# Ports Pinout
{% hint style="info" %} * I/O PWM OUT = MAIN OUT * FMU PWM OUT = AUX OUT * Pin 1 starts from the flight controllers like diagram below ![](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FoUfIkAIADuuZRcSTj2Cr%2FPin%20Order.jpg?alt=media\&token=e18c4309-6ba7-4db2-8d74-aca454a912f7) {% endhint %} ### Power 1 (Main), Power 2 Ports (2.00mm Pitch CLIK-Mate) | Pin | Signal | Voltage | | -------- | -------------------- | ------- | | 1(red) | VDD5V\_BRICK1/2(in) | +5V | | 2(black) | VDD5V\_BRICK1/2 (in) | +5V | | 3(black) | SCL1/2 | +3.3V | | 4(black) | SDA1/2 | +3.3V | | 5(black) | GND | GND | | 6(black) | GND | GND | ### Tel1, Tel3 Ports | Pin | Signal | Voltage | | -------- | ----------- | ------- | | 1(red) | VCC (out) | +5V | | 2(black) | TX7/2(out) | +3.3V | | 3(black) | RX7/2(in) | +3.3V | | 4(black) | CTS7/2(in) | +3.3V | | 5(black) | RTS7/2(out) | +3.3V | | 6(black) | GND | GND | ### CAN1, CAN2 Ports | Pin | Signal | Voltage | | -------- | --------- | ------- | | 1(red) | VCC (out) | +5V | | 2(black) | CANH1/2 | +3.3V | | 3(black) | CANL1/2 | +3.3V | | 4(black) | GND | GND | ### GPS1 Port | Pin | Signal | Voltage | | --------- | ------------------- | ------- | | 1(red) | VCC (out) | +5V | | 2 black) | TX1(out) | +3.3V | | 3(black) | RX1(in) | +3.3V | | 4(black) | SCL1 | +3.3V | | 5(black) | SDA1 | +3.3V | | 6(black) | SAFETY\_SWITCH | +3.3V | | 7(black) | SAFETY\_SWITCH\_LED | +3.3V | | 8(black) | VDD\_3V3 | +3.3V | | 9(black) | BUZZER- | 0\~5V | | 10(black) | GND | GND | ### GPS2 Port | Pin | Signal | Voltage | | -------- | --------- | ------- | | 1(red) | VCC (out) | +5V | | 2 black) | TX8(out) | +3.3V | | 3(black) | RX8(in) | +3.3V | | 4(black) | SCL2 | +3.3V | | 5(black) | SDA2 | +3.3V | | 6(black) | GND | GND | ### UART4 & I2C Port (also shown as UART\&I2C on some board) | Pin | Signal | Voltage | | -------- | --------- | ------- | | 1(red) | VCC (out) | +5V | | 2(black) | TX4(out) | +3.3V | | 3(black) | RX4(in) | +3.3V | | 4(black) | SCL3 | +3.3V | | 5(black) | SDA3 | +3.3V | | 6(black) | NFC\_GPIO | +3.3V | | 7(black) | GND | GND | ### SPI Port | Pin | Signal | Voltage | | --------- | ------------ | ------- | | 1(red) | VCC (out) | +5V | | 2 (black) | SPI6\_SCK | +3.3V | | 3(black) | SPI6\_MISO | +3.3V | | 4(black) | SPI6\_MOSI | +3.3V | | 5(black) | SPI6\_CS1 | +3.3V | | 6(black) | SPI6\_CS2 | +3.3V | | 7(black) | SPIX\_SYNC | +3.3V | | 8(black) | SPI6\_DRDY1 | +3.3V | | 9(black) | SPI6\_DRDY2 | +3.3V | | 10(black) | SPI6\_nRESET | +3.3V | | 11(black) | GND | GND | ### FMU USB Port | Pin | Signal | Voltage | | -------- | --------- | ------- | | 1(red) | VBUS (in) | +5V | | 2(black) | DM | +3.3V | | 3(black) | DP | +3.3V | | 4(black) | GND | GND | ### I2C Port | Pin | Signal | Voltage | | -------- | ------ | ------- | | 1(red) | VCC | +5V | | 2(black) | SCL3 | +3.3V | | 3(black) | SDA3 | +3.3V | | 4(black) | GND | GND | ### ETH-P1 Port | Pin | Signal | Voltage | | -------- | ------- | ------- | | 1(red) | TX\_D1+ | - | | 2(black) | TX\_D1- | - | | 