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Driver: Refactor MCP23009 GPIO expander into uORB driver

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This commit is contained in:
Niklas Hauser
2023-06-16 15:52:52 +02:00
committed by Beat Küng
parent 3303323971
commit 8fe65c6722
19 changed files with 697 additions and 300 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
boards/px4/fmu-v5x/default.px4board
View File

@@ -17,6 +17,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=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_ADIS16448=y

11
boards/px4/fmu-v5x/init/rc.board_defaults
View File

@@ -19,3 +19,14 @@ param set-default SENS_EN_INA226 1
param set-default SYS_USE_IO 1
safety_button start
# GPIO Expander driver on external I2C3
if ver hwtypecmp V5X009000 V5X009001
then
# No USB
mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
fi
if ver hwtypecmp V5X00a000 V5X00a001 V5X008000 V5X008001
then
mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
fi

4
boards/px4/fmu-v5x/src/board_config.h
View File

@@ -250,8 +250,8 @@
#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/gpin4"
#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpin5"
#define BOARD_GPIO_VDD_5V_COMP_VALID "/dev/gpio4"
#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpio5"
/* Spare GPIO */

30
boards/px4/fmu-v5x/src/init.cpp
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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;

6
msg/CMakeLists.txt
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@@ -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

28
msg/GpioConfig.msg Normal file
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@@ -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

6
msg/GpioIn.msg Normal file
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@@ -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

7
msg/GpioOut.msg Normal file
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@@ -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

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

274
platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009.cpp
View File

@@ -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;
}

68
platforms/nuttx/src/px4/common/gpio/mcp23009/mcp23009_registers.hpp
View File

@@ -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

50
platforms/nuttx/src/px4/common/include/px4_platform/gpio/mcp23009.hpp
View File

@@ -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);

9
src/drivers/gpio/Kconfig Normal file
View File

@@ -0,0 +1,9 @@
menu "GPIO"
menuconfig COMMON_GPIO
bool "Common GPIOs"
default n
select DRIVERS_GPIO_MCP23009
---help---
Enable default set of GPIO drivers
rsource "*/Kconfig"
endmenu

41
src/drivers/gpio/mcp23009/CMakeLists.txt Normal file
View File

@@ -0,0 +1,41 @@
############################################################################
#
# 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
# 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.
#
############################################################################
px4_add_module(
MODULE drivers__mcp23009
MAIN mcp23009
COMPILE_FLAGS
SRCS
mcp23009_main.cpp
mcp23009.cpp
DEPENDS
)

5
src/drivers/gpio/mcp23009/Kconfig Normal file
View File

@@ -0,0 +1,5 @@
menuconfig DRIVERS_GPIO_MCP23009
bool "mcp23009"
default n
---help---
Enable support for mcp23009

123
src/drivers/gpio/mcp23009/mcp23009.cpp Normal file
View File

@@ -0,0 +1,123 @@
/****************************************************************************
*
* 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
* 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.
*
****************************************************************************/
#include "mcp23009.h"
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 state, uint8_t pull_up)
{
// do I2C init (and probe) first
int ret = I2C::init();
if (ret != PX4_OK) {
PX4_ERR("I2C init failed");
return ret;
}
// buffer the new initial states
_iodir = direction;
_olat = state;
_gppu = pull_up;
// Write the initial state to the device
ret = write_reg(Register::OLAT, _olat);
ret |= write_reg(Register::IODIR, _iodir);
ret |= write_reg(Register::GPPU, _gppu);
if (ret != PX4_OK) {
PX4_ERR("Device init failed (%i)", ret);
return ret;
}
return init_uorb();
}
int MCP23009::probe()
{
// no whoami, try to read IOCON
uint8_t data;
return read_reg(Register::IOCON, data);
}
int MCP23009::read(uint8_t *mask)
{
return read_reg(Register::GPIO, *mask);
}
int MCP23009::write(uint8_t mask_set, uint8_t mask_clear)
{
// no need to read, we can use the buffered register value
_olat = (_olat & ~mask_clear) | mask_set;
return write_reg(Register::OLAT, _olat);
}
int MCP23009::configure(uint8_t mask, PinType type)
{
// no need to read, we can use the buffered register values
switch (type) {
case PinType::Input:
_iodir |= mask;
_gppu &= ~mask;
break;
case PinType::InputPullUp:
_iodir |= mask;
_gppu |= mask;
break;
case PinType::Output:
_iodir &= ~mask;
break;
default:
return -EINVAL;
}
int ret = write_reg(Register::GPPU, _gppu);
if (ret != 0) {
return ret;
}
return write_reg(Register::IODIR, _iodir);
}

