# Default expansion board

<figure><img src="https://341257526-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FkuuT7PXOBpck5wDlb6XM%2Fuploads%2Fgit-blob-68f2d53ae4e0caf872090a41352198502f64165a%2FDCS2.Default_expansion_overview.svg?alt=media" alt=""><figcaption><p>DCS2.Default_expansion v1.0</p></figcaption></figure>

## Description <a href="#description" id="description"></a>

*Board description*

***

## Dimensions <a href="#dimensions" id="dimensions"></a>

<figure><img src="/files/7bnmCfOn7lyY8zuprskO" alt=""><figcaption></figcaption></figure>

***

## Power supply <a href="#power-supply" id="power-supply"></a>

<figure><img src="/files/EcYqOhoJjukmHdbpkFGd" alt=""><figcaption></figcaption></figure>

### Power consumption <a href="#power-consumption" id="power-consumption"></a>

*Podobne ako v DCS1*

***

## Peripherals <a href="#peripherals" id="peripherals"></a>

<figure><img src="/files/Mvj2qPBwK7MmdiDZIk72" alt=""><figcaption></figcaption></figure>

***

<h2 align="center">Connectors and pinouts</h2>

### Top side connectors

<figure><img src="/files/6NszYoQjHksIJYQCj4bN" alt=""><figcaption></figcaption></figure>

<details>

<summary><strong>VDD_MAIN</strong></summary>

* Matching connector XT30
* Voltage range 20-55VDC

</details>

<details>

<summary><strong>PAYLOAD SIGNALS</strong></summary>

Matching connector Hirose DF36-50P-0.4SD

<table><thead><tr><th width="245">pin</th><th>function</th></tr></thead><tbody><tr><td>1</td><td>GbE_DA_N</td></tr><tr><td>2</td><td>GbE_DA_P</td></tr><tr><td>3</td><td>GbE_DB_N</td></tr><tr><td>4</td><td>GbE_DB_P</td></tr><tr><td>5</td><td>GbE_DC_N</td></tr><tr><td>6</td><td>GbE_DC_P</td></tr><tr><td>7</td><td>GbE_DD_N</td></tr><tr><td>8</td><td>GbE_DD_P</td></tr><tr><td>9</td><td>CAM3_I2C_SDA</td></tr><tr><td>10</td><td>CAM3_I2C_SCL</td></tr><tr><td>11</td><td>CAM3_MCLK</td></tr><tr><td>12</td><td>CAM3_PWDN</td></tr><tr><td>13</td><td>CAM3_CLK_P</td></tr><tr><td>14</td><td>CAM3_CLK_N</td></tr><tr><td>15</td><td>CAM3_D1_P</td></tr><tr><td>16</td><td>CAM3_D1_N</td></tr><tr><td>17</td><td>CAM3_D0_P</td></tr><tr><td>18</td><td>CAM3_D0_N</td></tr><tr><td>19</td><td>CAM2_I2C_SDA</td></tr><tr><td>20</td><td>CAM2_I2C_SCL</td></tr><tr><td>21</td><td>CAM2_MCLK</td></tr><tr><td>22</td><td>CAM2_PWDN</td></tr><tr><td>23</td><td>CAM2_CLK_P</td></tr><tr><td>24</td><td>CAM2_CLK_N</td></tr><tr><td>25</td><td>CAM2_D1_P</td></tr><tr><td>26</td><td>CAM2_D1_N</td></tr><tr><td>27</td><td>CAM2_D0_P</td></tr><tr><td>28</td><td>CAM2_D0_N</td></tr><tr><td>29</td><td>USB1_PWRCTL</td></tr><tr><td>30</td><td>USB1_OC</td></tr><tr><td>31</td><td>USB1_D_P</td></tr><tr><td>32</td><td>USB1_D_N</td></tr><tr><td>33</td><td>USB1_SSTX_P</td></tr><tr><td>34</td><td>USB1_SSTX_N</td></tr><tr><td>35</td><td>USB1_SSRX_P</td></tr><tr><td>36</td><td>USB1_SSRX_N</td></tr><tr><td>37</td><td>USB0_SSTX_P</td></tr><tr><td>38</td><td>USB0_SSTX_N</td></tr><tr><td>39</td><td>USB0_SSRX_P</td></tr><tr><td>40</td><td>USB0_SSRX_N</td></tr><tr><td>41</td><td>CAN1_H (available through solder bridges)</td></tr><tr><td>42</td><td>CAN1_L (available through solder bridges)</td></tr><tr><td>43</td><td>CAN2_H (available through solder bridges)</td></tr><tr><td>44</td><td>CAN2_L (available through solder bridges)</td></tr><tr><td>45</td><td>UART_JET_TX</td></tr><tr><td>46</td><td>UART_JET_RX</td></tr><tr><td>47</td><td>JETSON_GPIOx</td></tr><tr><td>48</td><td>JETSON_GPIOx</td></tr><tr><td>49</td><td>SERIAL1_TX (available through solder bridges)</td></tr><tr><td>50</td><td>SERIAL1_RX (available through solder bridges)</td></tr></tbody></table>

