#pragma once #include "GPIO_RPI.h" using namespace Linux; extern const AP_HAL::HAL& hal; class GPIO_Navigator : public GPIO_RPI { public: void pinMode(uint8_t pin, uint8_t output) override; void pinMode(uint8_t pin, uint8_t output, uint8_t alt) override; uint8_t read(uint8_t pin) override; void write(uint8_t pin, uint8_t value) override; private: 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); };