| Pin number | dsPIC ports | ImageProc port(s) | Net name | Function description |
|---|---|---|---|---|
| 1 | PWM3H/RE5 | PWM3H/RE5 | MOTOR_C_IN1 | Motor C H-bridge input 1 |
| 2 | PWM4L/RE6 | PWM4L/RE6 | MOTOR_D_IN2 | Motor D H-bridge input 2 |
| 3 | PWM4H/RE7 | PWM4H/RE7 | MOTOR_D_IN1 | Motor D H-bridge input 1 |
| 4 | SCK2/CN8/RG6 | SCK2 | SCK2 | SPI2 for flash and MPU |
| 5 | SDI2/CN9/RG7 | SDI2 | SDI2 | SPI2 for flash and MPU |
| 6 | SDO2/CN10/RG8 | SDO2 | SDO2 | SPI2 for flash and MPU |
| 7 | nMCLR | nMCLR | !RESET | Reset signal (JP1.5) |
| 8 | nSS2/CN11/RG9 | nSS2 | !SS2_1 | SPI2 slave select 1 (flash) |
| 9 | VSS | VSS | GND | Ground |
| 10 | VDD | VDD | 3.3V | Power |
| 11 | AN5/QEB/IC8/CN7/RB5 | - | AN5/QEB/IC8/RB5 | Auxiliary pad 4 |
| 12 | AN4/QEA/IC7/CN6/RB4 | - | AN4/QEA/IC7/RB4 | Auxiliary pad 3 |
| 13 | AN3/INDX/CN5/RB3 | - | AN3/INDX/RB3 | Auxiliary pad 2 |
| 14 | AN2/nSS1/CN4/RB2 | nSS1 | nSS1 | SPI1 for radio |
| 15 | PGEC3/AN1/VREF-/CN3/RB1 | - | AN1/RB1 | Auxiliary pad 1 |
| 16 | PGED3/AN0/VREF+/CN2/RB0 | AN0 | BATT_LEVEL | Battery level sense |
| 17 | PGEC1/AN6/OCFA/RB6 | PGEC1 | PGC | In-circuit debugger (JP1.1) |
| 18 | PGED1/AN7/RB7 | PGED1 | PGD | In-circuit debugger (JP1.2) |
| 19 | AVDD | AVDD | 3.3V | Analog power |
| 20 | AVSS | AVSS | GND | Analog ground |
| 21 | nU2CTS/AN8/RB8 | AN8 | MOTOR_A_BEMF | Motor A BEMF sense |
| 22 | AN9/RB9 | AN9 | MOTOR_B_BEMF | Motor B BEMF sense |
| 23 | TMS/AN10/RB10 | AN10 | MOTOR_C_BEMF | Motor C BEMF sense |
| 24 | TDO/AN11/RB11 | AN11 | MOTOR_D_BEMF | Motor D BEMF sense |
| 25 | VSS | VSS | GND | Ground |
| 26 | VDD | VDD | 3.3V | Power |
| 27 | TCK/AN1/RB12 | RB12 | RD_LED | Red LED |
| 28 | TDO/AN13/RB13 | RB13 | GN_LED | Green LED |
| 29 | nU2RTS/AN14/RB14 | RB14 | YW_LED | Yellow LED |
| 30 | AN15/OCFB/CN12/RB15 | RB15 | RADIO_SLP_TR | Radio control signal |
| 31 | U2RX/SDA2/CN17/RF4 | U2RX | U2RX | Auxiliary UART Rx (JP2.6) |
| 32 | U2TX/SCL2/CN18/RF5 | U2TX | U2TX | Auxiliary UART Tx (JP2.4) |
| 33 | U1TX/SDO1/RF3 | SDO1 | SDO1 | SPI1 for radio |
| 34 | U1RX/SDI1/RF2 | SDI1 | SDI1 | SPI1 for radio |
| 35 | nU2RTS/SCK1/INT0/RF6 | SCK1 | SCK1 | SPI1 for radio |
| 36 | SDA1/RG3 | SDA1 | SDA1 | I2C1 for camera and encoders |
| 37 | SCL1/RG2 | SCL1 | SCL1 | I2C1 for camera and encoders |
| 38 | VDD | VDD | 3.3V | Power |
| 39 | OSC1/CLKIN/RC12 | OSC1 | 40MHZ | 40 MHz main oscillator |
| 40 | OSC2/CLKO/RC15 | RC15 | !SS2_2 | SPI2 slave select 2 (MPU) |
| 41 | VSS | VSS | GND | Ground |
| 42 | IC1/nFLTA/INT1/RD8 | INT1 | IMU_IRQ | MPU interrupt |
| 43 | IC2/nU1CTS/nFLTB/INT2/RD9 | INT2 | LOWBATT_IRQ | Low voltage detect interrupt |
| 44 | IC3/INT3/RD10 | - | IC3/INT3/RD10 | Auxiliary pad 5 |
| 45 | IC4/INT4/RD11 | INT4 | RADIO_IRQ | Radio IRQ interrupt |
| 46 | OC1/RD0 | RD0 | CAM_D0 | Parallel camera bit 0 |
| 47 | PGED2/SOSCI/T4CK/CN1/RC13 | RC13 | CAM_VSYNC | Parallel camera vertical sync |
| 48 | PGEC2/SOSCO/T1CK/CN0/RC14 | RC14 | CAM_PWDM | Parallel camera power down |
| 49 | OC2/RD1 | RD1 | CAM_D1 | Parallel camera bit 1 |
| 50 | OC3/RD2 | RD2 | CAM_D2 | Parallel camera bit 2 |
| 51 | OC4/RD3 | RD3 | CAM_D3 | Parallel camera bit 3 |
| 52 | OC5/IC5/CN13/RD4 | RD4 | CAM_D4 | Parallel camera bit 4 |
| 53 | OC6/IC6/CN14/RD5 | RD5 | CAM_D5 | Parallel camera bit 5 |
| 54 | OC7/CN15/RD6 | RD6 | CAM_D6 | Parallel camera bit 6 |
| 55 | OC8/UPDN/CN16/RD7 | RD7 | CAM_D7 | Parallel camera bit 7 |
| 56 | VCAP | VCAP | N$28 | Charge pump capacitor |
| 57 | VDD | VDD | 3.3V | Power |
| 58 | C1RX/RF0 | RF0 | CAM_HREF | Parallel camera horiz sync |
| 59 | C1TX/RF1 | RF1 | CAM_PCLK | Parallel camera pixel clock |
| 60 | PWM1L/RE0 | PWM1L/RE0 | MOTOR_A_IN2 | Motor A H-bridge input 2 |
| 61 | PWM1H/RE1 | PWM1H/RE1 | MOTOR_A_IN1 | Motor A H-bridge input 1 |
| 62 | PWM2L/RE2 | PWM2L/RE2 | MOTOR_B_IN2 | Motor B H-bridge input 2 |
| 63 | PWM2H/RE3 | PWM2H/RE3 | MOTOR_B_IN1 | Motor B H-bridge input 1 |
| 64 | PWM3L/RE4 | PWM3L/RE4 | MOTOR_C_IN2 | Motor C H-bridge input 2 |