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1
Idx	GPIO	Ball	BBB pin		BBBlue net	BBBlue pin or usage # from zmatt!
2
----	----	----	-------		----------	---------------------
3-
Idx	GPIO	Ball	BBB pin		config-pin	BBBlue net	BBBlue pin or usage
3+
4-
----	----	----	-------		-------		----------	---------------------

4+
5-
                                        

5+
6-
28	0.30	T17	P9.11		P9_11		UART4_RX	DSM2.3

6+
28	0.30	T17	P9.11		UART4_RX	DSM2.3

7-
                                        

7+
8-
104	3.18	B12	P9.42b		-		EQEP_0A		E1.3

8+
104	3.18	B12	P9.42b		EQEP_0A		E1.3

9-
105	3.19	C13	P9.27		-		EQEP_0B		E1.4

9+
105	3.19	C13	P9.27		EQEP_0B		E1.4

10-
                                        

10+
11-
52	0.08	V02	P8.35		-		EQEP_1A		E2.3

11+
52	0.08	V02	P8.35		EQEP_1A		E2.3

12-
53	0.09	V03	P8.33		-		EQEP_1B		E2.4

12+
53	0.09	V03	P8.33		EQEP_1B		E2.4

13-
                                        

13+
14-
12	1.12	T12	P8.12		-		EQEP_2A		E3.3

14+
12	1.12	T12	P8.12		EQEP_2A		E3.3

15-
13	1.13	R12	P8.11		-		EQEP_2B		E3.4

15+
13	1.13	R12	P8.11		EQEP_2B		E3.4

16-
                                        

16+
17-
14	1.14	V13	P8.16		-		PRU_E_A		E4.3

17+
14	1.14	V13	P8.16		PRU_E_A		E4.3

18-
15	1.15	U13	P8.15		P8_15		PRU_E_B		E4.4

18+
15	1.15	U13	P8.15		PRU_E_B		E4.4

19-
                                        

19+
20-
25	1.25	U16	-		U16		GPIO1_25	GP0.3

20+
25	1.25	U16	-		GPIO1_25	GP0.3

21-
17	1.17	V14	P9.23		P9_23		GPIO1_17	GP0.4

21+
17	1.17	V14	P9.23		GPIO1_17	GP0.4

22-
106	3.20	D13	P9.41b		D13		GPIO3_20	GP0.5

22+
106	3.20	D13	P9.41b		GPIO3_20	GP0.5

23-
103	3.17	C12	P9.28		P9_28		GPIO3_17	GP0.6

23+
103	3.17	C12	P9.28		GPIO3_17	GP0.6

24-
                                        

24+
25-
68	3.02	J15	-		J15		GPIO3_2		GP1.3

25+
68	3.02	J15	-		GPIO3_2		GP1.3

26-
67	3.01	H17	-		H17		GPIO3_1		GP1.4

26+
67	3.01	H17	-		GPIO3_1		GP1.4

27-
36	2.02	R07	P8.07		-		LED_RED		GP1.5  (also → USR RED led)

27+
36	2.02	R07	P8.07		LED_RED		GP1.5  (also → USR RED led)

28-
37	2.03	T07	P8.08		-		LED_GRN		GP1.6  (also → USR GRN led)

28+
37	2.03	T07	P8.08		LED_GRN		GP1.6  (also → USR GRN led)

