.. _beaglev-fire-expansion:

Expansion
#########

:bdg-danger:`Work in progress`

Cape Headers
*************

.. todo:: Add information for custom hardware building and debugging.

The expansion interface on the board is comprised of two headers P8 (46 pin) & P9 (46 pin).
All signals on the expansion headers are **3.3V** unless otherwise indicated.

.. note::
    Do not connect 5V logic level signals to these pins or the board will be damaged.

.. note:: 
    DO NOT APPLY VOLTAGE TO ANY I/O PIN WHEN POWER IS NOT SUPPLIED TO THE BOARD. 
    IT WILL DAMAGE THE PROCESSOR AND VOID THE WARRANTY.

**NO PINS ARE TO BE DRIVEN UNTIL AFTER THE SYS_RESET LINE GOES HIGH.**


Connector P8
==============

The following tables show the pinout of the **P8** expansion header. The
gateware image is responsible for setting the function of each pin. Refer to
the processor documentation for more information on these pins and
detailed descriptions of all of the pins listed. In some cases there may
not be enough signals to complete a group of signals that may be
required to implement a total interface.

The column heading is the pin number on the expansion header.

The **Name** row is the pin name on the processor.

The **BALL** row is the pin number on the processor.

The rows below **BALL** are the gateware setting for each pin.

**NOTES**:

**DO NOT APPLY VOLTAGE TO ANY I/O PIN WHEN POWER IS NOT SUPPLIED TO THE
BOARD. IT WILL DAMAGE THE PROCESSOR AND VOID THE WARRANTY.**

**NO PINS ARE TO BE DRIVEN UNTIL AFTER THE SYS_RESET LINE GOES HIGH.**

P8.01-P8.02
------------

+--------+--------+
| P8.01  | P8.02  |
+========+========+
| GND    | GND    |
+--------+--------+

P8.03-P8.05
-------------

+------------+--------------------------+------------------------------+--------------------------+
| Pin        | P8.03                    | P8.04                        | P8.05                    |
+============+==========================+==============================+==========================+
| Name       | HSIO6NB0                 | HSIO6PB0/CCC_NE_CLKIN_N_11   | HSIO12NB0                |
+------------+--------------------------+------------------------------+--------------------------+
| BALL       | V22                      | W22                          | V19                      |
+------------+--------------------------+------------------------------+--------------------------+
| DEFAULT    | MSS GPIO_2[0]            | MSS GPIO_2[1]                | MSS GPIO_2[2]            |
+            +--------------------------+------------------------------+--------------------------+
|            | User LED 0               | User LED 1                   | User LED 2               |
+------------+--------------------------+------------------------------+--------------------------+
| GPIOS      | MSS GPIO_2[0]            | MSS GPIO_2[1]                | MSS GPIO_2[2]            |
+            +--------------------------+------------------------------+--------------------------+
|            | User LED 0               | User LED 1                   | User LED 2               |
+------------+--------------------------+------------------------------+--------------------------+
| ROBOTICS   | MSS GPIO_2[0]            | MSS GPIO_2[1]                | MSS GPIO_2[2]            |
+            +--------------------------+------------------------------+--------------------------+
|            | User LED 0               | User LED 1                   | User LED 2               |
+------------+--------------------------+------------------------------+--------------------------+

P8.06-P8.09
-------------

+------------+----------------------------------------+--------------------------+---------------------------------------+--------------------------+
| Pin        | P8.06                                  | P8.07                    | P8.08                                 | P8.09                    |
+============+========================================+==========================+=======================================+==========================+
| Name       | HSIO12PB0/CLKIN_N_9/CCC_NE_CLKIN_N_9   | HSIO30NB0                | HSIO30PB0/CLKIN_N_3/CCC_NW_CLKIN_N_3  | HSIO8NB0                 |
+------------+----------------------------------------+--------------------------+---------------------------------------+--------------------------+
| BALL       | V20                                    | V15                      | V14                                   | V21                      |
+------------+----------------------------------------+--------------------------+---------------------------------------+--------------------------+
| DEFAULT    | MSS GPIO_2[3]                          | MSS GPIO_2[4]            | MSS GPIO_2[5]                         | MSS GPIO_2[6]            |
+            +----------------------------------------+--------------------------+---------------------------------------+--------------------------+
|            | User LED 3                             | User LED 4               | User LED 5                            | User LED 6               |
+------------+----------------------------------------+--------------------------+---------------------------------------+--------------------------+
| GPIOS      | MSS GPIO_2[3]                          | MSS GPIO_2[4]            | MSS GPIO_2[5]                         | MSS GPIO_2[6]            |
+            +----------------------------------------+--------------------------+---------------------------------------+--------------------------+
|            | User LED 3                             | User LED 4               | User LED 5                            | User LED 6               |
+------------+----------------------------------------+--------------------------+---------------------------------------+--------------------------+
| ROBOTICS   | MSS GPIO_2[3]                          | MSS GPIO_2[4]            | MSS GPIO_2[5]                         | MSS GPIO_2[6]            |
+            +----------------------------------------+--------------------------+---------------------------------------+--------------------------+
|            | User LED 3                             | User LED 4               | User LED 5                            | User LED 6               |
+------------+----------------------------------------+--------------------------+---------------------------------------+--------------------------+

