I’m currently running the bone-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz image from a miniSD card. I’ve updated all of my packages with apt upgrade. It appears as if everything is working except for I2C2, so I cannot communicate with the MPU. I have downloaded the librobotcontrol source and installed devscripts, but have not built it on the image I’m currently running. I’ve played around with it previously and had similar results (as expected).
I have a debian 12.2 image running on the eMMC. This is not an image that shows up when I filter the list of images for BB Black Industrial only. When I boot this image, I can run rc_test_mpu -m, and communication with the MPU is fine, but many other things aren’t.
I’m posting what I feel is the most useful information below, but I have gathered plenty of other information. I converted the am335x-boneblack-roboticscape.dtb to dts files on both platforms and diffed them, but I am out of my depth with low level hardware configuration and have been afraid to experiment with config-pin.
I’m hoping for a solution that just gets my MPU working along with everything else on the cape. For what I’m doing (launching this in a rocket), I don’t need this to be the most up to date or most secure system. I just need it to work.
Thank you for your help!
========== dmesg ==========
debian@beaglebone:~$ dmesg | grep i2c
[ 0.296013] omap_i2c 4802a000.i2c: bus 1 rev0.11 at 400 kHz
[ 2.455637] i2c /dev entries driver
[ 2.812430] input: tps65217_pwr_but as /devices/platform/ocp/44e0b000.i2c/i2c-0/0-0024/tps65217-pwrbutton/input/input0
[ 2.837759] omap_i2c 44e0b000.i2c: bus 0 rev0.11 at 400 kHz
[ 2.843906] pinctrl-single 44e10800.pinmux: pin PIN94 already requested by ocp:helper; cannot claim for 4819c000.i2c
[ 2.854521] pinctrl-single 44e10800.pinmux: pin-94 (4819c000.i2c) status -22
[ 2.861639] pinctrl-single 44e10800.pinmux: could not request pin 94 (PIN94) from group pinmux_i2c2_pins on device pinctrl-single
[ 2.873454] omap_i2c 4819c000.i2c: Error applying setting, reverse things back
[ 2.880777] omap_i2c: probe of 4819c000.i2c failed with error -22
========== version.sh ==========
debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh
[sudo] password for debian:
git:/opt/scripts/:[b39ec679648a6be8f25f48bd1c9784c1fc5a0c46]
eeprom:[A335BNLTEIA02323SBI01119]
model:[TI_AM335x_BeagleBone_Black_RoboticsCape]
dogtag:[BeagleBoard.org Debian Buster IoT Image 2020-04-06]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.04-00002-g07d5700e21]:[location: dd MBR]
kernel:[4.19.94-ti-r42]
nodejs:[v10.24.0]
device-tree-override:[dtb=am335x-boneblack-roboticscape.dtb]
/boot/uEnv.txt Settings:
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~buster+20230414]
pkg:[kmod]:[26-1]
pkg:[librobotcontrol]:[1.0.5-git20200715.0-0~buster+20200716]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal bluetooth netdev i2c gpio pwm eqep remoteproc admin spi iio docker tisdk weston-launch xenomai cloud9ide]
cmdline:[console=ttyS0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M]
dmesg | grep remote
[ 38.503147] remoteproc remoteproc0: wkup_m3 is available
[ 38.712655] remoteproc remoteproc0: powering up wkup_m3
[ 38.732115] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217168
