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