| P0_0 |
GPIO0_0 |
D12/- |
eth rxd1 |
eth rxd1 |
ssp1_miso |
| P0_1 |
GPIO0_1 |
D11/- |
eth txen |
eth txen |
ssp1_mosi |
| P1_0 |
GPIO0_4 |
D8/- |
eth led y |
eth led y |
|
| P1_1 |
GPIO0_8 |
-/- |
boot0 |
boot0 |
ssp1_miso, select boot source, led1, pwm |
| P1_2 |
GPIO0_9 |
-/D9 |
boot1 |
boot1 |
ssp0_mosi, select boot source, led2, pwm |
| P1_3 |
GPIO0_10 |
D9/D12 |
spi1 miso |
spi1 miso |
pwm, ssp1_miso |
| P1_4 |
GPIO0_11 |
|
spi1 mosi |
spi1 mosi |
pwm, ssp1_mosi |
| P1_5 |
GPIO1_8 |
|
spi1 ssel |
spi1 ssel |
pwm, ssp1_ssel |
| P1_6 |
GPIO1_9 |
|
sd cmd |
sd cmd |
sd_cmd |
| P1_7 |
GPIO1_0 |
|
? |
servo1 |
pwm |
| P1_8 |
GPIO1_1 |
|
? |
servo2 |
pwm |
| P1_9 |
GPIO1_2 |
|
sd dat0 |
sd dat0 |
pwm, sd_dat0 |
| P1_10 |
GPIO1_3 |
|
sd dat1 |
sd dat1 |
pwm, sd_dat1 |
| P1_11 |
GPIO1_4 |
|
sd dat2 |
sd dat2 |
pwm, sd_dat2 |
| P1_12 |
GPIO1_5 |
|
sd dat3 |
sd dat3 |
sd_dat3 |
| P1_13 |
GPIO1_6 |
|
sd cd |
sd cd |
uart1-tx, sd_cd |
| P1_14 |
GPIO1_7 |
|
? |
fpga ssel |
uart1-rx |
| P1_15 |
GPIO0_2 |
|
eth rxd0 |
eth rxd0 |
uart2-tx |
| P1_16 |
GPIO0_3 |
|
eth crs |
eth crs |
uart2-rx |
| P1_17 |
GPIO0_12 |
|
eth mdio |
eth mdio |
can1-tx |
| P1_18 |
GPIO0_13 |
|
eth txd0 |
eth txd0 |
can1-rx |
| P1_19 |
- |
D13/- |
eth ref clk |
eth ref clk |
ssp1_sck |
| P1_20 |
GPIO0_15 |
|
eth txd1 |
eth txd1 |
ssp1_ssel |
| P2_0 |
GPIO5_0 |
|
uart0 txd |
uart0 txd |
debug uart uart0-tx |
| P2_1 |
GPIO5_1 |
|
uart0 rxd |
uart0 rxd |
debug uart uart0-rx |
| P2_2 |
GPIO5_2 |
|
mosfet1 |
mosfet1 |
|
| P2_3 |
GPIO5_3 |
|
i2c1 sda |
|
i2c1-sda, uart3-tx |
| P2_4 |
GPIO5_4 |
|
i2c1 scl |
|
i2c1-scl, uart3-rx |
| P2_5 |
GPIO5_5 |
|
mosfet2 |
mosfet2 |
|
| P2_6 |
GPIO5_6 |
|
mosfet3 |
mosfet3 |
|
| P2_7 |
GPIO0_7 |
|
isp |
isp |
pwm, bootloader programming button |
| P2_8 |
GPIO5_7 |
|
boot2 |
boot2 |
pwm, select boot source, led3 |
| P2_9 |
GPIO1_10 |
|
boot3 |
boot3 |
pwm, select boot source, led4 |
| P2_10 |
GPIO0_14 |
|
uart2 txd |
|
pwm, uart2-tx |
| P2_11 |
GPIO1_11 |
|
uart2 rxd |
|
pwm, uart2-rx |
| P2_12 |
GPIO1_12 |
|
? |
servo4 |
pwm |
| P2_13 |
GPIO1_13 |
|
? |
fpga init |
|
| P3_0 |
- |
|
- |
- |
