drivers: MCP23009 & MCP23017 shared code base (#25924)

* Implemented driver for MCP23017

* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)

* removed some comments

* removed even more comments

* commented out instatntiation of driver since it will not be used with v6x

* removed last useless comments

* re-activated gpio_mcp23009 driver, removed useless comments and empty lines

* removed empty lines at the end of mcp23017.cpp

* removed empty line

* Implemented driver for MCP23017

* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)

* removed some comments

* removed even more comments

* commented out instatntiation of driver since it will not be used with v6x

* removed last useless comments

* re-activated gpio_mcp23009 driver, removed useless comments and empty lines

* removed empty lines at the end of mcp23017.cpp

* removed empty line

* basic working implementation

* first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks)

* removed unused imports

* changed module name from MCP to MCP230XX

* removed debug print statements

* adjusted auto start command of driver

* removed comments

* -added seperate main functions for both derivative modules (mcp23009 and mcp23017)

* compile common functions as shared library in src/lib/drivers

* fixed cleanup of modules

* ->unclean working version with shared common library

* used make format

* working & cleaned version

* -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously
-> Removed old mcap23009 calls and pin registrations
-> Adjusted GpioIn.msg to contain MAX_INSTANCES

* ->removed unused imports
->used make format

* Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x

* Fix: enabled platform_mcp_gpio in px4/fmu-v5x

* added depency to fmu-v5x

* Fix: removed new lines

* Fix: fixed linker errors

* removed unused linkage against mcp-library

* Made mcp start calls consistent for fmu-v5x and fmu-v6x

* moved logging of comm errors to read/write function directly

* added perf_count for sanity_check

* removed error message

* ensured member variables follow naming convention

* added retries to probe function

* simplyfied state-logic

* add break to terminate loop early

* ensured clean state when register_gpios() fails

* add registered-flag to pins

* used path from top dir instead of relative path in CMakeLists

* used constexpr to set parameters instead of calculating them at runtime

* style: used make format

* fix: corrected i2c_bus assignment

* style: init input of callbackhandler to 0

* fix: mark pin as registered if successful

* style: made arguments const type

---------

Co-authored-by: Alexander Lerach <alexander@auterion.com>

boards/accton-godwit/ga1/src/CMakeLists.txt

@@ -71,6 +71,5 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
-			platform_gpio_mcp23009
 	)
 endif()

boards/accton-godwit/ga1/src/init.cpp

@@ -74,7 +74,6 @@
 #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
@@ -286,13 +285,6 @@ __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;