fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 06:01:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Driver: Refactor MCP23009 GPIO expander into uORB driver

Browse Source
This commit is contained in:
Niklas Hauser
2023-06-19 07:58:21 +02:00
committed by Beat Küng
parent 3303323971
commit 8fe65c6722
19 changed files with 697 additions and 300 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v5x/default.px4board
+1
View File
@@ -17,6 +17,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPIO_MCP23009=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
boards/px4/fmu-v5x/init/rc.board_defaults
+11
View File
@@ -19,3 +19,14 @@ param set-default SENS_EN_INA226 1
param set-default SYS_USE_IO 1
safety_button start
# GPIO Expander driver on external I2C3
if ver hwtypecmp V5X009000 V5X009001
then
# No USB
mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
fi
if ver hwtypecmp V5X00a000 V5X00a001 V5X008000 V5X008001
then
mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
fi
boards/px4/fmu-v5x/src/board_config.h
+2 -2
View File
@@ -250,8 +250,8 @@
#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/* MCP23009 GPIO expander */
#define BOARD_GPIO_VDD_5V_COMP_VALID "/dev/gpin4"
#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpin5"
#define BOARD_GPIO_VDD_5V_COMP_VALID "/dev/gpio4"
#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpio5"
/* Spare GPIO */
boards/px4/fmu-v5x/src/init.cpp
+6 -24
View File
@@ -264,8 +264,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
led_on(LED_RED);
}
int ret;
#ifdef CONFIG_MMCSD
int ret = stm32_sdio_initialize();
ret = stm32_sdio_initialize();
if (ret != OK) {
led_on(LED_RED);
@@ -274,30 +275,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */
int hw_version = board_get_hw_version();
ret = mcp23009_register_gpios(3, 0x25);
if (hw_version == 0x9 || hw_version == 0xa) {
static MCP23009 mcp23009{3, 0x25};
// No USB
if (hw_version == 0x9) {
// < P8
ret = mcp23009.init(0xf0, 0xf0, 0x0f);
// >= P8
//ret = mcp23009.init(0xf1, 0xf0, 0x0f);
}
if (hw_version == 0xa) {
// < P6
//ret = mcp23009.init(0xf0, 0xf0, 0x0f);
// >= P6
ret = mcp23009.init(0xf1, 0xf0, 0x0f);
}
if (ret != OK) {
led_on(LED_RED);
return ret;
}
if (ret != OK) {
led_on(LED_RED);
return ret;
}
return OK;