ssp0_sck |
| P3_1 |
GPIO5_8 |
|
can0 rd |
|
can0-rx |
| P3_2 |
GPIO5_9 |
|
can0 td |
|
can0-tx |
| P3_3 |
- |
|
spi0 sck |
|
ssp0_sck, spi-sck, spifi-sck |
| P3_4 |
GPIO1_14 |
|
uart1 txd |
|
uart1-tx, spifi-sio3 |
| P3_5 |
GPIO1_15 |
|
uart1 rxd |
|
uart1-rx, spifi-sio2 |
| P3_6 |
GPIO0_6 |
|
spi0 miso |
|
spi-miso, spifi-miso, ssp0-ssel, ssp0_miso |
| P3_7 |
GPIO5_10 |
|
spi0 mosi |
|
spi-mosi, spifi-mosi, ssp0_miso, ssp0_mosi |
| P3_8 |
GPIO5_11 |
|
spi0 ssel |
|
spi-ssel, spifi-cs, ssp0_mosi, ssp0_ssel |
| P4_0 |
GPIO2_0 |
|
pause btn |
pause btn |
|
| P4_1 |
GPIO2_1 |
|
uart3 txd |
|
uart3-tx, pwm, adc |
| P4_2 |
GPIO2_2 |
|
uart3 rxd |
|
uart3-rx, pwm |
| P4_3 |
GPIO2_3 |
|
pause led |
pause led |
pwm, adc |
| P4_4 |
GPIO2_4 |
|
dac |
|
dac, pwm |
| P4_5 |
GPIO2_5 |
|
? |
fpga sck |
pwm |
| P4_6 |
GPIO2_6 |
|
? |
fpga mosi |
pwm |
| P4_7 |
- |
|
- |
- |
not connected (no useful function) |
| P4_8 |
GPIO5_12 |
|
? |
fpga miso |
can1-tx |
| P4_9 |
GPIO5_13 |
|
? |
fpga sio2 |
can1-rx |
| P4_10 |
GPIO5_14 |
|
? |
fpga sio3 |
|
| P5_0 |
GPIO2_9 |
|
es xmin |
es xmin |
|
| P5_1 |
GPIO2_10 |
|
es xmax |
es xmax |
|
| P5_2 |
GPIO2_11 |
|
es ymin |
es ymin |
|
| P5_3 |
GPIO2_12 |
|
es ymax |
es ymax |
|
| P5_4 |
GPIO2_13 |
|
es zmin |
es zmin |
|
| P5_5 |
GPIO2_14 |
|
es zmax |
es zmax |
|
| P5_6 |
GPIO2_15 |
|
? |
fpga prog |
uart1-tx |
| P5_7 |
GPIO2_7 |
|
? |
fpga done |
uart1-rx |
| P6_0 |
- |
|
- |
- |
not connected (no useful function) |
| P6_1 |
GPIO3_0 |
|
mot1 step |
mot1 step |
|
| P6_2 |
GPIO3_1 |
|
mot1 dir |
mot1 dir |
|
| P6_3 |
GPIO3_2 |
|
mot2 step |
mot2 step |
|
| P6_4 |
GPIO3_3 |
|
mot2 dir |
mot2 dir |
uart0-rx |
| P6_5 |
GPIO3_4 |
|
mot3 step |
mot3 step |
pwm, uart0-rx |
| P6_6 |
GPIO0_5 |
|
mosfet4 |
mosfet4 |
|
| P6_7 |
GPIO5_15 |
|
mosfet5 |
mosfet5 |
|
| P6_8 |
GPIO5_16 |
|
mosfet6 |
mosfet6 |
|
| P6_9 |
GPIO3_5 |
|
mot3 dir |
mot3 dir |
|
| P6_10 |
GPIO3_6 |
|
mot4 step |
mot4 step |
|
| P6_11 |
GPIO3_7 |
|
mot4 dir |
mot4 dir |
|
| P6_12 |
GPIO2_8 |
|
pwmout |
pwmout |
pwm |
| P7_0 |
GPIO3_8 |
|
mot5 step |
mot5 step |
pwm |
| P7_1 |
GPIO3_9 |
|
mot5 dir |
mot5 dir |