P8.10-P8.13
------------

+------------+-------------------------------------------------+--------------------------+-----------------------------+--------------------------+
| Pin        | P8.10                                           | P8.11                    | P8.12                       | P8.13                    |
+============+=================================================+==========================+=============================+==========================+
| Name       | HSIO8PB0/CCC_NE_CLKIN_N_10/CCC_NE_PLL0_OUT0     | HSIO7NB0                 | HSIO7PB0/CCC_NE_PLL0_OUT1   | GPIO47PB1                |
+------------+-------------------------------------------------+--------------------------+-----------------------------+--------------------------+
| BALL       | W21                                             | Y21                      | Y20                         | B10                      |
+------------+-------------------------------------------------+--------------------------+-----------------------------+--------------------------+
| DEFAULT    | MSS GPIO_2[7]                                   | MSS GPIO_2[8]            | MSS GPIO_2[9]               | core_pwm[1] @ 0x41500000 |
+            +-------------------------------------------------+--------------------------+-----------------------------+--------------------------+
|            | User LED 7                                      | User LED 8               | User LED 9                  | PWM_2:1                  |
+------------+-------------------------------------------------+--------------------------+-----------------------------+--------------------------+
| GPIOS      | MSS GPIO_2[7]                                   | MSS GPIO_2[8]            | MSS GPIO_2[9]               | MSS GPIO_2[10]           |
+            +-------------------------------------------------+--------------------------+-----------------------------+--------------------------+
|            | User LED 7                                      | User LED 8               | User LED 9                  | User LED 10              |
+------------+-------------------------------------------------+--------------------------+-----------------------------+--------------------------+
| ROBOTICS   | MSS GPIO_2[7]                                   | MSS GPIO_2[8]            | MSS GPIO_2[9]               | core_pwm[1] @ 0x41500000 |
+            +-------------------------------------------------+--------------------------+-----------------------------+--------------------------+
|            | User LED 7                                      | User LED 8               | User LED 9                  | PWM_2:1                  |
+------------+-------------------------------------------------+--------------------------+-----------------------------+--------------------------+

P8.14-P8.16
------------

+------------+--------------------------+--------------------------+-------------------------------+
| Pin        | P8.14                    | P8.15                    | P8.16                         |
+============+==========================+==========================+===============================+
| Name       | GPIO47NB1                | HSIO34NB0                | HSIO34PB0/CCC_NW_CLKIN_N_1    |
+------------+--------------------------+--------------------------+-------------------------------+
| BALL       | B9                       | T12                      | U12                           |
+------------+--------------------------+--------------------------+-------------------------------+
| DEFAULT    | MSS GPIO_2[11]           | MSS GPIO_2[12]           | MSS GPIO_2[13]                |
+            +--------------------------+--------------------------+-------------------------------+
|            | User LED 11              | GPIO                     | GPIO                          |
+------------+--------------------------+--------------------------+-------------------------------+
| GPIOS      | MSS GPIO_2[11]           | MSS GPIO_2[12]           | MSS GPIO_2[13]                |
+            +--------------------------+--------------------------+-------------------------------+
|            | User LED 11              | GPIO                     | GPIO                          |
+------------+--------------------------+--------------------------+-------------------------------+
| ROBOTICS   | MSS GPIO_2[11]           | MSS GPIO_2[12]           | MSS GPIO_2[13]                |
+            +--------------------------+--------------------------+-------------------------------+
|            | User LED 11              | GPIO                     | GPIO                          |
+------------+--------------------------+--------------------------+-------------------------------+

