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Implemented driver for MCP23017

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This commit is contained in:
Phil-Engljaehringer
2025-10-30 14:44:26 +01:00
committed by Alexander Lerach
parent 3d9905251d
commit 845a2d3632
15 changed files with 844 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/auterion/fmu-v6x/default.px4board
+2 -1
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@@ -18,7 +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_GPIO_MCP23017=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -100,3 +100,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_SYSTEMCMDS_GPIO=y
boards/auterion/fmu-v6x/init/rc.board_defaults
+3
View File
@@ -32,3 +32,6 @@ 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 # set all pins to OUTPUT
#mcp23017 start -b 2 -X -D 0xFFFF -O 0x0000 -P 0x0000 -U 10 -R 0x0101 # set all pins to INPUT and enable interrupts on pins 0 and 8
boards/auterion/fmu-v6x/src/CMakeLists.txt
+1
View File
@@ -70,5 +70,6 @@ else()
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
platform_gpio_mcp23017
)
endif()
boards/auterion/fmu-v6x/src/init.cpp
+2
View File
@@ -75,6 +75,7 @@
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
#include <px4_platform/gpio/mcp23009.hpp>
#include <px4_platform/gpio/mcp23017.hpp>
/****************************************************************************
* Pre-Processor Definitions
@@ -283,6 +284,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
# endif /* CONFIG_MMCSD */
ret = mcp23009_register_gpios(3, 0x25);
ret |= mcp23017_register_gpios(2, 0x27, 0, 0x0000);
if (ret != OK) {
led_on(LED_RED);
platforms/nuttx/src/px4/common/gpio/CMakeLists.txt
+1
View File
@@ -33,3 +33,4 @@
add_subdirectory(mcp23009)
add_subdirectory(mcp23017)
platforms/nuttx/src/px4/common/gpio/mcp23017/CMakeLists.txt
+36
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@@ -0,0 +1,36 @@
############################################################################
#
# 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_mcp23017
mcp23017.cpp
)
target_link_libraries(platform_gpio_mcp23017 PRIVATE drivers__device) # device::I2C
platforms/nuttx/src/px4/common/gpio/mcp23017/mcp23017.cpp
+170
View File
@@ -0,0 +1,170 @@
/****************************************************************************
*
* 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 mcp23017_gpio_dev_s {
struct gpio_dev_s gpio;
uint16_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;
}
}
uint16_t input;
};
static uORB::Publication<px4::msg::GpioRequest> toGpioRequest{ORB_ID(gpio_request)};
static ReadCallback fromGpioIn{ORB_ID(gpio_in)};
static int mcp23017_read(struct gpio_dev_s *dev, bool *value)
{
mcp23017_gpio_dev_s *gpio = (struct mcp23017_gpio_dev_s *)dev;
*value = fromGpioIn.input & gpio->mask;
return OK;
}
static uORB::Publication<gpio_out_s> toGpioOut{ORB_ID(gpio_out)};
static int mcp23017_write(struct gpio_dev_s *dev, bool value)
{
mcp23017_gpio_dev_s *gpio = (struct mcp23017_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 mcp23017_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype)
{
mcp23017_gpio_dev_s *gpio = (struct mcp23017_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 mcp23017_gpio_ops {
mcp23017_read,
mcp23017_write,
nullptr,
nullptr,
mcp23017_setpintype,
};
static constexpr uint8_t NUM_GPIOS = 16;
static mcp23017_gpio_dev_s _gpio[NUM_GPIOS];
// ----------------------------------------------------------------------------
int mcp23017_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor, uint16_t dir_mask)
{
for(int i=0; i<NUM_GPIOS; i++){
uint16_t mask = 1u << i;
if(dir_mask & mask){
_gpio[i] = { {GPIO_INPUT_PIN, {}, &mcp23017_gpio_ops}, mask };
}else{
_gpio[i] = { {GPIO_OUTPUT_PIN, {}, &mcp23017_gpio_ops}, mask };
}
}
const auto device_id = device::Device::DeviceId{
device::Device::DeviceBusType_I2C, i2c_bus, i2c_addr, DRV_GPIO_DEVTYPE_MCP23017};
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 mcp23017_unregister_gpios(int first_minor)
{
for (int i = 0; i < NUM_GPIOS; ++i) {
mcp23017_setpintype(&_gpio[i].gpio, GPIO_INPUT_PIN);
gpio_pin_unregister(&_gpio[i].gpio, first_minor + i);
}
fromGpioIn.unregisterCallback();
return OK;
}
platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp23017.hpp
+39
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@@ -0,0 +1,39 @@