</details>

<details>

<summary><strong>PAYLOAD POWER</strong></summary>

Matching connector Molex 502578-060x

{% hint style="info" %}
VDD\_BATT rail is fused with 1A fuse
{% endhint %}

{% hint style="info" %}
5V rail is internally limited to 2A
{% endhint %}

| pin | function   |
| --- | ---------- |
| 1   | VDD\_BATT  |
| 2   | N.C.       |
| 3   | 5V\_PERIPH |
| 4   | GND        |
| 5   | GND        |
| 6   | GND        |

</details>

<details>

<summary><strong>I2C2</strong></summary>

Matching connector JST GHR-04V-S

{% hint style="info" %}
I2C2, CAN1, CAN2, ADC connectors share the same power rail internally limited to 1A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V\_CRUCIAL |
| 2   | I2C2\_SCL   |
| 3   | I2C2\_SDA   |
| 4   | GND         |

</details>

<details>

<summary><strong>CAN1</strong></summary>

Matching connector JST GHR-04V-S

{% hint style="info" %}
I2C2, CAN1, CAN2, ADC connectors share the same power rail internally limited to 1A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V\_CRUCIAL |
| 2   | CAN1\_H     |
| 3   | CAN1\_L     |
| 4   | GND         |

</details>

<details>

<summary><strong>CAN2</strong></summary>

Matching connector JST GHR-04V-S

{% hint style="info" %}
I2C2, CAN1, CAN2, ADC connectors share the same power rail internally limited to 1A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V\_CRUCIAL |
| 2   | CAN2\_H     |
| 3   | CAN2\_L     |
| 4   | GND         |

</details>

<details>

<summary><strong>ADC</strong></summary>

Matching connector JST GHR-06V-S

{% hint style="info" %}
I2C2, CAN1, CAN2, ADC connectors share the same power rail internally limited to 1A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V\_CRUCIAL |
| 2   | 5V\_CRUCIAL |
| 3   | BAT\_ISENSE |
| 4   | BAT\_VSENSE |
| 5   | GND         |
| 6   | GND         |

</details>

<details>

<summary><strong>SERIAL5</strong></summary>

Matching connector JST GHR-06V-S

{% hint style="info" %}
SERIAL5, GPS1, GPS2, SPI shares the same power rail internally limited to 2A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V\_CRUCIAL |
| 2   | SERIAL5\_TX |
| 3   | SERIAL5\_RX |
| 4   | S.BUS\_OUT  |
| 5   | NC          |
| 6   | GND         |

