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In our firmware for a BCM20736S we use the following code to disable all GPIOs except the two for the peripheral UART:
if ((i != GPIO_PIN_P32) && (i != GPIO_PIN_P33))
gpio_configurePin(i/16, i%16, GPIO_INPUT_DISABLE | GPIO_PULL_UP_DOWN_NONE, GPIO_PIN_INPUT_LOW);
This sets all GPIOs except P32 (PUART_TX) and P33 (PUART_RX) to high impedance mode.