Raspberry Pi GPIO Header Assignment
Raspberry Pi 4 GPIO pinout and current Land Vehicle Crawler assignments
Top view — physical pin 1 is at the upper left of the GPIO header.
Crawler assignment / Raspberry Pi signal
GPIO
Raspberry Pi signal / Crawler assignment
+3.3V
3V3
1
2
5V
+5V_RPI
I2C1_SDA
GPIO2 / SDA1
3
4
5V
+5V_RPI
I2C1_SCL
GPIO3 / SCL1
5
6
GND
GND
free
GPIO4 / GPCLK0
7
8
GPIO14 / TXD0
free
GND
GND
9
10
GPIO15 / RXD0
free
ODO_L_DISABLE
GPIO17
11
12
GPIO18 / PCM_CLK
free
ODO_R_DISABLE
GPIO27
13
14
GND
free GND
free
GPIO22
15
16
GPIO23
free
free 3.3V
3V3
17
18
GPIO24
free
free
GPIO10 / SPI0 MOSI
19
20
GND
free GND
free
GPIO9 / SPI0 MISO
21
22
GPIO25
free
free
GPIO11 / SPI0 SCLK
23
24
GPIO8 / SPI0 CE0
free
GND
GND
25
26
GPIO7 / SPI0 CE1
free
ID EEPROM
GPIO0 / ID_SD
27
28
GPIO1 / ID_SC
ID EEPROM
MOTOR_EN
GPIO5
29
30
GND
GND
HEADLIGHT_EN
GPIO6
31
32
GPIO12 / PWM0
LEFT_RPWM (HW PWM)
RIGHT_LPWM (HW PWM)
GPIO13 / PWM1
33
34
GND
free GND
free
GPIO19 / PCM_FS
35
36
GPIO16
LEFT_LPWM (SW PWM)
RIGHT_RPWM (SW PWM)
GPIO26
37
38
GPIO20 / PCM_DIN
free
free GND
GND
39
40
GPIO21 / PCM_DOUT
free
Legend
GPIO
Used by crawler
GPIO
Free / currently unused
I²C
I²C bus
5V
5 V power
3V3
3.3 V power
GND
Ground
ID
HAT ID EEPROM
Crawler notes
- Motor-control GPIOs: GPIO12, GPIO13, GPIO16 and GPIO26.
- GPIO12 / PWM0 and GPIO13 / PWM1 provide hardware PWM.
- GPIO16 and GPIO26 are currently driven using software PWM.
- The main I²C bus uses GPIO2 / SDA1 and GPIO3 / SCL1.
- GPIO17 and GPIO27 control the disable inputs of the left and right TMAG5273 odometer sensors.
Note:
“Free” means that the pin is currently not assigned by the crawler
hardware shown here. Raspberry Pi alternate functions may still be
available on that GPIO.