1 2 3 4 5

3V3
R17
3.3K LED1
C6 C15 C14 C16 C5 C26 5V5A GND
100nF 100nF 100nF 100nF 100nF 100nF
U1 R22
STM32F407VET6 LED2
A GND 1K A
23 15
3V3 GND
PA0 PA0-WKUP PC0 PC0 VREF+ R33 R2
24 PA1 PC1 16 PC1 0
VDDA 0
PA1 25 17
PA2 PA2 PC2 PC2 3V3
26 PA3 PC3 18 PC3 R29
PA3 29 33
PA4 PA4 PC4 PC4 C9 R4 C8 C7 R15 1K LED3
30 PA5 PC5 34 PC5 PE10
PA5 31 63
100nF 0 100nF 10uF 0 3V3
PA6 PA6 PC6 PC6 GND
32 PA7 PC7 64 PC7
PA7 67 65
PA8 PA8 PC8 PC8 VREF- VSSA
68 PA9 PC9 66 PC9
power light
PA9 69 78
PA10 PC10 PC10
VET6 peripheral circuit
PA10 70 79
PA11 PA11 PC11 PC11
71 PA12 PC12 80 PC12
PA12 72 7
PA13 PA13 PC13-TAMPER-RTC PC13
76 PA14 PC14-OSC32K_IN 8 SW1
PA14 PC14 1 2
77 PA15 PC15-OSC32K_OUT 9 C10 GND R8
PA15 PC15 22pF 10K
R6 3 4
35 PB0 PD0 81 PD0 OSCIN TS- 3V3
B PB0 36 82 BOOT0 10K B
PB1 PB1 PD1 PD1 GND PD8
37 PB2 PD2 83 PD2
BOOT1 89 84 R5 SW2 GND
PB3 PB3 PD3 PD3 GND C11 X2 1 2
90 PB4 PD4 85 PD4 8MHz BOOT1 10K
PB4 91 86
22pF
GND C12 R9
PB5 PB5 PD5 PD5 OSCOUT 3 4
92 PB6 PD6 87 PD6 TS
100nF 10K
PB6 93 88 3V3
PB7 PB7 PD7 PD7 NRST
95 PB8 PD8 55 PD8
Crystal oscillator circuit
PB8 96 56
PB9
PB10
47
48
PB9
PB10
PD9
PD10 57
58
PD9
PD10 Key circuit
PB11 PB11 PD11 PD11
51 PB12 PD12 59 PD12
PB12 52 60 OLED H10 HX12501-5AWB
PB13 PB13 PD13 PD13
53 61 HDR-F-2.54_1x6

7
PB14 PB14 PD14 PD14
54 62 1

7
PB15 PB15 PD15 PD15 GND 1 1 PC1 1 1
2 2 2 GND 1
3V3 PD5 PC2 2 2
PE0 97 PE0 3 3 3 3V3 2
PE5 PD6 PC3 3 CN3 3
PE1 98 PE1 4 4 4 PE15 3
PE6 GND 3V3 4 4 CN4
PE2 1 PE2 5 5 5 PD3 4
PE7 5V GND 5 5 HX12501-6AWB
6 2 5

6
VBAT PE3 PE3 6 6 PB13
C 3V3 PE8 6 C
12 3 6

6
OSC_IN PE4 PE4 PB12
3V3 OSCIN 13 4
CR1 OSCOUT OSC_OUT PE5 PE5
0 14 NRST PE6 5 PE6
NRST 19 38

CR2
VREF-
20
21
VSSA
VREF-
PE7
PE8 39
40
PE7
PE8 OLED Bluetooth Circuit CCD/ELE PS2-Handle
VREF+ VREF+ PE9 PE9
22 VDDA PE10 41 PE10
VDDA 94 42
0 BOOT0 BOOT0 PE11 PE11
43 3V3 1 2 PB10
PE12 PE12
73 44 PA14 3 4 NC
NC PE13 PE13
2.2uf 45 GND 5 6 PC0
PE14 PE14
CR3 PE15 46 PE15 PA13 R7 PA13 7 8 PD4 HDR2X13
VSSA