P8.17-P8.19
-------------

+------------+--------------------------+---------------------------------+--------------------------+
| Pin        | P8.17                    | P8.18                           | P8.19                    |
+============+==========================+=================================+==========================+
| Name       | HSIO29PB0                | HSIO15PB0/DQS/CCC_NE_PLL1_OUT0  | HSIO19NB0                |
+------------+--------------------------+---------------------------------+--------------------------+
| BALL       | W13                      | T16                             | W18                      |
+------------+--------------------------+---------------------------------+--------------------------+
| DEFAULT    | MSS GPIO_2[14]           | MSS GPIO_2[15]                  | core_pwm[0] @ 0x41500000 |
+            +--------------------------+---------------------------------+--------------------------+
|            | GPIO                     | GPIO                            | PWM_2:0                  |
+------------+--------------------------+---------------------------------+--------------------------+
| GPIOS      | MSS GPIO_2[14]           | MSS GPIO_2[15]                  |  MSS GPIO_2[16]          |
+            +--------------------------+---------------------------------+--------------------------+
|            | GPIO                     | GPIO                            | GPIO                     |
+------------+--------------------------+---------------------------------+--------------------------+
| ROBOTICS   | MSS GPIO_2[14]           | MSS GPIO_2[15]                  | core_pwm[0] @ 0x41500000 |
+            +--------------------------+---------------------------------+--------------------------+
|            | GPIO                     | GPIO                            | PWM_2:0                  |
+------------+--------------------------+---------------------------------+--------------------------+


P8.20-P8.22
------------

+------------+--------------------------+--------------------------------+--------------------------+
| Pin        | P8.20                    | P8.21                          | P8.22                    |
+============+==========================+================================+==========================+
| Name       | HSIO15NB0/DQS            | HSIO9PB0/DQS/CCC_NE_PLL0_OUT0  | HSIO9NB0/DQS             |
+------------+--------------------------+--------------------------------+--------------------------+
| BALL       | R16                      | AA21                           | AA22                     |
+------------+--------------------------+--------------------------------+--------------------------+
| DEFAULT    | MSS GPIO_2[17]           | MSS GPIO_2[18]                 | MSS GPIO_2[19]           |
+            +--------------------------+--------------------------------+--------------------------+
|            | GPIO                     | GPIO                           | GPIO                     |
+------------+--------------------------+--------------------------------+--------------------------+
| GPIOS      | MSS GPIO_2[17]           | MSS GPIO_2[18]                 | MSS GPIO_2[19]           |
+            +--------------------------+--------------------------------+--------------------------+
|            | GPIO                     | GPIO                           | GPIO                     |
+------------+--------------------------+--------------------------------+--------------------------+
| ROBOTICS   | MSS GPIO_2[17]           | MSS GPIO_2[18]                 | MSS GPIO_2[19]           |
+            +--------------------------+--------------------------------+--------------------------+
|            | GPIO                     | GPIO                           | GPIO                     |
+------------+--------------------------+--------------------------------+--------------------------+


P8.23-P8.26
-------------

+------------+--------------------------+--------------------------+--------------------------+--------------------------+
| Pin        | P8.23                    | P8.24                    | P8.25                    | P8.26                    |
+============+==========================+==========================+==========================+==========================+
| Name       | HSIO18PB0/CLKIN_N_7      | HSIO18NB0                | HSIO16PB0                | GPIO49NB1                |
+------------+--------------------------+--------------------------+--------------------------+--------------------------+
| BALL       | AB18                     | AA18                     | V17                      | A12                      |
+------------+--------------------------+--------------------------+--------------------------+--------------------------+
| DEFAULT    | MSS GPIO_2[20]           | MSS GPIO_2[21]           | MSS GPIO_2[22]           | MSS GPIO_2[23]           |
+            +--------------------------+--------------------------+--------------------------+--------------------------+
|            | GPIO                     | GPIO                     | GPIO                     | GPIO                     |
+------------+--------------------------+--------------------------+--------------------------+--------------------------+
| GOIOS      | MSS GPIO_2[20]           | MSS GPIO_2[21]           | MSS GPIO_2[22]           | MSS GPIO_2[23]           |
+            +--------------------------+--------------------------+--------------------------+--------------------------+
|            | GPIO                     | GPIO                     | GPIO                     | GPIO                     |
+------------+--------------------------+--------------------------+--------------------------+--------------------------+
| ROBOTICS   | MSS GPIO_2[20]           | MSS GPIO_2[21]           | MSS GPIO_2[22]           | MSS GPIO_2[23]           |
+            +--------------------------+--------------------------+--------------------------+--------------------------+
|            | GPIO                     | GPIO                     | GPIO                     | GPIO                     |
+------------+--------------------------+--------------------------+--------------------------+--------------------------+


