HAL_ChibiOS: updated Pixhawk4 pinout

libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/README.md

@@ -37,6 +37,111 @@ have RTS/CTS.
 The UART7 connector is labelled debug, but is available as a general
 purpose UART with ArduPilot.
 
+### TELEM1, TELEM2 ports
+
+   <table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   <th>Volt </th>
+   </tr>
+   <tr>
+   <td>1 (red)</td>
+   <td>VCC</td>
+   <td>+5V</td>
+   </tr>
+   <tr>
+   <td>2 (blk)</td>
+   <td>TX (OUT)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>3 (blk)</td>
+   <td>RX (IN)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>4 (blk)</td>
+   <td>CTS</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>5 (blk)</td>
+   <td>RTS</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>6 (blk)</td>
+   <td>GND</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+
+### GPS port
+
+   <table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   <th>Volt </th>
+   </tr>
+   <tr>
+   <td>1 (red)</td>
+   <td>VCC</td>
+   <td>+5V</td>
+   </tr>
+   <tr>
+   <td>2 (blk)</td>
+   <td>SERIAL3 TX (OUT)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>3 (blk)</td>
+   <td>SERIAL3 RX (IN)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>4 (blk)</td>
+   <td>SCL</td>
+   <td>+3.3 (pullups)</td>
+   </tr>
+   <tr>
+   <td>5 (blk)</td>
+   <td>SDA</td>
+   <td>+3.3 (pullups)</td>
+   </tr>
+   <tr>
+   <td>6 (blk)</td>
+   <td>SafetyButton</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>7 (blk)</td>
+   <td>SafetyLED</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>8 (blk)</td>
+   <td>VDD 3.3 (OUT)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>9 (blk)</td>
+   <td>Buzzer</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>10 (blk)</td>
+   <td>GND</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
 ## RC Input
  
 RC input is configured on the port marked DSM/SBUS RC. This connector
@@ -113,6 +218,168 @@ The Pixhawk4 has 7 analog inputs
  - ADC Pin11 -> ADC 3.3V Sense
  - ADC Pin103 -> RSSI voltage monitoring
 
+## I2C Buses
+
+ - the internal I2C port is bus 0 in ArduPilot (I2C3 in hardware)
+ - the port labelled I2CA is bus 3 in ArduPilot (I2C1 in hardware)
+ - the port labelled I2CB is bus 2 in ArduPilot (I2c2 in hardware)
+ - there is no external connector for I2C4
+
+### Pinout for I2CA
+
+   <table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin</th>
+   <th>Signal</th>
+   <th>Volt</th>
+   </tr>
+   <tr>
+   <td>1 (red)</td>
+   <td>VCC</td>
+   <td>+5V</td>
+   </tr>
+   <tr>
+   <td>2 (blk)</td>
+   <td>SCL</td>
+   <td>+3.3 (pullups)</td>
+   </tr>
+   <tr>
+   <td>3 (blk)</td>
+   <td>SDA</td>
+   <td>+3.3 (pullups)</td>
+   </tr>
+   <tr>
+   <td>4 (blk)</td>
+   <td>GND</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+### Pinout for I2CB+UART
+
+   <table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin</th>
+   <th>Signal</th>
+   <th>Volt</th>
+   </tr>
+   <tr>
+   <td>1 (red)</td>
+   <td>VCC</td>
+   <td>+5V</td>
+   </tr>
+   <tr>
+   <td>2 (blk)</td>
+   <td>SERIAL4 TX (OUT)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>3 (blk)</td>
+   <td>SERIAL4 RX (IN)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>4 (blk)</td>
+   <td>SCL</td>
+   <td>+3.3 (pullups)</td>
+   </tr>
+   <tr>
+   <td>5 (blk)</td>
+   <td>SDA</td>
+   <td>+3.3 (pullups)</td>
+   </tr>
+   <tr>
+   <td>6 (blk)</td>
+   <td>GND</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+## CAN
+
+The Pixhawk4 has two independent CAN buses, with the following pinouts.
+
+### CAN1&2
+
+   <table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin</th>
+   <th>Signal</th>
+   <th>Volt</th>
+   </tr>
+   <tr>
+   <td>1 (red)</td>
+   <td>VCC</td>
+   <td>+5V</td>
+   </tr>
+   <tr>
+   <td>2 (blk)</td>
+   <td>CAN_H</td>
+   <td>+12V</td>
+   </tr>
+   <tr>
+   <td>3 (blk)</td>
+   <td>CAN_L</td>
+   <td>+12V</td>
+   </tr>
+   <tr>
+   <td>4 (blk)</td>
+   <td>GND</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+## Debug
+
+The Pixhawk4 supports SWD debugging on the debug port
+
+   <table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   <th>Volt </th>
+   </tr>
+   <tr>
+   <td>1 (red)</td>
+   <td>FMU VDD 3.3</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>2 (blk)</td>
+   <td>UART TX Debug (OUT)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>3 (blk)</td>
+   <td>UART RX Debug (IN)</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>4 (blk)</td>
+   <td>SWDIO</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>5 (blk)</td>
+   <td>SWCLK</td>
+   <td>+3.3V</td>
+   </tr>
+   <tr>
+   <td>6 (blk)</td>
+   <td>GND</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+
 ## Loading Firmware
 
 The board comes pre-installed with an ArduPilot compatible bootloader,