AP_HAL_Linux: use GPIO_Sysfs for Navio

/boot/config.txt: dtoverlay=navio-rgb should be disabled for this thing
to work, though.

libraries/AP_HAL_Linux/GPIO.h

@@ -23,12 +23,13 @@ private:
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 #include "GPIO_BBB.h"
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
+#elif 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
 #include "GPIO_RPI.h"
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+#include "GPIO_Navio.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
 #include "GPIO_Navio2.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE

libraries/AP_HAL_Linux/GPIO_Navio.cpp

@@ -0,0 +1,24 @@
+#include <AP_Common/AP_Common.h>
+
+#include "GPIO_Navio.h"
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+
+const unsigned Linux::GPIO_Sysfs::pin_table[] = {
+    [NAVIO_GPIO_A] =       21,
+    [NAVIO_GPIO_B] =       26,
+    [NAVIO_GPIO_C] =       20,
+    [NAVIO_GPIO_IO17] =    17,
+    [NAVIO_GPIO_IO18] =    18,
+    [NAVIO_GPIO_IO24] =    24,
+    [NAVIO_GPIO_IO25] =    25,
+    [NAVIO_GPIO_PCA_OE] =  27,
+    [NAVIO_GPIO_PPM_IN] =  4,
+};
+
+const uint8_t Linux::GPIO_Sysfs::n_pins = _NAVIO_GPIO_MAX;
+
+static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _NAVIO_GPIO_MAX,
+              "GPIO pin_table must have the same size of entries in enum gpio_minnow");
+
+#endif

libraries/AP_HAL_Linux/GPIO_Navio.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "GPIO_Sysfs.h"
+
+enum gpio_navio {
+    NAVIO_GPIO_A,
+    NAVIO_GPIO_B,
+    NAVIO_GPIO_C,
+    NAVIO_GPIO_IO17,
+    NAVIO_GPIO_IO18,
+    NAVIO_GPIO_IO24,
+    NAVIO_GPIO_IO25,
+    NAVIO_GPIO_PCA_OE,
+    NAVIO_GPIO_PPM_IN,
+    _NAVIO_GPIO_MAX,
+};

libraries/AP_HAL_Linux/GPIO_RPI.cpp

@@ -1,7 +1,6 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
+#if 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

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -110,13 +110,13 @@ static GPIO_BBB gpioDriver;
 /*
   use the RPI gpio driver on Navio
  */
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
+#elif 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
 static GPIO_RPI gpioDriver;
-#elif  CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
+#elif  CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
+       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
 static GPIO_Sysfs gpioDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
@@ -173,9 +173,11 @@ static RCOutput_AioPRU rcoutDriver;
 /*
   use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2
  */
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2  || \
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2  || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
 static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, RPI_GPIO_27);
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), true, 3, NAVIO_GPIO_PCA_OE);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
 static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATENARY_ADDRESS), false, 0, RPI_GPIO_4);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK

libraries/AP_HAL_Linux/RCInput_RPI.cpp

@@ -38,6 +38,9 @@
 #define RCIN_RPI_MAX_COUNTER     1300
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
 #define PPM_INPUT_RPI RPI_GPIO_5
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+#define PPM_INPUT_RPI NAVIO_GPIO_PPM_IN
+#define PAGE_SIZE           (4*1024)
 #else
 #define PPM_INPUT_RPI RPI_GPIO_4
 #endif