P8.27-P8.29
-------------

+------------+--------------------------+--------------------------+--------------------------+
| Pin        | P8.27                    | P8.28                    | P8.29                    |
+============+==========================+==========================+==========================+
| Name       | GPIO49PB1/CLKIN_S_5      | GPIO51NB1                | GPIO51PB1/CLKIN_S_6      |
+------------+--------------------------+--------------------------+--------------------------+
| BALL       | A13                      | B14                      | B13                      |
+------------+--------------------------+--------------------------+--------------------------+
| DEFAULT    | MSS GPIO_2[24]           | MSS GPIO_2[25]           | MSS GPIO_2[26]           |
+            +--------------------------+--------------------------+--------------------------+
|            | GPIO                     | GPIO                     | GPIO                     |
+------------+--------------------------+--------------------------+--------------------------+
| GPIOS      | MSS GPIO_2[24]           | MSS GPIO_2[25]           | MSS GPIO_2[26]           |
+            +--------------------------+--------------------------+--------------------------+
|            | GPIO                     | GPIO                     | GPIO                     |
+------------+--------------------------+--------------------------+--------------------------+
| ROBOTICS   | MSS GPIO_2[24]           | MSS GPIO_2[25]           | MSS GPIO_2[26]           |
+            +--------------------------+--------------------------+--------------------------+
|            | GPIO                     | GPIO                     | GPIO                     |
+------------+--------------------------+--------------------------+--------------------------+


P8.30-P8.32
-------------

+------------+--------------------------+------------------------------+------------------------------+
| Pin        | P8.30                    | P8.31                        | P8.32                        |
+============+==========================+==============================+==============================+
| Name       | GPIO50NB1/DQS            | GPIO50PB1/DQS                | GPIO53NB1                    |
+------------+--------------------------+------------------------------+------------------------------+
| BALL       | D14                      | D13                          | B15                          |
+------------+--------------------------+------------------------------+------------------------------+
| DEFAULT    | MSS GPIO_2[27]           | core_gpio[0] @ 0x41100000    | core_gpio[1] @ 0x41100000    |
+            +--------------------------+------------------------------+------------------------------+
|            | GPIO                     | GPIO                         | GPIO                         |
+------------+--------------------------+------------------------------+------------------------------+
| GPIOS      | MSS GPIO_2[27]           | core_gpio[0] @ 0x41100000    | core_gpio[1] @ 0x41100000    |
+            +--------------------------+------------------------------+------------------------------+
|            | GPIO                     | GPIO                         | GPIO                         |
+------------+--------------------------+------------------------------+------------------------------+
| ROBOTICS   | MSS GPIO_2[27]           | core_gpio[0] @ 0x41100000    | core_gpio[1] @ 0x41100000    |
+            +--------------------------+------------------------------+------------------------------+
|            | GPIO                     | GPIO                         | GPIO                         |
+------------+--------------------------+------------------------------+------------------------------+


P8.33-P8.35
-------------

+------------+------------------------------+------------------------------+------------------------------+
| Pin        | P8.33                        | P8.34                        | P8.35                        |
+============+==============================+==============================+==============================+
| Name       | GPIO53PB1/CLKIN_S_7          | GPIO52NB1/LPRB_B             | GPIO52PB1/LPRB_A             |
+------------+------------------------------+------------------------------+------------------------------+
| BALL       | A15                          | C15                          | C14                          |
+------------+------------------------------+------------------------------+------------------------------+
| DEFAULT    | core_gpio[2] @ 0x41100000    | core_gpio[3] @ 0x41100000    | core_gpio[4] @ 0x41100000    |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | GPIO                         | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+
| GPIOS      | core_gpio[2] @ 0x41100000    | core_gpio[3] @ 0x41100000    | core_gpio[4] @ 0x41100000    |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | GPIO                         | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+
| ROBOTICS   | core_gpio[2] @ 0x41100000    | core_gpio[3] @ 0x41100000    | core_gpio[4] @ 0x41100000    |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | GPIO                         | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+

P8.36-P8.38
-------------

+------------+--------------------------+------------------------------+------------------------------+
| Pin        | P8.36                    | P8.37                        | P8.38                        |
+============+==========================+==============================+==============================+
| Name       | GPIO37NB1                | GPIO37PB1/CCC_SW_CLKIN_S_1   | GPIO3NB1                     |
+------------+--------------------------+------------------------------+------------------------------+
| BALL       | B4                       | C4                           | C17                          |
+------------+--------------------------+------------------------------+------------------------------+
| DEFAULT    | core_gpio[5] @ 0x41100000| core_gpio[6] @ 0x41100000    | core_gpio[7] @ 0x41100000    |
+            +--------------------------+------------------------------+------------------------------+
|            | GPIO                     | GPIO                         | GPIO                         |
+------------+--------------------------+------------------------------+------------------------------+
| GPIOS      | core_gpio[5] @ 0x41100000| core_gpio[6] @ 0x41100000    | core_gpio[7] @ 0x41100000    |
+            +--------------------------+------------------------------+------------------------------+
|            | GPIO                     | GPIO                         | GPIO                         |
+------------+--------------------------+------------------------------+------------------------------+
| ROBOTICS   | core_gpio[5] @ 0x41100000| core_gpio[6] @ 0x41100000    | core_gpio[7] @ 0x41100000    |
+            +--------------------------+------------------------------+------------------------------+
|            | GPIO                     | GPIO                         | GPIO                         |
+------------+--------------------------+------------------------------+------------------------------+

