AP_HAL_Linux: add support for Aerotenna OcPoC-Zynq hardware

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -32,6 +32,7 @@
 #include "RCInput_UDP.h"
 #include "RCInput_115200.h"
 #include "RCInput_Multi.h"
+#include "RCInput_ZYNQ.h"
 #include "RCOutput_AeroIO.h"
 #include "RCOutput_AioPRU.h"
 #include "RCOutput_Bebop.h"
@@ -156,6 +157,12 @@ static RCInput_RPI rcinDriver;
 static RCInput_Raspilot rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
 static RCInput_ZYNQ rcinDriver;
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
+#if OCPOC_DEFAULT_RCIN_SBUS
+static RCInput_SBUS rcinDriver;
+#else
+static RCInput_ZYNQ rcinDriver;
+#endif
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
 static RCInput_UDP  rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
@@ -195,7 +202,8 @@ static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINA
  */
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
 static RCOutput_Raspilot rcoutDriver;
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
 static RCOutput_ZYNQ rcoutDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
 static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));

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 || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO  || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
 #include "RCInput_SBUS.h"
 #include <stdio.h>
 #include <fcntl.h>

libraries/AP_HAL_Linux/RCInput_SBUS.h

@@ -17,7 +17,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO  || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
 
 #include "RCInput.h"
 
@@ -35,6 +36,8 @@ private:
     const char *device_path = "/dev/ttyS1";
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
     const char *device_path = "/dev/uart-sbus";
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
+    const char *device_path = "/dev/ttyS2";
 #else
     const char *device_path = nullptr;
 #endif

libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp

@@ -16,7 +16,11 @@
 
 #include "GPIO.h"
 
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
+#define RCIN_ZYNQ_PULSE_INPUT_BASE  0x43c70000
+#else
 #define RCIN_ZYNQ_PULSE_INPUT_BASE  0x43c10000
+#endif
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_HAL_Linux/RCInput_ZYNQ.h

@@ -15,8 +15,13 @@ public:
     void _timer_tick(void);
 
 private:
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
+    static const int TICK_PER_US=50;
+    static const int TICK_PER_S=50000000;
+#else
     static const int TICK_PER_US=100;
     static const int TICK_PER_S=100000000;
+#endif
 
     // Memory mapped keyhole register to pulse input FIFO
     volatile uint32_t *pulse_input;

libraries/AP_HAL_Linux/RCOutput_ZYNQ.h

@@ -20,8 +20,13 @@ public:
     void     push(void) override;
 
 private:
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
+    static const int TICK_PER_US=50;
+    static const int TICK_PER_S=50000000;
+#else
     static const int TICK_PER_US=100;
     static const int TICK_PER_S=100000000;
+#endif
 
     // Period|Hi 32 bits each
     struct s_period_hi {

libraries/AP_HAL_Linux/SPIDevice.cpp

@@ -107,6 +107,12 @@ SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("lsm9ds0_g",  0, 0, SPI_MODE_3, 8, RPI_GPIO_12,  10*MHZ, 10*MHZ),
     SPIDesc("raspio",     0, 0, SPI_MODE_3, 8, RPI_GPIO_7,   10*MHZ, 10*MHZ),
 };
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
+SPIDesc SPIDeviceManager::_device[] = {
+    /* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
+    SPIDesc("mpu9250",    1, 0,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
+    SPIDesc("ms5611",     1, 1,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
+};
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
 SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("mpu9250", 0, 0, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ,   11*MHZ),