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

This commit is contained in:
mirkix 2015-01-10 23:20:38 +00:00 committed by Andrew Tridgell
parent 70445d11f6
commit c58a022111
7 changed files with 23 additions and 12 deletions
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2
libraries/AP_HAL_Linux/GPIO.h
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@ -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"

6
libraries/AP_HAL_Linux/GPIO_BBB.cpp
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@ -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

2
libraries/AP_HAL_Linux/GPIO_BBB.h
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@ -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

12
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -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

5
libraries/AP_HAL_Linux/RCInput_PRU.cpp
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@ -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>

6
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -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];

2
libraries/AP_HAL_Linux/SPIDriver.h
View File

@ -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