AP_HAL: Add BeagleBone Blue

libraries/AP_HAL/AP_HAL_Boards.h

@@ -36,6 +36,7 @@
 #define HAL_BOARD_SUBTYPE_LINUX_AERO       1015
 #define HAL_BOARD_SUBTYPE_LINUX_DARK       1016
 #define HAL_BOARD_SUBTYPE_LINUX_URUS       1017
+#define HAL_BOARD_SUBTYPE_LINUX_BLUE       1018
 
 /* HAL PX4 sub-types, starting at 2000 */
 #define HAL_BOARD_SUBTYPE_PX4_V1           2000

libraries/AP_HAL/board/linux.h

@@ -242,6 +242,29 @@
  * 240x240 crop rescaled to 64x64 */
 #define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.1 / (3.0 * 2.0 * 240 / 64))
 #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
+#define HAL_GPIO_A_LED_PIN 66
+#define HAL_GPIO_B_LED_PIN 67
+#define HAL_GPIO_C_LED_PIN 67
+#define HAL_GPIO_LED_ON    HIGH
+#define HAL_GPIO_LED_OFF   LOW
+#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
+#define HAL_INS_MPU9250_I2C_BUS 2
+#define HAL_INS_MPU9250_I2C_ADDR 0x68
+#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
+#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
+#define HAL_BARO_BMP280_BUS 2
+#define HAL_BARO_BMP280_I2C_ADDR 0x76
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C
+#define HAL_COMPASS_AK8963_I2C_BUS 2
+#define HAL_COMPASS_AK8963_I2C_ADDR 0x0C
+/* HMC5843 can be an external compass */
+#define HAL_COMPASS_HMC5843_I2C_BUS 2
+#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
+#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
+#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"