#Hardware

## Load device tree
To load the BBBMINI device tree type `startup.sh load`.

## Build dtbo file
To rebuild the dtbo file type `make` and than `make install`to copy the dtbo file to `/lib/firmware`.

## Pin assigment

### RCInput
BBB | RC Receiver | I/O | Remark
------------ | ------------- | ------------- | -------------
P9.01 DGND | GND | | 
P9.03 VDD_3V3 | VDD | |
P8.15 RC_IN | RC Out | IN | 3.3 Volt (Spektrum / PPM-sum) 

### RCOutput
BBB | ESC / Servo | I/O | Remark
------------ | ------------- | ------------- | -------------
P8.01 DGND | GND | 
P8.28 | RC_OUT_CH_1 | OUT | 3.3 Volt
P8.27 | RC_OUT_CH_2 | OUT | 3.3 Volt
P8.30 | RC_OUT_CH_3 | OUT | 3.3 Volt
P8.29 | RC_OUT_CH_4 | OUT | 3.3 Volt
P8.40 | RC_OUT_CH_5 | OUT | 3.3 Volt
P8.39 | RC_OUT_CH_6 | OUT | 3.3 Volt
P8.42 | RC_OUT_CH_7 | OUT | 3.3 Volt
P8.41 | RC_OUT_CH_8 | OUT | 3.3 Volt
P8.44 | RC_OUT_CH_9 | OUT | 3.3 Volt
P8.43 | RC_OUT_CH_10 | OUT | 3.3 Volt
P8.46 | RC_OUT_CH_11 | OUT | 3.3 Volt
P8.45 | RC_OUT_CH_12 | OUT | 3.3 Volt

### IMU MPU-9250
BBB | MPU-9250 | I/O | Remark
------------ | ------------- | ------------- | -------------
P9.01 DGND | GND | |
P9.03 VDD_3V3 | VDD | |
P9.28 MPU9250_CS | MPU9250_CS | OUT | 3.3 Volt
P9.29 SPI1_MISO | MISO / SD0 | IN | 3.3 Volt
P9.30 SPI1_MOSI | MOSI / SD1 | OUT | 3.3 Volt
P9.31 SPI1_SCLK | SCLK / SCL | OUT | 3.3 Volt


### Baro MS 5611
BBB | MS 5611 | I/O | Remark
------------ | ------------- | ------------- | -------------
P9.01 DGND | GND | |
P9.03 VDD_3V3 | VDD | |
P9.29 SPI1_MISO | MISO / SDO | IN | 3.3 Volt
P9.30 SPI1_MOSI | MOSI / SD1 | OUT | 3.3 Volt
P9.31 SPI1_SCLK | SCLK / SCL | OUT | 3.3 Volt
P9.42 MS5611_CS | MS5611_CS | OUT | 3.3 Volt


### UART4 MAVLink radio module
Baudrate 57600, 8, n, 1

BBB | Radio | I/O | Remark
------------ | ------------- | ------------- | -------------
P9.01 DGND | GND | 
P9.13 TX | RADIO_RX | OUT | 3.3 Volt 
P9.11 RX | RADIO_TX | IN | 3.3 Volt


### UART5 GPS
Baudrate 38400, 8, n, 1

BBB | GPS | I/O | Remark
------------ | ------------- | ------------- | -------------
P8.01 DGND | GND | 
P8.37 TX | GPS_RX | OUT | 3.3 Volt 
P8.38 RX | GPS_TX | IN | 3.3 Volt


### CAN1 UAVCAN
You have to use a CAN transceiver (e.g. MCP 2562-E/P) for CAN datatransfer.

BBB | I/O | Remark
------------ | ------------- | -------------
P9.24 RX | IN | 3.3 Volt 
P9.26 TX | OUT | 3.3 Volt

### Sound (PWM)

BBB | Speaker | Remark
------------ | ------------- | ------------- 
P8.36 | PWM | Use a power amplifier