# Connectors and pinouts

### Board to board bottom connector

![](/files/ZPTtf4Kgfjs6fUClXVKq)

* matching connector: ept 404-52080-51
* ready to connect with DroneCore.Power

#### **Bottom B2B**

| pin | function    | pin | function   |
| --- | ----------- | --- | ---------- |
| 1   | reserved    | 41  | reserved   |
| 2   | reserved    | 42  | reserved   |
| 3   | I2C1\_SDA   | 43  | UART1\_RX  |
| 4   | I2C1\_SCL   | 44  | UART1\_TX  |
| 5   | AUX\_BAT\_V | 45  | CAN\_L\_2  |
| 6   | AUX\_BAT\_A | 46  | CAN\_H\_2  |
| 7   | 5V\_BACKUP  | 47  | 5V\_BACKUP |
| 8   | 5V\_BACKUP  | 48  | 5V\_BACKUP |
| 9   | 5V\_BACKUP  | 49  | 5V\_BACKUP |
| 10  | 5V\_BACKUP  | 50  | 5V\_BACKUP |
| 11  | 5V\_BACKUP  | 51  | 5V\_BACKUP |
| 12  | 5V\_BACKUP  | 52  | 5V\_BACKUP |
| 13  | GND         | 53  | GND        |
| 14  | GND         | 54  | GND        |
| 15  | GND         | 55  | GND        |
| 16  | GND         | 56  | GND        |
| 17  | GND         | 57  | GND        |
| 18  | GND         | 58  | GND        |
| 19  | GND         | 59  | GND        |
| 22  | GND         | 60  | GND        |
| 21  | GND         | 61  | GND        |
| 22  | GND         | 62  | GND        |
| 23  | GND         | 63  | GND        |
| 24  | GND         | 64  | GND        |
| 25  | GND         | 65  | GND        |
| 26  | GND         | 66  | GND        |
| 27  | GND         | 67  | GND        |
| 28  | 5V\_EXTERN  | 68  | 5V\_EXTERN |
| 29  | 5V\_EXTERN  | 69  | 5V\_EXTERN |
| 30  | 5V\_EXTERN  | 70  | 5V\_EXTERN |
| 31  | 5V\_EXTERN  | 71  | 5V\_EXTERN |
| 32  | 5V\_EXTERN  | 72  | 5V\_EXTERN |
| 33  | 5V\_EXTERN  | 73  | 5V\_EXTERN |
| 34  | 5V\_EXTERN  | 74  | 5V\_EXTERN |
| 35  | VDD\_MAIN   | 75  | VDD\_MAIN  |
| 36  | VDD\_MAIN   | 76  | VDD\_MAIN  |
| 37  | VDD\_MAIN   | 77  | VDD\_MAIN  |
| 38  | VDD\_MAIN   | 78  | VDD\_MAIN  |
| 39  | VDD\_MAIN   | 79  | VDD\_MAIN  |
| 40  | VDD\_MAIN   | 80  | VDD\_MAIN  |

### The Cube connectors

* all Cube related connector signal names come from official The Cube autopilot carrier board [git](https://github.com/proficnc/The-Cube).

![](/files/9smo1MgbM773AvMQgJ4E)

#### **AUTOPILOT CONNECTOR**

* connector compatible with [The Cube Autopilot](https://ardupilot.org/copter/docs/common-thecube-overview.html)

#### **BAT\_SENS**

* matching connector JST GHR-03V-S

| pin | function                 |
| --- | ------------------------ |
| 1   | BAT\_VOLTAGE\_SENS\_PROT |
| 2   | BAT\_CURRENT\_SENS\_PROT |
| 3   | GND                      |

#### **ADC**

* matching connector JST GHR-03V-S
* all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A current limitation

| pin | function           |
| --- | ------------------ |
| 1   | 5V                 |
| 2   | PRESSURE\_SENS\_IN |
| 3   | GND                |

#### **PPM**

* matching connector JST GHR-03V-S
* all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A

| pin | function        |
| --- | --------------- |
| 1   | PPM\_SBUS\_PROT |
| 2   | 5V              |
| 3   | GND             |

