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