Scheme

	A	B	C	D	E	F	G	H	I
1		STM32H7 Nucleo Board			External Peripheral
2	STM32 Nucleo Connector	STM32 Nucleo PiN	STM32 PIN	Signal Name	Boardname	PIN	Comment	Signal connections	Physical connections
3	CN12	12	PA12	UART4 TX	Hoverboard mainboard front	UART_R RX		Good	Good
4	CN12	14	PA11	UART4 RX	Hoverboard mainboard front	UART_R TX		Good	Good
5	CN12	30	PB13	UART5 TX	Hoverboard mainboard front	UART_L RX		Good
6	CN12	16	PB12	UART5 RX	Hoverboard mainboard front	UART_L TX		Good
7	CN11	9	PF6	UART7 RX	Hovearboard mainboard back	UART_L TX		Good
8	CN11	11	PF7	UART7 TX	Hovearboard mainboard back	UART_L RX		Good
9	CN12	33	PE0	UART8 RX	Hovearboard mainboard back	UART_R TX		Good
10	CN11	61	PE1	UART8 TX	Hovearboard mainboard back	UARR_R RX		Good
11			VDD	VDD(3.0-5.5V)	Ultrasonic sensors	VDD
12	CN12	24	PB1	TIM3 PWM_Output	Sensor front	TRIG	Check voltage level for Ultrasonic sensors
13	CN11	38	PC0	EXTI	Sensor front	ECHO	Check voltage level for Ultrasonic sensors
14	CN11	34	PB0	TIM3 PWM_Output	Sensor right	TRIG	Check voltage level for Ultrasonic sensors
15	CN11	36	PC1	EXTI	Sensor right	ECHO	Check voltage level for Ultrasonic sensors
16	CN12	15	PA7	TIM3 PWM_Output	Sensor left	TRIG	Check voltage level for Ultrasonic sensors
17	CN11	35	PC2	EXTI	Sensor left	ECHO	Check voltage level for Ultrasonic sensors
18	CN12	13	PA6	TIM3 PWM_Output	Sensor back	TRIG	Check voltage level for Ultrasonic sensors
19	CN11	37	PC3	EXTI	Sensor back	ECHO	Check voltage level for Ultrasonic sensors
20	CN12	35	PA2	TIM2 PWM_output	L298 Drive shield front	ENA		Good
21	CN11	53	PF0	GPIO_OUT	L298 Drive shield front	IN1		Good
22	CN11	51	PF1	GPIO_OUT	L298 Drive shield front	IN2		Good
23	CN11	52	PF2	GPIO_OUT	L298 Drive shield front	IN3	(for compressor)	Good
24	CN12	58	PF3	GPIO_OUT	L298 Drive shield front	IN4	(for compressor)	Good
25	CN12	37	PA3	TIM2 PWM_output	L298 Drive shield front	ENB	(for compressor)	Good
26					L298 Drive shield back	ENA	Not in use	TBD
27					L298 Drive shield back	IN1	Not in use	TBD
28					L298 Drive shield back	IN2	Not in use	TBD
29	CN12	38	PF4	GPIO_OUT	L298 Drive shield back	IN3		Good
30	CN12	36	PF5	GPIO_OUT	L298 Drive shield back	IN4		Good
31	CN12	11	PA5	TIM2 PWM_output	L298 Drive shield back	ENB		Good
32	CN12	5	PB9	SDA	BNO-080 IMU	SDA
33	CN12	17	PB6	SCL	BNO-080 IMU	SCL
34			GND	GND	BNO-080 IMU	PS0	Toogle I2C mode	TBD
35			GND	GND	BNO-080 IMU	PS1	Toogle I2C mode
36			PD9	USART3 RX	ROSSERIAL		It can be used only with STLink UART
37			PD8	USART3 TX	ROSSERIAL		It can be used only with STLink UART
38					Current sensor			TBD
39			5V	5V	Encoder 600 inc front	VDD
40	CN12	43	PD12	TIM4 Encoder	Encoder 600 inc front	A	Connected with logic level converter	TBD
41	CN12	41	PD13	TIM4 Encoder	Encoder 600 inc front	B	Connected with logic level converter	TBD
42					Encoder 600 inc front	GND
43			5V	5V	Encoder 600 inc back	VDD
44	CN11	28	PA0	TIM5 Encoder	Encoder 600 inc back	A	Connected with logic level converter	TBD
45	CN11	30	PA1	TIM5 Encoder	Encoder 600 inc back	B	Connected with logic level converter	TBD
46					Encoder 600 inc back	GND
47			GND	GND	VL530X front	GND
48			VDD	VDD(2.6-5V)	VL530X front	VIN
49	CN12	17	PB6	SCL	VL530X front	SCL
50	CN12	5	PB9	SDA	VL530X front	SDA
51				EXTI	VL530X front	GPIO1	Not in use
52			VDD	VDD(active low)	VL530X front	XSHUT
53			GND	GND	VL530X back	GND
54			VDD	VDD(2.6-5V)	VL530X back	VIN
55	CN12	25	PB10	SCL	VL530X back	SCL
56	CN12	18	PB11	SDA	VL530X back	SDA
57				EXTI	VL530X back	GPIO1	Not in use
58			VDD	VDD(active low)	VL530X back	XSHUT
59			VDD	VDD	GY-87 front left	VCC__IN
60					GY-87 front left	3.3v	Not in use
61			GND	GND	GY-87 front left	GND
62	CN12	17	PB6	SCL	GY-87 front left	SCL
63	CN12	5	PB9	SDA	GY-87 front left	SDA
64					GY-87 front left	FSYNC	Not in use
65					GY-87 front left	INTA	Not in use
66					GY-87 front left	DRDY	Not in use
67			VDD	VDD	GY-89 front left	VIN
68					GY-89 front left	3v3	Not in use
69			GND	GND	GY-89 front left	GND
70	CN12	17	PB6	SCL	GY-89 front left	SCL
71	CN12	5	PB9	SDA	GY-89 front left	SDA
72					GY-89 front left	SDO/SAO	Not in use
73					GY-89 front left	CS1	Not in use
74					GY-89 front left	CS2	Not in use
75			VDD	VDD	GY-87 front right	VCC__IN
76					GY-87 front right	3.3v	Not in use
77			GND	GND	GY-87 front right	GND
78	CN12	25	PB10	SCL	GY-87 front right	SCL
79	CN12	18	PB11	SDA	GY-87 front right	SDA
80					GY-87 front right	FSYNC	Not in use
81					GY-87 front right	INTA	Not in use
82					GY-87 front right	DRDY	Not in use
83			VDD	VDD	GY-89 front right	VIN
84					GY-89 front right	3v3	Not in use
85			GND	GND	GY-89 front right	GND
86	CN12	25	PB10	SCL	GY-89 front right	SCL
87	CN12	18	PB11	SDA	GY-89 front right	SDA
88					GY-89 front right	SDO/SAO	Not in use
89					GY-89 front right	CS1	Not in use
90					GY-89 front right	CS2	Not in use
91			VDD	VDD	GY-87 back left	VCC__IN
92					GY-87 back left	3.3v	Not in use
93			GND	GND	GY-87 back left	GND
94	CN12	23	PA8	SCL	GY-87 back left	SCL
95	CN8	4	PC9	SDA	GY-87 back left	SDA
96					GY-87 back left	FSYNC	Not in use
97					GY-87 back left	INTA	Not in use
98					GY-87 back left	DRDY	Not in use
99			VDD	VDD	GY-89 back left	VIN
100					GY-89 back left	3v3	Not in use