/****************************************************************************
*
* 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>
int mcp23017_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor = 0, uint16_t dir_mask = 0x0000);
int mcp23017_unregister_gpios(int first_minor = 0);
src/drivers/drv_sensor.h
+1
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
src/drivers/gpio/Kconfig
+1
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@@ -3,6 +3,7 @@ menu "GPIO"
bool "Common GPIOs"
default n
select DRIVERS_GPIO_MCP23009
select DRIVERS_GPIO_MCP23017
---help---
Enable default set of GPIO drivers
rsource "*/Kconfig"
src/drivers/gpio/mcp23017/CMakeLists.txt
+41
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@@ -0,0 +1,41 @@
############################################################################
#
# 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_module(
MODULE drivers__mcp23017
MAIN mcp23017
COMPILE_FLAGS
SRCS
mcp23017_main.cpp
mcp23017.cpp
DEPENDS
)
src/drivers/gpio/mcp23017/Kconfig
+5
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@@ -0,0 +1,5 @@
menuconfig DRIVERS_GPIO_MCP23017
bool "mcp23017"
default n
---help---
Enable support for mcp23017
src/drivers/gpio/mcp23017/mcp23017.cpp
+183
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@@ -0,0 +1,183 @@
/****************************************************************************
*
* 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.h"
int MCP23017::read_reg(Register address, uint8_t &data)
{
int ret = transfer((uint8_t *)&address, 1, &data, 1);
return ret;
}
int MCP23017::write_reg(Register address, uint8_t value)
{
uint8_t data[2] = {(uint8_t)address, value};
return transfer(data, 2, nullptr, 0);
}
int MCP23017::init(uint16_t direction, uint16_t state, uint16_t pull_up, uint16_t int_en, uint16_t ref_vals, bool split_int)
{
int ret = I2C::init();
if (ret != PX4_OK) {
PX4_ERR("I2C init failed");
return ret;
}
// buffer the new initial states
_iodirA = (uint8_t) (direction & 0x00FF);
_olatA = (uint8_t) (state & 0x00FF);
_gppuA = (uint8_t) (pull_up & 0x00FF);
_iodirB = (uint8_t) (direction >> 8);
_olatB = (uint8_t) (state >> 8);
_gppuB = (uint8_t) (pull_up >> 8);
// Write the initial state to the device
ret = write_reg(Register::OLATA, _olatA);
ret |= write_reg(Register::OLATB, _olatB);
//Set pins as input/output
ret |= write_reg(Register::IODIRA, _iodirA);
ret |= write_reg(Register::IODIRB, _iodirB);
//Set pins as pullup/pulldown
ret |= write_reg(Register::GPPUA, _gppuA);
ret |= write_reg(Register::GPPUB, _gppuB);
//Enable interrupts
ret |= write_reg(Register::GPINTENA, (uint8_t)(int_en & 0x00FF));
ret |= write_reg(Register::GPINTENB, (uint8_t)(int_en >> 8));
//Write reference values
ret |= write_reg(Register::DEFVALA, (uint8_t)(ref_vals & 0x00FF));
ret |= write_reg(Register::DEFVALB, (uint8_t)(ref_vals >> 8));
//Set interrupt type
ret |= write_reg(Register::INTCONA, 0xFF);
ret |= write_reg(Register::INTCONB, 0xFF);
if(!split_int){
ret |= write_reg(Register::IOCONA, 0x40);
}
if (ret != PX4_OK) {
PX4_ERR("Device init failed (%i)", ret);
return ret;
}
return init_uorb();
}
int MCP23017::probe()
{
// no whoami, try to read IOCONA
uint8_t data;
return read_reg(Register::IOCONA, data);
}
int MCP23017::read(uint16_t *mask)
{
uint8_t maskA;
uint8_t maskB;
int ret = read_reg(Register::GPIOA, maskA);
ret |= read_reg(Register::GPIOB, maskB);
*mask = ((uint16_t) maskA & 0x00FF) | ((uint16_t) maskB << 8);
return ret;
}
int MCP23017::write(uint16_t mask_set, uint16_t mask_clear)
{
// no need to read, we can use the buffered register value
uint8_t mask_setA = (uint8_t) (mask_set & 0x00FF);
uint8_t mask_clearA = (uint8_t) (mask_clear & 0x00FF);
uint8_t mask_setB = (uint8_t) (mask_set >> 8);
uint8_t mask_clearB = (uint8_t) (mask_clear >> 8);
_olatA = (_olatA & ~mask_clearA) | mask_setA;
_olatB = (_olatB & ~mask_clearB) | mask_setB;
int ret = write_reg(Register::OLATA, _olatA);
ret |= write_reg(Register::OLATB, _olatB);
return ret;
}
int MCP23017::configure(uint16_t mask, PinType type)
{
uint8_t maskA = (uint8_t) (mask & 0x00FF);
uint8_t maskB = (uint8_t) (mask >> 8);
// no need to read, we can use the buffered register values
switch (type) {
case PinType::Input:
_iodirA |= maskA;
_iodirB |= maskB;
_gppuA &= ~maskA;
_gppuB &= ~maskB;
break;
case PinType::InputPullUp:
_iodirA |= maskA;
_iodirB |= maskB;
