API support for Beaglebone Black Week-7

Following was accomplished this week:

  1. Finished the APIs for encoders and made the overlay file.
  2. Currently in the middle of doing the APIs for servo using PRU. Firmware and assembly for servo and EQep is done, but working with the functions ussing prussdrv for 4.4 kernel.

Goals for next week:

  1. As soon as the PRU APIs are done, I’ll generate a release for the APIs by removing any bugs and prepare the documentation… after which I’ll start working on using these APIs to build a HAL library in ardupilot for Beaglebone blue