mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 07:23:34 +08:00
Driver: Refactor MCP23009 GPIO expander into uORB driver
This commit is contained in:
Niklas Hauser
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
@@ -31,182 +31,142 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/ioexpander/gpio.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <px4_platform/gpio/mcp23009.hpp>
|
||||
#include "mcp23009_registers.hpp"
|
||||
#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>
|
||||
|
||||
using namespace Microchip_MCP23009;
|
||||
|
||||
const struct gpio_operations_s MCP23009::gpio_ops = {
|
||||
go_read : MCP23009::go_read,
|
||||
go_write : MCP23009::go_write,
|
||||
go_attach : nullptr,
|
||||
go_enable : nullptr,
|
||||
go_setpintype : MCP23009::go_setpintype,
|
||||
static uint32_t DEVID{0};
|
||||
struct mcp23009_gpio_dev_s {
|
||||
struct gpio_dev_s gpio;
|
||||
uint8_t mask;
|
||||
};
|
||||
|
||||
MCP23009::MCP23009(int bus, int address, int first_minor, int bus_frequency) :
|
||||
I2C(DRV_GPIO_DEVTYPE_MCP23009, "MCP23009", bus, address, bus_frequency),
|
||||
_first_minor(first_minor)
|
||||
/* Copy the read input data */
|
||||
class ReadCallback : public uORB::SubscriptionCallback
|
||||
{
|
||||
}
|
||||
public:
|
||||
using SubscriptionCallback::SubscriptionCallback;
|
||||
|
||||
MCP23009::~MCP23009()
|
||||
{
|
||||
/* set all as input & unregister */
|
||||
for (int i = 0; i < num_gpios; ++i) {
|
||||
go_setpintype(i, GPIO_INPUT_PIN);
|
||||
gpio_pin_unregister(&_gpio[i].gpio, _first_minor + i);
|
||||
}
|
||||
}
|
||||
void call() override
|
||||
{
|
||||
px4::msg::GpioIn new_input;
|
||||
|
||||
int MCP23009::go_read(struct gpio_dev_s *dev, bool *value)
|
||||
{
|
||||
mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
|
||||
return gpio->obj->go_read(gpio->id, value);
|
||||
}
|
||||
if (update(&new_input) && new_input.device_id == DEVID) {
|
||||
input = new_input.state;
|
||||
}
|
||||
|
||||
int MCP23009::go_write(struct gpio_dev_s *dev, bool value)
|
||||
{
|
||||
mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
|
||||
return gpio->obj->go_write(gpio->id, value);
|
||||
}
|
||||
|
||||
int MCP23009::go_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype)
|
||||
{
|
||||
mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
|
||||
return gpio->obj->go_setpintype(gpio->id, pintype);
|
||||
}
|
||||
|
||||
|
||||
int MCP23009::read_reg(Register address, uint8_t &data)
|
||||
{
|
||||
return transfer((uint8_t *)&address, 1, &data, 1);
|
||||
}
|
||||
|
||||
int MCP23009::write_reg(Register address, uint8_t value)
|
||||
{
|
||||
uint8_t data[2] = {(uint8_t)address, value};
|
||||
return transfer(data, sizeof(data), nullptr, 0);
|
||||
}
|
||||
|
||||
int MCP23009::init(uint8_t direction, uint8_t intital, uint8_t pull_up)
|
||||
{
|
||||
/* do I2C init (and probe) first */
|
||||
int ret = I2C::init();
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Use this state as the out puts */
|
||||
uint8_t input;
|
||||
};
|
||||
|
||||
ret = write_reg(Register::OLAT, intital);
|
||||
ret |= write_reg(Register::IODIR, direction);
|
||||
ret |= write_reg(Register::GPPU, pull_up);
|
||||
static uORB::Publication<px4::msg::GpioRequest> toGpioRequest{ORB_ID(gpio_request)};
|
||||
static ReadCallback fromGpioIn{ORB_ID(gpio_in)};
|
||||
static int mcp23009_read(struct gpio_dev_s *dev, bool *value)
|
||||
{
|
