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Hwurzburg · Sep 25, 2024 · 8b72c5e · 8b72c5e
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diff --git a/README.md b/README.md
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot.png b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot.png
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/README.md b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/README.md
@@ -21,7 +21,138 @@ The MUPilot flight controller is sold by [MUGIN UAV](http://https://www.muginuav
 
 ## Pinout
 
-![MUPilot Board](MUPILOT-pinout.jpg "MUPilot")
+![MUPilot Board](MUPILOT.png "MUPilot")
+
+## Connectors
+
+**POWER1/2**
+
+| Pin  |     Signal      | Volt  |
+| :--: | :-------------: | :---: |
+|  1   |     VCC_IN      |  +5V  |
+|  2   |     VCC_IN      |  +5V  |
+|  3   | CRRENT_ADC      | +3.3V |
+|  4   | VOLTAGE_ADC     | +3.3V |
+|  5   |       GND       |  GND  |
+|  6   |       GND       |  GND  |
+
+**TELEM1**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | UART_TX2| +3.3V |
+|  3   | UART_RX2| +3.3V |
+|  4   |   CTS   | +3.3V |
+|  5   |   RTS   | +3.3V |
+|  6   |   GND   |  GND  |
+
+**TELEM2**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | UART_TX6| +3.3V |
+|  3   | UART_RX6| +3.3V |
+|  4   |   CTS   | +3.3V |
+|  5   |   RTS   | +3.3V |
+|  6   |   GND   |  GND  |
+
+**GPS&SAFETY**
+
+| Pin  |    Signal     | Volt  |
+| :--: | :-----------: | :---: |
+|  1   |      VCC      |  +5V  |
+|  2   |    UART_TX1   | +3.3V |
+|  3   |    UART_RX1   | +3.3V |
+|  4   |    I2C1_SCL   | +3.3V |
+|  5   |    I2C1_SDA   | +3.3V |
+|  6   |   SAFETY_SW   | +3.3V |
+|  7   | SAFETY_SW_LED | +3.3V |
+|  8   |    3V3_OUT    | +3.3V |
+|  9   |    BUZZER     | +3.3V |
+|  10  |      GND      |  GND  |
+
+**UART4(GPS2)**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   |UART_TX3 | +3.3V |
+|  3   |UART_RX3 | +3.3V |
+|  4   |I2C2_SCL | +3.3V |
+|  5   |I2C2_SDA | +3.3V |
+|  6   |   GND   |  GND  |
+
+**CAN1/2**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   |  VCC   |  +5V  |
+|  2   | CAN_H  | +3.3V |
+|  3   | CAN_L  | +3.3V |
+|  4   |  GND   |  GND  |
+
+**ADC**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | ADC_3V3 | +3.3V |
+|  3   | ADC_6V6 | +6.6V |
+|  4   |   GND   |  GND  |
+
+**I2C1/2/3/4**
+
+| Pin  | Signal   | Volt  |
+| :--: | :------: | :---: |
+|  1   |   VCC    |  +5V  |
+|  2   | I2C_SCL  | +3.3V |
+|  3   | I2C _SDA | +3.3V |
+|  4   |   GND    |  GND  |
+
+
+**SPI5**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   |  VCC   |  +5V  |
+|  2   |  SCK   | +3.3V |
+|  3   |  MISO  | +3.3V |
+|  5   |  MOSI  | +3.3V |
+|  6   |  CS1   | +3.3V |
+|  7   |  CS2   | +3.3V |
+|  8   |  GND   |  GND  |
+
+**DSM/SBUS/RSSI**
+
+| Pin  |    Signal   | Volt  |
+| :--: | :---------: | :---: |
+|  1   |    VCC      | +5V   |
+|  2   |   DSM/SBUS  | +3.3V |
+|  3   |   RSSI      | +3.3V |
+|  4   |   3V3_OUT   | +3.3V |
+|  5   |   GND       |  GND  |
+
+**SBUS  OUT**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   | -      |   -   |
+|  2   |SBUS OUT| +3.3V |
+|  3   | GND    |  GND  |
+
+**DEBUG**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   |  VCC   |  +5V  |
+|  2   |UART_TX7| +3.3V |
+|  3   |UART_RX7| +3.3V |
+|  4   | SWDIO  | +3.3V |
+|  5   | SWCLK  | +3.3V |
+|  6   |  GND   |  GND  |
+
 
 ## UART Mapping
 
@@ -32,6 +163,7 @@ The MUPilot flight controller is sold by [MUGIN UAV](http://https://www.muginuav
  - SERIAL4 -> UART4 (GPS2)
  - SERIAL5 -> UART6 (spare)
  - SERIAL6 -> UART7 (spare, debug)
+ - SERIAL7 -> USB2  (SLCAN)
 
 The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
 have RTS/CTS.