> For the complete documentation index, see [llms.txt](https://agamrobotics.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://agamrobotics.gitbook.io/docs/autopilots-flight-controller/quickstart/baseboard-port.md).

# Baseboard Port

## POWER :: FMU PWM OUT :: RC IN : AUX

<figure><img src="/files/M8sip5lZuBAZr8bDQb6B" alt="" width="188"><figcaption></figcaption></figure>

### **Power1 (Main) & Power2 (Backup) - Molex** 2.00mm Pitch CLIK-Mate

| **Pin**  | **Signal** | **Volt** |
| -------- | ---------- | -------- |
| 1(red)   | VDD5V      | +5V      |
| 2(black) | VDD5V      | +5V      |
| 3(black) | SCL        | +3.3V    |
| 4(black) | SDA        | +3.3V    |
| 5(black) | GND        | GND      |
| 6(black) | GND        | GND      |

### **RC IN Port** <a href="#rc-in-port" id="rc-in-port"></a>

| **Pin** | **Signal**   | **Volt** |
| ------- | ------------ | -------- |
| S       | SBUS/PPM in  | +3.3V    |
| +       | VDD\_5V \_RC | +5V      |
| -       | GND          | GND      |

### **FMU PWM OUT** <a href="#fmu-pwm-out-aux-out" id="fmu-pwm-out-aux-out"></a>

| **Pin** | **Signal**   | **Volt** |
| ------- | ------------ | -------- |
| S       | FMU\_CH1\~12 | +3.3V    |
| +       | VDD\_SERVO   | 0\~36V   |
| -       | GND          | GND      |

## **TELEM :: ETH :: UART\&I2C :: DEBUG** <a href="#telem1-telem2-telem3-ports" id="telem1-telem2-telem3-ports"></a>

<div data-full-width="true"><figure><img src="/files/WUbNzxaa9VkOYl8Izd6p" alt="" width="563"><figcaption></figcaption></figure></div>

### **TELEM1, TELEM2, TELEM3 ports** <a href="#telem1-telem2-telem3-ports" id="telem1-telem2-telem3-ports"></a>

| **Pin**  | **Signal** | **Volt** |
| -------- | ---------- | -------- |
| 1(red)   | VCC        | +5V      |
| 2(black) | TX (out)   | +3.3V    |
| 3(black) | RX (in)    | +3.3V    |
| 4(black) | CTS (in)   | +3.3V    |
| 5(black) | RTS (out)  | +3.3V    |
| 6(black) | GND        | GND      |

### **CAN1, CAN2, CAN3 ports** <a href="#can1-can2-ports" id="can1-can2-ports"></a>

| **Pin**  | **Signal** | **Volt** |
| -------- | ---------- | -------- |
| 1(red)   | VCC        | +5V      |
| 2(black) | CANH1/2/3  | +3.3V    |
| 3(black) | CANL1/2/3  | +3.3V    |
| 4(black) | GND        | GND      |

#### **ETH Port** <a href="#eth-port" id="eth-port"></a>

| **Pin**  | **Signal** | **Volt** |
| -------- | ---------- | -------- |
| 1(red)   | RX         | +3.3V    |
| 2(black) | TX         | +3.3V    |

### **FMU Debug Port** (JST-SH 1mm Pitch) <a href="#fmu-debug-port-jst-sh-1mm-pitch" id="fmu-debug-port-jst-sh-1mm-pitch"></a>

| **Pin**   | **Signal**         | **Volt** |
| --------- | ------------------ | -------- |
| 1(red)    | FMU\_VDD\_3V3      | +3.3V    |
| 2 black)  | FMU\_USART\_TX     | +3.3V    |
| 3(black)  | FMU\_USART\_RX     | +3.3V    |
| 4(black)  | FMU\_SWD\_IO       | +3.3V    |
| 5(black)  | FMU\_SWD\_CK       | +3.3V    |
| 6(black)  | SPI\_SCK\_EXTERNAL | +3.3V    |
| 7(black)  | NFC\_GPIO          | +3.3V    |
| 8(black)  | PH11               | +3.3V    |
| 9(black)  | FMU\_nRST          | +3.3V    |
| 10(black) | GND                | GND      |

