> For the complete documentation index, see [llms.txt](https://docs.holybro.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard/ports-pinout.md).
# 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
{% 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 |
---
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