ardupilot/Tools/Linux_HAL_Essentials/devicetree/bbbmini

#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