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px4/v5x: enable mcp23009 GPIO driver

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This commit is contained in:
Beat Küng
2021-01-14 13:36:42 +01:00
committed by Daniel Agar
parent 3e4b8763a5
commit 88fe047556
5 changed files with 11 additions and 5 deletions
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1
boards/px4/fmu-v5x/base_phy_DP83848C.cmake
View File

@@ -93,6 +93,7 @@ px4_add_board(
dmesg dmesg
dumpfile dumpfile
esc_calib esc_calib
gpio
hardfault_log hardfault_log
i2cdetect i2cdetect
led_control led_control

1
boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig
View File

@@ -57,6 +57,7 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y CONFIG_DEFAULT_SMALL=y
CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_GPIO=y
CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70 CONFIG_DEV_PIPE_SIZE=70
CONFIG_ETH0_PHY_DP83848C=y CONFIG_ETH0_PHY_DP83848C=y

1
boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
View File

@@ -57,6 +57,7 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y CONFIG_DEFAULT_SMALL=y
CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_GPIO=y
CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70 CONFIG_DEV_PIPE_SIZE=70
CONFIG_ETH0_PHY_LAN8742A=y CONFIG_ETH0_PHY_LAN8742A=y

5
boards/px4/fmu-v5x/src/CMakeLists.txt
View File

@@ -34,7 +34,7 @@
add_library(drivers_board add_library(drivers_board
can.c can.c
i2c.cpp i2c.cpp
init.c init.cpp
led.c led.c
manifest.c manifest.c
mtd.cpp mtd.cpp
@@ -43,7 +43,7 @@ add_library(drivers_board
timer_config.cpp timer_config.cpp
usb.c usb.c
) )
add_dependencies(drivers_board arch_board_hw_info) add_dependencies(drivers_board arch_board_hw_info platform_gpio_mcp23009)
target_link_libraries(drivers_board target_link_libraries(drivers_board
PRIVATE PRIVATE
@@ -53,4 +53,5 @@ target_link_libraries(drivers_board
nuttx_arch # sdio nuttx_arch # sdio
nuttx_drivers # sdio nuttx_drivers # sdio
px4_layer px4_layer
platform_gpio_mcp23009
) )

8
boards/px4/fmu-v5x/src/init.c → boards/px4/fmu-v5x/src/init.cpp
View File

@@ -54,7 +54,9 @@
#include <errno.h> #include <errno.h>
#include <nuttx/config.h> #include <nuttx/config.h>
extern "C" {
#include <nuttx/board.h> #include <nuttx/board.h>
}
#include <nuttx/spi/spi.h> #include <nuttx/spi/spi.h>
#include <nuttx/sdio.h> #include <nuttx/sdio.h>
#include <nuttx/mmcsd.h> #include <nuttx/mmcsd.h>
@@ -73,6 +75,7 @@
#include <px4_platform/gpio.h> #include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h> #include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h> #include <px4_platform/board_dma_alloc.h>
#include <px4_platform/gpio/mcp23009.hpp>
/**************************************************************************** /****************************************************************************
* Pre-Processor Definitions * Pre-Processor Definitions
@@ -158,7 +161,7 @@ __EXPORT void board_on_reset(int status)
* *
************************************************************************************/ ************************************************************************************/
__EXPORT void extern "C" __EXPORT void
stm32_boardinitialize(void) stm32_boardinitialize(void)
{ {
board_on_reset(-1); /* Reset PWM first thing */ board_on_reset(-1); /* Reset PWM first thing */
@@ -174,7 +177,7 @@ stm32_boardinitialize(void)
/* configure SPI interfaces (we can do this here as long as we only have a single SPI hw config version - /* configure SPI interfaces (we can do this here as long as we only have a single SPI hw config version -
* otherwise we need to move this after board_determine_hw_info()) */ * otherwise we need to move this after board_determine_hw_info()) */
_Static_assert(BOARD_NUM_SPI_CFG_HW_VERSIONS == 1, "Need to move the SPI initialization for multi-version support"); static_assert(BOARD_NUM_SPI_CFG_HW_VERSIONS == 1, "Need to move the SPI initialization for multi-version support");
stm32_spiinitialize(); stm32_spiinitialize();
@@ -211,7 +214,6 @@ stm32_boardinitialize(void)
* *
****************************************************************************/ ****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg) __EXPORT int board_app_initialize(uintptr_t arg)
{ {
/* Power on Interfaces */ /* Power on Interfaces */