# Ardupilot Mapping

{% hint style="info" %}
**Reference links:**

* [Ardupilot Wiki page](https://ardupilot.org/copter/docs/common-kakuteh7wing.html)
* [Ardupilot hwdef.dat ](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-Wing/hwdef.dat)
  {% endhint %}

## PWM

<table data-header-hidden><thead><tr><th width="94"></th><th width="82"></th><th width="171"></th><th width="162"></th><th width="121"></th><th width="102"></th></tr></thead><tbody><tr><td>M1</td><td>PA8</td><td>5 V tolerant I/O</td><td>PWM1 GPIO50</td><td>TIM1_CH1</td><td>Group1</td></tr><tr><td>M2</td><td>PE11</td><td>5 V tolerant I/O</td><td>PWM2 GPIO51</td><td>TIM1_CH2</td><td>Group1</td></tr><tr><td>M3</td><td>PE13</td><td>5 V tolerant I/O</td><td>PWM3 GPIO52</td><td>TIM1_CH3</td><td>Group1</td></tr><tr><td>M4</td><td>PE14</td><td>5 V tolerant I/O</td><td>PWM4 GPIO53</td><td>TIM1_CH4</td><td>Group1</td></tr><tr><td>M5</td><td>PD14</td><td>5 V tolerant I/O</td><td>PWM5 GPIO54</td><td>TIM4_CH3</td><td>Group2</td></tr><tr><td>M6</td><td>PD15</td><td>5 V tolerant I/O</td><td>PWM6 GPIO55</td><td>TIM4_CH4</td><td>Group2</td></tr><tr><td>M7</td><td>PA0</td><td>5 V tolerant I/O</td><td>PWM7 GPIO56</td><td>TIM5_CH1</td><td>Group3</td></tr><tr><td>M8</td><td>PA1</td><td>5 V tolerant I/O</td><td>PWM8 GPIO57</td><td>TIM5_CH2</td><td>Group3</td></tr><tr><td>M9</td><td>PE5</td><td>5 V tolerant I/O</td><td>PWM9 GPIO58</td><td>TIM15_CH1</td><td>Group4</td></tr><tr><td>M10</td><td>PE6</td><td>5 V tolerant I/O</td><td>PWM10 GPIO59</td><td>TIM15_CH2</td><td>Group4</td></tr><tr><td>M11</td><td>PB5</td><td>5 V tolerant I/O</td><td>PWM11 GPIO60</td><td>TIM3_CH2</td><td>Group5</td></tr><tr><td>M12</td><td>PB0</td><td>5 V tolerant I/O</td><td>PWM12 GPIO61</td><td>TIM3_CH3</td><td>Group5</td></tr><tr><td>M13</td><td>PB1</td><td>3.3 V tolerant I/O</td><td>PWM13 GPIO62</td><td>TIM3_CH4</td><td>Group5</td></tr><tr><td>M14</td><td>PA15</td><td>5 V tolerant I/O</td><td>PWM14 GPIO63</td><td>TIM2_CH1</td><td>Group6</td></tr></tbody></table>

{% hint style="info" %}
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.
{% endhint %}

## ADC

<table data-header-hidden><thead><tr><th width="127"></th><th width="69"></th><th width="101"></th><th width="158"></th><th width="191"></th><th></th></tr></thead><tbody><tr><td>Vbat1 Pad<br>1.5K:25.5K</td><td>PC5</td><td>0~36V</td><td>Vbat ADC<br>onboard battery voltage sense</td><td>BATT_VOLT_PIN:<br>BATT_VOLT_MULT:</td><td>8<br>18.18</td></tr><tr><td>Current1 Pad</td><td>PC4</td><td>0~3.3V</td><td>Current ADC<br>onboard current sense</td><td>BATT_CURR_PIN:<br>BATT_AMP_PERVLT:</td><td>4<br>36.36</td></tr><tr><td>RSSI Pad</td><td>PC0</td><td>0~3.3V</td><td>RSSI ADC<br>Analog RSSI</td><td>RSSI_ANA_PIN:<br>RSSI_TYPE:</td><td>10<br>1</td></tr><tr><td>Vbat2 Pad<br>1.5K:25.5K</td><td>PA3</td><td>0~36V</td><td>Vbat2 ADC</td><td>BATT2_VOLT_PIN:<br>BATT2_VOLT_MULT:</td><td>15<br>18.18</td></tr><tr><td>Current 2 Pad</td><td>PA2</td><td>0~3.3V</td><td>Current2 ADC</td><td>BATT2_CURR_PIN:<br>BATT2_AMP_PERVL:</td><td>14<br>N/A</td></tr></tbody></table>

## I2C

<table data-header-hidden><thead><tr><th width="132"></th><th width="106"></th><th width="128"></th><th></th><th width="132"></th><th></th></tr></thead><tbody><tr><td>I2C1<br>CL1/DA1<br>(GPS Port)</td><td>PB8/PB7</td><td>5 V tolerant I/O</td><td>Compass</td><td>QMC5883 / HMC5883 /<br>MAG3110 / LIS3MDL/ etc</td><td>-</td></tr><tr><td>I2C2<br>CL2/DA2<br>(I2C Port)</td><td>PB10/PB11</td><td>5 V tolerant I/O</td><td>Digital Airspeed sensor I2C</td><td>ARSPD_BUS</td><td>2</td></tr><tr><td> I2C4</td><td>PD12/13</td><td>5 V tolerant I/O</td><td>Onboard Barometer</td><td>BMP280</td><td>-</td></tr></tbody></table>

## UART

<table data-header-hidden><thead><tr><th width="147"></th><th width="120"></th><th width="158"></th><th width="99.17915904936015"></th><th width="114"></th><th width="109"></th></tr></thead><tbody><tr><td>USB</td><td>PA11/PA12</td><td>5 V tolerant I/O</td><td>USB</td><td>console</td><td>SERIAL0</td></tr><tr><td>RX7 TX7 RTS7 CTS7</td><td>PE7/8/9/10</td><td>3.3 V tolerant I/O</td><td>UART7</td><td>telem1</td><td>SERIAL1</td></tr><tr><td>TX2 RX2</td><td>PD5/PD6</td><td>5 V tolerant I/O</td><td>UART2</td><td>telem2</td><td>SERIAL2</td></tr><tr><td>TX1 RX1</td><td>PB6/PA10</td><td>5 V tolerant I/O</td><td>UART1</td><td>GPS1</td><td>SERIAL3</td></tr><tr><td>TX3 RX3</td><td>PD8/PD9</td><td>5 V tolerant I/O</td><td>UASRT3</td><td>GPS2</td><td>SERIAL4</td></tr><tr><td>TX5 RX5</td><td>PB13/PD2</td><td>5 V tolerant I/O</td><td>USART5</td><td>USER</td><td>SERIAL5</td></tr><tr><td>TX6 TX6</td><td>PC6/PC7</td><td>5 V tolerant I/O</td><td>USART6</td><td><p>RC input</p><p>Receiver</p></td><td>SERIAL6</td></tr><tr><td>TX8 RX8</td><td>PE1/PE0</td><td>5 V tolerant I/O</td><td>UART8</td><td>User</td><td>SERIAL7</td></tr></tbody></table>

## CAN

(CAN1, PD0/PD1, 5 V tolerant I/O)

<table data-header-hidden><thead><tr><th width="64"></th><th width="64"></th><th width="64"></th></tr></thead><tbody><tr><td>CAN Node</td><td>CAN_D1_PROTOCOL</td><td>1</td></tr><tr><td>CAN Node</td><td>CAN_P1_DRIVER</td><td>1</td></tr><tr><td>CAN GPS</td><td>GPS1_TYPE</td><td>9</td></tr><tr><td>CAN Compass</td><td>COMPASS_TYPEMASK</td><td>-</td></tr><tr><td>CAN Airspeed sensor</td><td>ARSPD_TYPE</td><td>8</td></tr></tbody></table>


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