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+.. _pinout-chart:
+
+================================================================================
+ODrive v3.x Pinout
+================================================================================
+
+.. contents::
+   :depth: 1
+   :local:
+   
+.. ODrive v4.1
+.. --------------------------------------------------------------------------------
+
+.. **TODO**
+
+.. ODrive v3.x
+.. --------------------------------------------------------------------------------
+
+.. csv-table:: Pinout Table
+   :file: figures/pinout.csv
+   :header-rows: 1
+
+**key:**
+
+* **(*)** 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 :code:`odrv0.save_configuration()` and :code:`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. :code:`GPIO_MODE_UART_A`) you must also enable the corresponding feature (e.g. :code:`<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.