From 6a9d01e3ac73462ee04ce2778fc5ce1833b9c347 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Tue, 1 Mar 2022 20:32:04 +0100
Subject: [PATCH] AP_HAL_ChibiOS: normalize BeastH7v2 in line with BeastF7v2
 definition

---
 .../AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef.dat  | 26 ++++++++++++++-----
 1 file changed, 19 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef.dat
index fa45fc60a7..51d4546974 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef.dat
@@ -7,10 +7,10 @@ undef APJ_BOARD_ID
 undef HAL_SERIAL3_PROTOCOL
 undef IMU
 undef BARO
-undef STM32_PWM_USE_ADVANCED
-undef PD15 #Buzzer
-undef PE9 PE11 # Motors
+undef PD15
+undef PE9 PE11 PB8 PB9 PB11 PB10 PA10 PA9 PA3 PA2
 undef HAL_DEFAULT_INS_FAST_SAMPLE DMA_PRIORITY DMA_NOSHARE
+undef STM32_PWM_USE_ADVANCED
 undef I2C1
 
 # board ID for firmware load
@@ -18,21 +18,33 @@ APJ_BOARD_ID 1056
 
 # V2 has different motor mapping
 PB4 TIM3_CH1 TIM3 PWM(2) GPIO(51) BIDIR   # 2
-PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52) BIDIR   # 3
+PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52)         # 3
 
 # only one I2C bus
 I2C_ORDER I2C2
 
 # order of UARTs (and USB)
 SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7
-define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
 
 # Buzzer - DMA timer channel use by LEDs
 PD2 BUZZER OUTPUT GPIO(80) LOW
 
+# USART1 (DJI)
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1 NODMA
+
+# USART2 (DJI RCIN)
+PA3 USART2_RX USART2
+PA2 USART2_TX USART2 NODMA
+define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# USART3 (RCIN)
+PB11 USART3_RX USART3
+PB10 USART3_TX USART3
+
 # I2C2 for compass. These pins can also be used as USART3
-PB10 I2C2_SCL I2C2  ALT(1)
-PB11 I2C2_SDA I2C2  ALT(1)
+PB10 I2C2_SCL I2C2 ALT(1)
+PB11 I2C2_SDA I2C2 ALT(1)
 
 # spi devices
 SPIDEV bmi270    SPI1 DEVID1 MPU6000_CS  MODE3 10*MHZ 10*MHZ