||||
mcp23009_gpio_dev_s *gpio = (struct mcp23009_gpio_dev_s *)dev;
|
||||
*value = fromGpioIn.input & gpio->mask;
|
||||
return OK;
|
||||
}
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
return ret;
|
||||
static uORB::Publication<gpio_out_s> toGpioOut{ORB_ID(gpio_out)};
|
||||
static int mcp23009_write(struct gpio_dev_s *dev, bool value)
|
||||
{
|
||||
mcp23009_gpio_dev_s *gpio = (struct mcp23009_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 mcp23009_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype)
|
||||
{
|
||||
mcp23009_gpio_dev_s *gpio = (struct mcp23009_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;
|
||||
}
|
||||
|
||||
/* register the pins */
|
||||
for (int i = 0; i < num_gpios; ++i) {
|
||||
_gpio[i].gpio.gp_pintype = GPIO_INPUT_PIN;
|
||||
_gpio[i].gpio.gp_ops = &gpio_ops;
|
||||
_gpio[i].id = i;
|
||||
_gpio[i].obj = this;
|
||||
ret = gpio_pin_register(&_gpio[i].gpio, _first_minor + i);
|
||||
return toGpioConfig.publish(msg) ? OK : -ETIMEDOUT;
|
||||
}
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
static const struct gpio_operations_s mcp23009_gpio_ops {
|
||||
mcp23009_read,
|
||||
mcp23009_write,
|
||||
nullptr,
|
||||
nullptr,
|
||||
mcp23009_setpintype,
|
||||
};
|
||||
|
||||
static constexpr uint8_t NUM_GPIOS = 8;
|
||||
static mcp23009_gpio_dev_s _gpio[NUM_GPIOS] {
|
||||
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 0) },
|
||||
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 1) },
|
||||
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 2) },
|
||||
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 3) },
|
||||
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 4) },
|
||||
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 5) },
|
||||
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 6) },
|
||||
{ {GPIO_INPUT_PIN, {}, &mcp23009_gpio_ops}, (1u << 7) }
|
||||
};
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
int mcp23009_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor)
|
||||
{
|
||||
const auto device_id = device::Device::DeviceId{
|
||||
device::Device::DeviceBusType_I2C, i2c_bus, i2c_addr, DRV_GPIO_DEVTYPE_MCP23009};
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
fromGpioIn.registerCallback();
|
||||
return OK;
|
||||
}
|
||||
|
||||
int MCP23009::probe()
|
||||
int mcp23009_unregister_gpios(int first_minor)
|
||||
{
|
||||
// no whoami, try to read IOCON
|
||||
uint8_t data;
|
||||
return read_reg(Register::IOCON, data);
|
||||
}
|
||||
|
||||
int MCP23009::go_read(int id, bool *value)
|
||||
{
|
||||
|
||||
uint8_t data;
|
||||
int ret = read_reg(Register::GPIO, data);
|
||||
|
||||
if (ret != 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
*value = data & (1 << id);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int MCP23009::go_write(int id, bool value)
|
||||
{
|
||||
uint8_t data;
|
||||
int ret = read_reg(Register::GPIO, data);
|
||||
|
||||
if (ret != 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
if (value) {
|
||||
data |= (1 << id);
|
||||
|
||||
} else {
|
||||
data &= ~(1 << id);
|
||||
}
|
||||
|
||||
return write_reg(Register::GPIO, data);
|
||||
}
|
||||
|
||||
int MCP23009::go_setpintype(int id, enum gpio_pintype_e pintype)
|
||||
{
|
||||
uint8_t direction;
|
||||
int ret = read_reg(Register::IODIR, direction);
|
||||
|
||||
if (ret != 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint8_t pullup;
