Difference between revisions of "Pinouts"

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 +
== Connector locations ==
 +
[[File:Connector_diagram.pdf|thumb|left]]
 +
<br clear=all>
 +
 
== Pixhawk compatible ==
 
== Pixhawk compatible ==
 +
=== SERIAL1 - JST-GH 6pin ===
 +
{| class="wikitable"
 +
|+ SERIAL1 - JST-GH 6pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || VDD || +5V, High power
 +
|-
 +
| 2 || SERIAL1 TX ||
 +
|-
 +
| 3 || SERIAL1 RX ||
 +
|-
 +
| 4 || SERIAL1 CTS ||
 +
|-
 +
| 5 || SERIAL1 RTS ||
 +
|-
 +
| 6 || GND ||
 +
|}
 +
 +
=== USB - JST-GH 6pin ===
 +
{| class="wikitable"
 +
|+ USB - JST-GH 6pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || VBUS ||
 +
|-
 +
| 2 || USB+ ||
 +
|-
 +
| 3 || USB- ||
 +
|-
 +
| 4 || GND ||
 +
|-
 +
| 5 || BUZZER OUT ||
 +
|-
 +
| 6 || FMU-LED AMBER ||
 +
|}
 +
 +
 +
=== GPS1 - JST-GH 8pin ===
 +
{| class="wikitable"
 +
|+ GPS1 - JST-GH 8pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || VDD || +5V
 +
|-
 +
| 2 || SERIAL3 TX ||
 +
|-
 +
| 3 || SERIAL3 RX ||
 +
|-
 +
| 4 || I2C1 SCL ||
 +
|-
 +
| 5 || I2C1 SDA OUT ||
 +
|-
 +
| 6 || SAFETY ||
 +
|-
 +
| 7 || IO-LED ||
 +
|-
 +
| 8 || GND ||
 +
|}
 +
 +
=== GPS2 - JST-GH 6pin ===
 +
{| class="wikitable"
 +
|+ GPS2 - JST-GH 6pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || VDD || +5V
 +
|-
 +
| 2 || SERIAL4 TX ||
 +
|-
 +
| 3 || SERIAL4 RX ||
 +
|-
 +
| 4 || I2C1 SCL ||
 +
|-
 +
| 5 || I2C1 SDA OUT ||
 +
|-
 +
| 6 || GND ||
 +
|}
 +
 +
=== CAN1 - JST-GH 4pin ===
 +
'''Note''': Jetson module also on CAN1 bus.
 +
{| class="wikitable"
 +
|+ CAN1 - JST-GH 4pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || VDD || +5V
 +
|-
 +
| 2 || CAN1 - ||
 +
|-
 +
| 3 || CAN1 + ||
 +
|-
 +
| 4 || GND ||
 +
|}
 +
 +
=== CAN2 - JST-GH 4pin ===
 +
{| class="wikitable"
 +
|+ CAN2 - JST-GH 4pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || VDD || +5V
 +
|-
 +
| 2 || CAN2 - ||
 +
|-
 +
| 3 || CAN2 + ||
 +
|-
 +
| 4 || GND ||
 +
|}
 +
 +
=== RCIN - JST-GH 3pin ===
 +
{| class="wikitable"
 +
|+ RCIN - JST-GH 3pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || PMM SBUS PROT ||
 +
|-
 +
| 2 || RX 5V OUT ||
 +
|-
 +
| 3 || GND ||
 +
|}
 +
 +
=== PWM 1/6 (Front Right) - JST-GH 4pin ===
 +
{| class="wikitable"
 +
|+ PWM 1/6 (Front Right) - JST-GH 4pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || PWM CH1 ||
 +
|-
 +
| 2 || GND ||
 +
|-
 +
| 3 || PWM CH6 ||
 +
|-
 +
| 4 || GND ||
 +
|}
 +
 +
=== PWM 2/5 (Front Left) - JST-GH 4pin ===
 +
{| class="wikitable"
 +
|+ PWM 2/5 (Front Left) - JST-GH 4pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || PWM CH2 ||
 +
|-
 +
| 2 || GND ||
 +
|-
 +
| 3 || PWM CH5 ||
 +
|-
 +
| 4 || GND ||
 +
|}
 +
 +
=== PWM 3/8 (Rear Right) - JST-GH 4pin ===
 +
{| class="wikitable"
 +
|+ PWM 3/8 (Rear Right) - JST-GH 4pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || PWM CH3 ||
 +
|-
 +
| 2 || GND ||
 +
|-
 +
| 3 || PWM CH8 ||
 +
|-
 +
| 4 || GND ||
 +
|}
 +
 +
 +
=== PWM 4/7 (Rear Right) - JST-GH 4pin ===
 +
{| class="wikitable"
 +
|+ PWM 4/7 (Rear Right) - JST-GH 4pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || PWM CH4 ||
 +
|-
 +
| 2 || GND ||
 +
|-
 +
| 3 || PWM CH7 ||
 +
|-
 +
| 4 || GND ||
 +
|}
 +
 +
 +
=== (EXTRA) PWM - JST-GH 3pin ===
 +
{| class="wikitable"
 +
|+ (EXTRA) PWM - JST-GH 3pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || PWM AUX CH1 ||
 +
|-
 +
| 2 || PWM AUX CH2 ||
 +
|-
 +
| 3 || GND ||
 +
|}
  