[ 38.764373] remoteproc remoteproc0: remote processor wkup_m3 is now up
[ 41.344154] remoteproc remoteproc1: 4a334000.pru is available
[ 41.446266] remoteproc remoteproc2: 4a338000.pru is available
dmesg | grep pru
[ 41.344154] remoteproc remoteproc1: 4a334000.pru is available
[ 41.388312] pru-rproc 4a334000.pru: PRU rproc node pru@4a334000 probed successfully
[ 41.446266] remoteproc remoteproc2: 4a338000.pru is available
[ 41.496212] pru-rproc 4a338000.pru: PRU rproc node pru@4a338000 probed successfully
dmesg | grep pinctrl-single
[ 0.942256] pinctrl-single 44e10800.pinmux: 142 pins, size 568
[ 2.843906] pinctrl-single 44e10800.pinmux: pin PIN94 already requested by ocp:helper; cannot claim for 4819c000.i2c
[ 2.854521] pinctrl-single 44e10800.pinmux: pin-94 (4819c000.i2c) status -22
[ 2.861639] pinctrl-single 44e10800.pinmux: could not request pin 94 (PIN94) from group pinmux_i2c2_pins on device pinctrl-single
dmesg | grep gpio-of-helper
lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END
========== model/version/drivers ==========
debian@beaglebone:~$ rc_model
Currently running on a:
MODEL_BB_BLACK_RC
model category:
CATEGORY_BEAGLEBONE
debian@beaglebone:~$ rc_version
1.0.5
debian@beaglebone:~$ rc_test_drivers
Kernel: 4.19.94-ti-r42
BeagleBoard.org Debian Buster IoT Image 2020-04-06
Debian: 10.13
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
PASSED: pwm0
PASSED: pwm1
PASSED: pwm2
PASSED: eqep0
PASSED: eqep1
PASSED: eqep2
PASSED: pru-rproc
PASSED: uart1
PASSED: uart2
PASSED: uart4
PASSED: uart5
PASSED: i2c1
ERROR: i2c2 driver not loaded
PASSED: spi
PASSED: LED
PASSED: ADC iio
Currently running on a:
MODEL_BB_BLACK_RC
Robot Control library Version:
1.0.5
========== i2cdetect ==========
root@beaglebone:/dev# i2cdetect -l
i2c-1 i2c OMAP I2C adapter I2C adapter
i2c-0 i2c OMAP I2C adapter I2C adapter
root@beaglebone:/dev# i2cdetect -F 0
Functionalities implemented by /dev/i2c-0:
I2C yes
SMBus Quick Command no
SMBus Send Byte yes
SMBus Receive Byte yes
SMBus Write Byte yes
SMBus Read Byte yes
SMBus Write Word yes
SMBus Read Word yes
SMBus Process Call yes
SMBus Block Write yes
SMBus Block Read no
SMBus Block Process Call no
SMBus PEC yes
I2C Block Write yes
I2C Block Read yes
root@beaglebone:/dev# i2cdetect -F 1
Functionalities implemented by /dev/i2c-1:
I2C yes
SMBus Quick Command no
SMBus Send Byte yes
SMBus Receive Byte yes
SMBus Write Byte yes
SMBus Read Byte yes
SMBus Write Word yes
SMBus Read Word yes
SMBus Process Call yes
SMBus Block Write yes
SMBus Block Read no
SMBus Block Process Call no
SMBus PEC yes
I2C Block Write yes
I2C Block Read yes
root@beaglebone:/dev# i2cdetect -y 0
Warning: Can’t use SMBus Quick Write command, will skip some addresses
0 1 2 3 4 5 6 7 8 9 a b c d e f
00:
10:
20:
30: – – – – 34 – – –
40:
50: UU – – – – – – – – – – – – – – –
60:
70:
root@beaglebone:/dev# i2cdetect -y 1
Warning: Can’t use SMBus Quick Write command, will skip some addresses
0 1 2 3 4 5 6 7 8 9 a b c d e f
00:
10:
20:
30: – – – – – – – –
40:
50: – – – – – – – – – – – – – – – –
60:
70:
========== pimux-pins ==========
root@beaglebone:/sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single# cat pinmux-pins
Pinmux settings per pin
Format: pin (name): mux_owner gpio_owner hog?
