Ardupilot Mapping
Reference links:
PWM
M1 | PA8 | 5 V tolerant I/O | PWM1 GPIO50 | TIM1_CH1 | Group1 |
M2 | PE11 | 5 V tolerant I/O | PWM2 GPIO51 | TIM1_CH2 | Group1 |
M3 | PE13 | 5 V tolerant I/O | PWM3 GPIO52 | TIM1_CH3 | Group1 |
M4 | PE14 | 5 V tolerant I/O | PWM4 GPIO53 | TIM1_CH4 | Group1 |
M5 | PD14 | 5 V tolerant I/O | PWM5 GPIO54 | TIM4_CH3 | Group2 |
M6 | PD15 | 5 V tolerant I/O | PWM6 GPIO55 | TIM4_CH4 | Group2 |
M7 | PA0 | 5 V tolerant I/O | PWM7 GPIO56 | TIM5_CH1 | Group3 |
M8 | PA1 | 5 V tolerant I/O | PWM8 GPIO57 | TIM5_CH2 | Group3 |
M9 | PE5 | 5 V tolerant I/O | PWM9 GPIO58 | TIM15_CH1 | Group4 |
M10 | PE6 | 5 V tolerant I/O | PWM10 GPIO59 | TIM15_CH2 | Group4 |
M11 | PB5 | 5 V tolerant I/O | PWM11 GPIO60 | TIM3_CH2 | Group5 |
M12 | PB0 | 5 V tolerant I/O | PWM12 GPIO61 | TIM3_CH3 | Group5 |
M13 | PB1 | 3.3 V tolerant I/O | PWM13 GPIO62 | TIM3_CH4 | Group5 |
M14 | PA15 | 5 V tolerant I/O | PWM14 GPIO63 | TIM2_CH1 | Group6 |
PWM1~PWM14 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs.
If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC must run at 50Hz in this group.
ADC
Vbat1 Pad 1.5K:25.5K | PC5 | 0~36V | Vbat ADC onboard battery voltage sense | BATT_VOLT_PIN: BATT_VOLT_MULT: | 8 18.18 |
Current1 Pad | PC4 | 0~3.3V | Current ADC onboard current sense | BATT_CURR_PIN: BATT_AMP_PERVLT: | 4 36.36 |
RSSI Pad | PC0 | 0~3.3V | RSSI ADC Analog RSSI | RSSI_ANA_PIN: RSSI_TYPE: | 10 1 |
Vbat2 Pad 1.5K:25.5K | PA3 | 0~36V | Vbat2 ADC | BATT2_VOLT_PIN: BATT2_VOLT_MULT: | 15 18.18 |
Current 2 Pad | PA2 | 0~3.3V | Current2 ADC | BATT2_CURR_PIN: BATT2_AMP_PERVL: | 14 N/A |
I2C
I2C1 CL1/DA1 (GPS Port) | PB8/PB7 | 5 V tolerant I/O | Compass | QMC5883 / HMC5883 / MAG3110 / LIS3MDL/ etc | - |
I2C2 CL2/DA2 (I2C Port) | PB10/PB11 | 5 V tolerant I/O | Digital Airspeed sensor I2C | ARSPD_BUS | 2 |
I2C4 | PD12/13 | 5 V tolerant I/O | Onboard Barometer | BMP280 | - |
UART
USB | PA11/PA12 | 5 V tolerant I/O | USB | console | SERIAL0 |
RX7 TX7 RTS7 CTS7 | PE7/8/9/10 | 3.3 V tolerant I/O | UART7 | telem1 | SERIAL1 |
TX2 RX2 | PD5/PD6 | 5 V tolerant I/O | UART2 | telem2 | SERIAL2 |
TX1 RX1 | PB6/PA10 | 5 V tolerant I/O | UART1 | GPS1 | SERIAL3 |
TX3 RX3 | PD8/PD9 | 5 V tolerant I/O | UASRT3 | GPS2 | SERIAL4 |
TX5 RX5 | PB13/PD2 | 5 V tolerant I/O | USART5 | USER | SERIAL5 |
TX6 TX6 | PC6/PC7 | 5 V tolerant I/O | USART6 | RC input Receiver | SERIAL6 |
TX8 RX8 | PE1/PE0 | 5 V tolerant I/O | UART8 | User | SERIAL8 |
CAN
(CAN1, PD0/PD1, 5 V tolerant I/O)
CAN Node | CAN_D1_PROTOCOL | 1 |
CAN Node | CAN_P1_DRIVER | 1 |
CAN GPS | GPS_TYPE | 9 |
CAN Compass | COMPASS_TYPEMASK | - |
CAN Airspeed sensor | ARSPD_TYPE | 8 |
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