ardupilot/Tools/Linux_HAL_Essentials/devicetree/bbbmini/README.md

#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 installto 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