#### **BEEP**

* matching connector Hirose DF13-2S-1.25C

| pin | function |
| --- | -------- |
| 1   | BUZZER+  |
| 2   | BUZZER-  |

#### **GPS2**

* matching connector JST GHR-06V-S
* all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A

| pin | function    |
| --- | ----------- |
| 1   | 5V          |
| 2   | SERIAL4\_TX |
| 3   | SERIAL4\_RX |
| 4   | I2C\_2\_SCL |
| 5   | I2C\_2\_SDA |
| 6   | GND         |

#### **GPS1**

* matching connector JST GHR-08V-S
* all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A

| pin | function            |
| --- | ------------------- |
| 1   | 5V                  |
| 2   | SERIAL3\_TX         |
| 3   | SERIAL3\_RX         |
| 4   | I2C\_1\_SCL         |
| 5   | I2C\_1\_SDA         |
| 6   | SAFETY              |
| 7   | IO-LED\_SAFET\_PROT |
| 8   | GND                 |

#### **I2C**

* matching connector JST GHR-04V-S
* all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A

| pin | function    |
| --- | ----------- |
| 1   | 5V          |
| 2   | I2C\_2\_SCL |
| 3   | I2C\_2\_SDA |
| 4   | GND         |

#### **SERIAL1**

* matching connector JST GHR-06V-S

{% hint style="info" %}
SERIAL1 connector has separate 5V protected line, with 1A current limitation
{% endhint %}

| pin | function     |
| --- | ------------ |
| 1   | 5V           |
| 2   | SERIAL1\_TX  |
| 3   | SERIAL1\_RX  |
| 4   | SERIAL1\_CTS |
| 5   | SERIAL1\_RTS |
| 6   | GND          |

#### **SERIAL5**

* matching connector JST GHR-06V-S
* all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A

| pin | function    |
| --- | ----------- |
| 1   | 5V          |
| 2   | SERIAL5\_TX |
| 3   | SERIAL5\_RX |
| 4   | S.BUS\_OUT  |
| 5   | NC          |
| 6   | GND         |

#### **CAN1**

* matching connector JST GHR-04V-S
* all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A

| pin | function  |
| --- | --------- |
| 1   | 5V        |
| 2   | CAN\_H\_1 |
| 3   | CAN\_L\_1 |
| 4   | GND       |

#### **CAN2**

* matching connector JST GHR-04V-S
* all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A

{% hint style="info" %}
CAN2 is also routed to B2B connector, so if DroneCore.Power is connected, CAN2 is natively interconnected
{% endhint %}

| pin | function  |
| --- | --------- |
| 1   | 5V        |
| 2   | CAN\_H\_2 |
| 3   | CAN\_L\_2 |
| 4   | GND       |

#### **PWM1**

* matching connector JST GHR-08V-S

| pin | function    |
| --- | ----------- |
| 1   | IO-CH1-PROT |
| 2   | IO-CH2-PROT |
| 3   | IO-CH3-PROT |
| 4   | IO-CH4-PROT |
| 5   | IO-CH5-PROT |
| 6   | IO-CH6-PROT |
| 7   | IO-CH7-PROT |
| 8   | GND         |

#### **PWM2**

* matching connector JST GHR-08V-S

| pin | function     |
| --- | ------------ |
| 1   | IO-CH8-PROT  |
| 2   | FMU-CH1-PROT |
| 3   | FMU-CH2-PROT |
| 4   | FMU-CH3-PROT |
| 5   | FMU-CH4-PROT |
| 6   | FMU-CH5-PROT |
| 7   | FMU-CH6-PROT |
| 8   | GND          |

### Nvidia Jetson connectors

![](/files/iuZp0TfjQc7642EkM5Fv)

