		MCP23009 *obj;
+	};
+
+	static int go_read(struct gpio_dev_s *dev, bool *value);
+	static int go_write(struct gpio_dev_s *dev, bool value);
+	static int go_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype);
+
+	int go_read(int id, bool *value);
+	int go_write(int id, bool value);
+	int go_setpintype(int id, enum gpio_pintype_e pintype);
+
+	int read_reg(Microchip_MCP23009::Register address, uint8_t &data);
+	int write_reg(Microchip_MCP23009::Register address, uint8_t data);
+
+	const int _first_minor;
+	mcp23009_gpio_dev_s _gpio[num_gpios] {};
+};

src/drivers/drv_sensor.h

@@ -163,6 +163,8 @@
 #define DRV_ADC_DEVTYPE_ADS1115	0x90
 #define DRV_DIST_DEVTYPE_VL53L1X 0x91
 
+#define DRV_GPIO_DEVTYPE_MCP23009	0x99
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */