Robotic Bicycle Wiring

	A	B	C	D	E	F	G	H	I	J	K	L	M
1	Peripheral / Pin	Port	STM32F407 pin	Dev board header pin	Notes	MODER	OTYPER	OSPEEDR	PUPDR	I/O Configuration	Alternate Function Mapping	Connected To

2	PWM Generation
3	TIM1_CH1	PE9	60	PE-12	5.0V Tolerant	10	0	00	01	AF PP	AF1	[IN 9] HS (PWM 0-100)	Rear Wheel Command (Copley 5.0V pull-ups enabled, high is 0% duty cycle)
4	TIM1_CH2	PE11	64	PE-14	5.0V Tolerant	10	0	00	01	AF PP	AF1	Programmable Input [IN7] PWM	Steer Command (Copley 5.0V pull-ups enabled, high is 0% duty cycle)
5
6	Rear Wheel Position Encoder Timer
7	TIM8_CH1	PC6	96	UEXT-3	5.0V Tolerant	00	0	00	00	Input Floating	AF3	1Y	Rear Wheel Encoder A
8	TIM8_CH2	PC7	97	UEXT-4	5.0V Tolerant	00	0	00	00	Input Floating	AF3	2Y	Rear Wheel Encoder B
9
10	Steer Position Encoder Timer
11	TIM3_CH1	PA6	42	CON4-D12	5.0V Tolerant	00	0	00	00	Input Floating	AF2	1Y	Steer Encoder A
12	TIM3_CH2	PA7	43	CON4-D11	5.0V Tolerant	00	0	00	00	Input Floating	AF2	2Y	Steer Encoder B
13
14	Front Wheel Position Encoder Timer
15	TIM4_CH1	PD12	60	PD-15	5.0V Tolerant	00	0	00	00	Input Floating	AF2	4Y	Front Wheel Encoder A
16	TIM4_CH2	PD13	64	PD-16	5.0V Tolerant	00	0	00	00	Input Floating	AF2	3Y	Front Wheel Encoder B
17
18	I2C2 -- to MPU-6050
19	I2C2_SDA	PF0	10	PF-3	5.0V Tolerant	10	1	00	01	AF OD + PU	AF4	SDA	MPU-6050 SDA
20	I2C2_SCL	PF1	11	PF-4	5.0V Tolerant	10	1	00	01	AF OD + PU	AF4	SCL	MPU-6050 SCL
21
22	USART2
23	USART2_TX	PD5	119	PD-8	5.0V Tolerant	10	0	01	00	AF PP	AF7	DIN / RX	XBee Receive
24	USART2_RX	PD6	122	PD-9	5.0V Tolerant	00	0	xx	00	Input Floating	AF7	DOUT / TX	XBee Transmit
25
26	JTAG
27	JTMS	PA13	105	JTAG-7	5.0V Tolerant					Input floating	AF0		External 10k pull-up to 3.3V
28	JTCK	PA14	109	JTAG-9	5.0V Tolerant					Input floating	AF0		External 10k pull-down to Ground
29	JTDI	PA15	110	JTAG-5	5.0V Tolerant					Input floating	AF0		External 10k pull-up to 3.3V
30	JTDO	PB3	133	JTAG-13	5.0V Tolerant					GP output PP	AF0		External 10k pull-up to 3.3V
31	NJTRST	PB4	134	JTAG-3	5.0V Tolerant					Input floating	AF0		External 10k pull-up to 3.3V
32
33	SDIO
34	SDIO_D0	PC8	98		5.0V Tolerant						AF12	DAT0
35	SDIO_D1	PC9	99		5.0V Tolerant						AF12	DAT1
36	SDIO_D2	PC10	111		5.0V Tolerant						AF12	DAT2
37	SDIO_D3	PC11	112		5.0V Tolerant						AF12	DAT3
38	SDIO_CK	PC12	113		5.0V Tolerant						AF12	CLK
39	SDIO_CMD	PD12	116		5.0V Tolerant						AF12	CMD
40
41	GPIOF
42	PF2	PF2	12	PF-5	5.0V Tolerant					GP output PP	AF0	RESET_BAR	pull low for 200ns to reset XBee
43	PF3	PF3	13	PF-6	5.0V Tolerant	0	0	00	01	Input pull-up	AF0	Momentary switch to ground	When switch is open, pin state should be high, when switch is closed, pin state is low.
44	PF4	PF4	14	PF-7	5.0V Tolerant					GP output PP	AF0	[IN1] Enable	Rear wheel enable, low enables drive (5.0V pull-ups enabled on Copley side)
45	PF5	PF5	15	PF-8	5.0V Tolerant					GP output PP	AF0	Enable Input [IN1]	Steer motor enable, low enables drive (5.0V pull-ups enabled on Copley side)
46	PF6	PF6	18	PF-9	5.0V Tolerant					GP output PP	AF0	[IN 10] HS (PWM Dir)	Rear wheel direction
47	PF7	PF7	19	PF-10	5.0V Tolerant					GP output PP	AF0	Programmable Input [IN8] DIR	Steer direction
48	PF8	PF8	20	PF-11	5.0V Tolerant					Input floating	AF0	[OUT 1] Fault Out	Rear wheel fault, active low
49	PF9	PF9	21	PF-12	5.0V Tolerant					Input floating	AF0	Programmable Output [Out1] Fault	Steer fault, active low
50	PF10	PF10	22	PF-13	5.0V Tolerant					Input floating	AF0	V_bat_mon	ADC3_IN8, for monitoring battery. R1 = 6.8k, R2=12k, low threshold = 3053 when 12-bit A/D is done
51	PF11	PF11	49	PF-14	5.0V Tolerant					Input floating	AF0	Steer Index
52	PF12	PF12	50	PF-15	5.0V Tolerant					GP output PP	AF0	Lean LED	turns on when abs(lean) < 1.0 deg
53	PF13	PF13	53	PF-16	5.0V Tolerant					GP output PP	AF0	Steer LED	turns on when abs(steer) < 1.0 deg
54	PF14	PF14	54	PF-17	5.0V Tolerant
55	PF15	PF15	55	PF-18	5.0V Tolerant
56
57	BUTTON WAKEUP
58	PA0	PA0	34		5.0V Tolerant	0	x	x	0	Input floating	AF0	Wakeup led
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