pin 0 (PIN0): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 1 (PIN1): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 2 (PIN2): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 3 (PIN3): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 4 (PIN4): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 5 (PIN5): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 6 (PIN6): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 7 (PIN7): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 8 (PIN8): 48302200.pwm (GPIO UNCLAIMED) function pinmux_P8_19_pwm_pin group pinmux_P8_19_pwm_pin
pin 9 (PIN9): 48302200.pwm (GPIO UNCLAIMED) function pinmux_P8_13_pwm_pin group pinmux_P8_13_pwm_pin
pin 10 (PIN10): leds (GPIO UNCLAIMED) function pinmux_led_pins group pinmux_led_pins
pin 11 (PIN11): leds (GPIO UNCLAIMED) function pinmux_led_pins group pinmux_led_pins
pin 12 (PIN12): 48304180.eqep (GPIO UNCLAIMED) function pinmux_P8_12_qep_pin group pinmux_P8_12_qep_pin
pin 13 (PIN13): 48304180.eqep (GPIO UNCLAIMED) function pinmux_P8_11_qep_pin group pinmux_P8_11_qep_pin
pin 14 (PIN14): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 15 (PIN15): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 16 (PIN16): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 17 (PIN17): ocp:P9_23_pinmux (GPIO UNCLAIMED) function pinmux_P9_23_gpio_pin group pinmux_P9_23_gpio_pin
pin 18 (PIN18): 48304200.pwm (GPIO UNCLAIMED) function pinmux_P9_14_pwm_pin group pinmux_P9_14_pwm_pin
pin 19 (PIN19): 48304200.pwm (GPIO UNCLAIMED) function pinmux_P9_16_pwm_pin group pinmux_P9_16_pwm_pin
pin 20 (PIN20): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 21 (PIN21): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 22 (PIN22): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 23 (PIN23): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 24 (PIN24): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 25 (PIN25): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 26 (PIN26): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 27 (PIN27): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 28 (PIN28): ocp:P9_11_pinmux (GPIO UNCLAIMED) function pinmux_P9_11_default_pin group pinmux_P9_11_default_pin
pin 29 (PIN29): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 30 (PIN30): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 31 (PIN31): leds (GPIO UNCLAIMED) function pinmux_led_pins group pinmux_led_pins
pin 32 (PIN32): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 33 (PIN33): 481d8000.mmc (GPIO UNCLAIMED) function pinmux_emmc_pins group pinmux_emmc_pins
pin 34 (PIN34): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 35 (PIN35): leds (GPIO UNCLAIMED) function pinmux_led_pins group pinmux_led_pins
pin 36 (PIN36): leds (GPIO UNCLAIMED) function pinmux_led_pins group pinmux_led_pins
pin 37 (PIN37): leds (GPIO UNCLAIMED) function pinmux_led_pins group pinmux_led_pins
pin 38 (PIN38): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 39 (PIN39): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 40 (PIN40): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 41 (PIN41): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 42 (PIN42): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 43 (PIN43): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 44 (PIN44): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 45 (PIN45): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 46 (PIN46): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 47 (PIN47): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 48 (PIN48): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 49 (PIN49): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 50 (PIN50): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 51 (PIN51): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 52 (PIN52): 48302180.eqep (GPIO UNCLAIMED) function pinmux_P8_35_qep_pin group pinmux_P8_35_qep_pin
pin 53 (PIN53): 48302180.eqep (GPIO UNCLAIMED) function pinmux_P8_33_qep_pin group pinmux_P8_33_qep_pin
pin 54 (PIN54): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 55 (PIN55): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 56 (PIN56): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 57 (PIN57): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 58 (PIN58): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 59 (PIN59): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 60 (PIN60): 48060000.mmc (GPIO UNCLAIMED) function pinmux_mmc1_pins group pinmux_mmc1_pins
pin 61 (PIN61): 48060000.mmc (GPIO UNCLAIMED) function pinmux_mmc1_pins group pinmux_mmc1_pins
pin 62 (PIN62): 48060000.mmc (GPIO UNCLAIMED) function pinmux_mmc1_pins group pinmux_mmc1_pins
pin 63 (PIN63): 48060000.mmc (GPIO UNCLAIMED) function pinmux_mmc1_pins group pinmux_mmc1_pins
pin 64 (PIN64): 48060000.mmc (GPIO UNCLAIMED) function pinmux_mmc1_pins group pinmux_mmc1_pins
pin 65 (PIN65): 48060000.mmc (GPIO UNCLAIMED) function pinmux_mmc1_pins group pinmux_mmc1_pins