 
== Video ==
 
== Video ==
−
 
+
=== CSI-0 ===
 
{| class="wikitable"
 
{| class="wikitable"
−
|+ J17 - FPC
+
|+ J17 - FPC 15 pin 0.5 mm
 
|-
 
|-
 
! Pin # !! Description !! Remarks
 
! Pin # !! Description !! Remarks
Line 39: Line 242:
 
|}
 
|}
  
 +
=== CSI-2 ===
 
{| class="wikitable"
 
{| class="wikitable"
−
|+ J36 - FPC
+
|+ J36 - FPC 15 pin 0.5 mm
 
|-
 
|-
 
! Pin # !! Description !! Remarks
 
! Pin # !! Description !! Remarks
Line 62: Line 266:
 
| 9 || CSI2 CLK + ||  
 
| 9 || CSI2 CLK + ||  
 
|-
 
|-
−
| 10 || GND || Example
+
| 10 || GND ||  
 
|-
 
|-
 
| 11 || CAM1 PWDN ||  
 
| 11 || CAM1 PWDN ||  
Line 75: Line 279:
 
|}
 
|}
  
 +
=== CSI4 - Microcoax DF56 40p ===
 
{| class="wikitable"
 
{| class="wikitable"
 
|+ J16 - DF56 40p
 
|+ J16 - DF56 40p
Line 161: Line 366:
 
|}
 
|}
  
−
== Misc ==
+
== I/O ==
 +
=== Board expansion - LSHM 40 pin ===
 
{| class="wikitable"
 
{| class="wikitable"
−
|+ Expansion connector - DF17 80p
+
|+ Board expansion - LSHM 40 pin
 
|-
 
|-
 
! Pin # !! Description !! Remarks
 
! Pin # !! Description !! Remarks
 
|-
 
|-
−
| 1 || Example || Example
+
| 1 || GND ||  
 +
|-
 +
| 2 || 5V ||
 +
|-
 +
| 3 || USBSS TX+ ||
 +
|-
 +
| 4 || 5V ||
 +
|-
 +
| 5 || USBSS TX- ||
 +
|-
 +
| 6 || 5V ||
 +
|-
 +
| 7 || GND ||
 +
|-
 +
| 8 || 5V ||
 +
|-
 +
| 9 || USBSS RX+ ||
 +
|-
 +
| 10 || GND ||
 +
|-
 +
| 11 ||  USBSS RX- ||
 +
|-
 +
| 12 || 3V3 ||
 +
|-
 +
| 13 || GND ||
 +
|-
 +
| 14 || 3V3 ||
 +
|-
 +
| 15 || USB Data+ || USB bus 1
 +
|-
 +
| 16 || 3V3 ||
 +
|-
 +
| 17 || USB Data- || USB bus 1
 +
|-
 +
| 18 || 3V3 ||
 +
|-
 +
| 19 || GND ||
 +
|-
 +
| 20 || SERIAL4 RX || Cube
 +
|-
 +
| 21 || CAM I2C SCL || 3V3
 +
|-
 +
| 22 || SERIAL4 TX || Cube
 +
|-
 +
| 23 || CAM I2C SDA || 3V3
 +
|-
 +
| 24 || GND ||
 +
|-
 +
| 25 || CAM Mux Sel ||
 +
|-
 +
| 26 || IMU Gimbal I2C SDA ||
 +
|-
 +
| 27 || GND ||
 +
|-
 +
| 28|| IMU Gimbal I2C SCL ||
 +
|-
 +
| 29 || SPI1 SCK || 3V3
 +
|-
 +
| 30 || GND ||
 +
|-
 +
| 31 || SPI1 CS0 || 3V3
 +
|-
 +
| 32 || GPIO07 PWM ||
 +
|-
 +
| 33 || SPI1 MOSI || 3V3
 +
|-
 +
| 34 || N.C. ||
 +
|-
 +
| 35 || SPI1 CS1 || 3V3
 +
|-
 +
| 36 || N.C. ||
 +
|-
 +
| 37 || SPI1 MISO || 3V3
 
