From 35dddbd35aa8af7d65bfd1e8b3cddb9194ccc833 Mon Sep 17 00:00:00 2001
From: Chris Gaddis <chris.gaddis@gmail.com>
Date: Wed, 27 Sep 2017 20:00:38 -0500
Subject: [PATCH] AP_Relay: Enables relays 1-4 for Beaglebone Blue

Enables relays 1-4 on Beaglebone Blue GP0 connector pins 3-6
---
 libraries/AP_Relay/AP_Relay.cpp | 60 +++++++++++++++++++++------------
 1 file changed, 39 insertions(+), 21 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 6f246e51f7..4e17ff4fb1 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -9,28 +9,46 @@
 #include "AP_Relay.h"
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-#define RELAY1_PIN_DEFAULT 13
-#define RELAY2_PIN_DEFAULT -1
+  #define RELAY1_PIN_DEFAULT 13
+
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
-#define RELAY1_PIN_DEFAULT 111
-#define RELAY2_PIN_DEFAULT -1
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
-#define RELAY1_PIN_DEFAULT -1
-#define RELAY2_PIN_DEFAULT -1
-#else
-#define RELAY1_PIN_DEFAULT 54
-#define RELAY2_PIN_DEFAULT 55
-#endif
+  #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+    #define RELAY1_PIN_DEFAULT 111
+
+  #elif !defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+    #define RELAY1_PIN_DEFAULT 54
+    #define RELAY2_PIN_DEFAULT 55
+  #endif
+
 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-#define RELAY1_PIN_DEFAULT 33
-#define RELAY2_PIN_DEFAULT -1
-#else
-// no relay for this board
-#define RELAY1_PIN_DEFAULT -1
-#define RELAY2_PIN_DEFAULT -1
+  #define RELAY1_PIN_DEFAULT 33
+
+#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+    #define RELAY1_PIN_DEFAULT 57
+    #define RELAY2_PIN_DEFAULT 49
+    #define RELAY3_PIN_DEFAULT 116
+    #define RELAY4_PIN_DEFAULT 113
+  #endif
 #endif
 
+#ifndef RELAY1_PIN_DEFAULT
+  #define RELAY1_PIN_DEFAULT -1
+#endif
+
+#ifndef RELAY2_PIN_DEFAULT
+  #define RELAY2_PIN_DEFAULT -1
+#endif
+
+#ifndef RELAY3_PIN_DEFAULT
+  #define RELAY3_PIN_DEFAULT -1
+#endif
+
+#ifndef RELAY4_PIN_DEFAULT
+  #define RELAY4_PIN_DEFAULT -1
+#endif
+
+
 const AP_Param::GroupInfo AP_Relay::var_info[] = {
     // @Param: PIN
     // @DisplayName: First Relay Pin
@@ -51,18 +69,18 @@ const AP_Param::GroupInfo AP_Relay::var_info[] = {
     // @Description: Digital pin number for 3rd relay control.
     // @User: Standard
     // @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
-    AP_GROUPINFO("PIN3",  2, AP_Relay, _pin[2], -1),
+    AP_GROUPINFO("PIN3",  2, AP_Relay, _pin[2], RELAY3_PIN_DEFAULT),
 
     // @Param: PIN4
     // @DisplayName: Fourth Relay Pin
     // @Description: Digital pin number for 4th relay control.
     // @User: Standard
     // @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
-    AP_GROUPINFO("PIN4",  3, AP_Relay, _pin[3], -1),
+    AP_GROUPINFO("PIN4",  3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT),
 
     // @Param: DEFAULT
     // @DisplayName: Default relay state
-    // @Description: The state of the relay on boot. 
+    // @Description: The state of the relay on boot.
     // @User: Standard
     // @Values: 0:Off,1:On,2:NoChange
     AP_GROUPINFO("DEFAULT",  4, AP_Relay, _default, 0),