From 88fe047556da00467fae9d671a2e11b276fcad10 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 14 Jan 2021 13:36:42 +0100
Subject: [PATCH] px4/v5x: enable mcp23009 GPIO driver

---
 boards/px4/fmu-v5x/base_phy_DP83848C.cmake                | 1 +
 .../px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig  | 1 +
 boards/px4/fmu-v5x/nuttx-config/nsh/defconfig             | 1 +
 boards/px4/fmu-v5x/src/CMakeLists.txt                     | 5 +++--
 boards/px4/fmu-v5x/src/{init.c => init.cpp}               | 8 +++++---
 5 files changed, 11 insertions(+), 5 deletions(-)
 rename boards/px4/fmu-v5x/src/{init.c => init.cpp} (97%)

diff --git a/boards/px4/fmu-v5x/base_phy_DP83848C.cmake b/boards/px4/fmu-v5x/base_phy_DP83848C.cmake
index 5794d5b6ab..50a8c31665 100644
--- a/boards/px4/fmu-v5x/base_phy_DP83848C.cmake
+++ b/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
diff --git a/boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig b/boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig
index 7cb4727a07..5663698156 100644
--- a/boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig
+++ b/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
diff --git a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
index e0190ceb49..2b4e93495f 100644
--- a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
+++ b/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
diff --git a/boards/px4/fmu-v5x/src/CMakeLists.txt b/boards/px4/fmu-v5x/src/CMakeLists.txt
index b5aa3dc75a..3dbc72879f 100644
--- a/boards/px4/fmu-v5x/src/CMakeLists.txt
+++ b/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
 )
diff --git a/boards/px4/fmu-v5x/src/init.c b/boards/px4/fmu-v5x/src/init.cpp
similarity index 97%
rename from boards/px4/fmu-v5x/src/init.c
rename to boards/px4/fmu-v5x/src/init.cpp
index 1a9727f3ec..fee67d3d80 100644
--- a/boards/px4/fmu-v5x/src/init.c
+++ b/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 */