|-
 
|-
−
| 2 || Example || Example
+
| 38 || UART0 TX (Out) || 3V3
 
|-
 
|-
−
| 3 || Example || Example
+
| 39 || GND ||  
 
|-
 
|-
−
| 4 || Example || Example
+
| 40 || UART0 RX (In) || 3V3
 +
|}
 +
 
 +
=== J3 - Mini PCIe ===
 +
{| class="wikitable"
 +
|+ J3 - Mini PCIe
 
|-
 
|-
−
| 5 || Example || Example
+
! Pin # !! Description !! Remarks
 
|-
 
|-
−
| 6 || Example || Example
+
| 1 || PCIE_WAKE ||  
 
|-
 
|-
−
| 7 || Example || Example
+
| 2 || MPCIE_3V3 ||  
 
|-
 
|-
−
| 8 || Example || Example
+
| 3 || N.C. ||  
 
|-
 
|-
−
| 9 || Example || Example
+
| 4 || GND ||  
 
|-
 
|-
−
| 10 || Example || Example
+
| 5 || N.C. ||  
 
|-
 
|-
−
| 11 || Example || Example
+
| 6 || +1V5 ||  
 
|-
 
|-
−
| 12 || Example || Example
+
| 7 || CLKREQ ||  
 
|-
 
|-
−
| 13 || Example || Example
+
| 8 || UIM PWR ||  
 
|-
 
|-
−
| 14 || Example || Example
+
| 9 || GND ||  
 
|-
 
|-
−
| 15 || Example || Example
+
| 10 || UIM DATA ||  
 
|-
 
|-
−
| 16 || Example || Example
+
| 11 || REF CLK- ||  
 
|-
 
|-
−
| 17 || Example || Example
+
| 12 || UIM CLK ||  
 
|-
 
|-
−
| 18 || Example || Example
+
| 13 || REF CLK+ ||  
 
|-
 
|-
−
| 19 || Example || Example
+
| 14 || UIM RESET ||  
 
|-
 
|-
−
| 20 || Example || Example
+
| 15 || GND ||  
 
|-
 
|-
−
| 21 || Example || Example
+
| 16 || UIM VPP ||  
 
|-
 
|-
−
| 22 || Example || Example
+
| 17 || N.C. ||
 
|-
 
|-
−
| 23 || Example || Example
+
| 18 || GND ||  
 
|-
 
|-
−
| 24 || Example || Example
+
| 19 || N.C. ||  
 
|-
 
|-
−
| 25 || Example || Example
+
| 20 || W_DISABLE ||  
 
|-
 
|-
−
| 26 || Example || Example
+
| 21 || GND||  
 
|-
 
|-
−
| 27 || Example || Example
+
| 22 || PCIE RST ||
 
|-
 
|-
−
| 28 || Example || Example
+
| 23 || PCIE RX0- ||  
 
|-
 
|-
−
| 29 || Example || Example
+
| 24 || MPCIE_3V# ||  
 
|-
 
|-
−
| 30 || Example || Example
+
| 25 || PCIE RX0+ ||  
 
|-
 
|-
−
| 31 || Example || Example
+
| 26 || GND ||  
 
|-
 
|-
−
| 32 || Example || Example
+
| 27 || GND ||  
 
|-
 
|-
−
| 33 || Example || Example
+
| 28 || N.C. ||  
 
|-
 
|-
−
| 34 || Example || Example
+
| 29 || GND ||
 
|-
 
|-
−
| 35 || Example || Example
+
| 30 || N.C. ||  
 
|-
 
|-
−
| 36 || Example || Example
+
| 31 || PCIE TX0- ||
 
|-
 
|-
−
| 37 || Example || Example
+
| 32 || N.C. ||  
 
|-
 
|-
−
| 38 || Example || Example
+
| 33 || PCIE TX0+ ||
 
|-
 
|-
−
| 39 || Example || Example
+
| 34 || GND ||  
 
|-
 
|-
−
| 40 || Example || Example
+
| 35 || GND ||  
 
|-
 
|-
−
| 41 || Example || Example
+
| 36 || USB2 D- ||  
 
|-
 
|-
−
| 42 || Example || Example
+
| 37 || GND ||  
 
|-
 
|-
−
| 43 || Example || Example
+
| 38 || USB2 D+ ||
 
|-
 
|-
−
| 44 || Example || Example
+
| 39 || +3V3 aux ||  
 
|-
 
|-
