# Board Schematic

![Board schematic](../../images/sanpo_spine_sch.png)

## STM32 Pinout

### STM32F407 (1)

| Function | Signal | STM32 Pin |
| --- | --- | --- |
| ADC 1 | AD1 | PB0 |
| ADC 1 | AD2 | PB1 |
| UART 1 | TX | PD8 |
| UART 1 | RX | PD9 |
| SPI | CS1 | PA15 |
| SPI | SCK | PC10 |
| SPI | MISO | PC11 |
| SPI | MOSI | PC12 |
| Reserved | ESTOP/RSDV | PD0 |
| IIC 1 | SCL | PB10 |
| IIC 1 | SDA | PB11 |
| SWD 1 | SWDIO | PA13 |
| SWD 1 | SWCLK | PA14 |
| RS485-2 | RX | PC6 |
| RS485-2 | TX | PC7 |
| RS485-1 | RX | PB6 |
| RS485-1 | TX | PB7 |
| CAN2 | RX | PB12 |
| CAN2 | TX | PB13 |
| CAN1 | RX | PB8 |
| CAN1 | TX | PB9 |

### STM32F407 (2)

| Function | Signal | STM32 Pin |
| --- | --- | --- |
| ADC 2 | AD1 | PB0 |
| ADC 2 | AD2 | PB1 |
| UART 2 | TX | PD8 |
| UART 2 | RX | PD9 |
| SPI | CS2 | PA15 |
| SPI | SCK | PC10 |
| SPI | MISO | PC11 |
| SPI | MOSI | PC12 |
| Reserved | ESTOP/RSDV | PD0 |
| IIC 2 | SCL | PB10 |
| IIC 2 | SDA | PB11 |
| SWD 2 | SWDIO | PA13 |
| SWD 2 | SWCLK | PA14 |
| RS485-3 | RX | PB6 |
| RS485-3 | TX | PB7 |
| RS485-4 | RX | PC6 |
| RS485-4 | TX | PC7 |
| CAN3 | RX | PB8 |
| CAN3 | TX | PB9 |
| CAN4 | RX | PB12 |
| CAN4 | TX | PB13 |