AP_HAL_Linux: use GPIO_Sysfs for Edge

libraries/AP_HAL_Linux/GPIO.h

@@ -24,7 +24,6 @@ private:
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 #include "GPIO_BBB.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE   || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
@@ -32,6 +31,8 @@ private:
 #include "GPIO_RPI.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
 #include "GPIO_Navio2.h"
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
+#include "GPIO_Edge.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
 #include "GPIO_Minnow.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP

libraries/AP_HAL_Linux/GPIO_Edge.cpp

@@ -0,0 +1,28 @@
+#include <AP_Common/AP_Common.h>
+
+#include "GPIO_Edge.h"
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
+
+const unsigned Linux::GPIO_Sysfs::pin_table[] = {
+    [EDGE_GPIO_PWM1] =    500,
+    [EDGE_GPIO_PWM2] =    501,
+    [EDGE_GPIO_PWM3] =    502,
+    [EDGE_GPIO_PWM4] =    503,
+    [EDGE_GPIO_PWM5] =    504,
+    [EDGE_GPIO_PWM6] =    505,
+    [EDGE_GPIO_PWM7] =    506,
+    [EDGE_GPIO_PWM8] =    507,
+    [EDGE_GPIO_PWM9] =    508,
+    [EDGE_GPIO_PWM10] =   509,
+    [EDGE_GPIO_PWM11] =   510,
+    [EDGE_GPIO_PWM12] =   511,
+    [EDGE_GPIO_HEAT_ENABLE] = 26,
+};
+
+const uint8_t Linux::GPIO_Sysfs::n_pins = _EDGE_GPIO_MAX;
+
+static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _EDGE_GPIO_MAX,
+              "GPIO pin_table must have the same size of entries in enum gpio_minnow");
+
+#endif

libraries/AP_HAL_Linux/GPIO_Edge.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "GPIO_Sysfs.h"
+
+enum gpio_edge {
+    EDGE_GPIO_PWM1,
+    EDGE_GPIO_PWM2,
+    EDGE_GPIO_PWM3,
+    EDGE_GPIO_PWM4,
+    EDGE_GPIO_PWM5,
+    EDGE_GPIO_PWM6,
+    EDGE_GPIO_PWM7,
+    EDGE_GPIO_PWM8,
+    EDGE_GPIO_PWM9,
+    EDGE_GPIO_PWM10,
+    EDGE_GPIO_PWM11,
+    EDGE_GPIO_PWM12,
+    EDGE_GPIO_HEAT_ENABLE,
+    _EDGE_GPIO_MAX,
+};

libraries/AP_HAL_Linux/GPIO_RPI.cpp

@@ -4,7 +4,6 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
 
 #include <errno.h>

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -111,13 +111,13 @@ static GPIO_BBB gpioDriver;
   use the RPI gpio driver on Navio
  */
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
 static GPIO_RPI gpioDriver;
-#elif  CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
+#elif  CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
+       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
 static GPIO_Sysfs gpioDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \

libraries/AP_HAL_Linux/Heat_Pwm.cpp

@@ -30,6 +30,7 @@
 #include <unistd.h>
 
 #include "Heat_Pwm.h"
+#include "GPIO.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -42,8 +43,8 @@ HeatPwm::HeatPwm(uint8_t pwm_num, float Kp, float Ki, uint32_t period_ns) :
 {
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
     _pwm = new PWM_Sysfs(0, pwm_num);
-    hal.gpio->pinMode(26, HAL_GPIO_OUTPUT);
+    hal.gpio->pinMode(EDGE_GPIO_HEAT_ENABLE, HAL_GPIO_OUTPUT);
-    hal.gpio->write(26, 1);
+    hal.gpio->write(EDGE_GPIO_HEAT_ENABLE, 1);
 #else
     _pwm = new PWM_Sysfs_Bebop(pwm_num);
 #endif