−
| 45 || Example || Example
+
| 40 || GND ||  
 
|-
 
|-
−
| 46 || Example || Example
+
| 41 || +3V3 aux ||  
 
|-
 
|-
−
| 47 || Example || Example
+
| 42 || N.C. ||  
 
|-
 
|-
−
| 48 || Example || Example
+
| 43 || GND ||  
 
|-
 
|-
−
| 49 || Example || Example
+
| 44 || LED WLAN || low side
 
|-
 
|-
−
| 50 || Example || Example
+
| 45 || N.C. ||  
 
|-
 
|-
−
| 51 || Example || Example
+
| 46 || N.C. ||  
 
|-
 
|-
−
| 52 || Example || Example
+
| 47 || N.C. ||  
 
|-
 
|-
−
| 53 || Example || Example
+
| 48 || N.C. ||  
 
|-
 
|-
−
| 54 || Example || Example
+
| 49 || N.C. ||  
 
|-
 
|-
−
| 55 || Example || Example
+
| 50 || GND ||  
 
|-
 
|-
−
| 56 || Example || Example
+
| 51 || N.C. ||  
 
|-
 
|-
−
| 57 || Example || Example
+
| 52 || +3V3 ||  
 +
|}
 +
 
 +
=== J11 - Audio - JST-GH 6pin ===
 +
{| class="wikitable"
 +
|+ J11 - Audio - JST-GH 6pin
 
|-
 
|-
−
| 58 || Example || Example
+
! Pin # !! Description !! Remarks
 
|-
 
|-
−
| 59 || Example || Example
+
| 1 || MIC_IN ||  
 
|-
 
|-
−
| 60 || Example || Example
+
| 2 || NC ||  
 
|-
 
|-
−
| 61 || Example || Example
+
| 3 || GND ||  
 
|-
 
|-
−
| 62 || Example || Example
+
| 4 || Headphone R ||  
 
|-
 
|-
−
| 63 || Example || Example
+
| 5 || Headphone L ||  
 
|-
 
|-
−
| 64 || Example || Example
+
| 6 || GND ||  
 +
|}
 +
 
 +
=== J14 - SPI - JST-GH 8pin ===
 +
{| class="wikitable"
 +
|+ J14 - SPI - JST-GH 8pin
 
|-
 
|-
−
| 65 || Example || Example
+
! Pin # !! Description !! Remarks
 
|-
 
|-
−
| 66 || Example || Example
+
| 1 || 3V3 ||  
 
|-
 
|-
−
| 67 || Example || Example
+
| 2 || GPIO07 PWM ||  
 
|-
 
|-
−
| 68 || Example || Example
+
| 3 || SPI1 SCK || 3V3
 
|-
 
|-
−
| 69 || Example || Example
+
| 4 || SPI1 CS0 || 3V3
 
|-
 
|-
−
| 70 || Example || Example
+
| 5 || SPI1 MOSI || 3V3
 
|-
 
|-
−
| 71 || Example || Example
+
| 6 || SPI1 CS1 || 3V3
 
|-
 
|-
−
| 72 || Example || Example
+
| 7 || SPI1 MISO || 3V3
 
|-
 
|-
−
| 73 || Example || Example
+
| 8 || GND ||
 +
|}
 +
 
 +
=== J15 - I2C - JST-GH 4pin ===
 +
{| class="wikitable"
 +
|+ J15 - SPI - JST-GH 4pin
 
|-
 
|-
−
| 74 || Example || Example
+
! Pin # !! Description !! Remarks
 
|-
 
|-
−
| 75 || Example || Example
+
| 1 || 5V ||  
 
|-
 
|-
−
| 76 || Example || Example
+
| 2 || I2C1 SCL || 3V3
 
|-
 
|-
−
| 77 || Example || Example
+
| 3 || I2C1 SDA || 3V3
 
|-
 
|-
−
| 78 || Example || Example
+
| 4 || GND ||
 +
|}
 +
 
 +
=== J10 - USB-0 - JST-GH 4pin ===
 +
{| class="wikitable"
 +
|+ J10 - USB-0 - JST-GH 4pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || VBUS || From external device, Jetson module is device, not host
 +
|-
 +
| 2 || USB0 D- ||
 +
|-
 +
| 3 || USB0 D+ ||
 +
|-
 +
| 4 || GND ||
 +
|}
 +
 
