ODrive_v3_pinout
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v3.5Legend:GPIOAnalogDigitalMotorEncoderUSBCANSPIUARTProgramming
2
pin #Pin nameUseType
Structure
Notes
Sencodary function
Function
3
1VBATS----
4
2PC13M0_nCSI/OFT(2)(3)
RTC_OUT, RTC_TAMP1, RTC_TS
5
3PC14 / OSC32_IN (PC14)M1_nCSI/OFT(2)(3)OSC32_IN(4)
6
4
PC15 / OSC32_OUT (PC15)
M1_ENC_ZI/OFT(2)(3)OSC32_OUT(4)
7
5PH0 / OSC_IN (PH0)I/OFT-OSC_IN(4)
8
6PH1 / OSC_OUT (PH1)I/OFT-OSC_OUT(4)
9
7NRSTI/ORST---
10
8PC0M0_SO1I/OFT-4ADC123_IN10OTG_HS_ULPI_STP
11
9PC1M0_SO2I/OFT-4ADC123_IN11ETH_MDC
12
10PC2M1_SO2I/OFT-4ADC123_IN12SPI2_MISO
OTG_HS_ULPI_DIR
ETH_MII_TXD2I2S2ext_SD
13
11PC3M1_SO1I/OFT-4ADC123_IN13SPI2_MOSII2S2_SD
OTG_HS_ULPI_NXT
ETH_MII_TX_CLK
14
12VSSAS----
15
13VDDAS----
16
14PA0 / WKUP (PA0)GPIO_1I/OFT-5
ADC123_IN0 / WKUP(4)
USART2_CTSUART4_TXETH_MII_CRSTIM2_CH1_ETRTIM5_CH1TIM8_ETR
17
15PA1GPIO_2I/OFT-4ADC123_IN1USART2_RTSUART4_RX
ETH_RMII_REF_CLK
ETH_MII_RX_CLK
TIM5_CH2TIM2_CH2
18
16PA2GPIO_3I/OFT-4ADC123_IN2USART2_TXTIM5_CH3TIM9_CH1TIM2_CH3ETH_MDIO
19
17PA3GPIO_4I/OFT-4ADC123_IN3USART2_RXTIM5_CH4TIM9_CH2TIM2_CH4
OTG_HS_ULPI_D0
ETH_MII_COL
20
18VSSS----
21
19VDDS----
22
20PA4M1_TEMPI/OTTa-4
ADC12_IN4 / DAC_OUT1
SPI1_NSSSPI3_NSSUSART2_CKDCMI_HSYNCOTG_HS_SOFI2S3_WS
23
21PA5AUX_TEMPI/OTTa-4
ADC12_IN5 / DAC_OUT2
SPI1_SCK
OTG_HS_ULPI_CK
TIM2_CH1_ETRTIM8_CH1N
24
22PA6VBUS_SI/OFT-4ADC12_IN6SPI1_MISOTIM8_BKINTIM13_CH1DCMI_PIXCLKTIM3_CH1TIM1_BKIN
25
23PA7M1_ALI/OFT-4ADC12_IN7SPI1_MOSITIM8_CH1NTIM14_CH1TIM3_CH2ETH_MII_RX_DVTIM1_CH1N
ETH_RMII_CRS_DV
26
24PC4GPIO_5I/OFT-4ADC12_IN14ETH_RMII_RX_D0ETH_MII_RX_D0
27
25PC5M0_TEMPI/OFT-4ADC12_IN15ETH_RMII_RX_D1ETH_MII_RX_D1
28
26PB0M1_BLI/OFT-4ADC12_IN8TIM3_CH3TIM8_CH2N
OTG_HS_ULPI_D1
ETH_MII_RXD2TIM1_CH2N
29
27PB1M1_CLI/OFT-4ADC12_IN9TIM3_CH4TIM8_CH3N
OTG_HS_ULPI_D2
ETH_MII_RXD3TIM1_CH3N
30
28PB2 / BOOT1 (PB2)GPIO_6I/OFT--
31
29PB10AUX_LI/OFT--SPI2_SCKI2S2_CKI2C2_SCLUSART3_TX
OTG_HS_ULPI_D3
ETH_MII_RX_ERTIM2_CH3
32
30PB11AUX_HI/OFT--I2C2_SDAUSART3_RX
OTG_HS_ULPI_D4
ETH_RMII_TX_EN
ETH_MII_TX_ENTIM2_CH4
33
31VCAP_1S---
34
32VDDS---
35
33PB12EN_GATEI/OFT--SPI2_NSSI2S2_WSI2C2_SMBAUSART3_CKTIM1_BKINCAN2_RX
