Old pin configuration (v0.6)

(almost only motor pins have changed)

Motors 5-8 (right side of the board)

(Pin row from top to bottom)

M5678_sleep P3.1
M5678_curr_sense_en P8.6
M8- (IN2=P3.7, PM) rear_right
M8+ (IN1=P3.6, R:TA1.4; PWM) curr_sense input: A20 (P8.5)
M7- (IN2=P3.5, PM) rear_left
M7+ ( IN1=P3.4, R:TA1.3; PWM) curr_sense input: A21 (P8.4)
M6- (IN2=P8.1, TA2.0) front_right
M6+ (IN1=P3.0, R:TA1.2; PWM) curr_sense input: A22 (P8.3)
M5- (IN2=P8.0, TA1.0) front_left
M5+ (IN1=P7.7, TA1.1; PWM) curr_sense input: A23 (P8.2)

Old pin configuration (v0.5 and older)

This is the pin configuration for previous boards. In the source code, in MSP432xxxx.h, define VERSION_0_5 to use this configuration.

Colour code

Capture/Compare pin; PWM output
GPIO with interrupt

DIGITAL_IO

(Pin row from left to right)

GND 3V3
P10.2 P1.0
P9.4 (LoRa reset pin) P9.5
PJ.4 PJ.5
P7.2 Wind_sensor_sleep Wind_sensor_IN P7.3 (TA1CCR1 –> remapped)
P7.0 (port mappable) Ultrasonic_INx Ultrasonic_INx P7.1 (port mappable)
PJ.2 Ultrasonic_enable_0 Ultrasonic_enable_1 PJ.3
P6.6 (TA2CCR3) Ultrasonic_IN0 Ultrasonic_INx P6.7 (TA2CCR4)
P3.7 (port mappable) Ultrasonic_INx Ultrasonic_IN1 P5.7 (TA2CCR2)
P9.2 (TA3CCR3) Ultrasonic_IN2 Ultrasonic_IN3 P9.3 (TA3CCR4)
GND 3V3
SPI_TE Spectrometer SPI_MISO MISO
SPI_CLK Spectrometer SPI_CLK Spectrometer SPI_MOSI MOSI

ANALOG_IO

(Pin row from top to bottom)

A0 (P5.5) A1 (P5.4)
A2 (P5.3) A3 (P5.2)
A4 (P5.1) A5 (P5.0)
A6 (P4.7) Rock_block_net Rock_block_sleep A7 (P4.6)
A8 (P4.5) A9 (P4.4)
A10 (P4.3) A11 (P4.2)
A12 (P4.1) A13 (P4.0)
A14 (P6.1) A15 (P6.0)
A16 (P9.1) A17 (P9.0)
A18 (P8.7) AGND

Motors 1-4 (bottom side of the board)

(Pin row from left to right)

M1234_sleep P2.0
M1+ (EN=P2.4, PM_TA0.1) front left
M1- (PH=P3.6)
M2+ (EN=P2.6, PM_TA0.3) front right
M2- (PH=P2.5)
M3+ (EN=P10.4, TA3.0) rear left
M3- (PH=P2.7)
M4+ (EN=P7.4, PM_TA1.4) rear right
M4- (PH=P10.5)

Motors 5-8 (right side of the board)

(Pin row from top to bottom)

M5678_sleep P3.5
M5678_curr_sense_en P8.6
M8- (EN=P3.4,PM_TA1.4 –> re-mapped) rear_right
M8+ (PH=P3.1) curr_sense input: A20 (P8.5)
M7- (EN=P3.0, PM_TA1.3 –> re-mapped) rear_left
M7+ ( PH=P8.1) curr_sense input: A21 (P8.4)
M6- (EN=P7.7,PM_TA1.1) front_right
M6+ (PH=P8.0) curr_sense input: A22 (P8.3)
M5- (EN=P7.6, PM_TA1.2) front_left
M5+ (PH=P7.5) curr_sense input: A23 (P8.2)

UART pins

(Pin row from left to right)

3V3 UART1 GPS
5V UART2 Rockblock