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Implemented driver for MCP23017

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This commit is contained in:
Phil-Engljaehringer
2025-11-10 16:28:19 +01:00
committed by Alexander Lerach
parent 3d9905251d
commit 845a2d3632
15 changed files with 844 additions and 1 deletions
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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
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@@ -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
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@@ -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
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@@ -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);