P8.39-P8.41
------------

+------------+-----------------------------------------------+--------------------------+------------------------------+
| Pin        | P8.39                                         | P8.40                    | P8.41                        |
+============+===============================================+==========================+==============================+
| Name       | GPIO3PB1/CCC_SE_CLKIN_S_10/CCC_SE_PLL1_OUT0   | GPIO5NB1                 | GPIO5PB1/CCC_SE_CLKIN_S_11   |
+------------+-----------------------------------------------+--------------------------+------------------------------+
| BALL       | B17                                           | B18                      | A18                          |
+------------+-----------------------------------------------+--------------------------+------------------------------+
| DEFAULT    | core_gpio[8] @ 0x41100000                     | core_gpio[9] @ 0x41100000| core_gpio[10] @ 0x41100000   |
+            +-----------------------------------------------+--------------------------+------------------------------+
|            | GPIO                                          | GPIO                     | GPIO                         |
+------------+-----------------------------------------------+--------------------------+------------------------------+
| GPIOS      | core_gpio[8] @ 0x41100000                     | core_gpio[9] @ 0x41100000| core_gpio[10] @ 0x41100000   |
+            +-----------------------------------------------+--------------------------+------------------------------+
|            | GPIO                                          | GPIO                     | GPIO                         |
+------------+-----------------------------------------------+--------------------------+------------------------------+
| ROBOTICS   | core_gpio[8] @ 0x41100000                     | core_gpio[9] @ 0x41100000| core_gpio[10] @ 0x41100000   |
+            +-----------------------------------------------+--------------------------+------------------------------+
|            | GPIO                                          | GPIO                     | GPIO                         |
+------------+-----------------------------------------------+--------------------------+------------------------------+


P8.42-P8.44
------------

+------------+------------------------------+------------------------------+------------------------------+
| Pin        | P8.42                        | P8.43                        | P8.44                        |
+============+==============================+==============================+==============================+
| Name       | GPIO36NB1                    | GPIO36PB1/CCC_SW_CLKIN_S_0   | GPIO42NB1                    |
+------------+------------------------------+------------------------------+------------------------------+
| BALL       | D6                           | D7                           | D8                           |
+------------+------------------------------+------------------------------+------------------------------+
| DEFAULT    | core_gpio[11] @ 0x41100000   | core_gpio[12] @ 0x41100000   | core_gpio[13] @ 0x41100000   |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | GPIO                         | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+
| GPIOS      | core_gpio[11] @ 0x41100000   | core_gpio[12] @ 0x41100000   | core_gpio[13] @ 0x41100000   |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | GPIO                         | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+
| ROBOTICS   | core_gpio[11] @ 0x41100000   | core_gpio[12] @ 0x41100000   | core_gpio[13] @ 0x41100000   |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | GPIO                         | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+


P8.45-P8.46
------------

+------------+-------------------------------+-------------------------------+
| Pin        | P8.45                         | P8.46                         |
+============+===============================+===============================+
| Name       | GPIO42PB1                     | GPIO4PB1/CCC_SE_PLL1_OUT1     |
+------------+-------------------------------+-------------------------------+
| BALL       | D9                            | D18                           |
+------------+-------------------------------+-------------------------------+
| DEFAULT    | core_gpio[14] @ 0x41100000    | core_gpio[15] @ 0x41100000    |
+            +-------------------------------+-------------------------------+
|            | GPIO                          | GPIO                          |
+------------+-------------------------------+-------------------------------+
| GPIOS      | core_gpio[14] @ 0x41100000    | core_gpio[15] @ 0x41100000    |
+            +-------------------------------+-------------------------------+
|            | GPIO                          | GPIO                          |
+------------+-------------------------------+-------------------------------+
| ROBOTICS   | core_gpio[14] @ 0x41100000    | core_gpio[15] @ 0x41100000    |
+            +-------------------------------+-------------------------------+
|            | GPIO                          | GPIO                          |
+------------+-------------------------------+-------------------------------+

Connector P9
==============

The following tables show the pinout of the **P9** expansion header. The
gateware image is responsible for setting the function of each pin. Refer to
the processor documentation for more information on these pins and
detailed descriptions of all of the pins listed. In some cases there may
not be enough signals to complete a group of signals that may be
required to implement a total interface.

