Title
Number RevisionSize
C
Date: 2019/2/27 Sheet of
File: C:\Users\..\RIKI3.2.SchDoc Drawn By:
1
2
3
4
5
6
PC13/RTC_AF1
PC14-OSC32_IN
PC15-OSC32_OUT
10
11
12
13
14
15
VSS
VDD
18
19
20
21
22
23
24
25
PC0/OTG_HS_ULPI_STP/ADC123_IN10
PC1/ETH_MDC/ADC123_IN11
PC2/SPI2_MISO/OTG_HS_ULPI_DIR/ETH_MII_TXD2/I2S2ext_SD/ADC123_IN12
PC3/SPI2_MOSI/OTG_HS_ULPI_NXT/ETH_MII_TX_CLK/I2S2_SD/ADC123_IN13
VDD
31
32
33
PA0-WKUP/U2_CTS/U4_TX/ETH_MII_CRS/TIM2_CH1_ETR/TIM5_CH1/TIM8_ETR/ADC123_IN0
PA1/U2_RTS/U4_RX/ETH_RMII_REF_CLK/ETH_MII_RX_CLK/TIM2_CH2/TIM5_CH2/ADC123_IN1
PA2/U2_TX/TIM2_CH3/TIM5_CH3/TIM9_CH1/ETH_MDIO/ADC123_IN2
PA3/U2_RX/TIM2_CH4/TIM5_CH4/TIM9_CH2/OTG_HS_ULPI_D0/ETH_MII_COL/ADC123_IN3
VSS
VDD
PA4/SPI1_NSS/U2_CK/DCMI_HSYNC/OTG_HS_SOF/I2S3_WS/DAC1_OUT/ADC12_IN4
PA5/SPI1_SCK/OTG_HS_ULPI_CK/TIM2_CH1_ETR/TIM8_CH1N/DAC2_OUT/ADC12_IN5
PA6/SPI1_MISO/TIM1_BKIN/TIM3_CH1/TIM8_BKIN/TIM13_CH1/DCMI_PIXCLK/ADC12_IN6
PA7/SPI1_MOSI/TIM1_CH1N/TIM3_CH2/TIM8_CH1N/TIM14_CH1/ETH_MII_RX_DV/ETH_RMII_CRS_DV/ADC12_IN7
PC4/ETH_MII_RXD0/ETH_RMII_RXD0/ADC12_IN14
PC5/ETH_MII_RXD1/ETH_RMII_RXD1/ADC12_IN15
PB0/TIM1_CH2N/TIM3_CH3/TIM8_CH2N/OTG_HS_ULPI_D1/ETH_MII_RXD2/ADC12_IN8
PB1/TIM1_CH3N/TIM3_CH4/TIM8_CH3N/OTG_HS_INTN/ETH_MII_RXD3/ADC12_IN9
PB2/BOOT1
49
50
VSS
VDD
53
54
55
56
57
58
59
60
VSS
VDD
63
64
65
66
67
68
PB10/SPI2_SCK/TIM2_CH3/U3_TX/I2C2_SCL/OTG_HS_ULPI_D3/I2S2_CK
PB11/TIM2_CH4/U3_RX/I2C2_SDA/HS_ULPI_D4/ETH_MII_TX_EN/ETH_RMII_TX_EN
71
VDD
PB12/SPI2_NSS/TIM1_BKIN/U3_CK/CAN2_RX/I2C2_SMBA/OTG_HS_ULPI_D5/OTG_HS_ID/ETH_MII_TXD0/ETH_RMII_TXD0/I2S2_WS
PB13/SPI2_SCK/TIM1_CH1N/U3_CTS/CAN2_TX/OTG_HS_ULPI_D6/OTG_HS_VBUS/ETH_MII_TXD1/ETH_RMII_TXD1/I2S2_CK
PB14/SPI2_MISO/TIM1_CH2N/TIM8_CH2N/TIM12_CH1/U3_RTS/OTG_HS_DM/I2S2ext_SD
PB15/SPI2_MOSI/TIM1_CH3N/TIM8_CH3N/TIM12_CH2/OTG_HS_DP/I2S2_SD
PD8/FSMC_D13/U3_TX
PD9/FSMC_D14/U3_RX
PD10/FSMC_D15/U3_CK
PD11/FSMC_A16/FSMC_CLE/U3_CTS
PD12/FSMC_A17/FSMC_ALE/TIM4_CH1/U3_RTS
PD13/FSMC_A18/TIM4_CH2
VSS
VDD
PD14/FSMC_D0/TIM4_CH3
PD15/FSMC_D1/TIM4_CH4
87
88
89
90
91
92
93
VSS
VDD
PC6/TIM3_CH1/TIM8_CH1/U6_TX/SDIO_D6/DCMI_D0/I2S2_MCK
PC7/TIM3_CH2/TIM8_CH2/U6_RX/SDIO_D7/DCMI_D1/I2S3_MCK
PC8/TIM3_CH3/TIM8_CH3/U6_CK/SDIO_D0/DCMI_D2
PC9/TIM3_CH4/TIM8_CH4/I2C3_SDA/SDIO_D1/DCMI_D3/MCO2/I2S_CKIN
PA8/TIM1_CH1/U1_CK/I2C3_SCL/MCO1/OTG_FS_SOF
PA9/TIM1_CH2/U1_TX/I2C3_SMBA/OTG_FS_VBUS/DCMI_D0
PA10/TIM1_CH3/U1_RX/OTG_FS_ID/DCMI_D1
PA11/TIM1_CH4/U1_CTS/CAN1_RX/OTG_FS_DM
PA12/TIM1_ETR/U1_RTS/CAN1_TX/OTG_FS_DP
PA13/JTMS_SWDIO
106
VSS
VDD
PA14/JTCK_SWCLK
