1 2 3 4 5 6

VCC

COD1
D1

2
1PID101 2
PID102
PIQ102
A COJ1
J1 VCC COJ2
J2 COC1
C1 12V COD2
D2 COQ1
Q1 A
COF1
F1
2 1 2 Out2_Motor 1 2PID202 1 1N5232B IRF3205S
2 PIJ102PIF101 PIF102
PIC201 PIJ201 1 PIC101 PIC102 PID201 COR1
R1
1 COC2
C2 Out1_Motor 2 1PIQ101
1 PIJ101 RUEF400-2 PIJ202 2 PIR101 PIR102
PIC202 Cap Pol
VCC 12V
100nF/50V 1N5822 22R/1%
PIR201
CN_TBP01R1-508-02GR 100uF/50V CN_TBP01R1-508-02GR GND COIC1
IC1 COC3
C3 COR2
R2 PIQ103

3
5 8 4.7K/5%
PIR301 PIR401 NLuC0PWM1 PIIC101
uC_PWM1 1
VCC VB PIIC105 PIIC108
7
PIC301 PIC302
PIR202 NLOut10Motor
Out1_Motor
R3
COR3 R4
COR4 IN HO PIIC107
COD3
GND GND uC_EN1
NLuC0EN1 2 6 Cap Pol D3
2K/5% 1K/5% PIIC102 SD VS PIIC106

2
PIR302 PIR402 3
PIIC103 COM LO
4
PIIC104
10uF/50V 1PID301 2
PID302 PIQ202
COQ2
Q2
IR2184SPBF 1N5232B IRF3205S

12V
PID401 PID501 GND
COR5
R5
PIR501 PIR502
PIR601
1PIQ201
22R/1% COR6
COJ3
J3 12V COU1
U1 LM7805 5V R6 PIQ203
PID402 COD4
D4
PID502 COD5
D5

3
1 1 3 4.7K/5%
1 PIJ301 PIU101 IN OUTPIU103 PIR602
2
2 PIJ302 PIC401 COC4 PIC501 PIC601

100nF/50V
C4 GND
COC5
C5 COC6
C6
CN_TBP01R1-508-02GR PIC402 Cap Pol PIC502 100nF/50V
22uF/50V
2
PIU102 PIC602 GND GND
GND

GND VCC

GND COD6
D6

2
B
1PID601 2
PID602 PIQ302 B
COC7
C7 12V D7
COD7 Q3
COQ3
2PID702 1 1N5232B IRF3205S
PIC701 PIC702 PID701 R7
COR7
PIR701 PIR702
1PIQ301
100nF/50V 1N5822 22R/1% PIR801
GND COIC2
IC2 COC8
C8 COR8
R8 PIQ303

3
5 8 4.7K/5%
PIIC205 VCC VB PIIC208 PIC801 PIC802
NLuC0PWM2
uC_PWM2 1
PIIC201 IN HO
7
PIIC207
PIR802 NLOut20Motor
Out2_Motor
NLuC0EN2 PIIC202
uC_EN2 2 6 Cap Pol D8
COD8
SD VS

2
PIIC206
U2
COU2 3
PIIC203 COM LO
4
PIIC204
10uF/50V 1PID801 2
PID802 PIQ402
COQ4
Q4
1 40 IR2184SPBF 1N5232B IRF3205S
PIU201 VBAT 3.3V PIU2040 COR9
R9
1PIQ401
PIU202
2
PC13
CODE GND
39
PIU2039
100nF/50V
PIC901
GND
PIR901
22R/1%
PIR902
PIR10 1 COR10
C9
COC9
R10 PIQ403

3
3 38 PIC902 4.7K/5%
PIU203 PC14 5V PIU2038
GND PIR10 2
PIU204
4 PC15 PB9 37
PIU2037
5V
5 36 GND
PIU205 PA0 PB8 PIU2036

6 35
PIU206 PA1 PB7 PIU2035

uC_ENC_A PIU207
7 PA2 PB6 34
PIU2034
C C
uC_ENC_B 8
PIU208 PA3
33 uC_EN1
PB5 PIU2033
9 32 uC_PWM1
PIU209 PA4 PB4 PIU2032

10 PA5 PB3 31
PIU2010 PIU2031 H1
COH1 H2
COH2 H3
COH3 H4
COH4
11 30
PIU2011 PA6 PA15 PIU2030

12 29
PIU2012 PA7 PA12 PIU2029
Hole Hole Hole Hole
13 28
PIU2013 PB0 PA11 PIU2028
14 27
PIU2014 PB1 PA10 PIU2027

15 26 uC_EN2 5V COC10
C10
PIU2015 PB10 PA9 PIU2026
PIC1002 PIC1001
16
PIU2016 PB11 PA8
25
PIU2025
uC_PWM2 PIR1 01
PIR1201 R11
COR11 100nF/50V
17 24 R12
COR12 4.7K/5% 1 GND
PIU2017 RESET PB15 PIU2024 PIJ401
uC_ENC_A
NLuC0ENC0A PIR1 02
4.7K/5% 2
PIJ402
18
PIU2018 3.3V PB14
23
PIU2023
uC_ENC_B
NLuC0ENC0B PIR1202 3
PIJ403
4
PIJ404
19 22
PIU2019 GND PB13 PIU2022
D J4
COJ4 D
20 21 GND
PIU2020 GND
USB PB12 PIU2021
Title

STM32F103 BLUEPILL
GND Size Number Revision
B
Date: 12/2/2023 Sheet of
File: D:\workspace\..\Sheet1.SchDoc Drawn By:
1 2 3 4 5 6
 2COC 204DAP
104DAP 104JAP 204JAP 304JAP 404JAP
202CAP 4JOC
102JAP 202JAP 1JOC 101JAP 201JAP 4DOC 103JAP 203JAP
102CAP 3ROC 1001CAP 2001CAP
2JOC 21ROC
2HOC 101FAP 103RAP 203RAP 3JOC 01CO1C021RAP 2021RAP
102HAP 201FAP
202DAP 1011RAP
11ROC
2011RAP
1QOC 1FOC
2DOC 2UOC
301QAP 202RAP 2ROC
201QAP
3COC
101QAP
102RAP
102DAP 0402UAP 9COC 102UAP
1ROC 9302UAP 109CAP 202UAP
201RAP 103CAP 203CAP
1101DRAOP C 8302UAP 209CAP 302UAP
2QOC
201DAP 101DAP 7302UAP 402UAP
6ROC 801CIAP 701CIAP 601CIAP 501CIAP
201CAP 6302UAP 502UAP
302QAP 206RAP 5ROC 1CIOC 101CAP 1
COC
5302UAP 602UAP
202QAP 106RAP 101CIAP 201CIAP 301CIAP 401CIAP
205RAP 105RAP 4302UAP 702UAP
102QAP
203DAP 103DAP
207DAP 3302UAP 802UAP
3DOC
7DOC 2302UAP 902UAP
3QOC 1302UAP 0102UAP
8ROC 0302UAP 1102UAP
303QAP 208RAP 108RAP 107DAP 9202UAP 2102UAP
203QAP 7ROC 8COC 8202UAP 3102UAP
103QAP 207RAP 107RAP 108CAP 208CAP 7202UAP 4102UAP
6202UAP 5102UAP
206DAP 106DAP 5202UAP 6102UAP
802CIAP 702CIAP 602CIAP 502CIAP
4QOC 6DOC 207CAP
2CIOC 7COC 4202UAP 7102UAP
01ROC 107CAP
304QAP 2001RAP 1001RAP 9ROC 102CIAP 202CIAP 302CIAP 402CIAP 3202UAP 8102UAP
204QAP 2202UAP 9102UAP
3HOC 209RAP 109RAP 4HOC
104QAP 1202UAP 0202UAP
103HAP 208DAP 108DAP 8DOC 104HAP
 2COC 204DAP
104DAP 104JAP 204JAP 304JAP 404JAP
202CAP 4JOC
102JAP 202JAP 1JOC 101JAP 201JAP 102CAP
4DOC 103JAP 203JAP 1001CAP 2001CAP
3ROC 21ROC
2HOC 2JOC
101FAP 103RAP 203RAP 3JOC 01CO1C021RAP 2021RAP
102HAP 201FAP
202DAP
11ROC
1011RAP 2011RAP
1QOC 1FOC
2DOC 2UOC
301QAP 202RAP 2ROC
201QAP 3COC
101QAP