The column heading is the pin number on the expansion header.

The **Name** row is the pin name on the processor.

The **BALL** row is the pin number on the processor.

The rows below **BALL** are the gateware setting for each pin.

**NOTES**:

**DO NOT APPLY VOLTAGE TO ANY I/O PIN WHEN POWER IS NOT SUPPLIED TO THE
BOARD. IT WILL DAMAGE THE PROCESSOR AND VOID THE WARRANTY.**

**NO PINS ARE TO BE DRIVEN UNTIL AFTER THE SYS_RESET LINE GOES HIGH.**


P9.01-P9.05
------------

+--------+--------+--------+--------+----------+
| P9.01  | P9.02  | P9.03  | P9.04  | P9.05    |
+========+========+========+========+==========+
| GND    | GND    |VCC_3V3 |VCC_3V3 | VDD_5V   |
+--------+--------+--------+--------+----------+

P9.06-P9.10
-------------

+--------+--------+--------+----------+
| P9.06  | P9.07  | P9.08  | P9.10    |
+========+========+========+==========+
| VDD_5V | SYS_5V | SYS_5V | SYS_RSTN |
+--------+--------+--------+----------+

+----------+--------------+
| Pin      | P9.09        |
+==========+==============+
| Name     | HSIO19PB0    |
+----------+--------------+
| BALL     | W19          |
+----------+--------------+

P9.11-P9.13
-------------

+------------+------------------------------+---------------------------------+------------------------------+
| Pin        | P9.11                        | P9.12                           | P9.13                        |
+============+==============================+=================================+==============================+
| Name       | GPIO38NB1/DQS                | GPIO38PB1/DQS/CCC_SW_PLL1_OUT0  | GPIO2NB1/DQS                 |
+------------+------------------------------+---------------------------------+------------------------------+
| BALL       | B5                           | C5                              | D19                          |
+------------+------------------------------+---------------------------------+------------------------------+
| DEFAULT    | MMUART4                      | core_gpio[1] @ 0x41200000       | MMUART4                      |
+            +------------------------------+---------------------------------+------------------------------+
|            | UART4 RX                     | GPIO                            | UART4 TX                     |
+------------+------------------------------+---------------------------------+------------------------------+
| GPIOS      | core_gpio[0] @ 0x41200000    | core_gpio[1] @ 0x41200000       | core_gpio[2] @ 0x41200000    |
+            +------------------------------+---------------------------------+------------------------------+
|            | GPIO                         | GPIO                            | GPIO                         |
+------------+------------------------------+---------------------------------+------------------------------+
| ROBOTICS   | ~                            | core_gpio[0] @ 0x41200000       | core_gpio[7] @ 0x41200000    |
+            +------------------------------+---------------------------------+------------------------------+
|            | ~                            | GPIO                            | GPIO                         |
+------------+------------------------------+---------------------------------+------------------------------+

P9.14-P9.16
-------------

+------------+---------------------------------------------------------+------------------------------+------------------------------+
| Pin        | P9.14                                                   | P9.15                        | P9.16                        |
+============+=========================================================+==============================+==============================+
| Name       | GPIO39PB1/CLKIN_S_2/CCC_SW_CLKIN_S_2/CCC_SW_PLL1_OUT0   | GPIO40NB1                    | GPIO40PB1/CCC_SW_PLL1_OUT1   |
+------------+---------------------------------------------------------+------------------------------+------------------------------+
| BALL       | C6                                                      | A5                           | A6                           |
+------------+---------------------------------------------------------+------------------------------+------------------------------+
| DEFAULT    | core_pwm[0] @ 0x41400000                                | core_gpio[4] @ 0x41200000    | core_pwm[1] @ 0x41400000     |
+            +---------------------------------------------------------+------------------------------+------------------------------+
|            | PWM_1:0                                                 | GPIO                         | PWM_1:1                      |
+------------+---------------------------------------------------------+------------------------------+------------------------------+
| GOIOS      | core_gpio[3] @ 0x41200000                               | core_gpio[4] @ 0x41200000    | core_gpio[5] @ 0x41200000    |
+            +---------------------------------------------------------+------------------------------+------------------------------+
|            | GPIO                                                    | GPIO                         | GPIO                         |
+------------+---------------------------------------------------------+------------------------------+------------------------------+
| ROBOTICS   | core_pwm[0] @ 0x41400000                                | core_gpio[1] @ 0x41200000    | core_pwm[1] @ 0x41400000     |
+            +---------------------------------------------------------+------------------------------+------------------------------+
|            | PWM_1:0                                                 | GPIO                         | PWM_1:1                      |
+------------+---------------------------------------------------------+------------------------------+------------------------------+


