fmuv6x: Add GPIO expander to check overcurrent pins

boards/px4/fmu-v6x/default.px4board

@@ -18,6 +18,7 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=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_ADIS16470=y

boards/px4/fmu-v6x/init/rc.board_defaults

@@ -27,3 +27,14 @@ else
 fi
 
 safety_button start
+
+# GPIO Expander driver on external I2C3
+if ver hwbasecmp 009
+then
+	# No USB
+	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
+fi
+if ver hwbasecmp 00a 008
+then
+	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
+fi

boards/px4/fmu-v6x/nuttx-config/nsh/defconfig

@@ -91,6 +91,7 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_GPIO=y
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DEV_URANDOM=y

boards/px4/fmu-v6x/src/CMakeLists.txt

@@ -34,7 +34,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 	add_compile_definitions(BOOTLOADER)
 	add_library(drivers_board
 		bootloader_main.c
-		init.c
+		init.cpp
 		usb.c
 		timer_config.cpp
 	)
@@ -52,7 +52,7 @@ else()
 	add_library(drivers_board
 		can.c
 		i2c.cpp
-		init.c
+		init.cpp
 		led.c
 		mtd.cpp
 		sdio.c
@@ -71,5 +71,6 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
+			platform_gpio_mcp23009
 	)
 endif()

boards/px4/fmu-v6x/src/board_config.h

@@ -270,6 +270,11 @@
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #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/gpio4"
+#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID      "/dev/gpio5"
+
+
 /* Spare GPIO */
 
 #define GPIO_PG6                        /* PG6  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)

boards/px4/fmu-v6x/src/init.cpp

@@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/gpio/mcp23009.hpp>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -159,7 +160,7 @@ __EXPORT void board_on_reset(int status)
  *
  ************************************************************************************/
 
-__EXPORT void
+extern "C" __EXPORT void
 stm32_boardinitialize(void)
 {
 	board_on_reset(-1); /* Reset PWM first thing */
@@ -280,6 +281,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #  endif /* CONFIG_MMCSD */
 
+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
 #endif /* !defined(BOOTLOADER) */
 
 	return OK;