At Space Leap we are experimenting with the Beagle Bone Black and Go for our drones.
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https://github.com/SpaceLeap/go-embedded is a general purpose Embedded Linux package for Go, supporting interfaces like GPIO, ADC, PWM, I2C, and SPI. The package is based on the Adafruit GPIO C/Python libs for the Raspberry Pi and BeagleBone.
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https://github.com/SpaceLeap/go-beaglebone initializes go-embedded for the BeagleBone and offers specific constants, variables and a UART/serial wrapper