 +
=== AN(alog) - JST-GH 6pin ===
 +
{| class="wikitable"
 +
|+ AN(alog) - JST-GH 6pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || VDD || +5V
 +
|-
 +
| 2 || N.C.||
 +
|-
 +
| 3 || Analog in || spare
 +
|-
 +
| 4 || Analog out || connected to current sense on Cube
 +
|-
 +
| 5 || Analog out || connected to voltage sense on Cube
 +
|-
 +
| 6 || GND ||
 +
|}
 +
 
 +
=== ETH(ernet) - JST-GH 8pin ===
 +
{| class="wikitable"
 +
|+ ETH(ernet) - JST-GH 8pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || D0+ ||
 +
|-
 +
| 2 || D0- ||
 +
|-
 +
| 3 || GND ||
 +
|-
 +
| 4 || D1+ ||
 +
|-
 +
| 5 || D1- ||
 +
|-
 +
| 6 || GND ||
 +
|-
 +
| 7 || PWR LED CTRL ||
 +
|-
 +
| 8 || SLEEP/WAKE || Pull low to wake Jetson
 +
|}
 +
 
 +
=== CAN - JST-GH 4pin ===
 +
{| class="wikitable"
 +
|+ CAN - JST-GH 4pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || +5V ||
 +
|-
 +
| 2 || CAN+ || Terminated on board (120R)
 +
|-
 +
| 3 || CAN- || Terminated on board (120R)
 +
|-
 +
| 4 || GND ||
 +
|}
 +
 
 +
== Power ==
 +
 
 +
More details here: [[Power and VESC]]
 +
 
 +
=== VESC - JST-GH 3pin ===
 +
{| class="wikitable"
 +
|+ VESC - JST-GH 3pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || +VESC || Input (9-26 V, typical current < 30 µA)
 +
|-
 +
| 2 || +VESC || Input (9-26 V, typical current < 30 µA)
 +
|-
 +
| 3 || GND ||
 +
|}
 +
 
 +
=== POWER1 - JST-XH 2pin ===
 +
{| class="wikitable"
 +
|+ POWER1 - JST-XH 2pin
 +
|-
 +
! Pin # !! Description !! Remarks
 +
|-
 +
| 1 || +V || Main power input (9-26 V)
 +
|-
 +
| 2 || GND ||
 +
|}
 +
 
 +
=== POWER2 - JST-XH 2pin ===
 +
{| class="wikitable"
 +
|+ POWER2 - JST-XH 2pin
 +
|-
 +
! Pin # !! Description !! Remarks
 
|-
 
|-
−
| 79 || Example || Example
+
| 1 || +V || Backup power input for the Cube autopilot and its peripherals only (9-26 V)
 
|-
 
|-
−
| 80 || Example || Example
+
| 2 || GND ||  
 
|}
 
|}

Latest revision as of 14:40, 18 February 2022

Connector locations

Connector diagram.pdf


Pixhawk compatible

SERIAL1 - JST-GH 6pin

SERIAL1 - JST-GH 6pin
Pin # Description Remarks
1 VDD +5V, High power
2 SERIAL1 TX
3 SERIAL1 RX
4 SERIAL1 CTS
5 SERIAL1 RTS
6 GND

USB - JST-GH 6pin

USB - JST-GH 6pin
Pin # Description Remarks
1 VBUS
2 USB+
3 USB-
4 GND
5 BUZZER OUT
6 FMU-LED AMBER


GPS1 - JST-GH 8pin

GPS1 - JST-GH 8pin
Pin # Description Remarks
1 VDD +5V
2 SERIAL3 TX
3 SERIAL3 RX
4 I2C1 SCL
5 I2C1 SDA OUT
6 SAFETY
7 IO-LED
8 GND

GPS2 - JST-GH 6pin

GPS2 - JST-GH 6pin
Pin # Description Remarks
1 VDD +5V
2 SERIAL4 TX
3 SERIAL4 RX
4 I2C1 SCL
5 I2C1 SDA OUT
6 GND

CAN1 - JST-GH 4pin

Note: Jetson module also on CAN1 bus.

