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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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platforms/nuttx/src/px4/common/gpio/CMakeLists.txt
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add_subdirectory(mcp23009)
add_subdirectory(mcp23017)
platforms/nuttx/src/px4/common/gpio/mcp23017/CMakeLists.txt
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############################################################################
#
# 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
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/****************************************************************************
*
* 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
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/****************************************************************************
*
* 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);