OTG_HS_ULPI_D5
ETH_RMII_TXD0ETH_MII_TXD0OTG_HS_ID
36
34PB13M0_ALI/OFT-OTG_HS_VBUSSPI2_SCKI2S2_CKUSART3_CTSTIM1_CH1NCAN2_TX
OTG_HS_ULPI_D6
ETH_RMII_TXD1ETH_MII_TXD1
37
35PB14M0_BLI/OFT--SPI2_MISOTIM1_CH2NTIM12_CH1OTG_HS_DMUSART3_RTSTIM8_CH2NI2S2ext_SD
38
36PB15M0_CLI/OFT-RTC_REFINSPI2_MOSII2S2_SDTIM1_CH3NTIM8_CH3NTIM12_CH2OTG_HS_DP
39
37PC6M1_AHI/OFT--I2S2_MCKTIM8_CH1SDIO_D6USART6_TXDCMI_D0TIM3_CH1
40
38PC7M1_BHI/OFT--I2S3_MCKTIM8_CH2SDIO_D7USART6_RXDCMI_D1TIM3_CH2
41
39PC8M1_CHI/OFT--TIM8_CH3SDIO_D0TIM3_CH3USART6_CKDCMI_D2
42
40PC9M0_ENC_ZI/OFT--I2S_CKINMCO2TIM8_CH4SDIO_D1I2C3_SDADCMI_D3TIM3_CH4
43
41PA8M0_AHI/OFT--MCO1USART1_CKTIM1_CH1I2C3_SCLOTG_FS_SOF
44
42PA9M0_BHI/OFT-OTG_FS_VBUSUSART1_TXTIM1_CH2I2C3_SMBADCMI_D0
45
43PA10M0_CHI/OFT--USART1_RXTIM1_CH3OTG_FS_IDDCMI_D1
46
44PA11USB_DMI/OFT--USART1_CTSCAN1_RXTIM1_CH4OTG_FS_DM
47
45PA12USB_DPI/OFT--USART1_RTSCAN1_TXTIM1_ETROTG_FS_DP
48
46PA13 (JTMS-SWDIO)SWDIOI/OFT--JTMS-SWDIO
49
47VCAP_2S----
50
48VDDS----
51
49PA14 (JTCK / SWCLK)SWCLKI/OFT--JTCK-SWCLK
52
50PA15 (JTDI)GPIO_7I/OFT--JTDISPI3_NSSI2S3_WSTIM2_CH1_ETRSPI1_NSS
53
51PC10SPI_SCKI/OFT--SPI3_SCKI2S3_CKUART4_TXSDIO_D2DCMI_D8USART3_TX
54
52PC11SPI_MISOI/OFT--UART4_RXSPI3_MISOSDIO_D3DCMI_D4USART3_RXI2S3ext_SD
55
53PC12SPI_MOSII/OFT--UART5_TXSDIO_CKDCMI_D9SPI3_MOSII2S3_SDUSART3_CK
56
54PD2nFAULTI/OFT--TIM3_ETRUART5_RXSDIO_CMDDCMI_D11
57
55PB3 (JTDO / TRACESWO)GPIO_8I/OFT--JTDOTRACESWOSPI3_SCKI2S3_CKTIM2_CH2SPI1_SCK
58
56PB4 (NJTRST)M0_ENC_AI/OFT--NJTRSTSPI3_MISOTIM3_CH1SPI1_MISOI2S3ext_SD
59
57PB5M0_ENC_BI/OFT--I2C1_SMBACAN2_RX
OTG_HS_ULPI_D7
ETH_PPS_OUTTIM3_CH2SPI1_MOSISPI3_MOSIDCMI_D10I2S3_SD
60
58PB6M1_ENC_AI/OFT--I2C1_SCLTIM4_CH1CAN2_TXDCMI_D5USART1_TX
61
59PB7M1_ENC_BI/OFT--I2C1_SDAFSMC_NLDCMI_VSYNCUSART1_RXTIM4_CH2
62
60BOOT0IB-VPP-
63
61PB8CAN_RI/OFT--TIM4_CH3SDIO_D4TIM10_CH1DCMI_D6ETH_MII_TXD3I2C1_SCLCAN1_RX
64
62PB9CAN_DI/OFT--SPI2_NSSI2S2_WSTIM4_CH4TIM11_CH1SDIO_D5DCMI_D7I2C1_SDACAN1_TX
65
63VSSS----
66
64VDDS----
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
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93
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