From c58a02211125c97685761386cac0e6147953e2a4 Mon Sep 17 00:00:00 2001
From: mirkix <mirkix@gmail.com>
Date: Sat, 10 Jan 2015 23:20:38 +0000
Subject: [PATCH] AP_HAL_Linux: add support for BBBMINI, simple ArduPilot DIY
Cape for the BeagleBone Black
---
libraries/AP_HAL_Linux/GPIO.h | 2 +-
libraries/AP_HAL_Linux/GPIO_BBB.cpp | 6 ++++--
libraries/AP_HAL_Linux/GPIO_BBB.h | 2 +-
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 12 ++++++------
libraries/AP_HAL_Linux/RCInput_PRU.cpp | 5 +++--
libraries/AP_HAL_Linux/SPIDriver.cpp | 6 ++++++
libraries/AP_HAL_Linux/SPIDriver.h | 2 ++
7 files changed, 23 insertions(+), 12 deletions(-)
diff --git a/libraries/AP_HAL_Linux/GPIO.h b/libraries/AP_HAL_Linux/GPIO.h
index 171f566e3..17e706dc0 100644
--- a/libraries/AP_HAL_Linux/GPIO.h
+++ b/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"
diff --git a/libraries/AP_HAL_Linux/GPIO_BBB.cpp b/libraries/AP_HAL_Linux/GPIO_BBB.cpp
index 9fe299f96..632a0ad00 100644
--- a/libraries/AP_HAL_Linux/GPIO_BBB.cpp
+++ b/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
diff --git a/libraries/AP_HAL_Linux/GPIO_BBB.h b/libraries/AP_HAL_Linux/GPIO_BBB.h
index a99525cc0..1a8f7a54b 100644
--- a/libraries/AP_HAL_Linux/GPIO_BBB.h
+++ b/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
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 39d5504e7..9c1c3bd90 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/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
diff --git a/libraries/AP_HAL_Linux/RCInput_PRU.cpp b/libraries/AP_HAL_Linux/RCInput_PRU.cpp
index 02d600ea2..e4aed1ac7 100644
--- a/libraries/AP_HAL_Linux/RCInput_PRU.cpp
+++ b/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>
diff --git a/libraries/AP_HAL_Linux/SPIDriver.cpp b/libraries/AP_HAL_Linux/SPIDriver.cpp
index 3fa4ed570..beaac23cb 100644
--- a/libraries/AP_HAL_Linux/SPIDriver.cpp
+++ b/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];
diff --git a/libraries/AP_HAL_Linux/SPIDriver.h b/libraries/AP_HAL_Linux/SPIDriver.h
index 948427804..0f899b05b 100644
--- a/libraries/AP_HAL_Linux/SPIDriver.h
+++ b/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
--
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