PD8 U11
VDD
VDD
VDD
VDD
VDD

VSS
VSS
VSS
VSS
VSS

GND 10K PD11 9 10

3V3 PD10 11 12 PD9
PC15 13 14 PD12
11
28
50
75
100

10
27
49
74
99

GND PD14 15 16 PD13

10K PD15 17 18 PA8
PA14 R10 PA12 19 20 PA11
CANL 21 22 CANH
D
SWD 23 24 PD2 D
GND
GND
GND
GND

PC12
3V3
3V3
3V3
3V3
3V3

5V 25 26 GND

Reserved GPIO
CR4
2.2uf
TITLE:
STM32F407VET6 REV: 1.0

Company: WHEELTEC Sheet: 1/1

GND
Date: 2021-08-18 Drawn By: zhang
1 2 3 4 5
 1 2 3 4 5 6
GND C23 1.8V
U5 0.1uF
ICM20948
R13
3V3

18
17
16
15
14
13
D3
10K 1N5819WS

EP 8
EP 9
GND
NC
NC
NC
NC
VDD
EP 7 GND D1 NRST 5V 1 VBUS
EP 6 PE1 USBD- 2 D-
19 12

PC11
PC10
GND 5 R14 1N4148 RESV INT1 3 D+
A 1.8V 20 11 10k USBD+ USB2 A
ID 4 Q2 R16 GND RESV FSYNC 4 ID
3 1K SEBT8050 10k 21 AUX_DA REGOUT 10 R19 0.1uF 5
D+ USB1D+ RTS GND GND

6 EP
7 EP
2 22 nCS SDO/AD0 9 10k C22
D- USB1D- 23 8
VBUS 1 DTR SCL SCL/SCLK VDDIO R18
1.8V U4
9 EP
8 EP

24 7

29
28
27
26
25
24
23
22
5V R12 BOOT0 SDA SDA/SDI AUX_CL GND CP2102-GMR
D2
1N5819WS C21

EP
DTR
DSR
TXD
RXD
RTS
CTS
NC
USB1 R11 1K

NC
NC
NC
NC
NC
NC
PA10
1K

PA9
Q1 0.1uF
SS8550

1
2
3
4
5
6
RTS GND 1 DCD NC 21
3V3 GND 2 20
3V3 C4 RI NC
U3 3 GND NC 19

29
28
27
26
25
24
23
22
CP2102-GMR 1.8V 100nF 4 18
3V3 3V3 R1 USBD+ D+ NC
0 5 D- NC 17
EP
DTR
DSR
TXD
RXD
RTS
CTS
NC
GND 1.8V USBD- 6 16
VDD NC

SUSPEND#
U9 7 REGIN NC 15

SUSPEND
R21 R20
1 21 10k
RS0102YH8 R36 R37 5V
DCD NC 10k
1 8

RST#
VBUS
2 20 10k 10k
RI NC VCCB VCCA
C19 C20 3 19 PB9 2 7

NC

NC
NC
B1 A1 C2 C3
GND NC PB8 3 6 SDA GND
B 100nF 1uF 4 D+ NC 18 B2 A2 B
USB1D+ 5 17 4 5 SCL

8
9
10
11
12
13
14
OE GND 100nF 1uF
USB1D- D- NC
6 VDD NC 16
3V3
SUSPEND#

7 REGIN NC 15
SUSPEND

5V R35
10k GND
RST#
VBUS

NC

NC
NC

C18 C17
GND
8
9
10
11
12
13
14

100nF 1uF 1.8V

Usart3-CP2102
Usart1-CP2102 ICM20948

C C
H3 H4
HDR-F-2.54_1x4 HDR-F-2.54_1x4
GND U12
U2 R34 1 1 SSP6206-18NR
VP230 H7 10k PD4 PD7
GND HDR-F-2.54_1x2
BUZ1
2 2 1
1 8 CANH 5V SEA-12085 3V3 H5 PE13 PE14 GND
PD1 D RS 5V 3 5V 3 2
2 7 + 1.8V VOUT
1
2

