From ee0f3c5f5141a5fb8fb1cf9bbad2dad83f9d0c42 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Thu, 31 Aug 2023 19:31:47 -0300
Subject: [PATCH] AP_HAL_Linux: update Navigator available GPIOs
The comment was wrong. gpio 26 is actually used for the PCA Output Enable signal.
This also adds GPIO18, which is the one broken out to the PWM0 pin
---
libraries/AP_HAL_Linux/GPIO_Navigator.h | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_HAL_Linux/GPIO_Navigator.h b/libraries/AP_HAL_Linux/GPIO_Navigator.h
index 56ba66051f..1310c91d42 100644
--- a/libraries/AP_HAL_Linux/GPIO_Navigator.h
+++ b/libraries/AP_HAL_Linux/GPIO_Navigator.h
@@ -14,8 +14,9 @@ public:
uint8_t read(uint8_t pin) override;
void write(uint8_t pin, uint8_t value) override;
private:
- uint8_t AllowedGPIOS[2] = {
- RPI_GPIO_<26>(), // Aux Output for PWMs
+ uint8_t AllowedGPIOS[3] = {
+ RPI_GPIO_<18>(), // Aux Output for PWMs
+ RPI_GPIO_<26>(), // PCA OUTPUT_ENABLE
RPI_GPIO_<27>() // Leak detection
};
bool pinAllowed(uint8_t pin);