BeagleBone Blue pins and signals

signals that connect directly to external headers/connectors:

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

28	0.30	T17	P9.11		P9_11		UART4_RX	DSM2.3

104	3.18	B12	P9.42b		-		EQEP_0A		E1.3
105	3.19	C13	P9.27		-		EQEP_0B		E1.4

52	0.08	V02	P8.35		-		EQEP_1A		E2.3
53	0.09	V03	P8.33		-		EQEP_1B		E2.4

12	1.12	T12	P8.12		-		EQEP_2A		E3.3
13	1.13	R12	P8.11		-		EQEP_2B		E3.4

14	1.14	V13	P8.16		-		PRU_E_A		E4.3
15	1.15	U13	P8.15		P8_15		PRU_E_B		E4.4

25	1.25	U16	-		U16		GPIO1_25	GP0.3
17	1.17	V14	P9.23		P9_23		GPIO1_17	GP0.4
106	3.20	D13	P9.41b		D13		GPIO3_20	GP0.5
103	3.17	C12	P9.28		P9_28		GPIO3_17	GP0.6

68	3.02	J15	-		J15		GPIO3_2		GP1.3
67	3.01	H17	-		H17		GPIO3_1		GP1.4
36	2.02	R07	P8.07		-		LED_RED		GP1.5  (also → USR RED led)
37	2.03	T07	P8.08		-		LED_GRN		GP1.6  (also → USR GRN led)

87	0.05	A16	P9.17		-		I2C1_SCL	I2C.3
86	0.04	B16	P9.18		-		I2C1_SDA	I2C.4

102	3.16	D12	P9.30		P9_30		SPI1_MOSI	S1.1.3 and S1.2.3
101	3.15	B13	P9.29		P9_29		SPI1_MISO	S1.1.4 and S1.2.4
100	3.14	A13	P9.31		P9_31		SPI1_SCK	S1.1.5 and S1.2.5
81	0.29	H18	-		H18		SPI1_SS1	S1.1.6
89	0.07	C18	P9.42a		C18		SPI1_SS2	S1.2.6

92	1.10	E15	J1.4		-		UART0_RX	UT0.3
93	1.11	E16	J1.5		-		UART0_TX	UT0.4

96	0.14	D16	P9.26		P9_26		UART1_RX	UT1.3
97	0.15	D15	P9.24		P9_24		UART1_TX	UT1.4

84	0.02	A17	P9.22		P9_22		UART2_RX	GPS.3
85	0.03	B17	P9.21		P9_21		UART2_TX	GPS.4

49	2.15	U02	P8.38		-		UART5_RX	UT5.3
48	2.14	U01	P8.37		-		UART5_TX	UT5.4

56	2.22	U05	P8.27		-		SVO1		SVO1
58	2.24	V05	P8.28		-		SVO2		SVO2
57	2.23	R05	P8.29		-		SVO3		SVO3
59	2.25	R06	P8.30		-		SVO4		SVO4
46	2.12	T03	P8.39		-		SVO5		SVO5
47	2.13	T04	P8.40		-		SVO6		SVO6
44	2.10	T01	P8.41		-		SVO7		SVO7
45	2.11	T02	P8.42		-		SVO8		SVO8



on-board leds:

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

36	2.02	R07	P8.07		LED_RED		→ USR RED led  (also GP1.5)
37	2.03	T07	P8.08		LED_GRN		→ USR GRN led  (also GP1.6)

21	1.21	V15	USR0		USR_LED0	→ USR0 led (blue)
22	1.22	U15	USR1		USR_LED1	→ USR1 led (blue)
23	1.23	T15	USR2		USR_LED2	→ USR2 led (blue)
24	1.24	V16	USR3		USR_LED3	→ USR3 led (blue)

11	0.27	U12	P8.17		BATT_LED_1	→ BAT0 led (red)
55	0.11	T05	P8.32		BATT_LED_2	→ BAT1 led (green)
31	1.29	V06	P8.26		BATT_LED_3	→ BAT2 led (green)
10	0.26	T11	P8.14		BATT_LED_4	→ BAT3 led (green)

108	0.19	A15	-		WIFI_LED	→ WIFI led (green)



motor driver signals:

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

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

18	1.18	U14	P9.14		PWM_1A		→ M1 pwm
19	1.19	T14	P9.16		PWM_1B		→ M2 pwm
8	0.22	U10	P8.19		PWM_2A		→ M3 pwm
9	0.23	T10	P8.13		PWM_2B		→ M4 pwm

34	2.00	T13	P9.15b		MDIR_1A		→ M1 dir A
29	0.31	U17	P9.13		MDIR_1B		→ M1 dir B
16	1.16	R13	P9.15a		MDIR_2A		→ M2 dir A
54	0.10	V04	P8.31		MDIR_2B		→ M2 dir B
42	2.08	R03	P8.43		MDIR_3B		→ M3 dir A
43	2.09	R04	P8.44		MDIR_3A		→ M3 dir B
40	2.06	R01	P8.45		MDIR_4A		→ M4 dir A
41	2.07	R02	P8.46		MDIR_4B		→ M4 dir B



miscellaneous signals:

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

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

38	2.04	U06	P8.10		MODE_BTN	← MODE btn
39	2.05	T06	P8.09		PAUSE_BTN	← PAUSE btn