|
||||
ret = read_reg(Register::GPPU, pullup);
|
||||
|
||||
if (ret != 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
switch (pintype) {
|
||||
case GPIO_INPUT_PIN:
|
||||
direction |= (1 << id);
|
||||
pullup &= ~(1 << id);
|
||||
break;
|
||||
|
||||
case GPIO_INPUT_PIN_PULLUP:
|
||||
direction |= (1 << id);
|
||||
pullup |= (1 << id);
|
||||
break;
|
||||
|
||||
case GPIO_OUTPUT_PIN:
|
||||
direction &= ~(1 << id);
|
||||
break;
|
||||
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
_gpio[id].gpio.gp_pintype = pintype;
|
||||
|
||||
ret = write_reg(Register::GPPU, pullup);
|
||||
|
||||
if (ret != 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
return write_reg(Register::IODIR, direction);
|
||||
for (int i = 0; i < NUM_GPIOS; ++i) {
|
||||
mcp23009_setpintype(&_gpio[i].gpio, GPIO_INPUT_PIN);
|
||||
gpio_pin_unregister(&_gpio[i].gpio, first_minor + i);
|
||||
}
|
||||
|
||||
fromGpioIn.unregisterCallback();
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -1,68 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
static constexpr uint8_t Bit2 = (1 << 2);
|
||||
static constexpr uint8_t Bit3 = (1 << 3);
|
||||
static constexpr uint8_t Bit4 = (1 << 4);
|
||||
static constexpr uint8_t Bit5 = (1 << 5);
|
||||
static constexpr uint8_t Bit6 = (1 << 6);
|
||||
static constexpr uint8_t Bit7 = (1 << 7);
|
||||
|
||||
namespace Microchip_MCP23009
|
||||
{
|
||||
|
||||
enum class
|
||||
Register : uint8_t {
|
||||
|
||||
IODIR = 0x00,
|
||||
IPOL = 0x01,
|
||||
GPINTEN = 0x02,
|
||||
DEFVAL = 0x03,
|
||||
INTCON = 0x04,
|
||||
IOCON = 0x05,
|
||||
GPPU = 0x06,
|
||||
INTF = 0x07,
|
||||
INTCAP = 0x08,
|
||||
GPIO = 0x09,
|
||||
OLAT = 0x0a
|
||||
|
||||
};
|
||||
|
||||
} // namespace Microchip_MCP23009
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
@@ -33,49 +33,7 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <nuttx/ioexpander/gpio.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
namespace Microchip_MCP23009
|
||||
{
|
||||
enum class Register : uint8_t;
|
||||
}
|
||||
|
||||
class MCP23009 : public device::I2C
|
||||
{
|
||||
public:
|
||||
MCP23009(int bus, int address, int first_minor = 0, int bus_frequency = 400000);
|
||||
virtual ~MCP23009();
|
||||
|
||||
int init(uint8_t direction, uint8_t intital = 0, uint8_t pull_up = 0);
|
||||
|
||||
protected:
|
||||
int probe() override;
|
||||
|
||||
private:
|
||||
static constexpr int num_gpios = 8;
|
||||
static const gpio_operations_s gpio_ops;
|
||||
|
||||
struct mcp23009_gpio_dev_s {
|
||||
struct gpio_dev_s gpio;
|
||||
uint8_t id;
|
||||
MCP23009 *obj;
|
||||
};
|
||||
|
||||
static int go_read(struct gpio_dev_s *dev, bool *value);
|
||||
static int go_write(struct gpio_dev_s *dev, bool value);
|
||||
static int go_setpintype(struct gpio_dev_s *dev, enum gpio_pintype_e pintype);
|
||||
|
||||
int go_read(int id, bool *value);
|
||||
int go_write(int id, bool value);
|
||||
int go_setpintype(int id, enum gpio_pintype_e pintype);
|
||||
|
||||
int read_reg(Microchip_MCP23009::Register address, uint8_t &data);
|
||||
int write_reg(Microchip_MCP23009::Register address, uint8_t data);
|
||||
|
||||
const int _first_minor;
|
||||
mcp23009_gpio_dev_s _gpio[num_gpios] {};
|
||||
};
|
||||
int mcp23009_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor = 0);
|
||||
int mcp23009_unregister_gpios(int first_minor = 0);
|
||||
|
||||
Reference in New Issue
Block a user