3(black) | RX\_D2+ | - | | 4(black) | RX\_D2- | - | | 5(black) | Bi\_D3+ | - | | 6(black) | Bi\_D3- | - | | 7(black) | Bi\_D4+ | - | | 8(black) | Bi\_D4- | - | ### IO Debug Port (JST-SH 1mm Pitch) | Pin | Signal | Voltage | | --------- | ----------------- | ------- | | 1(red) | IO\_VDD\_3V3(out) | +3.3V | | 2 black) | IO\_USART1\_TX | +3.3V | | 3(black) | NC | -- | | 4(black) | IO\_SWD\_IO | +3.3V | | 5(black) | IO\_SWD\_CK | +3.3V | | 6(black) | IO\_SWO | +3.3V | | 7(black) | IO\_SPARE\_GPIO1 | +3.3V | | 8(black) | IO\_SPARE\_GPIO2 | +3.3V | | 9(black) | IO\_nRST | +3.3V | | 10(black) | GND | GND | ### FMU Debug port (JST-SH 1mm Pitch) | Pin | Signal | Voltage | | --------- | -------------------- | ------- | | 1(red) | FMU\_VDD\_3V3(out) | +3.3V | | 2( black) | FMU\_USART3\_TX | +3.3V | | 3(black) | FMU\_USART3\_RX | +3.3V | | 4(black) | FMU\_SWD\_IO | +3.3V | | 5(black) | FMU\_SWD\_CK | +3.3V | | 6(black) | SPI6\_SCK\_EXTERNAL1 | +3.3V | | 7(black) | NFC\_GPIO | +3.3V | | 8(black) | PH11 | +3.3V | | 9(black) | FMU\_nRST | +3.3V | | 10(black) | GND | GND | ### AD\&IO port | Pin | Signal | Voltage | | -------- | --------------- | ------- | | 1(red) | VCC (out) | +5V | | 2(black) | FMU\_CAP1 | +3.3V | | 3(black) | FMU\_BOOTLOADER | +3.3V | | 4(black) | FMU\_RST\_REQ | +3.3V | | 5(black) | NARMED | +3.3V | | 6(black) | ADC1\_3V3 | +3.3V | | 7(black) | ADC1\_6V6 | +6.6V | | 8(black) | GND | GND | ### DSM RC Port (JST-ZH 1.5mm Pitch) | Pin | Signal | Voltage | | --------- | ------------------ | ------- | | 1(yellow) | VDD\_3V3\_SPEKTRUM | +3.3V | | 2(black) | GND | GND | | 3(gray) | DSM/Spektrum in | +3.3V | ### RC IN Port | Pin | Signal | Voltage | | --------- | ------------------ | ------- | | 1(red) | VDD\_5V \_RC (out) | +5V | | 2( black) | SBUS/PPM in | +3.3V | | 3( black) | RSSI\_IN | +3.3V | | 4( black) | NC | -- | | 5( black) | GND | GND | ### SBUS Out Port | Pin | Signal | Voltage | | --------- | --------- | ------- | | 1(red) | NC | -- | | 2( black) | SBUS\_OUT | +3.3V | | 3( black) | GND | GND | ### FMU PWM OUT (AUX OUT) | Pin | Signal | Voltage | | --------- | ---------- | ------- | | 1(red) | VDD\_SERVO | 0\~16V | | 2(black) | FMU\_CH1 | +3.3V | | 3(black) | FMU\_CH2 | +3.3V | | 4(black) | FMU\_CH3 | +3.3V | | 5(black) | FMU\_CH4 | +3.3V | | 6(black) | FMU\_CH5 | +3.3V | | 7(black) | FMU\_CH6 | +3.3V | | 8(black) | FMU\_CH7 | +3.3V | | 9(black) | FMU\_CH8 | +3.3V | | 10(black) | GND | GND | ### IO PWM OUT (MAIN OUT) | Pin | Signal | Voltage | | --------- | ---------- | ------- | | 1(red) | VDD\_SERVO | 0\~16V | | 2(black) | IO\_CH1 | +3.3V | | 3(black) | IO\_CH2 | +3.3V | | 4(black) | IO\_CH3 | +3.3V | | 5(black) | IO\_CH4 | +3.3V | | 6(black) | IO\_CH5 | +3.3V | | 7(black) | IO\_CH6 | +3.3V | | 8(black) | IO\_CH7 | +3.3V | | 9(black) | IO\_CH8 | +3.3V | | 10(black) | GND | GND | ### Orin USB2.0 Port | Pin | Signal | Voltage | | -------- | --------------- | ------- | | 1(red) | USB\_VBUS (out) | +5V | | 2(black) | DM | +3.3V | | 3(black) | DP | +3.3V | | 