diff --git a/libraries/AP_HAL_Linux/GPIO.cpp b/libraries/AP_HAL_Linux/GPIO.cpp
index 95e83e19b0..c2b5944f0f 100644
--- a/libraries/AP_HAL_Linux/GPIO.cpp
+++ b/libraries/AP_HAL_Linux/GPIO.cpp
@@ -21,6 +21,7 @@ LinuxGPIO::LinuxGPIO()
 
 void LinuxGPIO::init()
 {
+#if LINUX_GPIO_NUM_BANKS == 4
     int mem_fd;
     // Enable all GPIO banks
     // Without this, access to deactivated banks (i.e. those with no clock source set up) will (logically) fail with SIGBUS
@@ -56,6 +57,7 @@ void LinuxGPIO::init()
     }
 
     close(mem_fd);
+#endif // LINUX_GPIO_NUM_BANKS
 }
 
 void LinuxGPIO::pinMode(uint8_t pin, uint8_t output)
@@ -71,6 +73,7 @@ void LinuxGPIO::pinMode(uint8_t pin, uint8_t output)
         *gpio_bank[bank].oe &= ~(1U<<bankpin);
     }
 }
+
 int8_t LinuxGPIO::analogPinToDigitalPin(uint8_t pin)
 {
     return -1;
diff --git a/libraries/AP_HAL_Linux/GPIO.h b/libraries/AP_HAL_Linux/GPIO.h
index c0f0dbd04a..ba8cd463f8 100644
--- a/libraries/AP_HAL_Linux/GPIO.h
+++ b/libraries/AP_HAL_Linux/GPIO.h
@@ -25,7 +25,12 @@
 #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
 #define LINUX_GPIO_NUM_BANKS 4
+#else
+// disable GPIO
+#define LINUX_GPIO_NUM_BANKS 0
+#endif
 
 // BeagleBone Black GPIO mappings
 #define BBB_USR0 53
diff --git a/libraries/AP_HAL_Linux/I2CDriver.cpp b/libraries/AP_HAL_Linux/I2CDriver.cpp
index 58412eea2f..beee6a4f22 100644
--- a/libraries/AP_HAL_Linux/I2CDriver.cpp
+++ b/libraries/AP_HAL_Linux/I2CDriver.cpp
@@ -143,6 +143,9 @@ uint8_t LinuxI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
 uint8_t LinuxI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
                                       uint8_t len, uint8_t* data)
 {
+    if (_fd == -1) {
+        return 1;
+    }
     struct i2c_msg msgs[] = {
         {
         addr  : addr,
@@ -177,6 +180,9 @@ uint8_t LinuxI2CDriver::readRegistersMultiple(uint8_t addr, uint8_t reg,
                                               uint8_t len, 
                                               uint8_t count, uint8_t* data)
 {
+    if (_fd == -1) {
+        return 1;
+    }
     while (count > 0) {
         uint8_t n = count>8?8:count;
         struct i2c_msg msgs[2*n];
diff --git a/libraries/AP_HAL_Linux/SPIDriver.cpp b/libraries/AP_HAL_Linux/SPIDriver.cpp
index 6e4e67bc7f..f82543caa7 100644
--- a/libraries/AP_HAL_Linux/SPIDriver.cpp
+++ b/libraries/AP_HAL_Linux/SPIDriver.cpp
@@ -20,20 +20,26 @@ extern const AP_HAL::HAL& hal;
 
 #define MHZ (1000U*1000U)
 
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
 LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
-    LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MS5611,  SPI_MODE_3, 8, BBB_P9_42,  6*MHZ, 6*MHZ),
-    LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU6000, SPI_MODE_3, 8, BBB_P9_28,  500*1000, 20*MHZ),
+    // different SPI tables per board subtype
+    LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MS5611,  SPI_MODE_3, 8, BBB_P9_42,  6*MHZ, 6*MHZ),
+    LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28,  500*1000, 20*MHZ),
     /* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
-    LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU9250, SPI_MODE_3, 8, BBB_P9_23,  1*MHZ, 20*MHZ),
-    LinuxSPIDeviceDriver(0, LINUX_SPI_DEVICE_LSM9DS0, SPI_MODE_3, 8, BBB_P9_17,  10*MHZ,10*MHZ),
-    LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_FRAM,    SPI_MODE_0, 8, BBB_P8_12,  6*MHZ, 6*MHZ)
+    LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23,  1*MHZ, 20*MHZ),
+    LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0, SPI_MODE_3, 8, BBB_P9_17,  10*MHZ,10*MHZ),
+    LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_FRAM,    SPI_MODE_0, 8, BBB_P8_12,  6*MHZ, 6*MHZ)
 };
+#else
+// empty device table
+LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[0];
+#endif
 
 // have a separate semaphore per bus
 LinuxSemaphore LinuxSPIDeviceManager::_semaphore[LINUX_SPI_NUM_BUSES];
 int LinuxSPIDeviceManager::_fd[LINUX_SPI_NUM_BUSES];
 
-LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t lowspeed, uint32_t highspeed):
+LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(uint8_t bus, enum AP_HAL::SPIDevice type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t lowspeed, uint32_t highspeed):
     _bus(bus),
     _type(type),
     _mode(mode),
@@ -112,23 +118,27 @@ void LinuxSPIDeviceManager::init(void *)
     }
 }
 
-void LinuxSPIDeviceManager::cs_assert(LinuxSPIDeviceType type)
+void LinuxSPIDeviceManager::cs_assert(enum AP_HAL::SPIDevice type)
 {
     for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
         if (_device[i]._bus != _device[type]._bus) {
             // not the same bus
             continue;
         }
-        if (i != type) {
+        if (_device[i]._type != type) {
             if (_device[i]._cs->read() != 1) {
                 hal.scheduler->panic("two CS enabled at once");
             }
         }
     }
-    _device[type]._cs->write(0);
+    for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
+        if (_device[i]._type == type) {
+            _device[type]._cs->write(0);
+        }
+    }
 }
 
-void LinuxSPIDeviceManager::cs_release(LinuxSPIDeviceType type)
+void LinuxSPIDeviceManager::cs_release(enum AP_HAL::SPIDevice type)
 {
     for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
         if (_device[i]._bus != _device[type]._bus) {
@@ -168,20 +178,12 @@ void LinuxSPIDeviceManager::transaction(LinuxSPIDeviceDriver &driver, const uint
 /*
   return a SPIDeviceDriver for a particular device
  */
-AP_HAL::SPIDeviceDriver* LinuxSPIDeviceManager::device(enum AP_HAL::SPIDevice dev)
+AP_HAL::SPIDeviceDriver *LinuxSPIDeviceManager::device(enum AP_HAL::SPIDevice dev)
 {
-    switch (dev) {
-        case AP_HAL::SPIDevice_MPU6000:
-            return &_device[LINUX_SPI_DEVICE_MPU6000];
-        case AP_HAL::SPIDevice_MPU9250:
-            return &_device[LINUX_SPI_DEVICE_MPU9250];
-        case AP_HAL::SPIDevice_MS5611:
-            return &_device[LINUX_SPI_DEVICE_MS5611];
-        case AP_HAL::SPIDevice_LSM9DS0:
-            return &_device[LINUX_SPI_DEVICE_LSM9DS0];       
-        case AP_HAL::SPIDevice_Dataflash:
-            return &_device[LINUX_SPI_DEVICE_FRAM];   
-
+    for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
+        if (_device[i]._type == dev) {
+            return &_device[i];
+        }
     }
     return NULL;
 }
diff --git a/libraries/AP_HAL_Linux/SPIDriver.h b/libraries/AP_HAL_Linux/SPIDriver.h
index 11ac45e635..9d87fdb156 100644
--- a/libraries/AP_HAL_Linux/SPIDriver.h
+++ b/libraries/AP_HAL_Linux/SPIDriver.h
@@ -5,21 +5,18 @@
 #include <AP_HAL_Linux.h>
 #include "Semaphores.h"
 
-enum LinuxSPIDeviceType {
-    LINUX_SPI_DEVICE_MS5611  = 0,
-    LINUX_SPI_DEVICE_MPU6000 = 1,
-    LINUX_SPI_DEVICE_MPU9250 = 2,
-    LINUX_SPI_DEVICE_LSM9DS0 = 3,
-    LINUX_SPI_DEVICE_FRAM    = 4,
-    LINUX_SPI_DEVICE_NUM_DEVICES = 5
-};
-
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
 #define LINUX_SPI_NUM_BUSES 2
+#define LINUX_SPI_DEVICE_NUM_DEVICES 5
+#else
+#define LINUX_SPI_NUM_BUSES 0
+#define LINUX_SPI_DEVICE_NUM_DEVICES 0
+#endif
 
 class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
 public:
     friend class Linux::LinuxSPIDeviceManager;
-    LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
+    LinuxSPIDeviceDriver(uint8_t bus, enum AP_HAL::SPIDevice type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
     void init();
     AP_HAL::Semaphore *get_semaphore();
     void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
@@ -38,7 +35,7 @@ private:
     uint32_t _lowspeed;
     uint32_t _highspeed;
     uint32_t _speed;
-    LinuxSPIDeviceType _type;
+    enum AP_HAL::SPIDevice _type;
     uint8_t _bus;
 };
 
@@ -49,8 +46,8 @@ public:
 
     static AP_HAL::Semaphore *get_semaphore(uint8_t bus);
 
-    static void cs_assert(enum LinuxSPIDeviceType type);
-    static void cs_release(enum LinuxSPIDeviceType type);
+    static void cs_assert(enum AP_HAL::SPIDevice type);
+    static void cs_release(enum AP_HAL::SPIDevice type);
     static void transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len);
 
 private: