| 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 |