px4/v5x: enable mcp23009 GPIO driver

boards/px4/fmu-v5x/base_phy_DP83848C.cmake

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

boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig

@@ -57,6 +57,7 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=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_ETH0_PHY_DP83848C=y

boards/px4/fmu-v5x/nuttx-config/nsh/defconfig

@@ -57,6 +57,7 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=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_ETH0_PHY_LAN8742A=y

boards/px4/fmu-v5x/src/CMakeLists.txt

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

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

@@ -54,7 +54,9 @@
 #include <errno.h>
 
 #include <nuttx/config.h>
+extern "C" {
 #include <nuttx/board.h>
+}
 #include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
@@ -73,6 +75,7 @@
 #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
@@ -158,7 +161,7 @@ __EXPORT void board_on_reset(int status)
  *
  ************************************************************************************/
 
-__EXPORT void
+extern "C" __EXPORT void
 stm32_boardinitialize(void)
 {
 	board_on_reset(-1); /* Reset PWM first thing */
@@ -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 -
 	 * 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();
 
@@ -211,7 +214,6 @@ stm32_boardinitialize(void)
  *
  ****************************************************************************/
 
-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */