Hello, I am trying to connect Nucleo L476RG with MTi 1-s DK and using https://os.mbed.com/teams/Xsens/code/MTi-1_example/file/ff3afeaa31be/main.cpp/ as reference to start with. I was trying to achieve SPI communication as I think UART wouldn't be possible when Nucleo is connected to USB (might be wrong). Regardless, I changed the pinmap according to Arduino header image https://os.mbed.com/platforms/ST-Nucleo-L476RG/ and switched the PSEL switch to according position in order to get SPI, unfortunately I can't seem to make it work. I tried different baud rates in case that would be the problem, however it is the same result regardless: It fails to communicate with the MTi board. The pinmap I have so far is as follows: elif defined(TARGET_NUCLEO_L476RG) define PC_TX PA_2 OK define PC_RX PA_3 OK define MT_TX PB_9 OK define MT_RX PB_8 OK define MT_SDA PB_9 OK define MT_SCL PB_8 OK define MT_ADD0 PA_5 DIFF !!! define MT_ADD1 PA_6 DIFF !!! define MT_ADD2 PA_7 DIFF !!! define MT_MOSI PA_7 DIFF !!! define MT_MISO PA_6 DIFF !!! define MT_SCLK PA_5 DIFF !!! define MT_nCS PB_6 OK define MT_NRESET PA_10 OK define MT_DRDY PB_3 OK I know that MT_TX and MT_RX lines are not changed correctly as I am not using UART it shouldn't be used. Does anyone know what could be the issue?