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

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#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 Remark
P8.15 RC_IN RC Out (Spektrum / PPM-sum)

RCOutput

BBB ESC / Servo Remark
P8.28 RC_OUT_CH_1 Use level shifter 3.3 Volt to 5 Volt
P8.27 RC_OUT_CH_2 Use level shifter 3.3 Volt to 5 Volt
P8.30 RC_OUT_CH_3 Use level shifter 3.3 Volt to 5 Volt
P8.29 RC_OUT_CH_4 Use level shifter 3.3 Volt to 5 Volt
P8.40 RC_OUT_CH_5 Use level shifter 3.3 Volt to 5 Volt
P8.39 RC_OUT_CH_6 Use level shifter 3.3 Volt to 5 Volt
P8.42 RC_OUT_CH_7 Use level shifter 3.3 Volt to 5 Volt
P8.41 RC_OUT_CH_8 Use level shifter 3.3 Volt to 5 Volt
P8.44 RC_OUT_CH_9 Use level shifter 3.3 Volt to 5 Volt
P8.43 RC_OUT_CH_10 Use level shifter 3.3 Volt to 5 Volt
P8.46 RC_OUT_CH_11 Use level shifter 3.3 Volt to 5 Volt
P8.45 RC_OUT_CH_12 Use level shifter 3.3 Volt to 5 Volt

SPI0

BBB Sensor Remark
P9.22 SPI0_SCLK not used
P9.21 SPI0_MISO not used
P9.18 SPI0_MOSI not used
P9.17 SPI0_CS not used

SPI1

BBB Sensor Remark
P9.31 SPI1_SCLK MPU9250, MS5611
P9.29 SPI1_MISO MPU9250, MS5611
P9.30 SPI1_MOSI MPU9250, MS5611
P9.28 SPI1_CS0 MPU9250 CS
P9.19 SPI1_CS1 MS5611 CS

UART4

BBB Sensor Remark
P9.11 UART4_RXD not used
P9.13 UART4_TXD not used

UART5 GPS

38400,8,n,1

BBB Sensor Remark
P8.38 UART5_RXD GPS_TXD
P8.37 UART5_TXD GPS_RXD

Sound (PWM)

BBB Speaker Remark
P8.36 PWM Use a power amplifier