Modulators of muscarinic receptors

A compound of formula I

• or a pharmaceutically acceptable salt thereof, wherein
• R1 is —NR6R′6;
• R6 and R′6 together with the nitrogen atom to which they are attached form an optionally substituted 4-7 membered heterocycloaliphatic;
• L is —(CH2)n—, wherein n is 0-2;
• R2 is a cycloaliphatic or a heterocycloaliphatic, each of which is optionally substituted with 1-3 of R3;
• Each R3 is -ZAR4, wherein each ZA is independently a bond or an optionally substituted branched or straight C1-6 aliphatic chain wherein up to two carbon units of ZA are optionally and independently replaced by —CO—, —CS—, —CONRA—, —CONRANRA—, —CO2—, —OCO—, —NRACO2—, —O—, —NRACONRA—, —OCONRA—, —NRANRA—, —NRACO—, —S—, —SO—, —SO2—, —NRA—, —SO2NRA—, —NRASO2—, or —NRASO2NRA—;
• Each R4 is independently RA, halo, —OH, —NH2, —NO2, —CN, or —OCF3;
• Each RA is independently hydrogen, an optionally substituted aliphatic, an optionally substituted cycloaliphatic, an optionally substituted heterocycloaliphatic, an optionally substituted aryl, or an optionally substituted heteroaryl;
• and
• Each p is 0 or 1.

A compound selected from

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A compound of formula I

• or a pharmaceutically acceptable salt thereof, wherein
• R1 is —NR6R′6;
• Each of R6 and R′6 is independently hydrogen or an optionally substituted C1-4 aliphatic, or
• R6 and R′6 together with the nitrogen atom to which they are attached form an optionally substituted 4-7 membered heterocycloaliphatic;
• L is a bond or an unsubstituted methylene group;
• R2 is an optionally substituted bicyclic cycloaliphatic;
• or
• R2 is a monocyclic cycloaliphatic optionally substituted with a heteroaryl;
• or
• R2 is pyrrolidine-yl, 1,3-dioxolane-yl, imidazolidine-yl, 2-pyrazoline-yl, pyrazolidine-yl, piperidine-yl, 1,4-dioxane-yl, morpholine-yl, azepane-yl, azocane-yl, or piperazine-yl, each of which is optionally substituted with 1 to 3 of halo, or aliphatic, alkoxy, (aliphatic(oxy))carbonyl, (alkoxy(alkoxy))carbonyl, cycloaliphatic, heterocycloaliphatic, heteroaryl, amido, amino, (heterocycloaliphatic)oxy, or (heterocycloaliphatic(oxy))carbonyl, each of which is optionally substituted;
• or
• R2 is an optionally substituted bicyclic heterocycloaliphatic that has 1-3 heteroatoms independently selected from N, O, and S;
• Each p is 0 or 1;
• and
• When p is 0, then R1 is an optionally substituted C2-8 alkyl, an optionally substituted alkenyl, an optionally substituted alkynyl, N,N-dimethylamino, or R6 and R′6 together with the nitrogen atom to which they are attached form an optionally substituted 4-7 membered heterocycloaliphatic.