#### **GPS (Jetson)**

* matching connector JST GHR-06V-S
* UART and I2C -> 3V3 voltage logic

{% hint style="info" %}
5V supply shared with SPI0 (Jetson) connector and is limited to 480mA
{% endhint %}

| pin | function  |
| --- | --------- |
| 1   | 5V        |
| 2   | UART0\_Tx |
| 3   | UART0\_Rx |
| 4   | I2C0\_SCL |
| 5   | I2C0\_SDA |
| 6   | GND       |

#### **SPI0 (Jetson)**

* matching connector JST GHR-08V-S
* 3V3 SPI voltage logic

{% hint style="info" %}
5V supply shared with GPS (Jetson) connector and is limited to 480mA
{% endhint %}

{% hint style="danger" %}
3V3 supply not protected against overcurrent
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V          |
| 2   | SPI0\_CS1   |
| 3   | SPI0\_CS0   |
| 4   | SPI0\_MISO  |
| 5   | SPI0\_CLK   |
| 6   | SPI0\_MOSI  |
| 7   | 3.3V supply |
| 8   | GND         |

#### **FAN1**

* FAN1 and FAN2 are connected in parallel
* standard fan connector, matching with Molex 47054-1000 header
* only one 4-pin fan controlled with pwm/tach can be connected
* for second fan choose simple 2-wire DC fan

{% hint style="info" %}
shares 5V supply with FAN2 and ETHERNET connector with 480mA current limitation
{% endhint %}

| pin | function  |
| --- | --------- |
| 1   | GND       |
| 2   | 5V        |
| 3   | FAN\_TACH |
| 4   | FAN\_PWM  |

#### **FAN2**

* matching with Molex 51021-0400 cable header
* compatible with xavier nx original cooler

{% hint style="info" %}
shares 5V supply with FAN1 and ETHERNET connector with 480mA current limitation
{% endhint %}

| pin | function  |
| --- | --------- |
| 1   | FAN\_PWM  |
| 2   | FAN\_TACH |
| 3   | 5V        |
| 4   | GND       |

#### **ETHERNET**

* 687116183722 connector type
* compatible with standard 16 pin / 0.5mm pitch same-side contacts FPC cables
* to be able to connect Jetson to network via standard ethernet cable, use aepilot1\_ethernet\_expansion\_board

{% hint style="info" %}
shares 5V supply with FAN1 and FAN2 connectors with 480mA current limitation
{% endhint %}

| pin | function       |
| --- | -------------- |
| 1   | GBE\_B3\_P     |
| 2   | GBE\_B3\_N     |
| 3   | GND            |
| 4   | GBE\_M2\_P     |
| 5   | GBE\_M2\_N     |
| 6   | GND            |
| 7   | GBE\_M1\_P     |
| 8   | GBE\_M1\_N     |
| 9   | GND            |
| 10  | GBE\_M0\_P     |
| 11  | GBE\_M0\_N     |
| 12  | GND            |
| 13  | GBE\_LED\_LINK |
| 14  | GBE\_LED\_ACT  |
| 15  | 5V             |
| 16  | 5V             |

#### **CSI D (4-lanes CSI)**

* 501951-2210 connector type
* 4 lanes MIPI CSI connectors
* separate MCLK pin (pin 122 on Jetson)
* I2C and PWND are 3V3 logic

{% hint style="danger" %}
pay attention to cable pins orientation (same / opposite side contacts). Cameras from different manufacturers can have different pin order, so wrong cable can cause short-circuit!
{% endhint %}

{% hint style="danger" %}
power to this connector is not protected so be aware of potential short-circuits on the connected devices.
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 3V3         |
| 2   | I2C\_SDA    |
| 3   | I2C\_SCL    |
| 4   | GND         |
| 5   | MCLK        |
| 6   | PWDN        |
| 7   | GND         |
| 8   | CSI\_D3\_P  |
| 9   | CSI\_D3\_N  |
| 10  | GND         |
| 11  | CSI\_D2\_P  |
| 12  | CSI\_D2\_N  |
| 13  | GND         |
| 14  | CSI\_CLK\_P |
| 15  | CSI\_CLK\_N |
| 16  | GND         |
| 17  | CSI\_D1\_P  |
| 18  | CSI\_D1\_N  |
| 19  | GND         |
| 20  | CSI\_D0\_P  |
| 21  | CSI\_D0\_N  |
| 22  | GND         |

