This project aims to provide a means for controlling the GPIO pins connected to the IO chip of the Pixhawk 6X from Holybro. It will do this through a fork of the nanoMODBUS library created by debevv (https://github.com/debevv/nanoMODBUS). The IO chip will run the MODBUS server which will listen over the UART pins that are connected to the FMU chip of the Pixhawk 6X.

Each GPIO pin will have several registers for determining the type of GPIO each pin should be (binary low speed, PWM, input, etc). Along with the mode register, there will be several registers depending on the way each GPIO pin is intended on being used.