AP_HAL_Linux: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black

libraries/AP_HAL_Linux/GPIO.h

@@ -4,7 +4,7 @@
 #include <AP_HAL_Linux.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 #include "GPIO_BBB.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 #include "GPIO_RPI.h"

libraries/AP_HAL_Linux/GPIO_BBB.cpp

@@ -1,7 +1,8 @@
 #include <AP_HAL.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 
 #include "GPIO.h"
 #include <stdio.h>
@@ -128,4 +129,5 @@ bool LinuxGPIO_BBB::usb_connected(void)
 }
 
 #endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF ||
-       // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+       // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE ||
+       // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI

libraries/AP_HAL_Linux/GPIO_BBB.h

@@ -25,7 +25,7 @@
 #define LOW             0
 #define HIGH            1
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 #define LINUX_GPIO_NUM_BANKS 4
 #else
 // disable GPIO

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -38,9 +38,9 @@ static LinuxStorage storageDriver;
 #endif
 
 /*
-  use the BBB gpio driver on ERLE and PXF
+  use the BBB gpio driver on ERLE, PXF and BBBMINI
  */
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 static LinuxGPIO_BBB gpioDriver;
 /*
   use the RPI gpio driver on Navio
@@ -52,9 +52,9 @@ static Empty::EmptyGPIO gpioDriver;
 #endif
 
 /*
-  use the PRU based RCInput driver on ERLE and PXF
+  use the PRU based RCInput driver on ERLE, PXF and BBBMINI
  */
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 static LinuxRCInput_PRU rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 static LinuxRCInput_Navio rcinDriver;
@@ -65,9 +65,9 @@ static LinuxRCInput rcinDriver;
 #endif
 
 /*
-  use the PRU based RCOutput driver on ERLE and PXF
+  use the PRU based RCOutput driver on ERLE, PXF and BBBMINI
  */
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 static LinuxRCOutput_PRU rcoutDriver;
 /*
   use the PCA9685 based RCOutput driver on Navio

libraries/AP_HAL_Linux/RCInput_PRU.cpp

@@ -1,8 +1,9 @@
 #include <AP_HAL.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
-    
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+
 #include <stdio.h>
 #include <sys/time.h>
 #include <stdio.h>

libraries/AP_HAL_Linux/SPIDriver.cpp

@@ -38,6 +38,12 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES
     LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, RPI_GPIO_7,  1*MHZ, 16*MHZ),
     LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, RPI_GPIO_8,  1*MHZ, 4*MHZ),
 };
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
+    LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MS5611,     SPI_MODE_3, 8, BBB_P9_42,  10*MHZ,10*MHZ),
+    /* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
+    LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MPU9250,    SPI_MODE_3, 8, BBB_P9_23,  1*MHZ, 20*MHZ),
+};
 #else
 // empty device table
 LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[0];

libraries/AP_HAL_Linux/SPIDriver.h

@@ -9,6 +9,8 @@
 #define LINUX_SPI_DEVICE_NUM_DEVICES 6
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 #define LINUX_SPI_DEVICE_NUM_DEVICES 2
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+#define LINUX_SPI_DEVICE_NUM_DEVICES 2
 #else
 #define LINUX_SPI_DEVICE_NUM_DEVICES 0
 #endif