PA15/JTDI/SPI1_NSS/SPI3_NSS/TIM2_CH1_ETR/I2S3_WS
PC10/SPI3_SCK/U3_TX/U4_TX/SDIO_D2/DCMI_D8/I2S3_CK
PC11/SPI3_MISO/U3_RX/U4_RX/SDIO_D3/DCMI_D4/I2S3ext_SD
PC12/SPI3_MOSI/U3_CK/U5_TX/SDIO_CK/DCMI_D9/I2S3_SD
PD0/FSMC_D2/CAN1_RX
PD1/FSMC_D3/CAN1_TX
PD2/TIM3_ETR/U5_RX/SDIO_CMD/DCMI_D11
PD3/FSMC_CLK/U2_CTS
PD4/FSMC_NOE/U2_RTS
PD5/FSMC_NWE/U2_TX
VSS
VDD
PD6/FSMC_NWAIT/U2_RX
PD7/FSMC_NE1/FSMC_NCE2/U2_CK
124
125
126
127
128
129
VSS
VDD
132
PB3/JTDO/TRACESWO/TIM2_CH2/SPI1_SCK/SPI3_SCK/I2S3_CK
PB4/JNTRST/TIM3_CH1/SPI1_MISO/SPI3_MISO/I2S3ext_SD
PB5/TIM3_CH2/SPI1_MOSI/SPI3_MOSI/CAN2_RX/I2C1_SMBA/OTG_HS_ULPI_D7/ETH_PPS_OUT/DCMI_D10/I2S3_SD
PB6/TIM4_CH1/U1_TX/CAN2_TX/I2C1_SCL/DCMI_D5
PB7/TIM4_CH2/U1_RX/FSMC_NL/I2C1_SDA/DCMI_VSYNC
BOOT0
PB8/TIM4_CH3/TIM10_CH1/CAN1_RX/SDIO_D4/ETH_MII_TXD3/I2C1_SCL/DCMI_D6
PB9/TIM4_CH4/TIM11_CH1/CAN1_TX/SDIO_D5/SPI2_NSS/I2C1_SDA/DCMI_D7/I2S2_WS
141
142
143
VDD
U1
STM32F407ZET6
C11
104
C12
104
C13
104
C14
104
C15
104
C16
104
C17
104
C18
104
C19
104
C20
104
C10
104
C9
104
1
10K
2
10K
BOOT0
BOOT1
BOOT0
BOOT1
RESET
+3.3V
+3.3V
C5 22uf
C6 22uf
GND
C8
104
C7
10uf
R2
10R
3.3V
GND
3.3V
1
Y2
8MHz
R1 1M
C3
22pf
C4
22pf
SWDIO
SWCLK
U1_TX
U1_RX
1
Y1
32.768K
C1
10
C2
10
U2_TX
U2_RX
TIM5_CH1
TIM5_CH2
TIM3_CH1
TIM3_CH2
PWMA
PWMB
PWMC
PWMD
TIM4_CH1
TIM4_CH2
CIN1
CIN2
DIN1
DIN2
LED1
LED2
I2C1_SCL
I2C1_SDA
AIN1
AIN2
BIN1
BIN2
TIM8_CH1
TIM8_CH2
1
2
3
DC1
3
IN+
IN-
3
4
J？
降压模块
VIN
2
GND
AMS1
AMS1117
104
C23
C21
104
C29
220uF
RED? LED1
R4
10K
GND
R5
4.7K
BLUE1 LED1
GND
R6
2.4K
GREEN LED1
GND
R9
470
green LED1 LED1
R12
470
BLUE2 LED1 LED2
IMU1
Header 10
5V
GND
I2C1_SCL
I2C1_SDA
R7 4.7K
R8 4.7K
电源指示灯
主控板指示灯
电源电路
IMU
主控板
13
14
9
12
11
10
PWMB
BIN2
BIN1
GND
STBY
15
AIN1
AIN2
PWMA
16
AB
TB6612FNG_MOD
13
14
9
12
11
10
PWMB
BIN2
BIN1
GND
STBY
15
AIN1
AIN2
PWMA
16
CD
TB6612FNG_MOD
PWMA
AIN2
AIN1
5V
BIN1
BIN2
PWMB
GND
5V 5V
AO1
AO2
BO2
BO1
GND
GND
PWMC
CIN2
CIN1
5V
DIN1
DIN2
PWMD
GND
GND
CO1
CO2
DO2
DO1
GND
AO2
5V
TIM3_CH1
TIM3_CH2
GND
AO1
BO2
5V
TIM4_CH1
TIM4_CH2
GND
BO1
M-
5V
A
B
GND
M+
MotorA
Motor
M-
5V
A
B
GND
M+
MotorB
Motor
M-
5V
A
B
GND
M+
MotorC
Motor
M-
5V
A
B
GND
M+
MotorD
Motor
CO2
5V
TIM5_CH1
TIM5_CH2
GND
CO1
DO2
TIM8_CH1
5V
TIM8_CH2
GND
DO1
电机
R10
10K
R11
10K
VBAT+
GND
2
1
Q1
VBAT+
防反电路
1
2
3
4
STLINK1
Header 4
SWCLK
SWDIO
1
2
3
4
串口
Header 4
U2_TX
U2_RX
下载
串口2
R3
10K
C22 104
RESET?
RESET
复位
1
2
3
4
5
USB_?
USB
GND
TXD
RXD
V3
D+
D-
XI
XO
9
10
11
12
13
14
15
16
U2
CH340G
2
Y3
12MHz
C28
22p
C27
22p
RXD
TXD
C26
104
C24 104
C25 10uF
CH340
