| Processor | AM3358  Arm Cortex-A8 | AM3358  Arm Cortex-A8 | AM3358  Arm Cortex-A8 | AM3358  Arm Cortex-A8 | AM5729 2x Arm Cortex-A15 | 
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| Maximum Processor Speed | 1GHz | 1GHz | 1GHz | 1GHz | 1.5GHz | 
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| Co-processors | 2x200-MHz PRUs, Arm Cortex-M3, SGX PowerVR | 2x200-MHz PRUs, Arm Cortex-M3, SGX PowerVR | 2x200-MHz PRUs, Arm Cortex-M3, SGX PowerVR | 2x200-MHz PRUs, Arm Cortex-M3, SGX PowerVR | 2x C66x, 4x EVE, 4xPRU, 4xArm Cortex-M4, 2x SGX Power VR | 
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| Analog Pins | 2 (3.3V), 6 (1.8V) | 7 (1.8V) | 7 (1.8V) | 4 (1.8V) | 7 (4-wire touchscreen capable)   | 
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| Digital Pins | 44 (3.3V) | 65 (3.3V) | 65 (3.3V) | 24 (3.3V) | 72 (including 7 analog pins which are digital capable) | 
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| Memory | 512MB DDR3 (800MHz x 16), microSD card slot | 512MB DDR3 (800MHz x 16), 4GB on-board storage using eMMC, microSD card slot | 512MB DDR3 (800MHz x 16), 4GB on-board storage using eMMC, microSD card slot | 512MB DDR3 (800MHz x 16), 4GB on-board storage using eMMC, microSD card slot | 1GB DDR3, 16GB on-board storage using eMMC, microSD card slot | 
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| USB | USB 2.0 480Mbps Host/Client Port, USB 2.0 on expansion header | USB 2.0 480Mbps Host/Client Port, USB 2.0 Host Port | USB 2.0 480Mbps Host/Client Port, USB 2.0 Host Port | USB 2.0 480Mbps Host/Client Port, USB 2.0 Host Port | USB 2.0 480Mbps Host/Client Port, USB 2.0 Host Port | 
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| Network | add-ons | 10/100 Ethernet | 10/100 Ethernet | WiFi, Bluetooth 4.1, BLE | Dual band WiFi, Bluetooth 4.2 | 
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| Video | SPI displays | microHDMI, cape add-ons | microHDMI, cape add-ons | SPI displays | microHDMI, cape add-ons | 
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| Audio | add-ons | microHDMI, cape add-ons | microHDMI, cape add-ons | add-ons, Bluetooth | add-ons, Bluetooth | 
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| Supported Expansion Interfaces | 3x UART, 4x PWM, 2x SPI, 2x I2C, 8x A/D converter, 2x CAN bus (w/o PHY), 2x quadrature encoder, USB | 4x UART, 12x PWM/Timers, 2x SPI, 2x I2C, 7x A/D converter, 2x CAN bus (w/o PHY), LCD, 3x quadrature encoder, SD/MMC, GPMC | 4x UART, 12x PWM/Timers, 2x SPI, 2x I2C, 7x A/D converter, 2x CAN bus (w/o PHY), LCD, 3x quadrature encoder, SD/MMC, GPMC | 4x UART, 2-cell LiPo, 2x SPI, I2C, 4x A/D converter, CAN bus (w/ PHY), 8x 6V servo motor, 4x DC motor, 4x quadrature encoder | 4x UART, 16-bit LCD interface, 2x I2C, 2x SPI, PWM, Timer, A/D, CAN, Encoder, GPMC etc. | 
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| On-board Sensors | - | - | - | 10 degree of freedom IMU (accelerometer, gyroscope, magnetometer, thermometer), barometer/thermometer | - | 
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