Driver: Refactor MCP23009 GPIO expander into uORB driver

msg/CMakeLists.txt

@@ -90,6 +90,7 @@ set(msg_files
 	FollowTargetStatus.msg
 	GeneratorStatus.msg
 	GeofenceResult.msg
+	GimbalControls.msg
 	GimbalDeviceAttitudeStatus.msg
 	GimbalDeviceInformation.msg
 	GimbalDeviceSetAttitude.msg
@@ -97,9 +98,12 @@ set(msg_files
 	GimbalManagerSetAttitude.msg
 	GimbalManagerSetManualControl.msg
 	GimbalManagerStatus.msg
+	GpioConfig.msg
+	GpioIn.msg
+	GpioOut.msg
+	GpioRequest.msg
 	GpsDump.msg
 	GpsInjectData.msg
-	GimbalControls.msg
 	Gripper.msg
 	HealthReport.msg
 	HeaterStatus.msg

msg/GpioConfig.msg

@@ -0,0 +1,28 @@
+# GPIO configuration
+
+uint64 timestamp			# time since system start (microseconds)
+uint32 device_id			# Device id
+
+uint32 mask				# Pin mask
+uint32 state				# Initial pin output state
+
+# Configuration Mask
+# Bit 0-3: Direction: 0=Input, 1=Output
+# Bit 4-7: Input Config: 0=Floating, 1=PullUp, 2=PullDown
+# Bit 8-12: Output Config: 0=PushPull, 1=OpenDrain
+# Bit 13-31: Reserved
+uint32 INPUT			= 0	# 0x0000
+uint32 OUTPUT			= 1	# 0x0001
+uint32 PULLUP			= 16	# 0x0010
+uint32 PULLDOWN			= 32	# 0x0020
+uint32 OPENDRAIN		= 256	# 0x0100
+
+uint32 INPUT_FLOATING		= 0	# 0x0000
+uint32 INPUT_PULLUP		= 16	# 0x0010
+uint32 INPUT_PULLDOWN		= 32	# 0x0020
+
+uint32 OUTPUT_PUSHPULL		= 0	# 0x0000
+uint32 OUTPUT_OPENDRAIN		= 256	# 0x0100
+uint32 OUTPUT_OPENDRAIN_PULLUP	= 272	# 0x0110
+
+uint32 config

msg/GpioIn.msg

@@ -0,0 +1,6 @@
+# GPIO mask and state
+
+uint64 timestamp			# time since system start (microseconds)
+uint32 device_id			# Device id
+
+uint32 state				# pin state mask

msg/GpioOut.msg

@@ -0,0 +1,7 @@
+# GPIO mask and state
+
+uint64 timestamp			# time since system start (microseconds)
+uint32 device_id			# Device id
+
+uint32 mask				# pin mask
+uint32 state				# pin state mask

msg/GpioRequest.msg

@@ -0,0 +1,4 @@
+# Request GPIO mask to be read
+
+uint64 timestamp			# time since system start (microseconds)
+uint32 device_id			# Device id