pin 66 (PIN66): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 67 (PIN67): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 68 (PIN68): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 69 (PIN69): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 70 (PIN70): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 71 (PIN71): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 72 (PIN72): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 73 (PIN73): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 74 (PIN74): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 75 (PIN75): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 76 (PIN76): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 77 (PIN77): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 78 (PIN78): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 79 (PIN79): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 80 (PIN80): 4a100000.ethernet (GPIO UNCLAIMED) function cpsw_default group cpsw_default
pin 81 (PIN81): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 82 (PIN82): 4a101000.mdio (GPIO UNCLAIMED) function davinci_mdio_default group davinci_mdio_default
pin 83 (PIN83): 4a101000.mdio (GPIO UNCLAIMED) function davinci_mdio_default group davinci_mdio_default
pin 84 (PIN84): ocp:P9_22_pinmux (GPIO UNCLAIMED) function pinmux_P9_22_uart_pin group pinmux_P9_22_uart_pin
pin 85 (PIN85): ocp:P9_21_pinmux (GPIO UNCLAIMED) function pinmux_P9_21_uart_pin group pinmux_P9_21_uart_pin
pin 86 (PIN86): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 87 (PIN87): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 88 (PIN88): 48060000.mmc (GPIO UNCLAIMED) function pinmux_mmc1_pins group pinmux_mmc1_pins
pin 89 (PIN89): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 90 (PIN90): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 91 (PIN91): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 92 (PIN92): 44e09000.serial (GPIO UNCLAIMED) function pinmux_uart0_pins group pinmux_uart0_pins
pin 93 (PIN93): 44e09000.serial (GPIO UNCLAIMED) function pinmux_uart0_pins group pinmux_uart0_pins
pin 94 (PIN94): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 95 (PIN95): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 96 (PIN96): ocp:P9_26_pinmux (GPIO UNCLAIMED) function pinmux_P9_26_uart_pin group pinmux_P9_26_uart_pin
pin 97 (PIN97): ocp:P9_24_pinmux (GPIO UNCLAIMED) function pinmux_P9_24_uart_pin group pinmux_P9_24_uart_pin
pin 98 (PIN98): 44e0b000.i2c (GPIO UNCLAIMED) function pinmux_i2c0_pins group pinmux_i2c0_pins
pin 99 (PIN99): 44e0b000.i2c (GPIO UNCLAIMED) function pinmux_i2c0_pins group pinmux_i2c0_pins
pin 100 (PIN100): ocp:P9_31_pinmux (GPIO UNCLAIMED) function pinmux_P9_31_spi_sclk_pin group pinmux_P9_31_spi_sclk_pin
pin 101 (PIN101): ocp:P9_29_pinmux (GPIO UNCLAIMED) function pinmux_P9_29_spi_pin group pinmux_P9_29_spi_pin
pin 102 (PIN102): ocp:P9_30_pinmux (GPIO UNCLAIMED) function pinmux_P9_30_spi_pin group pinmux_P9_30_spi_pin
pin 103 (PIN103): ocp:P9_28_pinmux (GPIO UNCLAIMED) function pinmux_P9_28_spi_cs_pin group pinmux_P9_28_spi_cs_pin
pin 104 (PIN104): 48300180.eqep (GPIO UNCLAIMED) function pinmux_P9_92_qep_pin group pinmux_P9_92_qep_pin
pin 105 (PIN105): 48300180.eqep (GPIO UNCLAIMED) function pinmux_P9_27_qep_pin group pinmux_P9_27_qep_pin
pin 106 (PIN106): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 107 (PIN107): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 108 (PIN108): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 109 (PIN109): ocp:helper (GPIO UNCLAIMED) function pins group pins
pin 110 (PIN110): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 111 (PIN111): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 112 (PIN112): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 113 (PIN113): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 114 (PIN114): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 115 (PIN115): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 116 (PIN116): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 117 (PIN117): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 118 (PIN118): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 119 (PIN119): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 120 (PIN120): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 121 (PIN121): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 122 (PIN122): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 123 (PIN123): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 124 (PIN124): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 125 (PIN125): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 126 (PIN126): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 127 (PIN127): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 128 (PIN128): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 129 (PIN129): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 130 (PIN130): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 131 (PIN131): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 132 (PIN132): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 133 (PIN133): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 134 (PIN134): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 135 (PIN135): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 136 (PIN136): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 137 (PIN137): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 138 (PIN138): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 139 (PIN139): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 140 (PIN140): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 141 (PIN141): (MUX UNCLAIMED) (GPIO UNCLAIMED)