CAN1 - JST-GH 4pin
Pin # Description Remarks
1 VDD +5V
2 CAN1 -
3 CAN1 +
4 GND

CAN2 - JST-GH 4pin

CAN2 - JST-GH 4pin
Pin # Description Remarks
1 VDD +5V
2 CAN2 -
3 CAN2 +
4 GND

RCIN - JST-GH 3pin

RCIN - JST-GH 3pin
Pin # Description Remarks
1 PMM SBUS PROT
2 RX 5V OUT
3 GND

PWM 1/6 (Front Right) - JST-GH 4pin

PWM 1/6 (Front Right) - JST-GH 4pin
Pin # Description Remarks
1 PWM CH1
2 GND
3 PWM CH6
4 GND

PWM 2/5 (Front Left) - JST-GH 4pin

PWM 2/5 (Front Left) - JST-GH 4pin
Pin # Description Remarks
1 PWM CH2
2 GND
3 PWM CH5
4 GND

PWM 3/8 (Rear Right) - JST-GH 4pin

PWM 3/8 (Rear Right) - JST-GH 4pin
Pin # Description Remarks
1 PWM CH3
2 GND
3 PWM CH8
4 GND


PWM 4/7 (Rear Right) - JST-GH 4pin

PWM 4/7 (Rear Right) - JST-GH 4pin
Pin # Description Remarks
1 PWM CH4
2 GND
3 PWM CH7
4 GND


(EXTRA) PWM - JST-GH 3pin

(EXTRA) PWM - JST-GH 3pin
Pin # Description Remarks
1 PWM AUX CH1
2 PWM AUX CH2
3 GND

Video

CSI-0

J17 - FPC 15 pin 0.5 mm
Pin # Description Remarks
1 GND
2 CSI0 D0 -
3 CSI0 D0 +
4 GND
5 CSI0 D1 -
6 CSI0 D1 +
7 GND
8 CSI0 CLK -
9 CSI0 CLK +
10 GND
11 CAM0 PWDN
12 XVS CAM0
13 CAM I2C SCL 3.3V
14 CAM I2C SDA 3.3V
16 3V3

CSI-2

J36 - FPC 15 pin 0.5 mm
Pin # Description Remarks
1 GND
2 CSI2 D0 -
3 CSI2 D0 +
4 GND
5 CSI2 D1 -
6 CSI2 D1 +
7 GND
8 CSI2 CLK -
9 CSI2 CLK +
10 GND
11 CAM1 PWDN
12 XVS CAM1
13 CAM I2C SCL 2 3.3V
14 CAM I2C SDA 2 3.3V
16 3V3

CSI4 - Microcoax DF56 40p

J16 - DF56 40p
Pin # Description Remarks
1 CSI4 CLK +
2 CAM2 PWDN
3 CSI4 CLK -
4 GND
5 CSI4 D3 +
6 CAM2 XVS
7 CSI4 D3 -
8 GND
9 CSI4 D2 +
10 CAM2 I2C SCL 3.3V
11 CSI4 D2 -
12 GND
13 CSI4 D1 +
14 CAM2 I2C SDA 3.3V
15 CSI4 D1 -
16 3V3
17 CSI4 D0 +
18 3V3
19 CSI4 D0 -
20 3V3
21 3V3
22 3V3
23 3V3
24 3V3
25 IMU GIMBAL I2C SCL
26 IMU GIMBAL I2C SDA
27 SPI1 MOSI 3.3V
28 CAM2 MCLK
29 SPI1 MISO 3.3V
30 GND
31 SPI1 SCK 3.3V
32 USB HUB 1 CAM -
33 SPI1 CS0 3.3V
34 USB HUB 1 CAM +
35 GND
36 GND
37 5V
38 5V
39 5V
40 5V

