From 3f3b2d6aaa7823fa48d93bc530557fa33dcc7977 Mon Sep 17 00:00:00 2001
From: Phil-Engljaehringer <philipp.engljahringer@auterion.com>
Date: Wed, 5 Nov 2025 09:32:17 +0100
Subject: [PATCH] re-activated gpio_mcp23009 driver, removed useless comments
 and empty lines

---
 boards/auterion/fmu-v6x/default.px4board           |  1 +
 boards/auterion/fmu-v6x/init/rc.board_defaults     |  4 +---
 boards/auterion/fmu-v6x/src/init.cpp               | 14 ++------------
 .../src/px4/common/gpio/mcp23017/mcp23017.cpp      |  2 --
 4 files changed, 4 insertions(+), 17 deletions(-)

diff --git a/boards/auterion/fmu-v6x/default.px4board b/boards/auterion/fmu-v6x/default.px4board
index f77514fa8c..dece24a26f 100644
--- a/boards/auterion/fmu-v6x/default.px4board
+++ b/boards/auterion/fmu-v6x/default.px4board
@@ -18,6 +18,7 @@ CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
diff --git a/boards/auterion/fmu-v6x/init/rc.board_defaults b/boards/auterion/fmu-v6x/init/rc.board_defaults
index 9844919ab7..1a6fc9673c 100644
--- a/boards/auterion/fmu-v6x/init/rc.board_defaults
+++ b/boards/auterion/fmu-v6x/init/rc.board_defaults
@@ -22,7 +22,7 @@ netman update_default -i eth0
 
 safety_button start
 
- GPIO Expander driver on external I2C3
+# GPIO Expander driver on external I2C3
 if ver hwbasecmp 009 010 011
 then
 	# No USB
@@ -32,5 +32,3 @@ if ver hwbasecmp 00a 008
 then
 	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
 fi
-
-#mcp23017 start -b 2 -X -D 0x0000 -O 0x0000 -P 0x0000 -U 10 -R 0x0000
diff --git a/boards/auterion/fmu-v6x/src/init.cpp b/boards/auterion/fmu-v6x/src/init.cpp
index 1e9573a660..796123d885 100644
--- a/boards/auterion/fmu-v6x/src/init.cpp
+++ b/boards/auterion/fmu-v6x/src/init.cpp
@@ -274,6 +274,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	usleep(500 * 1000);
 
 #  ifdef CONFIG_MMCSD
+
 	int ret = stm32_sdio_initialize();
 
 	if (ret != OK) {
@@ -282,6 +283,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #  endif /* CONFIG_MMCSD */
+
 	ret = mcp23009_register_gpios(3, 0x25);
 
 	if (ret != OK) {
@@ -289,19 +291,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		return ret;
 	}
 
-	/*int offset = 8; // This is the offset for the naming of the instatiated GPIO-DEVICES.
-	uint16_t pin_types = 0x0000;// Set pin type. Set bit to 1 to mark pin as INPUT, set to 0 to mark as OUTPUT
-
-	ret = mcp23017_register_gpios(2, 0x27, offset, pin_types);
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}*/
-
 #endif /* !defined(BOOTLOADER) */
 
 	return OK;
 }
-
-
diff --git a/platforms/nuttx/src/px4/common/gpio/mcp23017/mcp23017.cpp b/platforms/nuttx/src/px4/common/gpio/mcp23017/mcp23017.cpp
index 8573b5c75b..2a5dcc2775 100644
--- a/platforms/nuttx/src/px4/common/gpio/mcp23017/mcp23017.cpp
+++ b/platforms/nuttx/src/px4/common/gpio/mcp23017/mcp23017.cpp
@@ -116,8 +116,6 @@ static int mcp23017_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pinty
 	return toGpioConfig.publish(msg) ? OK : -ETIMEDOUT;
 }
 
-
-
 // ----------------------------------------------------------------------------
 static const struct gpio_operations_s mcp23017_gpio_ops {
 	mcp23017_read,