AP_HAL_Linux: add port to Intel Aero

Contributions from:
 - Gustavo Jose de Sousa <gustavo.sousa@intel.com>
 - José Roberto de Souza <jose.souza@intel.com>
 - Lucas De Marchi <lucas.demarchi@intel.com>
 - Patrick J.P <patrick.pereira@intel.com>

libraries/AP_HAL_Linux/GPIO.h

@@ -33,4 +33,6 @@ private:
 #include "GPIO_Bebop.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 #include "GPIO_Disco.h"
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
+#include "GPIO_Aero.h"
 #endif

libraries/AP_HAL_Linux/GPIO_Aero.cpp

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2016  Intel Corporation. All rights reserved.
+ *
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <AP_HAL/AP_HAL.h>
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
+
+#include <AP_Common/AP_Common.h>
+
+#include "GPIO_Aero.h"
+
+const unsigned Linux::GPIO_Sysfs::pin_table[] = {
+    [AERO_GPIO_BMI160_INT1] = 411,
+};
+
+const uint8_t Linux::GPIO_Sysfs::n_pins = _AERO_GPIO_MAX;
+
+static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _AERO_GPIO_MAX,
+              "GPIO pin_table must have the same size of entries in enum gpio_aero");
+
+#endif

libraries/AP_HAL_Linux/GPIO_Aero.h

@@ -0,0 +1,24 @@
+/*
+ * Copyright (C) 2016  Intel Corporation. All rights reserved.
+ *
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "GPIO_Sysfs.h"
+
+enum gpio_aero {
+    AERO_GPIO_BMI160_INT1,
+    _AERO_GPIO_MAX
+};

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -28,6 +28,7 @@
 #include "RCInput_SBUS.h"
 #include "RCInput_UART.h"
 #include "RCInput_UDP.h"
+#include "RCOutput_AeroIO.h"
 #include "RCOutput_AioPRU.h"
 #include "RCOutput_Bebop.h"
 #include "RCOutput_Disco.h"
@@ -116,7 +117,8 @@ static GPIO_BBB gpioDriver;
 static GPIO_RPI gpioDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
 static GPIO_Sysfs gpioDriver;
 #else
 static Empty::GPIO gpioDriver;
@@ -144,7 +146,8 @@ static RCInput_UDP  rcinDriver;
 static RCInput_UART rcinDriver("/dev/ttyS2");
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
 static RCInput_DSM rcinDriver;
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
 static RCInput_SBUS rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
 static RCInput_Navio2 rcinDriver;
@@ -195,6 +198,8 @@ static RCOutput_QFLIGHT rcoutDriver;
 static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR));
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
 static RCOutput_Sysfs rcoutDriver(0, 0, 14);
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
+static RCOutput_AeroIO rcoutDriver;
 #else
 static Empty::RCOutput rcoutDriver;
 #endif

libraries/AP_HAL_Linux/RCInput_SBUS.cpp

@@ -21,7 +21,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
 #include "RCInput_SBUS.h"
 #include <stdio.h>
 #include <fcntl.h>

libraries/AP_HAL_Linux/RCInput_SBUS.h

@@ -16,7 +16,8 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
 
 #include "RCInput.h"
 #include "RCInput_SBUS.h"
@@ -31,7 +32,13 @@ public:
     void set_device_path(const char *path);
 
 private:
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
+    const char *device_path = "/dev/ttyS1";
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
     const char *device_path = "/dev/uart-sbus";
+#else
+    const char *device_path = nullptr;
+#endif
     int32_t fd = -1;
 };
 

libraries/AP_HAL_Linux/SPIDevice.cpp

@@ -122,6 +122,11 @@ SPIDesc SPIDeviceManager::_device[] = {
 SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("bebop", 1, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  320*KHZ, 320*KHZ),
 };
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
+SPIDesc SPIDeviceManager::_device[] = {
+    SPIDesc("aeroio", 1, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  10*MHZ, 10*MHZ),
+    SPIDesc("bmi160", 3, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
+};
 #else
 // empty device table
 SPIDesc SPIDeviceManager::_device[] = {