I/O

Board expansion - LSHM 40 pin

Board expansion - LSHM 40 pin
Pin # Description Remarks
1 GND
2 5V
3 USBSS TX+
4 5V
5 USBSS TX-
6 5V
7 GND
8 5V
9 USBSS RX+
10 GND
11 USBSS RX-
12 3V3
13 GND
14 3V3
15 USB Data+ USB bus 1
16 3V3
17 USB Data- USB bus 1
18 3V3
19 GND
20 SERIAL4 RX Cube
21 CAM I2C SCL 3V3
22 SERIAL4 TX Cube
23 CAM I2C SDA 3V3
24 GND
25 CAM Mux Sel
26 IMU Gimbal I2C SDA
27 GND
28 IMU Gimbal I2C SCL
29 SPI1 SCK 3V3
30 GND
31 SPI1 CS0 3V3
32 GPIO07 PWM
33 SPI1 MOSI 3V3
34 N.C.
35 SPI1 CS1 3V3
36 N.C.
37 SPI1 MISO 3V3
38 UART0 TX (Out) 3V3
39 GND
40 UART0 RX (In) 3V3

J3 - Mini PCIe

J3 - Mini PCIe
Pin # Description Remarks
1 PCIE_WAKE
2 MPCIE_3V3
3 N.C.
4 GND
5 N.C.
6 +1V5
7 CLKREQ
8 UIM PWR
9 GND
10 UIM DATA
11 REF CLK-
12 UIM CLK
13 REF CLK+
14 UIM RESET
15 GND
16 UIM VPP
17 N.C.
18 GND
19 N.C.
20 W_DISABLE
21 GND
22 PCIE RST
23 PCIE RX0-
24 MPCIE_3V#
25 PCIE RX0+
26 GND
27 GND
28 N.C.
29 GND
30 N.C.
31 PCIE TX0-
32 N.C.
33 PCIE TX0+
34 GND
35 GND
36 USB2 D-
37 GND
38 USB2 D+
39 +3V3 aux
40 GND
41 +3V3 aux
42 N.C.
43 GND
44 LED WLAN low side
45 N.C.
46 N.C.
47 N.C.
48 N.C.
49 N.C.
50 GND
51 N.C.
52 +3V3

J11 - Audio - JST-GH 6pin

J11 - Audio - JST-GH 6pin
Pin # Description Remarks
1 MIC_IN
2 NC
3 GND
4 Headphone R
5 Headphone L
6 GND

J14 - SPI - JST-GH 8pin

J14 - SPI - JST-GH 8pin
Pin # Description Remarks
1 3V3
2 GPIO07 PWM
3 SPI1 SCK 3V3
4 SPI1 CS0 3V3
5 SPI1 MOSI 3V3
6 SPI1 CS1 3V3
7 SPI1 MISO 3V3
8 GND

J15 - I2C - JST-GH 4pin

J15 - SPI - JST-GH 4pin
Pin # Description Remarks
1 5V
2 I2C1 SCL 3V3
3 I2C1 SDA 3V3
4 GND

J10 - USB-0 - JST-GH 4pin

J10 - USB-0 - JST-GH 4pin
Pin # Description Remarks
1 VBUS From external device, Jetson module is device, not host
2 USB0 D-
3 USB0 D+
4 GND

AN(alog) - JST-GH 6pin

AN(alog) - JST-GH 6pin
Pin # Description Remarks
1 VDD +5V
2 N.C.
3 Analog in spare
4 Analog out connected to current sense on Cube
5 Analog out connected to voltage sense on Cube
6 GND

ETH(ernet) - JST-GH 8pin

ETH(ernet) - JST-GH 8pin
Pin # Description Remarks
1 D0+
2 D0-
3 GND
4 D1+
5 D1-
6 GND
7 PWR LED CTRL
8 SLEEP/WAKE Pull low to wake Jetson

CAN - JST-GH 4pin

CAN - JST-GH 4pin
Pin # Description Remarks
1 +5V
2 CAN+ Terminated on board (120R)
3 CAN- Terminated on board (120R)
4 GND

Power

More details here: Power and VESC

VESC - JST-GH 3pin

VESC - JST-GH 3pin
Pin # Description Remarks
1 +VESC Input (9-26 V, typical current < 30 µA)
2 +VESC Input (9-26 V, typical current < 30 µA)
3 GND

POWER1 - JST-XH 2pin

POWER1 - JST-XH 2pin
Pin # Description Remarks
1 +V Main power input (9-26 V)
2 GND

POWER2 - JST-XH 2pin

POWER2 - JST-XH 2pin
Pin # Description Remarks
1 +V Backup power input for the Cube autopilot and its peripherals only (9-26 V)
2 GND
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