pwm, uart2-tx |
| P7_2 |
GPIO3_10 |
|
mot1 en |
5v ext enn |
uart2-rx |
| P7_3 |
GPIO3_11 |
|
mot2 en |
host pwr |
|
| P7_4 |
GPIO3_12 |
|
mot3 en |
ssr1 |
pwm, adc |
| P7_5 |
GPIO3_13 |
|
mot4 en |
ssr2 |
pwm, adc |
| P7_6 |
GPIO3_14 |
|
mot5 en |
servo3 |
pwm |
| P7_7 |
GPIO3_15 |
|
eth mdc |
eth mdc |
pwm, adc |
| P8_0 |
GPIO4_0 |
|
|
|
|
| P8_1 |
GPIO4_1 |
|
|
|
|
| P8_2 |
GPIO4_2 |
|
|
|
|
| P8_3 |
GPIO4_3 |
|
|
|
|
| P8_4 |
GPIO4_4 |
|
|
|
|
| P8_5 |
GPIO4_5 |
|
|
|
|
| P8_6 |
GPIO4_6 |
|
|
|
|
| P8_7 |
GPIO4_7 |
|
|
|
|
| P8_8 |
|
|
|
|
|
| P9_0 |
GPIO4_12 |
|
|
|
ssp0_ssel |
| P9_1 |
GPIO4_13 |
|
|
|
ssp0_miso |
| P9_2 |
GPIO4_14 |
|
|
|
ssp0_mosi |
| P9_3 |
GPIO4_15 |
|
|
|
uart3_tx |
| P9_4 |
GPIO5_17 |
|
|
|
uart3_rx |
| P9_5 |
GPIO5_18 |
|
|
|
uart0_tx |
| P9_6 |
GPIO4_11 |
|
|
|
uart0_rx |
| PA_0 |
|
|
|
|
|
| PA_1 |
GPIO4_8 |
|
|
|
uart2_tx |
| PA_2 |
GPIO4_9 |
|
|
|
uart2_rx |
| PA_3 |
GPIO4_10 |
|
|
|
|
| PA_4 |
GPIO5_19 |
|
|
|
pwm |
| PB_0 |
GPIO5_20 |
|
|
|
|
| PB_1 |
GPIO5_21 |
|
|
|
pwm |
| PB_2 |
GPIO5_22 |
|
|
|
pwm |
| PB_3 |
GPIO5_23 |
|
|
|
pwm |
| PB_4 |
GPIO5_24 |
|
|
|
|
| PB_5 |
GPIO5_25 |
|
|
|
|
| PB_6 |
GPIO5_26 |
|
|
|
adc |
| PC_0 |
|
|
|
|
adc, sd_clk |
| PC_1 |
GPIO6_0 |
|
|
|
|
| PC_2 |
GPIO6_1 |
|
|
|
|
| PC_3 |
GPIO6_2 |
|
|
|
dac, adc |
| PC_4 |
GPIO6_3 |
|
|
|
|
| PC_5 |
GPIO6_4 |
|
|
|
|
| PC_6 |
GPIO6_5 |
|
|
|
|
| PC_7 |
GPIO6_6 |
|
|
|
|
| PC_8 |
GPIO6_7 |
|
|
|
|
| PC_9 |
GPIO6_8 |
|
|
|
|
| PC_10 |
GPIO6_9 |
|
|
|
|
| PC_11 |
GPIO6_10 |
|
|
|
|
| PC_12 |
GPIO6_11 |
|
|
|
|
| PC_13 |
GPIO6_12 |
|
|
|
uart1_tx |
| PC_14 |
GPIO6_13 |
|
|
|
uart1_rx |
| PD_0 |
GPIO6_14 |
|
|
|
pwm |
| PD_1 |
GPIO6_15 |
|
|
|
|
| PD_2 |
GPIO6_16 |
|
|
|
pwm |
| PD_3 |
GPIO6_17 |
|
|
|
pwm |
| PD_4 |
GPIO6_18 |
|
|
|
pwm |
| PD_5 |
GPIO6_19 |
|
|
|
pwm |
| PD_6 |
GPIO6_20 |
|
|
|
pwm |
| PD_7 |
GPIO6_21 |
|
|
|
|
| PD_8 |
GPIO6_22 |
|
|
|
|
| PD_9 |
GPIO6_23 |
|
|
|
pwm |
| PD_10 |
GPIO6_24 |
|
|
|
|
| PD_11 |
GPIO6_25 |
|
|
|
pwm |
| PD_12 |
GPIO6_26 |
|
|
|
pwm |
| PD_13 |
GPIO6_27 |
|
|
|
pwm |
| PD_14 |
GPIO6_28 |
|
|
|
pwm |
| PD_15 |
GPIO6_29 |
|
|
|
|