_gppuA |= maskA;
_gppuB |= maskB;
break;
case PinType::Output:
_iodirA &= ~maskA;
_iodirB &= ~maskB;
break;
default:
return -EINVAL;
}
int ret = write_reg(Register::GPPUA, _gppuA);
ret |= write_reg(Register::GPPUB, _gppuB);
ret |= write_reg(Register::IODIRA, _iodirA);
ret |= write_reg(Register::IODIRB, _iodirB);
if (ret != 0) {
PX4_ERR("Configuring MCP23017 failed");
return ret;
}
return ret;
}
src/drivers/gpio/mcp23017/mcp23017.h
+126
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@@ -0,0 +1,126 @@
/****************************************************************************
*
* 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>
#include <drivers/device/i2c.h>
#include <px4_platform_common/i2c_spi_buses.h>
#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 <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
using namespace time_literals;
class MCP23017 : public device::I2C, public I2CSPIDriver<MCP23017>
{
public:
MCP23017(const I2CSPIDriverConfig &config);
~MCP23017() override;
int init_uorb();
int init(uint16_t direction, uint16_t state, uint16_t pull_up, uint16_t int_en, uint16_t ref_vals, bool split_int);
static void print_usage();
void RunImpl();
int probe() override;
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
protected:
void print_status() override;
void exit_and_cleanup() override;
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
};
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)};
perf_counter_t _cycle_perf;
uint8_t _olatA;
uint8_t _olatB;
uint8_t _iodirA;
uint8_t _iodirB;
uint8_t _gppuA;
uint8_t _gppuB;
int read(uint16_t *mask);
int write(uint16_t mask_set, uint16_t mask_clear);
int configure(uint16_t mask, PinType type);
int read_reg(Register address, uint8_t &data);
int write_reg(Register address, uint8_t data);
};
src/drivers/gpio/mcp23017/mcp23017_main.cpp
+233
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@@ -0,0 +1,233 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
*
* Driver for the MCP23017 connected via I2C.
*/
#include "mcp23017.h"
#include <px4_platform_common/module.h>
MCP23017::MCP23017(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample"))
{
}
MCP23017::~MCP23017()
{
ScheduleClear();
perf_free(_cycle_perf);
}
int MCP23017::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 MCP23017::exit_and_cleanup()
{
_gpio_config_sub.unregisterCallback();
_gpio_request_sub.unregisterCallback();
_gpio_out_sub.unregisterCallback();
}
void MCP23017::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);
}
//get_interrupts();
{
gpio_in_s _gpio_in;
_gpio_in.timestamp = hrt_absolute_time();
_gpio_in.device_id = get_device_id();
uint16_t input;
read(&input);
_gpio_in.state = input;
_to_gpio_in.publish(_gpio_in);
}
perf_end(_cycle_perf);
}
void MCP23017::print_usage()
{
PRINT_MODULE_USAGE_NAME("MCP23017", "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('R', 0, 0, 65535, "Interrupt pins enable", true);
//PRINT_MODULE_USAGE_PARAM_INT('A', 0, 0, 65535, "Reference values for interrupts", true);
PRINT_MODULE_USAGE_PARAM_INT('U', 0, 0, 1000, "Update Interval [ms]", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
void MCP23017::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_cycle_perf);
}
struct init_config_t {
uint16_t interval;
uint16_t direction;
uint16_t state;
uint16_t pullup;
uint16_t int_en;
uint16_t ref_vals;
bool split_int;
};
I2CSPIDriverBase *MCP23017::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
auto *init = (const init_config_t *)config.custom_data;
auto *instance = new MCP23017(config);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init(init->direction, init->state, init->pullup, init->int_en, init->ref_vals, init->split_int)) {
delete instance;
return nullptr;
}
if (init->interval) {
instance->ScheduleOnInterval(init->interval * 1000);
}
return instance;
}
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;
init_config_t config_data{};
config_data.split_int = false;
config_data.ref_vals = 0x0000;
int ch;
while ((ch = cli.getOpt(argc, argv, "D:O:P:U:R:")) != 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;
case 'R':
config_data.int_en = (int)strtol(cli.optArg(), nullptr, 0);
break;
/*case 'A':
config_data.ref_vals = (int)strtol(cli.optArg(), nullptr, 0);
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_MCP23017);
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;
}