111
src/drivers/gpio/mcp23009/mcp23009.h Normal file
View File

@@ -0,0 +1,111 @@
/****************************************************************************
*
* 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>
#include <drivers/device/i2c.h>
#include <px4_platform_common/i2c_spi_buses.h>
#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>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
using namespace time_literals;
class MCP23009 : public device::I2C, public I2CSPIDriver<MCP23009>
{
public:
MCP23009(const I2CSPIDriverConfig &config);
~MCP23009() override;
void RunImpl();
static void print_usage();
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
protected:
int init_uorb();
int init(uint8_t direction, uint8_t state, uint8_t pull_up);
int probe() override;
void print_status() override;
void exit_and_cleanup() override;
private:
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
};
enum class
PinType : uint8_t {
Output,
Input,
InputPullUp,
};
uORB::SubscriptionCallbackWorkItem _gpio_out_sub{this, ORB_ID(gpio_out)};
uORB::SubscriptionCallbackWorkItem _gpio_request_sub{this, ORB_ID(gpio_request)};
uORB::SubscriptionCallbackWorkItem _gpio_config_sub{this, ORB_ID(gpio_config)};
uORB::Publication<gpio_in_s> _to_gpio_in{ORB_ID(gpio_in)};
perf_counter_t _cycle_perf;
// buffer often used (write-only!) registers here
uint8_t _olat;
uint8_t _iodir;
uint8_t _gppu;
int read(uint8_t *mask);
int write(uint8_t mask_set, uint8_t mask_clear);
int configure(uint8_t mask, PinType type);
int read_reg(Register address, uint8_t &data);
int write_reg(Register address, uint8_t data);
};

215
src/drivers/gpio/mcp23009/mcp23009_main.cpp Normal file
View File

@@ -0,0 +1,215 @@
/****************************************************************************
*
* 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
* 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.
*
****************************************************************************/
/**
* Driver for the MCP23009 connected via I2C.
*/
#include "mcp23009.h"
#include <px4_platform_common/module.h>
MCP23009::MCP23009(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample"))
{
}
MCP23009::~MCP23009()
{
ScheduleClear();
perf_free(_cycle_perf);
}
int MCP23009::init_uorb()
{
if (!_gpio_config_sub.registerCallback() ||
!_gpio_request_sub.registerCallback() ||
!_gpio_out_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return -1;
}
return PX4_OK;
}
void MCP23009::exit_and_cleanup()
{
_gpio_config_sub.unregisterCallback();
_gpio_request_sub.unregisterCallback();
_gpio_out_sub.unregisterCallback();
}
void MCP23009::RunImpl()
{
perf_begin(_cycle_perf);
gpio_config_s config;
if (_gpio_config_sub.update(&config) && config.device_id == get_device_id()) {
PinType type = PinType::Input;
switch (config.config) {
case config.INPUT_PULLUP: type = PinType::InputPullUp; break;
case config.OUTPUT: type = PinType::Output; break;
}
write(config.state, config.mask);
configure(config.mask, type);
}
gpio_out_s output;
if (_gpio_out_sub.update(&output) && output.device_id == get_device_id()) {
write(output.state, output.mask);
}
// read every time we run, either when requested or when scheduled on interval
{
gpio_in_s _gpio_in;
_gpio_in.timestamp = hrt_absolute_time();
_gpio_in.device_id = get_device_id();
uint8_t input;
read(&input);
_gpio_in.state = input;
_to_gpio_in.publish(_gpio_in);
}
perf_end(_cycle_perf);
}
void MCP23009::print_usage()
{
PRINT_MODULE_USAGE_NAME("MCP23009", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x25);
PRINT_MODULE_USAGE_PARAM_INT('D', 0, 0, 255, "Direction", true);
PRINT_MODULE_USAGE_PARAM_INT('O', 0, 0, 255, "Output", true);
PRINT_MODULE_USAGE_PARAM_INT('P', 0, 0, 255, "Pullups", true);
PRINT_MODULE_USAGE_PARAM_INT('U', 0, 0, 1000, "Update Interval [ms]", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
void MCP23009::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_cycle_perf);
}
struct init_config_t {
uint16_t interval;
uint8_t direction;
uint8_t state;
uint8_t pullup;
};
I2CSPIDriverBase *MCP23009::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
auto *init = (const init_config_t *)config.custom_data;
auto *instance = new MCP23009(config);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init(init->direction, init->state, init->pullup)) {
delete instance;
return nullptr;
}
if (init->interval) {
instance->ScheduleOnInterval(init->interval * 1000);
}
return instance;
}
extern "C" int mcp23009_main(int argc, char *argv[])
{
using ThisDriver = MCP23009;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 400000;
cli.i2c_address = 0x25;
init_config_t config_data{};
int ch;
while ((ch = cli.getOpt(argc, argv, "D:O:P:U:")) != EOF) {
switch (ch) {
case 'D':
config_data.direction = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'O':
config_data.state = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'P':
config_data.pullup = (int)strtol(cli.optArg(), nullptr, 0);
break;
case 'U':
config_data.interval = atoi(cli.optArg());
break;
}
}
cli.custom_data = &config_data;
const char *verb = cli.optArg();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_GPIO_DEVTYPE_MCP23009);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

4
src/systemcmds/gpio/gpio.cpp
View File

@@ -314,8 +314,8 @@ $ gpio read H4 PULLUP
Set the output value on Port E pin 7 to high
$ gpio write E7 1 --force
Set the output value on device /dev/gpin1 to high
$ gpio write /dev/gpin1 1
Set the output value on device /dev/gpio1 to high
$ gpio write /dev/gpio1 1
)DESCR_STR");