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Board overview
Milk-V Duo S (hardware V1.2+)
Milk-V · Duo
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Showing 87 of 87 pins
Simplified diagram, grouped by function — not to physical scale. Pin data is source-backed; verify against the linked documentation.
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Mapped source · Duo S user guide - J3/J4, camera, PoE, voltage, and revision tables (Milk-V)Official- J3 uses 3.3 V logic; J4 uses 1.8 V logic even though J4 also exposes separate 3.3 V and 5 V power rails.
- J4 physical positions are numbered 52/51 down to 28/27 in the Milk-V table; those published numbers are preserved here.
- J1 camera control and I2C signals are 1.8 V, while J2 camera control and I2C signals are 3.3 V.
- This map is hardware V1.2 and later: J3 pin 9 is GND. Hardware V1.1 used a low-level GPIO at that position.
- Aliases list the SG2000 pad, Linux GPIO number, and documented pinmux functions in that order.
All 87 pins
| # | Signal | Role | Net | Also / notes |
|---|---|---|---|---|
| J3 26-pin 3.3 V header | ||||
| 1 | Power | 3V3 | ||
| 2 | Power | VSYS(5V) | ||
| 3 | I2C | I2C | XGPIOB[20] / GPIO 468 / I2C4_SCL / PWM3 | |
| 4 | Power | VSYS(5V) | ||
| 5 | I2C | I2C | XGPIOB[21] / GPIO 469 / I2C4_SDA | |
| 6 | Ground | GND | ||
| 7 | I2C | I2C | XGPIOB[18] / GPIO 466 / I2C1_SCL | |
| 8 | UART | UART | XGPIOA[16] / GPIO 496 / UART1_TX / PWM4 · Default 3.3 V debug-console TX. | |
| 9 | Ground | GND | Hardware V1.2+ only; this position is a low-level GPIO on V1.1. | |
| 10 | UART | UART | XGPIOA[17] / GPIO 497 / UART1_RX / PWM5 · Default 3.3 V debug-console RX. | |
| 11 | UART | UART | XGPIOB[11] / GPIO 459 / UART2_TX / I2C1_SDA / PWM1 | |
| 12 | UART | UART | XGPIOB[19] / GPIO 467 / UART2_TX / PWM2 | |
| 13 | UART | UART | XGPIOB[12] / GPIO 460 / UART2_RX / I2C1_SCL / PWM2 | |
| 14 | Ground | GND | ||
| 15 | UART | UART | XGPIOB[22] / GPIO 470 / UART2_RX | |
| 16 | Debug | JTAG | XGPIOA[20] / GPIO 500 | |
| 17 | Power | 3V3 | ||
| 18 | Debug | JTAG | XGPIOA[19] / GPIO 499 / UART1_TX / UART1_RTS / PWM7 | |
| 19 | SPI | SPI | XGPIOB[13] / GPIO 461 / I2C2_SCL / PWM3 | |
| 20 | Ground | GND | ||
| 21 | SPI | SPI | XGPIOB[14] / GPIO 462 / I2C2_SDA | |
| 22 | Debug | JTAG | XGPIOA[18] / GPIO 498 / UART1_RX / UART1_CTS / PWM6 | |
| 23 | SPI | SPI | XGPIOB[15] / GPIO 463 / UART2_TX | |
| 24 | SPI | SPI | XGPIOB[16] / GPIO 464 / UART2_RX | |
| 25 | Ground | GND | ||
| 26 | UART | UART | XGPIOA[28] / GPIO 508 / UART2_TX / UART1_TX | |
| J4 26-pin 1.8 V display/audio header | ||||
| 52 | Power | VSYS(5V) | ||
| 51 | Alt | Analog audio output; not GPIO. | ||
| 50 | UART | UART | XGPIOB[1] / GPIO 449 / UART3_TX / I2C4_SCL / PWM12 | |
| 49 | Alt | Analog audio output; not GPIO. | ||
| 48 | UART | UART | XGPIOB[2] / GPIO 450 / UART3_RX / I2C4_SDA / PWM13 | |
| 47 | Alt | Analog audio input; not GPIO. | ||
| 46 | GPIO | XGPIOB[3] / GPIO 451 | ||
| 45 | Alt | Analog audio input; not GPIO. | ||
| 44 | System | PWR_GPIO[2] / GPIO 354 / I2C2_SDA / PWM10 | ||
| 43 | Power | 3V3 | ||
| 42 | System | PWR_GPIO[1] / GPIO 353 / I2C2_SCL / UART2_RX / PWM9 | ||
| 41 | Alt | XGPIOC[18] / GPIO 434 | ||
| 40 | PWM | PWR_GPIO[0] / GPIO 352 / UART2_TX / PWM8 | ||
| 39 | Alt | XGPIOC[19] / GPIO 435 | ||
| 38 | Ground | GND | ||
| 37 | Ground | GND | ||
| 36 | Alt | XGPIOC[20] / GPIO 436 | ||
| 35 | Alt | XGPIOC[16] / GPIO 432 | ||
| 34 | Alt | XGPIOC[21] / GPIO 437 | ||
| 33 | Alt | XGPIOC[17] / GPIO 433 | ||
| 32 | Ground | GND | ||
| 31 | Ground | GND | ||
| 30 | Alt | XGPIOC[14] / GPIO 430 | ||
| 29 | Alt | XGPIOC[12] / GPIO 428 | ||
| 28 | Alt | XGPIOC[15] / GPIO 431 | ||
| 27 | Alt | XGPIOC[13] / GPIO 429 | ||
| J1 16-pin camera FPC | ||||
| 1 | Ground | GND | ||
| 2 | Alt | |||
| 3 | Alt | |||
| 4 | Ground | GND | ||
| 5 | Alt | |||
| 6 | Alt | |||
| 7 | Ground | GND | ||
| 8 | Alt | |||
| 9 | Alt | |||
| 10 | Ground | GND | ||
| 11 | System | 1.8 V camera reset. | ||
| 12 | Alt | 1.8 V camera clock. | ||
| 13 | I2C | I2C | 1.8 V camera control. | |
| 14 | I2C | I2C | 1.8 V camera control. | |
| 15 | Reserved | No connection. | ||
| 16 | Power | 3V3 | ||
| J2 15-pin Raspberry Pi-style camera FPC | ||||
| 1 | Power | 3V3 | ||
| 2 | I2C | I2C | 3.3 V; shared with J3 pin 21. | |
| 3 | I2C | I2C | 3.3 V; shared with J3 pin 19. | |
| 4 | Alt | 3.3 V camera clock. | ||
| 5 | System | 3.3 V camera reset. | ||
| 6 | Ground | GND | ||
| 7 | Alt | |||
| 8 | Alt | |||
| 9 | Ground | GND | ||
| 10 | Alt | |||
| 11 | Alt | |||
| 12 | Ground | GND | ||
| 13 | Alt | |||
| 14 | Alt | |||
| 15 | Ground | GND | ||
| PoE header | ||||
| 1 | Alt | PoE power-domain pair; not logic I/O. | ||
| 2 | Alt | PoE power-domain pair; not logic I/O. | ||
| 3 | Alt | PoE power-domain pair; not logic I/O. | ||
| 4 | Alt | PoE power-domain pair; not logic I/O. | ||