</details>

<details>

<summary><strong>GPS1</strong></summary>

Matching connector JST GHR-08V-S

{% hint style="info" %}
SERIAL5, GPS1, GPS2, SPI shares the same power rail internally limited to 2A
{% endhint %}

| pin | function             |
| --- | -------------------- |
| 1   | 5V\_CRUCIAL          |
| 2   | SERIAL3\_TX          |
| 3   | SERIAL3\_RX          |
| 4   | I2C1\_SCL            |
| 5   | I2C1\_SDA            |
| 6   | SAFETY               |
| 7   | IO-LED\_SAFETY\_PROT |
| 8   | GND                  |

</details>

<details>

<summary><strong>GPS2</strong></summary>

Matching connector JST GHR-06V-S

{% hint style="info" %}
SERIAL5, GPS1, GPS2, SPI shares the same power rail internally limited to 2A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V\_CRUCIAL |
| 2   | SERIAL4\_TX |
| 3   | SERIAL4\_RX |
| 4   | I2C2\_SCL   |
| 5   | I2C2\_SDA   |
| 6   | GND         |

</details>

<details>

<summary><strong>SPI (FMU)</strong></summary>

Matching connector JST GHR-07V-S

{% hint style="info" %}
SERIAL5, GPS1, GPS2, SPI shares the same power rail internally limited to 2A
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | 5V\_CRUCIAL |
| 2   | SPI\_SCK    |
| 3   | SPI\_MISO   |
| 4   | SPI\_MOSI   |
| 5   | SPI\_CS0    |
| 6   | SPI\_CS1    |
| 7   | GND         |

</details>

<details>

<summary><strong>SERIAL1</strong></summary>

Matching connector JST GHR-06V-S

{% hint style="info" %}
5V power rail internally limited to 1A
{% endhint %}

| pin | function     |
| --- | ------------ |
| 1   | 5V\_PERIPH   |
| 2   | SERIAL1\_TX  |
| 3   | SERIAL1\_RX  |
| 4   | SERIAL1\_CTS |
| 5   | SERIAL1\_RTS |
| 6   | GND          |

</details>

<details>

<summary><strong>LIDAR</strong></summary>

Matching connector JST GHR-06V-S

{% hint style="info" %}
5V power rail internally limited to 0.5A
{% endhint %}

{% hint style="info" %}
Pinout to match original Lightware lidars in its I2C communication mode, using a straight cable
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | NC          |
| 2   | I2C2\_SDA   |
| 3   | I2C2\_SCL   |
| 4   | I2C2\_SDA   |
| 5   | GND         |
| 6   | 5V\_CRUCIAL |

</details>

<details>

<summary><strong>PWM1</strong></summary>

Matching connector JST GHR-08V-S

| pin | function                              |
| --- | ------------------------------------- |
| 1   | IO-CH1-PROT ( "PX" -> SPI\_FMU\_MISO) |
| 2   | IO-CH2-PROT ( "PX" -> SPI\_FMU\_MOSI) |
| 3   | IO-CH3-PROT ( "PX" -> SPI\_FMU\_SCK)  |
| 4   | IO-CH4-PROT ( "PX" -> SPI\_FMU\_CS1)  |
| 5   | IO-CH5-PROT ( "PX" -> SPI\_FMU\_CS2)  |
| 6   | IO-CH6-PROT                           |
| 7   | IO-CH7-PROT ( "PX" -> FMU\_CH8 )      |
| 8   | GND                                   |

</details>

<details>

<summary><strong>PWM2</strong></summary>

Matching connector JST GHR-08V-S

| pin | function                         |
| --- | -------------------------------- |
| 1   | IO-CH8-PROT ( "PX" -> FMU\_CH8 ) |
| 2   | FMU\_CH1                         |
| 3   | FMU\_CH2                         |
| 4   | FMU\_CH3                         |
| 5   | FMU\_CH4                         |
| 6   | FMU\_CH5                         |
| 7   | FMU\_CH6                         |
| 8   | GND                              |

