DroneCore.Pilot-Connector-description-and-pins-assignment.md

Board to board bottom connector

• 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.

 

AUTOPILOT CONNECTOR

• connector compatible with The Cube Autopilot

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

• SERIAL1 connector has separate 5V protected line, with 1A current limitation
• matching connector JST GHR-06V-S

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
• CAN2 is also routed to B2B connector, so if DroneCore.Power is connected, CAN2 is natively interconnected
• all peripheral connectors (except SERIAL1) shares 5V protected power supply with 1,5A

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

 

GPS (Jetson)

• matching connector JST GHR-06V-S
• 5V supply shared with SPI0 (Jetson) connector and is limited to 480mA
• UART and I2C -> 3V3 voltage logic

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
• 5V supply shared with GPS (Jetson) connector and is limited to 480mA
• 3V3 supply not protected against overcurrent
• 3V3 SPI voltage logic

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
• shares 5V supply with FAN2 and ETHERNET connector with 480mA current limitation

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
• shares 5V supply with FAN1 and ETHERNET connector with 480mA current limitation

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
• shares 5V supply with FAN1 and FAN2 connectors with 480mA current limitation

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
• power to this connector is not protected so be aware of potential short-circuits on the connected devices.
• 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!
• separate MCLK pin (pin 122 on Jetson)
• I2C and PWND are 3V3 logic

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
• power to these connectors are not protected so be aware of potential short-circuits on the connected devices.
• 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!
• 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

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)

• these connectors can be connected/unconnected only when system is power-off !
• USB 3.0 standard
• maximum power supply: USB A: 10W, USB B,C,D: 5W
• connectors are protected against overcurrent, separately on every port.
• compatible with Molex 538-15021 cable series
• voltage levels according to usb standards

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

pin	function
1	GND
2	SYS_RST
3	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

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