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6.9. Pin assignments
The table below lists each general-purpose I/O pin on the RP2040 and what it is connected to on the 3pi+ 2040. This table is helpful if you want to add your own electronics to the 3pi+ 2040 or write your own low-level code for interfacing with the hardware.
The “RP2040 functions” column lists the most relevant RP2040 peripheral functions. The peripheral functions commonly used by our example code are shown in bold. For a complete list of these functions, see the “GPIO functions” section of the RP2040 datasheet.
The “3pi+ 2040 functions” column documents the electronics that the pin is connected to on an unmodified 3pi+.
The “3pi+ header” column says which of the expansion headers, if any, include the pin. The locations of these headers are shown in Section 6.8.
| Pin | RP2040 functions | 3pi+ 2040 functions | 3pi+ header | ||||
|---|---|---|---|---|---|---|---|
| GP0 | SPI0 RX | UART0 TX | I2C0 SDA | PWM0 A | Button C Display data/command select (D/C) |
Display | |
| GP1 | SPI0 CSn | UART0 RX | I2C0 SCL | PWM0 B | Display reset (RESET) | Display | |
| GP2 | SPI0 SCK | UART0 CTS | I2C1 SDA | PWM1 A | Display clock (SCK) | Display | |
| GP3 | SPI0 TX | UART0 RTS | I2C1 SCL | PWM1 B | Display data (MOSI), RGB LED data |
Display, RGB (indirect) |
|
| GP4 | SPI0 RX | UART1 TX | I2C0 SDA | PWM2 A | Inertial sensors SDA | Mid expansion | |
| GP5 | SPI0 CSn | UART1 RX | I2C0 SCL | PWM2 B | Inertial sensors SCL | Mid expansion | |
| GP6 | SPI0 SCK | UART1 CTS | I2C1 SDA | PWM3 A | RGB LED clock | Mid expansion, RGB (indirect) |
|
| GP7 | SPI0 TX | UART1 RTS | I2C1 SCL | PWM3 B | Buzzer PWM | Mid expansion | |
| GP8 | SPI1 RX | UART1 TX | I2C0 SDA | PWM4 A | Right encoder A | ||
| GP9 | SPI1 CSn | UART1 RX | I2C0 SCL | PWM4 B | Right encoder B | ||
| GP10 | SPI1 SCK | UART1 CTS | I2C1 SDA | PWM5 A | Right motor direction | ||
| GP11 | SPI1 TX | UART1 RTS | I2C1 SCL | PWM5 B | Left motor direction | ||
| GP12 | SPI1 RX | UART0 TX | I2C0 SDA | PWM6 A | Left encoder A | ||
| GP13 | SPI1 CSn | UART0 RX | I2C0 SCL | PWM6 B | Left encoder B | ||
| GP14 | SPI1 SCK | UART0 CTS | I2C1 SDA | PWM7 A | Right motor PWM | ||
| GP15 | SPI1 TX | UART0 RTS | I2C1 SCL | PWM7 B | Left motor PWM | ||
| GP16 | SPI0 RX | UART0 TX | I2C0 SDA | PWM0 A | Right bump sensor (BR) | Front expansion | |
| GP17 | SPI0 CSn | UART0 RX | I2C0 SCL | PWM0 B | Left bump sensor (BL) | Front expansion | |
| GP18 | SPI0 SCK | UART0 CTS | I2C1 SDA | PWM1 A | Line sensor 5 (DN5, rightmost) | Front expansion | |
| GP19 | SPI0 TX | UART0 RTS | I2C1 SCL | PWM1 B | Line sensor 4 (DN4) | Front expansion | |
| GP20 | SPI0 RX | UART1 TX | I2C0 SDA | PWM2 A | Line sensor 3 (DN3) | Front expansion | |
| GP21 | SPI0 CSn | UART1 RX | I2C0 SCL | PWM2 B | Line sensor 2 (DN2) | Front expansion | |
| GP22 | SPI0 SCK | UART1 CTS | I2C1 SDA | PWM3 A | Line sensor 1 (DN1, leftmost) | Front expansion | |
| GP23 | SPI0 TX | UART1 RTS | I2C1 SCL | PWM3 B | Bump sensor emitter control (BE) | Front expansion | |
| GP24 | SPI1 RX | UART1 TX | I2C0 SDA | PWM4 A | Mid expansion | ||
| GP25 | SPI1 CSn | UART1 RX | I2C0 SCL | PWM4 B | Yellow LED / Button A | ||
| GP26 | SPI1 SCK | UART1 CTS | I2C1 SDA | PWM5 A | ADC0 | Battery level input (VBAT/11), Line sensor emitter control (DNE) |
Front expansion |
| GP27 | SPI1 TX | UART1 RTS | I2C1 SCL | PWM5 B | ADC1 | Mid expansion | |
| GP28 | SPI1 RX | UART0 TX | I2C0 SDA | PWM6 A | ADC2 | Mid expansion | |
| GP29 | SPI1 CSn | UART0 RX | I2C0 SCL | PWM6 B | ADC3 | Mid expansion | |
| QSPI_SS_N | Flash chip select, BOOTSEL | Button B | |||||
| RUN | Active-low reset | Reset button | Debug header | ||||
| SWCLK | Serial Wire Debug (SWD): clock | Debug header | |||||
| SWDIO | Serial Wire Debug (SWD): data I/O | Debug header | |||||
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