Pin #	Pin name	function	settings	comment
1	VBAT	3v3
2	PC13	buzzer	PP1
3	PC14	relay	PP1
4	PC15	usb pullup	PP1
5	PF0	OSCIN
6	PF1	OSCOUT
7	NRST	reset
8	VSSA	gnd
9	VDDA	3v3
10	PA0	AIN0	A
11	PA1	AIN1	A
12	PA2	ANI2	A
13	PA3	AIN3	A
14	PA4	DIN	I	mul0/1 input
15	PA5	DEN0	PP0	enable mul0
16	PA6	DEN1	PP0	enable mul1
17	PA7	PWM	AF1	TIM17CH1 PWM
18	PB0	ADDR0	PP	MUL address
19	PB1	ADDR1	PP	selection
20	PB2	ADDR2	PP
21	PB10	PB10	gpio	reserved gpio
22	PB11	PB11	gpio	reserved gpio
23	VSS	gnd
24	VDD	3v3
25	PB12	SPI2 NSS	AF5	isolated
26	PB13	SPI2 SCK	AF5	external
27	PB14	SPI2 MISO	AF5	SPI
28	PB15	SPI2 MOSI	AF5
29	PA8	PA8	gpio	reserved gpio
30	PA9	USART1 TX	AF7	RS-422 interface
31	PA10	USART1 RX	AF7	(opt)
32	PA11	USB DM	AF14
33	PA12	USB DP	AF14
34	PA13	SWDIO	AF0
35	VSS	gnd
36	VDD	3v3
37	PA14	SWCLK	AF0
38	PA15	PA15	gpio	reserved gpio
39	PB3	SPI1 SCK	AF5	SSI interface
40	PB4	SPI1 MISO	AF5	(opt)
41	PB5	X
42	PB6	I2C1 SCL	AF4	non-isolated
43	PB7	I2C1 SDA	AF4	ext. I2C
44	BOOT0	boot
45	PB8	CAN RX	AF9
46	PB9	CAN TX	AF9
47	VSS	gnd
48	VDD	3v3
---------	-------------	-------------	-------------	------------------

Sorted by port

// sort -Vk4 Readme.md

Pin #	Pin name	function	settings	comment
44	BOOT0	boot
7	NRST	reset
10	PA0	AIN0	A
11	PA1	AIN1	A
12	PA2	ANI2	A
13	PA3	AIN3	A
14	PA4	DIN	I	mul0/1 input
15	PA5	DEN0	PP0	enable mul0
16	PA6	DEN1	PP0	enable mul1
17	PA7	PWM	AF1	TIM17CH1 PWM
29	PA8	PA8	gpio	reserved gpio
30	PA9	USART1 TX	AF7	RS-422 interface
31	PA10	USART1 RX	AF7	(opt)
32	PA11	USB DM	AF14
33	PA12	USB DP	AF14
34	PA13	SWDIO	AF0
37	PA14	SWCLK	AF0
38	PA15	PA15	gpio	reserved gpio
18	PB0	ADDR0	PP	MUL address
19	PB1	ADDR1	PP	selection
20	PB2	ADDR2	PP
39	PB3	SPI1 SCK	AF5	SSI interface
40	PB4	SPI1 MISO	AF5	(opt)
41	PB5	X
42	PB6	I2C1 SCL	AF4	non-isolated
43	PB7	I2C1 SDA	AF4	ext. I2C
45	PB8	CAN RX	AF9
46	PB9	CAN TX	AF9
21	PB10	PB10	gpio	reserved gpio
22	PB11	PB11	gpio	reserved gpio
25	PB12	SPI2 NSS	AF5	isolated
26	PB13	SPI2 SCK	AF5	external
27	PB14	SPI2 MISO	AF5	SPI
28	PB15	SPI2 MOSI	AF5
2	PC13	buzzer	PP1
3	PC14	relay	PP1
4	PC15	usb pullup	PP1
5	PF0	OSCIN
6	PF1	OSCOUT
1	VBAT	3v3
9	VDDA	3v3
24	VDD	3v3
36	VDD	3v3
48	VDD	3v3
8	VSSA	gnd
23	VSS	gnd
35	VSS	gnd
47	VSS	gnd
---------	-------------	-------------	-------------	------------------

DMA usage

DMA1

Channel1 - ADC1.

DMA2

Other resources usage

Timers

SysTick is 1ms system time counter (Tms).
TIM2 is 32bit timer with 2mks period (system timestamp for PEP emulation).

CAN

CAN bus is primary interface.

USB

USB (PL2303 emulation with iINTERFACE="canbusbta") used as alternate managing interface and for debugging.

USART

USART1 can be used to operate with external encoder or other device over RS-422.

SPI

SPI1 used to work with external SSI encoder.
SPI2 used with some external things.

I2C

not implemented yet

ADC

ADC1 used to measure internal temperature (CH16) and external:

CH1 - external power supply (raw value approx Uext/10).
CH2 - onboard 5V supply after DC-DC (raw value approx V/2).
CH3, CH4 - external inputs through dividers on RV1/R14 and RV2/R15.

GPIO

GPIOA:

PA4 - DIN - input of multiplexers U1 and U2.
PA5 - DEN0 - enable multiplexer U1.
PA6 - DEN1 - enable multiplexer U2.

GPIOB:

PB0..PB2 - 3bit input address on multiplexer.

GPIOC:

PC13 - buzzer (not implemented yet).
PC14 - relay.
PC15 - USB pullup.

Text command protocol

Text commands have format of parameter[number][=setter]. Where

parameter is any possible command,
number is its number (if need, like esw5),
setter is new value to set parameter.

Without setter command works like getter or run some routine.

All commands should have codes more than '@'.

Text commands list

CAN bus command protocol

All commands have variable length format: e.g. you don't need to send 8 random data bytes for commands like reset, which needs no arguments and couldn't be a setter. So, starting from 1st byte in data packet:

0 - command code (L)
1 - command code (H) - uint16_t
2 - command parameter, 0..127 (setter have 1 in MSB)
3 - error code (only in answers)
4..7 - data (int32_t, little endian)

Readme.md

BTA CANbus node controller

Pinout

Sorted by pin number