4(black) | GND | GND | | 5(black) | Shield | GND | ### Orin Debug (JST-SH 1mm Pitch) | Pin | Signal | Voltage | | -------- | ---------------- | ------- | | 1(red) | VCC (out) | +5V | | 2(black) | Orin\_UART2\_TXD | +3.3V | | 3(black) | Orin\_UART2\_RXD | +3.3V | | 4(black) | NC | -- | | 5(black) | NC | -- | | 6(black) | GND | GND | ### Orin I2C Port | Pin | Signal | Voltage | | -------- | --------------- | ------- | | 1(red) | VCC (out) | +5V | | 2(black) | Orin\_I2C1\_SCL | +3.3V | | 3(black) | Orin\_I2C1\_SDA | +3.3V | | 4(black) | GND | GND | ### Orin GPIO Port | Pin | Signal | Voltage | | -------- | -------------- | ------- | | 1(red) | VCC | +5V | | 2(black) | Orin\_GPIO\_07 | +3.3V | | 3(black) | Orin\_GPIO\_11 | +3.3V | | 4(black) | Orin\_GPIO\_12 | +3.3V | | 5(black) | Orin\_GPIO\_13 | +3.3V | | 6(black) | GND | GND | ### Orin Camera0 Port Camera Serial Interface (CSI) | Pin | Signal | Voltage | | --- | -------------------- | ------- | | 1 | GND | GND | | 2 | Orin\_CSI1\_D0\_N | +3.3V | | 3 | Orin\_CSI1\_D0\_P | +3.3V | | 4 | GND | GND | | 5 | Orin\_CSI1\_D1\_N | +3.3V | | 6 | Orin\_CSI1\_D1\_P | +3.3V | | 7 | GND | GND | | 8 | Orin\_CSI1\_CLK\_N | +3.3V | | 9 | Orin\_CSI1\_CLK\_P | +3.3V | | 10 | GND | GND | | 11 | Orin\_CSI0\_D0\_N | +3.3V | | 12 | Orin\_CSI0\_D0\_P | +3.3V | | 13 | GND | GND | | 14 | Orin\_CSI0\_D1\_N | +3.3V | | 15 | Orin\_CSI0\_D1\_P | +3.3V | | 16 | GND | GND | | 17 | Orin\_CAM0\_PWDN | +3.3V | | 18 | Orin\_CAM0\_MCLK | +3.3V | | 19 | GND | GND | | 20 | Orin\_CAM0\_I2C\_SCL | +3.3V | | 21 | Orin\_CAM0\_I2C\_SDA | +3.3V | | 22 | VDD | +3.3V | ### Orin Camera1 Port Camera Serial Interface (CSI) | Pin | Signal | Voltage | | --- | -------------------- | ------- | | 1 | GND | GND | | 2 | Orin\_CSI2\_D0\_N | +3.3V | | 3 | Orin\_CSI2\_D0\_P | +3.3V | | 4 | GND | GND | | 5 | Orin\_CSI2\_D1\_N | +3.3V | | 6 | Orin\_CSI2\_D1\_P | +3.3V | | 7 | GND | GND | | 8 | Orin\_CSI2\_CLK\_N | +3.3V | | 9 | Orin\_CSI2\_CLK\_P | +3.3V | | 10 | GND | GND | | 11 | Orin\_CSI3\_D0\_N | +3.3V | | 12 | Orin\_CSI3\_D0\_P | +3.3V | | 13 | GND | GND | | 14 | Orin\_CSI3\_D1\_N | +3.3V | | 15 | Orin\_CSI3\_D1\_P | +3.3V | | 16 | GND | GND | | 17 | Orin\_CAM1\_PWDN | +3.3V | | 18 | Orin\_CAM1\_MCLK | +3.3V | | 19 | GND | GND | | 20 | Orin\_CAM1\_I2C\_SCL | +3.3V | | 21 | Orin\_CAM1\_I2C\_SDA | +3.3V | | 22 | VDD | +3.3V | ### Orin SPI Port | Pin | Signal | Voltage | | -------- | ---------------- | ------- | | 1(red) | VCC | +5V | | 2(black) | Orin\_SPI0\_SCK | +3.3V | | 3(black) | Orin\_SPI0\_MISO | +3.3V | | 4(black) | Orin\_SPI0\_MOSI | +3.3V | | 5(black) | Orin\_SPI0\_CS0 | +3.3V | | 6(black) | Orin\_SPI0\_CS1 | +3.3V | | 7(black) | GND | GND | ### Orin I2S Port | Pin | Signal | Voltage | | -------- | ----------------- | ------- | | 1(red) | VCC | +5V | | 2(black) | Orin\_I2S0\_SDOUT | +3.3V | | 3(black) | Orin\_I2S0\_SDIN | +3.3V | | 4(black) | Orin\_I2S0\_LRCK | +3.3V | | 5(black) | Orin\_I2S0\_SCLK | +3.3V | | 6(black) | Orin\_GPIO\_09 | +3.3V | | 7(black) | GND | GND |