</details>

<details>

<summary><strong>SPI_JET</strong></summary>

* Matching connector JST GHR-07V-S
* 3V3 SPI voltage logic

{% hint style="info" %}
SPI\_JET and CAN\_JET share the same power supply rail, internally limited to 0.5A
{% endhint %}

| pin | function        |
| --- | --------------- |
| 1   | 5V\_JET\_PERIPH |
| 2   | SPI0\_CLK       |
| 3   | SPI0\_MISO      |
| 4   | SPI0\_MOSI      |
| 5   | SPI0\_CS0       |
| 6   | SPI0\_CS1       |
| 7   | GND             |

</details>

<details>

<summary><strong>CAN_JET</strong></summary>

Matching connector JST GHR-04V-S

{% hint style="info" %}
SPI\_JET and CAN\_JET share the same power supply rail, internally limited to 0.5A
{% endhint %}

| pin | function        |
| --- | --------------- |
| 1   | 5V\_JET\_PERIPH |
| 2   | CAN\_H          |
| 3   | CAN\_L          |
| 4   | GND             |

</details>

<details>

<summary><strong>ETH1</strong></summary>

Matching connector JST GHR-05V-S

| pin | function   |
| --- | ---------- |
| 1   | ETH\_RX\_N |
| 2   | ETH\_RX\_P |
| 3   | GND        |
| 4   | ETH\_TX\_N |
| 5   | ETH\_TX\_P |

</details>

<details>

<summary><strong>USB2</strong></summary>

Matching connector JST GHR-04V-S

{% hint style="info" %}
5V power rail internally limited to 2A
{% endhint %}

| pin | function   |
| --- | ---------- |
| 1   | 5V\_PERIPH |
| 2   | USB\_D\_N  |
| 3   | USB\_D\_P  |
| 4   | GND        |

</details>

<details>

<summary><strong>PCIE EXT</strong></summary>

* FH41-20S-0.5SH connector type
* PCIE x1 bus
* Possibility to use an expansion board to the M2\_keyM connector, and use another external NVME.

{% hint style="info" %}
3V3 power rail internally limited to 2A
{% endhint %}

| pin | function      |
| --- | ------------- |
| 1   | GND           |
| 2   | TX\_P         |
| 3   | TX\_N         |
| 4   | GND           |
| 5   | RX\_P         |
| 6   | RX\_N         |
| 7   | GND           |
| 8   | CLK\_P        |
| 9   | CLK\_N        |
| 10  | GND           |
| 11  | SUSCLK 32KHZ  |
| 12  | GND           |
| 13  | #PCIE\_RST    |
| 14  | #PCIE\_CLKREQ |
| 15  | #PCIE\_WAKE   |
| 16  | 3V3\_AD       |
| 17  | 3V3\_AD       |
| 18  | 3V3\_AD       |
| 19  | 3V3\_AD       |
| 20  | 3V3\_AD       |

</details>

<details>

<summary><strong>CSI0, CAM1 (2-lanes CSI)</strong></summary>

* 501951-2210 connector type
* 2 lanes MIPI CSI connectors
* I2C and PWDN are 3V3 logic

{% hint style="info" %}
CAM0, CAM1 share the same power rail, internally limited to 0.5A
{% endhint %}

{% hint style="info" %}
JET\_CAM\_SUPPLY is configurable to 3V3 or 5V by solder bridge on the bottom side of the board

SB open = 3V3 , SB closed = 5V
{% endhint %}

<figure><img src="/files/cnKuK9expGzcYjba0dxU" alt=""><figcaption><p>Location of CAM_SUPPLY solder bridge</p></figcaption></figure>

