AP_HAL_Linux: define board features on Linux module

libraries/AP_HAL/board/linux.h

@@ -292,6 +292,43 @@
 
     #define HAL_HAVE_GETTIME_SETTIME 1
 
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+    
+    //#define HAL_BARO_ALLOW_INIT_NO_BARO
+    
+    // Activate SUB Model Configuratopm
+    #define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI
+    
+    // Define Notify
+    #define OBAL_NOTIFY_LED
+    
+
+    // GY-91 SPI Connection
+    #ifdef HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI
+        #define HAL_BOARD_LOG_DIRECTORY "/home/pi/ardupilot/logs"
+        #define HAL_BOARD_TERRAIN_DIRECTORY "/home/pi/ardupilot/terrain"
+        #define HAL_BOARD_STORAGE_DIRECTORY "/home/pi/ardupilot"
+        #define HAL_PARAM_DEFAULTS_PATH "/home/pi/ardupilot.parm"
+
+        #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
+        #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
+        #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP085, 1, 0x77) 
+        //#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(QMC5883L, 1, 0x0d,true ,  ROTATION_NONE)
+
+        #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+    #endif
+
+    
+    #ifdef OBAL_NOTIFY_LED
+        #define HAL_GPIO_A_LED_PIN        27 // You can choose between 27,22,4,12
+        #define HAL_GPIO_C_LED_PIN        22 // You can choose between 27,22,4,12
+        #define HAL_GPIO_B_LED_PIN        4 // You can choose between 27,22,4,12
+        #define HAL_GPIO_LED_ON           1
+        #define HAL_GPIO_LED_OFF          0
+    #endif
+    #define HAL_BUZZER_PIN                12 // You can choose between 27,22,4,12
+    #define OBAL_ALLOW_ADC                1
+
 #else
     #error "no Linux board subtype set"
 #endif

libraries/AP_HAL_Linux/GPIO.h

@@ -28,7 +28,8 @@ private:
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR ||  \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
 #include "GPIO_RPI.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 #include "GPIO_Navio.h"

libraries/AP_HAL_Linux/GPIO_RPI.cpp

@@ -4,7 +4,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
 
 #include <assert.h>
 #include <errno.h>

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -55,7 +55,8 @@ using namespace Linux;
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR ||  \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
 static UtilRPI utilInstance;
 #else
 static Util utilInstance;
@@ -86,7 +87,8 @@ static UARTDriver uartBDriver(false);
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR|| \
+    ((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1))
 static AnalogIn_ADS1115 analogIn;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
@@ -119,7 +121,8 @@ static GPIO_BBB gpioDriver;
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR  || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
 static GPIO_RPI gpioDriver;
 #elif  CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
@@ -147,7 +150,8 @@ static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_RCProtocol(NU
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
 static RCInput_RPI rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
@@ -209,6 +213,8 @@ static ap::RCOutput_Tap rcoutDriver;
 static RCOutput_Sysfs rcoutDriver(0, 0, 15);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
 static RCOutput_Sysfs rcoutDriver(0, 0, 8);
+#elif  CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
 #else
 static Empty::RCOutput rcoutDriver;
 #endif

libraries/AP_HAL_Linux/RCInput_RPI.cpp

@@ -4,7 +4,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 ||   \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH ||           \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK ||         \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI ||      \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
 #include <assert.h>
 #include <errno.h>
 #include <fcntl.h>
@@ -50,6 +51,14 @@ static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
     RPI_GPIO_<13>(), RPI_GPIO_<19>(), RPI_GPIO_<20>(),
     RPI_GPIO_<21>(), RPI_GPIO_<26>()
 };
+#elif (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) 
+#define RCIN_RPI_SIG_HIGH        0
+#define RCIN_RPI_SIG_LOW         1
+static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
+    RPI_GPIO_<5>(),  RPI_GPIO_<6>(),  RPI_GPIO_<13>(),
+    RPI_GPIO_<19>(), RPI_GPIO_<26>(), RPI_GPIO_<21>(), 
+    RPI_GPIO_<20>(), RPI_GPIO_<16>()
+};
 #else
 #define RCIN_RPI_SIG_HIGH        1
 #define RCIN_RPI_SIG_LOW         0

libraries/AP_HAL_Linux/RCInput_RPI.h

@@ -23,6 +23,8 @@
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
 #define RCIN_RPI_CHN_NUM 8
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+#define RCIN_RPI_CHN_NUM 8
 #else
 #define RCIN_RPI_CHN_NUM 1
 #endif

libraries/AP_HAL_Linux/SPIDevice.cpp

@@ -144,6 +144,11 @@ SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("rst_a",    0, 2,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
     SPIDesc("ms5611",   0, 3,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
 };
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 && \
+    defined (HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI)
+SPIDesc SPIDeviceManager::_device[] = {
+    SPIDesc("mpu9250",    0, 0, SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
+};
 #else
 // empty device table
 SPIDesc SPIDeviceManager::_device[] = {

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -40,6 +40,9 @@ extern const AP_HAL::HAL& hal;
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
 #define APM_LINUX_RCIN_RATE             500
 #define APM_LINUX_IO_RATE               50
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+#define APM_LINUX_RCIN_RATE             50
+#define APM_LINUX_IO_RATE               50
 #else
 #define APM_LINUX_RCIN_RATE             100
 #define APM_LINUX_IO_RATE               50

libraries/AP_HAL_Linux/Util_RPI.cpp

@@ -7,7 +7,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 
 
 #include <errno.h>
 #include <stdarg.h>