#### **CSI A,B,C,E,F (2-lines CSI)**

* 501951-2210 connector type
* 2 lines MIPI CSI connectors
* CSI A,B,C shares the same MCLK pin (pin 116 on Jetson)
* CSI E,F shares the same MCLK pin (pin 216 on Jetson)
* I2C and PWND are 3V3 logic

{% hint style="danger" %}
power to these connectors are not protected so be aware of potential short-circuits on the connected devices.
{% endhint %}

{% hint style="danger" %}
pay attention to cable pins orientation (same / opposite side contacts). Cameras from different manufacturers can have different pin order, so wrong cable can cause short-circuit!
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 3V3         |
| 2   | I2C\_SDA    |
| 3   | I2C\_SCL    |
| 4   | GND         |
| 5   | MCLK        |
| 6   | PWDN        |
| 7   | GND         |
| 8   | NC          |
| 9   | NC          |
| 10  | GND         |
| 11  | NC          |
| 12  | NC          |
| 13  | GND         |
| 14  | CSI\_CLK\_P |
| 15  | CSI\_CLK\_N |
| 16  | GND         |
| 17  | CSI\_D1\_P  |
| 18  | CSI\_D1\_N  |
| 19  | GND         |
| 20  | CSI\_D0\_P  |
| 21  | CSI\_D0\_N  |
| 22  | GND         |

#### **USB A,B,C,D (15 pin ZIF connectors)**

* USB 3.0 standard
* connectors are protected against overcurrent, separately on every port.
* compatible with Molex 538-15021 cable series
* voltage levels according to usb standards

{% hint style="info" %}
maximum power supply: USB A: 10W, USB B,C,D: 5W
{% endhint %}

{% hint style="danger" %}
these connectors can be connected/unconnected only when system is power-off !
{% endhint %}

| pin | function |
| --- | -------- |
| 1   | GND      |
| 2   | RX\_N    |
| 3   | RX\_P    |
| 4   | GND      |
| 5   | TX\_N    |
| 6   | TX\_P    |
| 7   | GND      |
| 8   | D\_N     |
| 9   | D\_P     |
| 10  | GND      |
| 11  | GND      |
| 12  | 5V       |
| 13  | 5V       |
| 14  | 5V       |
| 15  | 5V       |

#### **CONTROL**

* Nvidia Jetson control pins
* 1.8V logic

![control\_conn](/files/z9Qe0xkWJ9rJ0DzWuUVV)

| pin | function                 |
| --- | ------------------------ |
| 1   | GND                      |
| 2   | SYS\_RST                 |
| 3   | FC\_REC (Force recovery) |
| 4   | GND                      |

#### **GPIOS**

* Nvidia Jetson GPIOS connector
* pins 1,2 are connected to Jetson debug UART which natively supports serial console. UART number varies depending on type of Jetson.
* pins 1 - 4 -> 3V3 logic
* pins 5,6 -> 1.8V logic

![gpios\_conn](/files/M94jc6Dp6mN6e6Sbs6Xm)

| pin | function          |
| --- | ----------------- |
| 1   | UART\_RXD (Debug) |
| 2   | UART\_TXD (Debug) |
| 3   | GPIO\_EXP1        |
| 4   | GPIO\_EXP2        |
| 5   | GPIO\_13          |
| 6   | GPIO\_12          |

#### **USB\_DEV**

* USB type micro B connector
* possible to use only as jetson usb-device
* when micro usb cable connected between board and host PC, Jetson acts like usb-device.

#### **HDMI**

* HDMI Type D connector receptacle
* connect with micro HDMI cable to external display

#### **M2 key E**

* connector includes PCIE, USB2.0, USART (shared with GPS(Jetson) connector, and I2C buses
* tested wifi cards: Intel AC-9260NGW, Intel AC-8265NGW


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