{% hint style="danger" %}
Pay attention to the cable pins' orientation (same/opposite side contacts). Cameras from different manufacturers can have different pin orders, so a wrong cable can cause a short-circuit!
{% endhint %}

| pin | function    |
| --- | ----------- |
| 1   | CAM\_SUPPLY |
| 2   | I2C\_SDA    |
| 3   | I2C\_SCL    |
| 4   | GND         |
| 5   | MCLK        |
| 6   | PWDN        |
| 7   | GND         |
| 8   | NC          |
| 9   | NC          |
| 10  | GND         |
| 11  | NC          |
| 12  | NC          |
| 13  | GND         |
| 14  | CSI\_CLK\_P |
| 15  | CSI\_CLK\_N |
| 16  | GND         |
| 17  | CSI\_D1\_P  |
| 18  | CSI\_D1\_N  |
| 19  | GND         |
| 20  | CSI\_D0\_P  |
| 21  | CSI\_D0\_N  |
| 22  | GND         |

</details>

<details>

<summary><strong>LED_FR_L</strong></summary>

Matching connector JST GHR-03V-S

{% hint style="info" %}
LED\_FR\_L, LED\_FR\_R connectors share the same power rail internally limited to 2A
{% endhint %}

| pin | function   |
| --- | ---------- |
| 1   | GND        |
| 2   | LED\_FL    |
| 3   | 5V\_PERIPH |

</details>

<details>

<summary><strong>LED_FR_R</strong></summary>

Matching connector JST GHR-03V-S

{% hint style="info" %}
LED\_FR\_L, LED\_FR\_R connectors share the same power rail internally limited to 2A
{% endhint %}

| pin | function   |
| --- | ---------- |
| 1   | GND        |
| 2   | LED\_FR    |
| 3   | 5V\_PERIPH |

</details>

<details>

<summary><strong>LED_BK_L</strong></summary>

Matching connector JST GHR-03V-S

{% hint style="info" %}
LED\_BK\_L, LED\_BK\_R connectors share the same power rail internally limited to 2A
{% endhint %}

| pin | function   |
| --- | ---------- |
| 1   | GND        |
| 2   | LED\_RL    |
| 3   | 5V\_PERIPH |

</details>

<details>

<summary><strong>LED_BK_R</strong></summary>

Matching connector JST GHR-03V-S

{% hint style="info" %}
LED\_BK\_L, LED\_BK\_R connectors share the same power rail internally limited to 2A
{% endhint %}

| pin | function   |
| --- | ---------- |
| 1   | GND        |
| 2   | LED\_RR    |
| 3   | 5V\_PERIPH |

</details>

***

### Bottom side connectors

<figure><img src="/files/0PvWAvS3ZPcniQ7jo0IN" alt=""><figcaption></figcaption></figure>

<details>

<summary><strong>BATTERY SIGNAL</strong></summary>

Matching connector JST GHR-08V-S

| pin | function    |
| --- | ----------- |
| 1   | VBAT\_INIT  |
| 2   | CAN2\_L     |
| 3   | CAN2\_H     |
| 4   | BAT\_VSENSE |
| 5   | BAT\_ISENSE |
| 6   | BUTTON      |
| 7   | PDB SWITCH  |
| 8   | GND         |

</details>

<details>

<summary><strong>CONFIG</strong></summary>

Matching connector JST GHR-03V-S

| pin | function |
| --- | -------- |
| 1   | COM      |
| 2   | NC       |
| 3   | GND      |

</details>

<details>

<summary><strong>EXT. BTN</strong></summary>

Matching connector JST GHR-02V-S

{% hint style="info" %}
Connect the SB to start the board automatically, without the need to press the button
{% endhint %}

<figure><img src="https://341257526-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FkuuT7PXOBpck5wDlb6XM%2Fuploads%2Fgit-blob-89d7676cfb5910033dc0f5754ecff236ebf93881%2FDCS2.Default_expansion_AUTOSTART_SB.png?alt=media" alt="" width="563"><figcaption><p>Location of AUTOSTART solder bridge</p></figcaption></figure>

| pin | function |
| --- | -------- |
| 1   | GND      |
| 2   | BUTTON   |

</details>


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