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On this page
  • Connectors
  • USB C
  • USB 2
  • MIPI-CSI
  • ESC
  • GPS
  • EXTRAS 1
  • EXTRAS 2
  1. Hardware Integration
  2. Skynode S

Interfaces

PreviousDatasheetNextBasic Vehicle Integration

Last updated 1 month ago

Connectors

Name
Connector
Description

USB Type-C

General purpose USB 3.0 port

JST GH 7-pin

SM07B-GHS-TB

Host mode only USB 2 port

2x MIPI-CSI (4 lanes)

Standard MIPI camera interface, Raspberry Pi camera-compatible

JST SH 8-pin SM08B-SRSS-TB

Power supply and ESC control

JST GH 6-pin

SM06B-GHS-TB

External GPS and Compass

JST GH 10-pin

SM10B-GHS-TB

FMU connections: CAN, UART, Analog, Timers

JST GH 12-pin

SM12B-GHS-TB

Linux GPIO/SPI and FMU auxillery PWM

USB C

The USB Type C connector is reversible and has two USB3.0 lanes and one USB2.0 routed. USB C supports speed up to 5Gbps in host or device mode. Connected to Linux only.

It is possible to use a passive break out board to route out up to 3 USB ports for simultaneous use: 2x USB3.0 and 1x USB2.0.

USB 2

The connector has 7 pins to avoid accidental connection with the GPS port. The extra power pins allow for more current to be supplied from 5V.

Pin
Name
Direction
Level
Function

1

5V_EXT

OUT

5V

2

5V_EXT

OUT

5V

3

D-

I/O

5V

USB2 host mode

4

D+

I/O

5V

USB2 host mode

5

GND

6

GND

7

GND

USB 2 supports speed up to 480Mbps in host mode only.

MIPI-CSI

22 pin 0.5mm ribbon cable, RPi camera compatible.

Pin
CSI0 Function
CSI1 Function

1

3.3V

3.3V

2

I2C4 SDA

I2C3 SDA

3

I2C4 SCL

I2C3 SCL

4

GND

GND

5

CSI0 LED

CSI1 LED

6

CSI Enable (shared with CSI1)

CSI Enable (shared with CSI0)

7

GND

GND

8

CSI0 D3 P

CSI1 D3 P

9

CSI0 D3 N

CSI1 D3 P

10

GND

GND

11

CSI0 D2 P

CSI1 D2 P

12

CSI0 D2 N

CSI1 D2 N

13

GND

GND

14

CSI0 CLK P

CSI1 CLK P

15

CSI0 CLK N

CSI1 CLK N

16

GND

GND

17

CSI0 D1 P

CSI1 D1 P

18

CSI0 D1 N

CSI1 D1 N

19

GND

GND

20

CSI0 D0 P

CSI1 D0 P

21

CSI0 D0 N

CSI1 D0 N

22

GND

GND

ESC

The TELEMETRY Pin (1) is currently not mapped in software.

The connector pinout is the same as the BLHeli_S ESC pinout. For other ESCs, you need an adapter cable!

Pin
Name
Direction
Level
Function
1

TELEMETRY

IN

3.3V

Digital telemetry input based on UART

2

CURRENT

IN

3.3V

Analog current measurement

3

PWM1

OUT

3.3V

Motor 1

4

PWM2

OUT

3.3V

Motor 2

5

PWM3

OUT

3.3V

Motor 3

6

PWM4

OUT

3.3V

Motor 4

7

VBAT

IN

≤36V

Battery input

8

GND

All PWM pins can be configured to output PWM, OneShot, or DShot protocol in PX4. The order can be freely defined in software.

The analog current measurement is limited to the 0-3.3V range, however, the pin will survive higher voltages up to 12V.

GPS

The connector pinout is the same as for most GPS receivers.

Pin
Name
Direction
Level
Function
1

5V_EXT

OUT

5V

5V power supply

2

UART8_TX

OUT

3.3V

GPS1 TX

3

UART8_RX

IN

3.3V

GPS1 RX

4

I2C1_SCL

I/O

3.3V

I2C for external compass

5

I2C1_SDA

I/O

3.3V

I2C for external compass

6

GND

Connected GPS and external compass are automatically recognized on boot.

I2C lines are pulled up with 2kΩ in Skynode. External pullups should not be added.

EXTRAS 1

All functions are connected to the FMU only and configured via PX4.

Pin
Name
Direction
Level
Function
1

5V_EXT

OUT

5V

5V power supply

2

3V3_EXT

OUT

3.3V

3.3V power supply

3

ADC1_INP

IN

3.3V

Analog input

4

SBUS_IN

IN

3.3V

SBUS protocol RC input

5

UART3_TX

OUT

3.3V

TELEM2 TX

6

UART3_RX

IN

3.3V

TELEM2 RX

7

PPM_IN

IN

3.3V

PPM input

8

CAN1 H

I/O

5V

CAN1 high

9

CAN1 L

I/O

5V

CAN1 low

10

GND

The CAN pins include an internal 120Ω bus termination.

EXTRAS 2

The PWM functions are connected to the FMU only and configured via PX4.

The GPIO and SPI signals are connected to the mission computer.

Pin
Name
Direction
Level
Function
1

5V_EXT

OUT

5V

5V power supply

2

GPIO0

I/O

3.3V

Controlled by Linux: Bank 0, Gpio 0

3

GPIO1

I/O

3.3V

Controlled by Linux: Bank 0, Gpio 1

4

SPI1_MISO

IN

3.3V

Controlled by Linux: SPI1 Input

5

SPI1_MOSI

OUT

3.3V

Controlled by Linux: SPI1 Output

6

SPI1_SCK

OUT

3.3V

Controlled by Linux: SPI1 Clock

7

SPI1_CS

I/O

3.3V

Controlled by Linux: Chip Select

8

PWM5

I/O

3.3V

Auxilary PWM1

9

PWM6

I/O

3.3V

Auxilary PWM2

10

PWM7

I/O

3.3V

Auxilary PWM3

11

PWM8

I/O

3.3V

Auxilary PWM4

12

GND

I/O

Please note that the pinout is different on v1.3 with two 5V pins without a GND pin!

Pin
Pinout v1.3
Pinout v1.4

1

5V_EXT

5V_EXT

2

5V_EXT extra pin

GPIO0

3

GPIO0

GPIO1

4

GPIO1

SPI1_MISO

5

SPI1_MISO

SPI1_MOSI

6

SPI1_MOSI

SPI1_SCK

7

SPI1_SCK

SPI1_CS

8

SPI1_CS

PWM5

9

PWM5

PWM6

10

PWM6

PWM7

11

PWM7

PWM8

12

PWM8

GND

GND missing

USB-C
USB 2
CSI 0 and 1
ESC
GPS
EXTRAS 1
EXTRAS 2
Skynode S connectors