JTAG | Pin |
---|---|
TMS | PTA3 |
TCLK | PTA0 |
TDO | PTA2 |
TDI | PTA1 |
OSC | Pin |
---|---|
EXTAL0 | PTA18 |
PIT | Description |
---|---|
PIT0 | ROS Message |
PIT1 | Timer |
PIT2 | Controller |
PIT3 | ENC Timer |
LCD | Pin |
---|---|
LCD_DC | PTC19 |
LCD_RST | PTC18 |
LCD_SDA | PTC17 |
LCD_SCL | PTC16 |
PWM | Pin | Description |
---|---|---|
PWM0 SM0 CHA | PTD2 | ESC signal of controller |
PWM0 SM0 CHB | PTD3 | Steering gear signal of controller |
PWM0 SM1 CHA | PTD4 | Controller signal to take over MCU |
PWM0 SM1 CHB | PTD5 | Reserved controller signal |
PWM0 SM2 CHA | PTD0 | Output for ESC |
PWM0 SM2 CHB | PTD1 | Output for steering gear |
PWM1 SM0 CHA | PTC14 | Output for WS2812 |
ENC | Pin | Description |
---|---|---|
ENC PhA | PTA25 | ENC Phase A |
ENC PhB | PTA24 | ENC Phase B |
UART | Pin | Description |
---|---|---|
UART0 RX | PTA15 | Connect to PC |
UART0 TX | PTA14 | Connect to PC |
UART1 RX | PTE1 | Debug logging |
UART1 TX | PTE0 | Debug logging |
UART2 RX | PTE17 | TOF |
UART2 TX | PTE16 | TOF |
UART3 RX | PTE5 | Reserved |
UART3 TX | PTE4 | Reserved |
UART4 RX | PTE25 | Reserved |
UART4 TX | PTE24 | Reserved |
UART5 RX | PTE9 | Reserved |
UART5 TX | PTE8 | Reserved |
IIC | Pin | Description |
---|---|---|
IIC0 SCL | PTE19 | Reserved |
IIC0 SDA | PTE18 | Reserved |
SPI | Pin | Description |
---|---|---|
SPI0 PCS0 | PTC4 | Reserved |
SPI0 SCLK | PTC5 | Reserved |
SPI0 SDI | PTC7 | Reserved |
SPI0 SDO | PTC6 | Reserved |
GPIO | Pin | Mux | Description |
---|---|---|---|
GPIOB0 | PTB0 | HSADC0/IIC0 | Switch0 |
GPIOB1 | PTB1 | HSADC0/IIC0 | Switch1 |
GPIOB2 | PTB2 | HSADC0/IIC0 | Switch2 |
GPIOB3 | PTB3 | HSADC0/IIC0 | Switch3 |
GPIOB4 | PTB4 | ADC0 | |
GPIOB5 | PTB5 | ADC0 | |
GPIOB6 | PTB6 | HSADC1 | |
GPIOB7 | PTB7 | HSADC1 | |
GPIOB10 | PTB10 | SPI1 | |
GPIOB11 | PTB11 | SPI1 | |
GPIOB16 | PTB16 | SPI1 | |
GPIOB17 | PTB17 | SPI1 | |
GPIOB20 | PTB20 | SPI2 | |
GPIOB21 | PTB21 | SPI2 | |
GPIOB22 | PTB22 | SPI2 | |
GPIOB23 | PTB23 | SPI2 |