P9.17-P9.19
-------------

+------------+------------------------------+----------------------------------+----------------------------------+
| Pin        | P9.17                        | P9.18                            | P9.19                            |
+============+==============================+==================================+==================================+
| Name       | GPIO44NB1/DQS                | GPIO44PB1/DQS/CCC_SW_PLL0_OUT0   | GPIO45PB1/CCC_SW_PLL0_OUT0       |
+------------+------------------------------+----------------------------------+----------------------------------+
| BALL       | C9                           | C10                              | A10                              |
+------------+------------------------------+----------------------------------+----------------------------------+
| DEFAULT    | ~                            | ~                                | MSS I2C0                         |
+            +------------------------------+----------------------------------+----------------------------------+
|            | ~                            | ~                                | I2C0 SCL                         |
+------------+------------------------------+----------------------------------+----------------------------------+
| GPIOS      | core_gpio[6] @ 0x41200000    | core_gpio[7] @ 0x41200000        | MSS I2C0                         |
+            +------------------------------+----------------------------------+----------------------------------+
|            | GPIO                         | GPIO                             | I2C0 SCL                         |
+------------+------------------------------+----------------------------------+----------------------------------+
| ROBOTICS   | ~                            | ~                                | MSS I2C0                         |
+            +------------------------------+----------------------------------+----------------------------------+
|            | ~                            | ~                                | I2C0 SCL                         |
+------------+------------------------------+----------------------------------+----------------------------------+


P9.20-P9.22
------------

+------------+------------------------------+------------------------------+------------------------------+
| Pin        | P9.20                        | P9.21                        | P9.22                        |
+============+==============================+==============================+==============================+
| Name       | GPIO45NB1                    | GPIO43NB1                    | GPIO43PB1                    |
+------------+------------------------------+------------------------------+------------------------------+
| BALL       | A11                          | B8                           | A8                           |
+------------+------------------------------+------------------------------+------------------------------+
| DEFAULT    | MSS I2C0                     | ~                            | ~                            |
+            +------------------------------+------------------------------+------------------------------+
|            | I2C0 SDA                     | ~                            | ~                            |
+------------+------------------------------+------------------------------+------------------------------+
| GPIOS      | MSS I2C0                     | core_gpio[8] @ 0x41200000    | core_gpio[8] @ 0x41200000    |
+            +------------------------------+------------------------------+------------------------------+
|            | I2C0 SDA                     | GPIO                         | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+
| ROBOTICS   | MSS I2C0                     | ~                            | ~                            |
+            +------------------------------+------------------------------+------------------------------+
|            | I2C0 SDA                     | ~                            | ~                            |
+------------+------------------------------+------------------------------+------------------------------+


P9.23-P9.25
------------

+------------+------------------------------+------------------------------+------------------------------+
| Pin        | P9.23                        | P9.24                        | P9.25                        |
+============+==============================+==============================+==============================+
| Name       | GPIO48NB1                    | GPIO48PB1/CLKIN_S_4          | GPIO41NB1                    |
+------------+------------------------------+------------------------------+------------------------------+
| BALL       | C12                          | B12                          | B7                           |
+------------+------------------------------+------------------------------+------------------------------+
| DEFAULT    | core_gpio[10] @ 0x41200000   | ~                            | core_gpio[12] @ 0x41200000   |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | ~                            | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+
| GPIOS      | core_gpio[10] @ 0x41200000   | core_gpio[11] @ 0x41200000   | core_gpio[12] @ 0x41200000   |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | GPIO                         | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+
| ROBOTICS   | core_gpio[2] @ 0x41200000    | ~                            | core_gpio[3] @ 0x41200000    |
+            +------------------------------+------------------------------+------------------------------+
|            | GPIO                         | ~                            | GPIO                         |
+------------+------------------------------+------------------------------+------------------------------+


