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Driver: Refactor MCP23009 GPIO expander into uORB driver

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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
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boards/px4/fmu-v5x/src/init.cpp
+6 -24
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@@ -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;