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Pinout

ODrive v4.1

TODO

ODrive v3.x

#	Label	GPIO_MODE_DIGITAL	GPIO_MODE_ANALOG_IN	GPIO_MODE_UART_A	GPIO_MODE_UART_B	GPIO_MODE_PWM	GPIO_MODE_CAN_A	GPIO_MODE_I2C_A	GPIO_MODE_ENC0	GPIO_MODE_ENC1	GPIO_MODE_MECH_BRAKE
0	not a pin
1	GPIO1 (+)	general purpose	analog input	UART_A.TX		PWM0.0					mechanical brake
2	GPIO2 (+)	general purpose	analog input	UART_A.RX		PWM0.1					mechanical brake
3	GPIO3	general purpose	analog input		UART_B.TX	PWM0.2					mechanical brake
4	GPIO4	general purpose	analog input		UART_B.RX	PWM0.3					mechanical brake
5	GPIO5	general purpose	analog input (*)								mechanical brake
6	GPIO6 (*) (+)	general purpose									mechanical brake
7	GPIO7 (*) (+)	general purpose									mechanical brake
8	GPIO8 (*) (+)	general purpose									mechanical brake
9	M0.A	general purpose							ENC0.A
10	M0.B	general purpose							ENC0.B
11	M0.Z	general purpose
12	M1.A	general purpose						I2C.SCL		ENC1.A
13	M1.B	general purpose						I2C.SDA		ENC1.B
14	M1.Z	general purpose
15	not exposed	general purpose					CAN_A.RX	I2C.SCL
16	not exposed	general purpose					CAN_A.TX	I2C.SDA

(*) ODrive v3.5 and later
(+) On ODrive v3.5 and later these pins have noise suppression filters. This is useful for step/dir input.

Notes

• Changes to the pin configuration only take effect after odrv0.save_configuration() and odrv0.reboot()
• Bold font marks the default configuration.
• If a GPIO is set to an unsupported mode it will be left uninitialized.
• When setting a GPIO to a special purpose mode (e.g. GPIO_MODE_UART_A) you must also enable the corresponding feature (e.g. <odrv>.config.enable_uart_a).
• Digital mode is a general purpose mode that can be used for these functions: step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS.
• You must also connect GND between ODrive and your other board.
• ODrive v3.3 and onward have 5V tolerant GPIO pins.
• Simultaneous operation of UART_A and UART_B is currently not supported.