> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/hardware-integration/ai-node/interfaces.md).
# Interfaces
## AI Node Interface Function Map
AI Node interfaces names
## Connectors
### External Interfaces
| Name | Interface | Description |
| ---------- | ----------------------------- | ---------------------------------------------------------------- |
| Power | Molex Micro-Fit 3.0 436500200 | Power supply input |
| Ethernet0 | JST GH 9pin | Network connection port to Skynode, a payload or ethernet switch |
| Ethernet1 | JST GH 9pin | Network connection port to Skynode, a payload or ethernet switch |
| USB0 | USB-C | General purpose USB 3.0 port |
| USB1 | USB-C | General purpose USB 3.0 port |
| Dev USB | Micro USB | Provides developer access and AuterionOS update capabilities |
| MIPI-CSI 1 | MIPI-CSI (2 lanes) | Standard MIPI camera interface, Raspberry Pi camera-compatible |
| MIPI-CSI 4 | MIPI-CSI (4 lanes) | Standard MIPI camera interface, Raspberry Pi camera-compatible |
| IO | Molex Pico-Clasp 5015714007 | IO avionics port with SPI, I2C, GPIO, CAN and UART pins |
| NextVision | Custom connector | Video input and camera control |
| Micro SD | Micro SD | Micro SD Slot for data transfer or storage extension |
## Pinout and Paths
### Ethernet
GH 9-pin connector. Both ETH0 and ETH1 have the same pinout. Pinout is given for Fast Ethernet (Eg. for connecting to Skynode, and radio) and Gigabit Ethernet modes.
| Pin | 100Base-T | 1000Base-T |
| --- | --------- | ---------- |
| 1 | - | BI\_DD\_N |
| 2 | - | BI\_DD\_P |
| 3 | RD\_N | BI\_DB\_N |
| 4 | - | BI\_DC\_N |
| 5 | - | BI\_DC\_P |
| 6 | RD\_P | BI\_DB\_P |
| 7 | TD\_N | BI\_DA\_N |
| 8 | TD\_P | BI\_DA\_P |
| 9 | GND | GND |
### USB Type C
Each of the two USB Type C ports is USB3.0 rated, with backward compatibility with USB2.0.
USB2.0 hub acts as independent submodule of USB3.0 hub, allowing for independent simultanious use of both USB2.0 and USB3.0 interefaces. Type C connectors are reversible, and have two USB3.0 lanes, and two USB2.0 routed to each of the Type C ports in order to meet reversibility requirements.
{% hint style="success" %}
Due to this design decision, it is possible to use a *passive* break out board to route out up to 8 USB ports for simultaneous use: 4x USB2.0 and 4x USB3.0
{% endhint %}
{% hint style="info" %}
As it is a USB hub, total bandwidth is shared between all attached USB devices, that is:
* 420Mbps for all attached USB2.0 devices
* 5Gbps for all attached USB3.0 devices
{% endhint %}
### MIPI-CSI
22 pin 0.5mm ribbon cable, RPi camera compatible. By default, configured to IMX219 sensor, may be switched to IMX477 from user-space by setting `CSI1_IMX477=1` or `CSI4_IMX477=1`.
{% hint style="success" %}
On AOS version `ainode-v0.7.0` and above:
* CSI1 is available under `/dev/video1`, or `sensor-id 1` when using `nvarguscamerascr`
* CSI4 is available under `/dev/video2`, or `sensor-id 2` when using `nvarguscamerascr`
These are fixed, persistent, and independent from other cameras attached/detached.
{% endhint %}
{% hint style="warning" %}
On older AOS versions below`ainode-v0.7.0,` `/dev/videoX` is allocated dynamically at boot, and thus is not persistent.`sensor-id` for `nvarguscamerasrc` are also allocated dynamically:
* If both CSI1 and CSI4 are present, CSI1 is `sensor-id 1` and CSI4 is `sensor id 2`
* If only CSI1 is present, it is `sensor-id 1`
* If only CSI4 is present, it is `sensor-id 1`
{% endhint %}
| Pin | CSI1 Function | CSI4 Function |
| --- | ------------- | ------------- |
| 1 | GND | GND |
| 2 | CSI1 D0 N | CSI4 D0 N |
| 3 | CSI1 D0 P | CSI4 D0 P |
| 4 | GND | GND |
| 5 | CSI1 D1 N | CSI4 D1 N |
| 6 | CSI1 D1 P | CSI4 D1 P |
| 7 | GND | GND |
| 8 | CSI1 CLK N | CSI4 CLK N |
| 9 | CSI1 CLK P | CSI1 CLK P |
| 10 | GND | GND |
| 11 | - | CSI4 D2 N |
| 12 | - | CSI4 D2 P |
| 13 | GND | GND |
| 14 | - | CSI4 D3 N |
| 15 | - | CSI4 D3 P |
| 16 | GND | GND |
| 17 | Camera PWDN | Camera PWDN |
| 18 | - | - |
| 19 | GND | GND |
| 20 | I2C SCL | I2C SCL |
| 21 | I2C SCA | I2C SCA |
| 22 | 3V3 VDD | 3V3 VDD |
### IO Header
[Molex connector](https://www.digikey.com/products/en?keywords=5015714007). Pinout *partially* compatible with Skynode, and can be used Pixhawk adapter board.
| Pin | Name | Notes |
| --- | ---------- | ----------------------------------------------------------------- |
| 1 | 5V VDD | |
| 2 | GPIO\_11 | Linux pin #422 |
| 3 | GPIO\_10 | Linux pin #417 |
| 4 | GND | |
| 5 | SPI1\_SCK | Linux pin #491 |
| 6 | SPI1\_MOSI | Linux pin #493 |
| 7 | GND | |
| 8 | GPIO\_CS0 | Linux pin #494 |
| 9 | UART2\_TX |