diff --git a/libraries/AP_HAL_Linux/GPIO.h b/libraries/AP_HAL_Linux/GPIO.h
index 0281c14be6..4b8ec5fa22 100644
--- a/libraries/AP_HAL_Linux/GPIO.h
+++ b/libraries/AP_HAL_Linux/GPIO.h
@@ -28,7 +28,8 @@ private:
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 #include "GPIO_RPI.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
 #include "GPIO_Navigator.h"
diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.cpp b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
index 58cf04d0f3..974e6523e4 100644
--- a/libraries/AP_HAL_Linux/GPIO_RPI.cpp
+++ b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
@@ -5,7 +5,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 
 #include <assert.h>
 #include <errno.h>
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 0fc691598b..6618e83bc3 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -57,7 +57,8 @@ using namespace Linux;
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR ||  \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 static UtilRPI utilInstance;
 #else
 static Util utilInstance;
@@ -90,7 +91,8 @@ static UARTDriver uartBDriver(false);
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR|| \
-    ((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1))
+    ((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1)) || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 static AnalogIn_ADS1115 analogIn;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
@@ -123,7 +125,8 @@ static GPIO_BBB gpioDriver;
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 static GPIO_RPI gpioDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
 static GPIO_Navigator gpioDriver;
@@ -154,7 +157,8 @@ static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_RCProtocol(NU
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 static RCInput_RPI rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
@@ -219,6 +223,8 @@ static RCOutput_Sysfs rcoutDriver(0, 0, 15);
 static RCOutput_Sysfs rcoutDriver(0, 0, 8);
 #elif  CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
 static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+static RCOutput_Sysfs rcoutDriver(0, 0, 2);
 #else
 static Empty::RCOutput rcoutDriver;
 #endif
diff --git a/libraries/AP_HAL_Linux/RCInput_RPI.cpp b/libraries/AP_HAL_Linux/RCInput_RPI.cpp
index d53ce57ea7..c2d24f3c29 100644
--- a/libraries/AP_HAL_Linux/RCInput_RPI.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_RPI.cpp
@@ -5,7 +5,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH ||           \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK ||         \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI ||      \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 ||      \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 #include <assert.h>
 #include <errno.h>
 #include <fcntl.h>
diff --git a/libraries/AP_HAL_Linux/SPIDevice.cpp b/libraries/AP_HAL_Linux/SPIDevice.cpp
index 4d3e922561..a23ab1ca7d 100644
--- a/libraries/AP_HAL_Linux/SPIDevice.cpp
+++ b/libraries/AP_HAL_Linux/SPIDevice.cpp
@@ -97,6 +97,11 @@ SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("mpu9250",    0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
     SPIDesc("ms5611",     0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*KHZ, 10*MHZ),
 };
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+SPIDesc SPIDeviceManager::_device[] = {
+    SPIDesc("mpu9250",    0, 1, 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_BBBMINI
 SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("mpu9250",    2, 0, SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index b8a8f48706..d196ef9796 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -37,7 +37,8 @@ extern const AP_HAL::HAL& hal;
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 #define APM_LINUX_RCIN_RATE             500
 #define APM_LINUX_IO_RATE               50
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
diff --git a/libraries/AP_HAL_Linux/Util_RPI.cpp b/libraries/AP_HAL_Linux/Util_RPI.cpp
index 4575a7dccc..9f464374d7 100644
--- a/libraries/AP_HAL_Linux/Util_RPI.cpp
+++ b/libraries/AP_HAL_Linux/Util_RPI.cpp
@@ -8,7 +8,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 
 #include <errno.h>
 #include <stdarg.h>