### **UART\&I2C Port** <a href="#fmu-debug-port-jst-sh-1mm-pitch" id="fmu-debug-port-jst-sh-1mm-pitch"></a>

| **Pin**  | **Signal** | **Volt** |
| -------- | ---------- | -------- |
| 1(red)   | VCC        | +5V      |
| 2(black) | TX(out)    | +3.3V    |
| 3(black) | RX(in)     | +3.3V    |
| 4(black) | SCL        | +3.3V    |
| 5(black) | SDA        | +3.3V    |
| 6(black) | NFC\_GPIO  | +3.3V    |
| 7(black) | GND        | GND      |

## GPS1 :: GPS2 :: NFC :: DSM :: SPI

<figure><img src="/files/TU49axSxSPGF95yYO2vM" alt="" width="375"><figcaption></figcaption></figure>

### **GPS 1 Port**

| **Pin**   | **Signal**          | **Volt** |
| --------- | ------------------- | -------- |
| 1(red)    | VCC                 | +5V      |
| 2 black)  | TX(out)             | +3.3V    |
| 3(black)  | RX(in)              | +3.3V    |
| 4(black)  | SCL                 | +3.3V    |
| 5(black)  | SDA                 | +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      |

### **GPS 2 Port** <a href="#gps-2-port" id="gps-2-port"></a>

| **Pin**  | **Signal** | **Volt** |
| -------- | ---------- | -------- |
| 1(red)   | VCC        | +5V      |
| 2 black) | TX(out)    | +3.3V    |
| 3(black) | RX(in)     | +3.3V    |
| 4(black) | SCL        | +3.3V    |
| 5(black) | SDA        | +3.3V    |
| 6(black) | GND        | GND      |

### **SPI Port** <a href="#spi-port" id="spi-port"></a>

| **Pin**   | **Signal**  | **Volt** |
| --------- | ----------- | -------- |
| 1(red)    | VCC         | +5V      |
| 2 (black) | SPI\_SCK    | +3.3V    |
| 3(black)  | SPI\_MISO   | +3.3V    |
| 4(black)  | SPI\_MOSI   | +3.3V    |
| 5(black)  | SPI\_CS1    | +3.3V    |
| 6(black)  | SPI\_CS2    | +3.3V    |
| 7(black)  | SPI\_SYNC   | +3.3V    |
| 8(black)  | SPI\_DRDY1  | +3.3V    |
| 9(black)  | SPI\_DRDY2  | +3.3V    |
| 10(black) | SPI\_nRESET | +3.3V    |
| 11(black) | GND         | GND      |

### **DSM RC Port** (JST-ZH 1.5mm Pitch) <a href="#dsm-rc-port-jst-zh-1.5mm-pitch" id="dsm-rc-port-jst-zh-1.5mm-pitch"></a>

| **Pin**   | **Signal**         | **Volt** |
| --------- | ------------------ | -------- |
| 1(yellow) | VDD\_3V3\_SPEKTRUM | +3.3V    |
| 2(black)  | GND                | GND      |
| 3(gray)   | DSM/SPEKTRUM IN    | +3.3V    |

#### **NFC Port** <a href="#eth-port" id="eth-port"></a>

| **Pin** | **Signal** | **Volt** |
| ------- | ---------- | -------- |
| 1       | RXN        | +3.3V    |
| 2       | RXP        | +3.3V    |

### **I2C Port** <a href="#i2c-port" id="i2c-port"></a>

| **Pin**  | **Signal** | **Volt** |
| -------- | ---------- | -------- |
| 1(red)   | VCC        | +5V      |
| 2(black) | SCL        | +3.3V    |
| 3(black) | SDA        | +3.3V    |
| 4(black) | GND        | GND      |

### **AD\&IO Port** <a href="#a-d-and-io-port" id="a-d-and-io-port"></a>

| **Pin**  | **Signal**      | **Volt** |
| -------- | --------------- | -------- |
| 1(red)   | VCC             | +5V      |
| 2(black) | FMU\_CAP        | +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      |

#### **USB Port(Next to USB-C connector)** <a href="#usb-port" id="usb-port"></a>

| **Pin**  | **Signal** | **Volt** |
| -------- | ---------- | -------- |
| 1(red)   | VBUS       | +5V      |
| 2(black) | DM         | +3.3V    |
| 3(black) | DP         | +3.3V    |
| 4(black) | GND        | GND      |