29-
                                        

29+
30-
87	0.05	A16	P9.17		-		I2C1_SCL	I2C.3

30+
87	0.05	A16	P9.17		I2C1_SCL	I2C.3

31-
86	0.04	B16	P9.18		-		I2C1_SDA	I2C.4

31+
86	0.04	B16	P9.18		I2C1_SDA	I2C.4

32-
                                        

32+
33-
102	3.16	D12	P9.30		P9_30		SPI1_MOSI	S1.1.3 and S1.2.3

33+
102	3.16	D12	P9.30		SPI1_MOSI	S1.1.3 and S1.2.3

34-
101	3.15	B13	P9.29		P9_29		SPI1_MISO	S1.1.4 and S1.2.4

34+
101	3.15	B13	P9.29		SPI1_MISO	S1.1.4 and S1.2.4

35-
100	3.14	A13	P9.31		P9_31		SPI1_SCK	S1.1.5 and S1.2.5

35+
100	3.14	A13	P9.31		SPI1_SCK	S1.1.5 and S1.2.5

36-
81	0.29	H18	-		H18		SPI1_SS1	S1.1.6

36+
81	0.29	H18	-		SPI1_SS1	S1.1.6

37-
89	0.07	C18	P9.42a		C18		SPI1_SS2	S1.2.6

37+
89	0.07	C18	P9.42a		SPI1_SS2	S1.2.6

38-
                                        

38+
39-
92	1.10	E15	J1.4		-		UART0_RX	UT0.3

39+
92	1.10	E15	J1.4		UART0_RX	UT0.3

40-
93	1.11	E16	J1.5		-		UART0_TX	UT0.4

40+
93	1.11	E16	J1.5		UART0_TX	UT0.4

41-
                                        

41+
42-
96	0.14	D16	P9.26		P9_26		UART1_RX	UT1.3

42+
96	0.14	D16	P9.26		UART1_RX	UT1.3

43-
97	0.15	D15	P9.24		P9_24		UART1_TX	UT1.4

43+
97	0.15	D15	P9.24		UART1_TX	UT1.4

44-
                                        

44+
45-
84	0.02	A17	P9.22		P9_22		UART2_RX	GPS.3

45+
84	0.02	A17	P9.22		UART2_RX	GPS.3

46-
85	0.03	B17	P9.21		P9_21		UART2_TX	GPS.4

46+
85	0.03	B17	P9.21		UART2_TX	GPS.4

47-
                                        

47+
48-
49	2.15	U02	P8.38		-		UART5_RX	UT5.3

48+
49	2.15	U02	P8.38		UART5_RX	UT5.3

49-
48	2.14	U01	P8.37		-		UART5_TX	UT5.4

49+
48	2.14	U01	P8.37		UART5_TX	UT5.4

50-
                                        

50+
51-
56	2.22	U05	P8.27		-		SVO1		SVO1

51+
56	2.22	U05	P8.27		SVO1		SVO1

52-
58	2.24	V05	P8.28		-		SVO2		SVO2

52+
58	2.24	V05	P8.28		SVO2		SVO2

53-
57	2.23	R05	P8.29		-		SVO3		SVO3

53+
57	2.23	R05	P8.29		SVO3		SVO3

54-
59	2.25	R06	P8.30		-		SVO4		SVO4

54+
59	2.25	R06	P8.30		SVO4		SVO4

55-
46	2.12	T03	P8.39		-		SVO5		SVO5

55+
46	2.12	T03	P8.39		SVO5		SVO5

56-
47	2.13	T04	P8.40		-		SVO6		SVO6

56+
47	2.13	T04	P8.40		SVO6		SVO6

57-
44	2.10	T01	P8.41		-		SVO7		SVO7

57+
44	2.10	T01	P8.41		SVO7		SVO7

58-
45	2.11	T02	P8.42		-		SVO8		SVO8

58+
45	2.11	T02	P8.42		SVO8		SVO8

59
60
61
on-board leds:

62
63
36	2.02	R07	P8.07		LED_RED		→ USR RED led  (also GP1.5)

64-
Idx	GPIO	Ball	BBB pin		BBBlue net	BBBlue pin or usage

64+
65
66
21	1.21	V15	USR0		USR_LED0	→ USR0 led (blue)

67
22	1.22	U15	USR1		USR_LED1	→ USR1 led (blue)

68
23	1.23	T15	USR2		USR_LED2	→ USR2 led (blue)

69
24	1.24	V16	USR3		USR_LED3	→ USR3 led (blue)

70
71
11	0.27	U12	P8.17		BATT_LED_1	→ BAT0 led (red)

72
55	0.11	T05	P8.32		BATT_LED_2	→ BAT1 led (green)

73
31	1.29	V06	P8.26		BATT_LED_3	→ BAT2 led (green)

74
10	0.26	T11	P8.14		BATT_LED_4	→ BAT3 led (green)

75
76
108	0.19	A15	-		WIFI_LED	→ WIFI led (green)

77
78
79
motor driver signals:

80
81
109	0.20	D14	P9.41a		MOT_STBY	→ motor driver enable

82
83
18	1.18	U14	P9.14		PWM_1A		→ M1 pwm

84
19	1.19	T14	P9.16		PWM_1B		→ M2 pwm

85
8	0.22	U10	P8.19		PWM_2A		→ M3 pwm

86-
Idx	GPIO	Ball	BBB pin		BBBlue net	BBBlue pin or usage

86+
87
88
34	2.00	T13	P9.15b		MDIR_1A		→ M1 dir A

89
29	0.31	U17	P9.13		MDIR_1B		→ M1 dir B

90
16	1.16	R13	P9.15a		MDIR_2A		→ M2 dir A

91
54	0.10	V04	P8.31		MDIR_2B		→ M2 dir B

92
42	2.08	R03	P8.43		MDIR_3B		→ M3 dir A

93
43	2.09	R04	P8.44		MDIR_3A		→ M3 dir B

94
40	2.06	R01	P8.45		MDIR_4A		→ M4 dir A

95
41	2.07	R02	P8.46		MDIR_4B		→ M4 dir B

96
97
98
miscellaneous signals:

99
100
50	2.16	U03	P8.36		SERVO_EN	→ 6V regulator enable

101
102
38	2.04	U06	P8.10		MODE_BTN	← MODE btn

103
39	2.05	T06	P8.09		PAUSE_BTN	← PAUSE btn
        

    


            


                                


        

            



                
    

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