P9.26-P9.28
------------

+------------+----------------------------------------+------------------------------+-------------------------------+
| Pin        | P9.26                                  | P9.27                        | P9.28                         |
+============+========================================+==============================+===============================+
| Name       | GPIO41PB1/CLKIN_S_3/CCC_SW_CLKIN_S_3   | GPIO46NB1                    | GPIO46PB1/CCC_SW_PLL0_OUT1    |
+------------+----------------------------------------+------------------------------+-------------------------------+
| BALL       | A7                                     | D11                          | C11                           |
+------------+----------------------------------------+------------------------------+-------------------------------+
| DEFAULT    | ~                                      | core_gpio[14] @ 0x41200000   | ~                             |
+            +----------------------------------------+------------------------------+-------------------------------+
|            | ~                                      | GPIO                         | ~                             |
+------------+----------------------------------------+------------------------------+-------------------------------+
| GPIOS      | core_gpio[13] @ 0x41200000             | core_gpio[14] @ 0x41200000   | core_gpio[15] @ 0x41200000    |
+            +----------------------------------------+------------------------------+-------------------------------+
|            | GPIO                                   | GPIO                         | GPIO                          |
+------------+----------------------------------------+------------------------------+-------------------------------+
| ROBOTICS   | ~                                      | ~                            | ~                             |
+            +----------------------------------------+------------------------------+-------------------------------+
|            | ~                                      | ~                            | ~                             |
+------------+----------------------------------------+------------------------------+-------------------------------+


P9.29-P9.31
------------

+------------+--------------------------------------+------------------------------+------------------------------+
| Pin        | P9.29                                | P9.30                        | P9.31                        |
+============+======================================+==============================+==============================+
| Name       | GPIO1PB1/CLKIN_S_9/CCC_SE_CLKIN_S_9  | GPIO1NB1                     | GPIO4NB1                     |
+------------+--------------------------------------+------------------------------+------------------------------+
| BALL       | F17                                  | F16                          | E18                          |
+------------+--------------------------------------+------------------------------+------------------------------+
| DEFAULT    | ~                                    | core_gpio[17] @ 0x41200000   | ~                            |
+            +--------------------------------------+------------------------------+------------------------------+
|            | ~                                    | GPIO                         | ~                            |                              
+------------+--------------------------------------+------------------------------+------------------------------+
| GPIOS      | core_gpio[16] @ 0x41200000           | core_gpio[17] @ 0x41200000   | core_gpio[18] @ 0x41200000   |
+            +--------------------------------------+------------------------------+------------------------------+
|            | GPIO                                 | GPIO                         | GPIO                         |                              
+------------+--------------------------------------+------------------------------+------------------------------+
| ROBOTICS   | ~                                    | core_gpio[5] @ 0x41200000    | ~                            |
+            +--------------------------------------+------------------------------+------------------------------+
|            | ~                                    | GPIO                         | ~                            |                              
+------------+--------------------------------------+------------------------------+------------------------------+


P9.32-P9.40
-------------

+----------+--------+
| P9.32    | P9.34  |
+==========+========+
| VDD_ADC  | GND    |
+----------+--------+

+--------------+--------------+--------------+--------------+--------------+--------------+--------------+
| P9.33        | P9.35        | P9.36        | P9.37        | P9.38        | P9.39        | P9.40        |
+==============+==============+==============+==============+==============+==============+==============+
| AIN4         | AIN6         | AIN5         | AIN2         | AIN3         | AIN0         | AIN1         |
+--------------+--------------+--------------+--------------+--------------+--------------+--------------+

P9.41-P9.42
------------

+------------+---------------------------------------------------------+------------------------------+
| Pin        | P9.41                                                   | P9.42                        |
+============+=========================================================+==============================+
| Name       | GPIO0PB1/CLKIN_S_8/CCC_SE_CLKIN_S_8/CCC_SE_PLL0_OUT0    | GPIO0NB1                     |
+------------+---------------------------------------------------------+------------------------------+
| BALL       | E15                                                     | E14                          |
+------------+---------------------------------------------------------+------------------------------+
| DEFAULT    | core_gpio[19] @ 0x41200000                              | core_pwm[0] @ 0x41000000     |
+            +---------------------------------------------------------+------------------------------+
|            | GPIO                                                    | PWM_0:0                      |
+------------+---------------------------------------------------------+------------------------------+
| GPIOS      | core_gpio[19] @ 0x41200000                              | core_gpio[20] @ 0x41200000   |
+            +---------------------------------------------------------+------------------------------+
|            | GPIO                                                    | GPIO                         |
+------------+---------------------------------------------------------+------------------------------+
| ROBOTICS   | core_gpio[19] @ 0x41200000                              | ~                            |
+            +---------------------------------------------------------+------------------------------+
|            | GPIO                                                    | ~                            |
+------------+---------------------------------------------------------+------------------------------+

P9.43-P9.46
-------------

+--------+--------+--------+--------+
| P9.43  | P9.44  | P9.45  | P9.46  |
+========+========+========+========+
| GND    | GND    | GND    | GND    |
+--------+--------+--------+--------+