102RAP 102DAP 0402UAP 9COC 102UAP
1ROC 9302UAP 109CAP 202UAP
201RAP 1011DRAOP C 103CAP 203CAP 8302UAP 209CAP 302UAP
2QOC 201DAP 101DAP 7302UAP 402UAP
6ROC 801CIAP 701CIAP 601CIAP 501CIAP
201CAP 6302UAP 502UAP
302QAP 206RAP 5ROC 1CIOC 1COC
202QAP 106RAP205RAP 101CAP 5302UAP 602UAP
105RAP 101CIAP 201CIAP 301CIAP 401CIAP
4302UAP 702UAP
102QAP 207DAP 3302UAP 802UAP
203DAP 103DAP
3DOC
7DOC 2302UAP 902UAP
3QOC 1302UAP 0102UAP
8ROC 0302UAP 1102UAP
303QAP 208RAP 108RAP 107DAP 9202UAP 2102UAP
203QAP 8COC 8202UAP 3102UAP
7ROC
103QAP 207RAP 107RAP 108CAP 208CAP 7202UAP 4102UAP
6202UAP 5102UAP
206DAP 106DAP 802CIAP 702CIAP 602CIAP 502CIAP 5202UAP 6102UAP
4QOC 6DOC 207CAP 4202UAP 7102UAP
01ROC 2CIOC 7COC
107CAP 3202UAP 8102UAP
304QAP 2001RAP 1001RAP 9ROC 102CIAP 202CIAP 302CIAP 402CIAP
204QAP 2202UAP 9102UAP
3HOC 209RAP 109RAP 4HOC
104QAP 1202UAP 0202UAP
103HAP 208DAP 108DAP8DOC 104HAP
 PAD402 COC2
PAJ404 PAJ403 PAJ402 PAJ401 PAD401
COJ4 PAC202
PAJ302 PAJ301 COD4 PAJ102 PAJ101 COJ1 PAJ202 PAJ201
COR12 PAC1002 PAC1001 COR3 PAC201
COC10 COJ3 PAF101 COJ2 COH2
PAR1202 PAR1201 PAR302 PAR301
COR11
PAR1102 PAR1101 PAD202
PAF102 PAH201
COF1 COQ1
COU2
COD2
COR2 PAR202 PAQ103
COC3 PAQ102
PAU201 COC9 PAU2040 PAD201 PAR201
PAQ101
PAU202 PAC901 PAU2039 COR1
PAC302 PAC301 PAR101 PAR102
PAU203 PAC902 PAU2038 COD1
COQ2
PAU204 PAU2037 PAD101 PAD102
PAU205 PAU2036 PAC102 PAIC105 PAIC106 PAIC107 PAIC108 COR6
PAU206 PAU2035 COC1 PAC101 COIC1 COR5 PAR602 PAQ203
PAIC104 PAIC103 PAIC102 PAIC101
PAR601 PAQ202
PAU207 PAU2034 PAR501 PAR502
PAU208 PAU2033
PAD702 PAD301 PAD302
PAQ201
PAU209 PAU2032 COD7 COD3
PAU2010 PAU2031 COQ3
PAU2011 PAU2030 COR8
PAU2012 PAU2029 PAD701 PAR801 PAR802 PAQ303
PAU2013 PAU2028 COC8 COR7 PAQ302
PAU2014 PAU2027 PAC802 PAC801 PAR701 PAR702 PAQ301
PAU2015 PAU2026
PAU2016 PAU2025 PAD601 PAD602
PAIC205 PAIC206 PAIC207 PAIC208
PAC702 COQ4
PAU2017 PAU2024 COC7 COIC2 COD6 COR10
PAU2018 PAU2023 PAC701
PAIC204 PAIC203 PAIC202 PAIC201 COR9 PAR1001 PAR1002 PAQ403
PAU2019 PAU2022 PAQ402
COH4
PAU2020 PAU2021 PAR901 PAR902 COH3
COD8PAD801 PAQ401
PAH401 PAD802 PAH301