GND GND CANH R23 GND 4 GND 4 3

3 6 SW-SPDT1 1 VIN
3V3 VCC CANL 120 R32
4 5 R3 3 2
PD0 R VREF 1k PB0
CANL Q3
10k
2 GND 3 H1 H2
3V3 GND

1.8V
S8050 1 HDR-F-2.54_1x4 HDR-F-2.54_1x4

3V3
R30

3V3
CAN1 10k PB4 1 PB5 1
PE0

Header 2 2 2
PB10

PE9 PE11
5V 3 5V 3 C38 C13
2 CANH 4 4
1 CANL GND GND 1uF
GND GND
1uF
GND

D
CAN Interface Buzzer Enable switch potentiometer Reserved Interface D

TITLE:
STM32F407VET6 REV: 1.0

Company: WHEELTEC Sheet: 1/1

Date: 2020-08-18 Drawn By: zhang
1 2 3 4 5 6
 1 2 3 4 5

GND
5V5A 5V5A GND GND
GND U6
USBC1 PC4
C25 C24 RT8289GSP USB3.1C16PFSMT

A12
R27 R26 U7

A9
A8
A7
A6
A5
A4

A1
9
22uF 4.7uF PAD C29 C33 C34 RT8289GSP
5 4 FB
EN FB 9

GND

VBUS
SBU1
DN1
DP1
CC1
VBUS

GND
6 3 PAD
A 5V5A VIN GND NC 10k(%0.1) 1k(%0.1) 47uF 22uF 4.7uF 5 4 FB1 A
7 2 0 0 EN FB
L3
8
VIN NC
1 0 0 6
GND NC
3
SW BOOT 0 0 0 0
VIN 7 2
15uH VIN NC

SBU2
8 1

DN2
SW BOOT

CC2
DP2
5V
C1 L2 15uH
C28

B5
B6
B7
B8
C44 10nF
C27 C32
220uF 22uF C30 C31 R31
100nF R24 D7 C46 10nF
10k(%0.1) P6SMB550A 220uF 10k(%0.1)
22uF 100nF D6
P6SMB550A
DC1 FB1
FB DC-005A-20A
J3 GND
1
1 VIN_SW
1 3
2 R28
R25 2 2 GND 3.16k

4
3.16k
1

4
VIN 1
2 CN1
KEY1 GND 2 2.54-2P WT

3
K2-3.66.1_SMD GND
GND

3
B 1 2 B
VIN_SW VIN

Raspberry 5 V power supply GND On-board 5V circuit

U8 U10
TB6612FNG TB6612FNG,
1 24 VIN 1 24 VIN
AOUT1 AO1 VM1 COUT1 CO1 VM1
2 23 PC6 2 23 PC8
AOUT1 AO1 PWMA COUT1 CO1 PWMC 5V
3 22 PA2 3 22 PC5
GND PGND1 AIN2 5V GND PGND1 CIN2
4 21 PA3 4 21 PE12
GND PGND1 AIN1 GND PGND1 CIN1 C54
5 20 5 20
AOUT2 AO2 VCC C45 COUT2 CO2 VCC 0.1uF
6 19 0.1uF 6 19
AOUT2 AO2 STBY 5V COUT2 CO2 STBY 5V GND
7 18 7 18
BOUT2 BO2 GND GND DOUT2 DO2 GND GND
8 17 PA4 8 17 PB11
BOUT2 BO2 BIN1 DOUT2 DO2 DIN1
9 16 PA5 9 16 PB15
GND PGND2 BIN2 GND PGND2 DIN2
10 15 PC7 10 15 PC9
GND PGND2 PWMB GND PGND2 PWMD
11 14 VIN 11 14 VIN C36
C BOUT1 BO1 VM3 DOUT1 DO1 VM3 C
12 13 VIN C35 12 13 VIN 22uF
BOUT1 BO1 VM2 DOUT1 DO1 VM2
22uF GND
GND

Motor drive circuit

MOTORA MOTORB MOTORD
HDR-F-2.54_1x6 HDR-F-2.54_1x6 MOTORC HDR-F-2.54_1x6
GND GND HDR-F-2.54_1x6 GND
GND
AOUT1 1 BOUT2 1 DOUT2 1
2 COUT2 1
2 2
3 2
C42 PB3 PA7 3 C37 PA1 3
4
C41 C40 PB7 3
PA15 PA6 4 PA0 4
0.1uF 5 PB6 4 0.1uF
0.1uF 5 5
6
0.1uF 5
AOUT2 BOUT1 6 DOUT1 6
COUT1 6
5V 5V 5V
D 5V D

TITLE:
STM32F407VET6 REV: 1.0
Motor Interface
Company: WHEELTEC Sheet: 1/1
Date: 2020-08-18 Drawn By: zhang
1 2 3 4 5