diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
index 3e5ba8bded..758bb7d03c 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
@@ -128,19 +128,19 @@ define HAL_EXT_COMPASS_HMC5843_I2C_BUS 1
 
 
 # PWM out pins
-PA0 TIM2_CH1 TIM2 PWM(1)
-PA1 TIM2_CH2 TIM2 PWM(2)
-PA2 TIM2_CH3 TIM2 PWM(3)
-PA3 TIM2_CH4 TIM2 PWM(4)
-PE9 TIM1_CH1 TIM1 PWM(5)
-PE11 TIM1_CH2 TIM1 PWM(6)
-PE13 TIM1_CH3 TIM1 PWM(7)
-PE14 TIM1_CH4 TIM1 PWM(8)
+PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
+PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
+PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52)
+PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
+PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
+PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
+PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
+PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
 
-PD13 TIM4_CH2 TIM4 PWM(9)
-PD12 TIM4_CH1 TIM4 PWM(10)
-PD15 TIM4_CH4 TIM4 PWM(11)
-PD14 TIM4_CH3 TIM4 PWM(12)
+PD13 TIM4_CH2 TIM4 PWM(9) GPIO(58)
+PD12 TIM4_CH1 TIM4 PWM(10) GPIO(59)
+PD15 TIM4_CH4 TIM4 PWM(11) GPIO(60)
+PD14 TIM4_CH3 TIM4 PWM(12) GPIO(61)
 
 # also USART6_RX for serial RC
 PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
index 875b039f8f..2ab603666f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
@@ -83,15 +83,15 @@ define HAL_GPIO_B_LED_PIN 1
 
 
 #pwm output
-PB7  TIM4_CH2  TIM4 PWM(1) GPIO(59)
-PB6  TIM4_CH1  TIM4 PWM(2) GPIO(58)
-PB0  TIM3_CH3  TIM3 PWM(3) GPIO(26)
-PB1  TIM3_CH4  TIM3 PWM(4) GPIO(27)
-PC8  TIM8_CH3  TIM8 PWM(5) GPIO(39)
-PC9  TIM8_CH4  TIM8 PWM(6) GPIO(40)
-PB14 TIM1_CH2N TIM1 PWM(7) GPIO(35)
-PB15 TIM1_CH3N TIM1 PWM(8) GPIO(36)
-PA8  TIM1_CH1  TIM1 PWM(9) GPIO(41)
+PB7  TIM4_CH2  TIM4 PWM(1) GPIO(50)
+PB6  TIM4_CH1  TIM4 PWM(2) GPIO(51)
+PB0  TIM3_CH3  TIM3 PWM(3) GPIO(52)
+PB1  TIM3_CH4  TIM3 PWM(4) GPIO(53)
+PC8  TIM8_CH3  TIM8 PWM(5) GPIO(54)
+PC9  TIM8_CH4  TIM8 PWM(6) GPIO(55)
+PB14 TIM1_CH2N TIM1 PWM(7) GPIO(56)
+PB15 TIM1_CH3N TIM1 PWM(8) GPIO(57)
+PA8  TIM1_CH1  TIM1 PWM(9) GPIO(58)
 
 # SD CARD SPI
 PB3 SPI3_SCK SPI3
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
index a8912a5f3d..a23b7dd666 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
@@ -104,10 +104,10 @@ PC6 USART6_TX USART6
 # UART7, RX only?
 #PE7 UART7_RX UART7
 
-PB0  TIM3_CH3 TIM3 PWM(1)
-PB1  TIM3_CH4 TIM3 PWM(2)
-PE9  TIM1_CH1 TIM1 PWM(3)
-PE11 TIM1_CH2 TIM1 PWM(4)
+PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50)
+PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51)
+PE9  TIM1_CH1 TIM1 PWM(3) GPIO(52)
+PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53)
 
 define HAL_STORAGE_SIZE 16384
 define STORAGE_FLASH_PAGE 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat
index 5d5a3bece5..d03b71203a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat
@@ -34,12 +34,12 @@ PC2 BAT_VOLT_SENS ADC1 SCALE(1)
 PA0 RSSI_IN ADC1
 
 #pwm output
-PB0 TIM1_CH2N TIM1 PWM(1) GPIO(26)
-PB1 TIM1_CH3N TIM1 PWM(2) GPIO(27)
-PA3 TIM2_CH4 TIM2 PWM(3) GPIO(17)
-PA2 TIM2_CH3 TIM2 PWM(4) GPIO(16)
-PA1 TIM2_CH2 TIM2 PWM(5) GPIO(15)
-PA8 TIM1_CH1 TIM1 PWM(6) GPIO(41)
+PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
+PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
+PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
+PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
+PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55)
 
 PA4 MPU6000_CS CS
 PA5 SPI1_SCK SPI1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
index 992827d368..a9d08e0c34 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
@@ -34,12 +34,12 @@ PC2 BAT_VOLT_SENS ADC1 SCALE(1)
 PA0 RSSI_IN ADC1
 
 #pwm output
-PB0 TIM1_CH2N TIM1 PWM(1) GPIO(26)
-PB1 TIM1_CH3N TIM1 PWM(2) GPIO(27)
-PA3 TIM2_CH4 TIM2 PWM(3) GPIO(17)
-PA2 TIM2_CH3 TIM2 PWM(4) GPIO(16)
-PA1 TIM2_CH2 TIM2 PWM(5) GPIO(15)
-PA8 TIM1_CH1 TIM1 PWM(6) GPIO(41)
+PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
+PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
+PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
+PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
+PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55)
 
 PA4 MPU6000_CS CS
 PA5 SPI1_SCK SPI1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index fe8e69ca5e..374659e395 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1042,11 +1042,15 @@ def write_GPIO_config(f):
     '''write GPIO config defines'''
     f.write('// GPIO config\n')
     gpios = []
+    gpioset = set()
     for l in bylabel:
         p = bylabel[l]
         gpio = p.extra_value('GPIO', type=int)
         if gpio is None:
             continue
+        if gpio in gpioset:
+            error("Duplicate GPIO value %u" % gpio)
+        gpioset.add(gpio)
         # see if it is also a PWM pin
         pwm = p.extra_value('PWM', type=int, default=0)
         port = p.port