EchoUS L431 CAN Node — Pin Assignments
MCU: STM32L431xx | Flash: 256 KB | Crystal: 8 MHz
CAN Bus
| Pin | Function | Peripheral | Notes |
|---|
| PB8 | CAN1_RX | DroneCAN | - |
| PB9 | CAN1_TX | DroneCAN | - |
I2C
| Pin | Function | Peripheral | Notes |
|---|
| PB13 | I2C2_SCL | Sensor bus | - |
| PB14 | I2C2_SDA | Sensor bus | - |
SPI1 — RM3100 Compass
| Pin | Function | Peripheral | Notes |
|---|
| PA4 | MAG_CS | Chip select | - |
| PA5 | SPI1_SCK | Clock | - |
| PA6 | SPI1_MISO | Data in | - |
| PA7 | SPI1_MOSI | Data out | - |
| PB2 | SPARE_CS | Chip select | Unused |
UARTs
| Pin | Function | Peripheral | Notes |
|---|
| PA9 | USART1_TX | Debug | 57600 baud |
| PA10 | USART1_RX | Debug | 57600 baud |
| PA2 | USART2_TX | MSP | - |
| PA3 | USART2_RX | MSP | - |
| PB10 | USART3_TX | GPS | NODMA |
| PB11 | USART3_RX | GPS | NODMA |
Debug & Indicators
| Pin | Function | Peripheral | Notes |
|---|
| PA13 | SWDIO | SWD debug | - |
| PA14 | SWCLK | SWD debug | - |