AP_HAL_Linux: add Robsense PhenixPro Devkit Board support

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -158,6 +158,8 @@ static RCInput_SoloLink rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
 static RCInput_Navio2 rcinDriver;
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
+static RCInput_SBUS rcinDriver;
 #else
 static RCInput rcinDriver;
 #endif
@@ -210,6 +212,8 @@ static RCOutput_Sysfs rcoutDriver(0, 0, 14);
 static ap::RCOutput_Tap rcoutDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
 static RCOutput_Sysfs rcoutDriver(0, 0, 15);
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
+static RCOutput_Sysfs rcoutDriver(0, 0, 8);
 #else
 static Empty::RCOutput rcoutDriver;
 #endif

libraries/AP_HAL_Linux/RCInput_SBUS.cpp

@@ -22,7 +22,8 @@
 
 #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_OCPOC_ZYNQ
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 
 #include "RCInput_SBUS.h"
 #include <stdio.h>
 #include <fcntl.h>

libraries/AP_HAL_Linux/RCInput_SBUS.h

@@ -18,7 +18,8 @@
 #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_OCPOC_ZYNQ
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
 
 #include "RCInput.h"
 
@@ -38,6 +39,8 @@ private:
     const char *device_path = "/dev/uart-sbus";
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
     const char *device_path = "/dev/ttyS2";
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
+    const char *device_path = "/dev/ttyPS0";
 #else
     const char *device_path = nullptr;
 #endif

libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp

@@ -45,6 +45,8 @@ void RCOutput_Sysfs::init()
     for (uint8_t i = 0; i < _channel_count; i++) {
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
         _pwm_channels[i] = new PWM_Sysfs_Bebop(_channel_base+i);
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
+        _pwm_channels[i] = new PWM_Sysfs(_chip+i, 0);
 #else
         _pwm_channels[i] = new PWM_Sysfs(_chip, _channel_base+i);
 #endif

libraries/AP_HAL_Linux/SPIDevice.cpp

@@ -129,6 +129,13 @@ SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("mpu60x0ext",    0, 2, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
     SPIDesc("ms5611",     0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  10*MHZ,10*MHZ),
 };
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
+SPIDesc SPIDeviceManager::_device[] = {
+    SPIDesc("rst_g",    0, 0,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
+    SPIDesc("lis3mdl",  0, 1,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
+    SPIDesc("rst_a",    0, 2,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
+    SPIDesc("ms5611",   0, 3,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
+};
 #else
 // empty device table
 SPIDesc SPIDeviceManager::_device[] = {

libraries/AP_HAL_Linux/Storage.cpp

@@ -22,6 +22,8 @@ using namespace Linux;
 // card for ArduCopter and ArduPlane
 #if APM_BUILD_TYPE(APM_BUILD_Replay)
 #define STORAGE_DIR "."
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
+#define STORAGE_DIR "/mnt/APM"
 #else
 #define STORAGE_DIR HAL_BOARD_STORAGE_DIRECTORY
 #endif