2 layers98.8 × 98.4 mm
2 layers31.5 × 75 mm
Mcu board
0sleep/lwLIDAROpen-source light-weight 3D LiDAR based on a flexible PCB
- Size
- 31.5 × 75 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 91
- Nets
- 96
- Pads
- 384
- Tracks, vias
- 709, 174
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 19 Jun 2026
- Updated
- 25 Sep 2026
Overview
Mcu board is an open-source printed circuit board by 0sleep, from the 0sleep/lwLIDAR repository on GitHub, published under the AGPL-3.0 licence. It is a 2-layer board of 31.5 × 75 mm with 91 parts on 96 nets, routed with 709 tracks and 174 vias.
It is built around the ESP32-S3-WROOM-1-N8, LIS2MDL and TXS0102DCU, with the DW01A, LSM6DSO and TLV75801PDBV among its other parts. Its parts include 25 capacitors, 23 resistors, 10 ICs, 6 connectors and 4 diodes. It belongs with the microcontroller boards boards and the ESP32 boards of this library.
Main components
11
ESP32-S3-WROOM-1-N8
SMD,25.5x18mm-40℃~+85℃ -98.2dBm 2.4GHz 20.5dBm 355mA 3V~3.6V 95mA Bluetooth5.0 ESP32-S3 Chip On-board PCB Antenna UART、SPI、I2C、I2S、USB SMD,25.5x18mm WiFi Modules ROHSEspressif SystemsWiFi Modules
LIS2MDL
LGA-12(2x2)-40℃~+85℃ 1.71V~3.6V 16bit 200uA I2C、SPI ±5mT ±5mT LGA-12(2x2) 3D Magnetic Sensors ROHSSTMicroelectronics3D Magnetic Sensors
TXS0102DCU
TSSOP82-Bit Bidirectionnal Voltage-Level Translator for Open-Drain and Push-Pull ApplicationsTexas InstrumentsUncategorised
DW01A
SOT-23-6L-40℃~+85℃ 1 2.5V 300mV~10V 3uA 4.3V Protection IC Support SOT-23-6L Battery Management ROHSPUOLOPBattery Management
LSM6DSO
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 9KB Accelerometer Gyroscope SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps LGA-14(2.5x3) Accelerometers ROHSSTMicroelectronicsAccelerometers
TLV75801PDBV
SOT-23-5-40℃~+125℃@(Tj) 1 130mV@(500mA) 25uA 30uVrms 500mA 50dB@(1kHz) 550mV~5.5V 6V Adjustable Positive Under Voltage Lockout、Soft Start、Short Circuit Protection、Thermal Shutdown SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSTexas InstrumentsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
TP4056-42-ESOP8
ESOP-8-40℃~+85℃ 1 1A 2uA 4.2V 4V~8V Charging IC Lithium Battery Support ESOP-8 Battery Management ROHSTOPPOWERBattery Management
USBLC6-2P6
SOT-666-6-40℃~+125℃ 150nA 17V 2 3.5pF 5.25V 5A@8/20us 6V ESD IEC 61000-4-2 Unidirectional SOT-666-6 ESD and Surge Protection (TVS/ESD) ROHSSTMicroelectronicsESD And Surge Protection (TVS/ESD)
DMP1045U
SOT-23-55℃~+150℃ 1 P-Channel 1.357nF 1.3W 12V 15.8nC@4.5V 1V 235pF 31mΩ@4.5V 5.2A 504pF P-Channel SOT-23 MOSFETs ROHSDiodes IncorporatedMOSFETsFS8205A
SOT-23-6-55℃~+150℃ 1.2V 1.5W 2 N-Channel 20V 31.5mΩ@2.5V 466pF 5.7nC@4.5V 58pF 65pF 6A SOT-23-6 MOSFETs ROHSTECH PUBLICMOSFETs
SS14
SMA(DO-214AC)-55℃~+150℃ 1A 25A 300uA@40V 40V 550mV@1A Independent SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky Diodes
README
README.mdlwLIDAR
Summary
lwLIDAR is a research project aiming to design, implement and test a low-cost compact 3D LiDAR for use in constrained robotics research. It consists of an array of 8 VL53L8CX 8x8 matrix LiDAR sensors mounted to a flexible PCB.
Repository structure
This repository contains all required design files to construct and program a lwLIDAR sensor with an interface board to act as a sample implementation. Each subdirectory contains a more detailed README file.
- Flex - lwLIDAR core sensor PCB
- Rigid - interface board PCB
- Mechanical - 3D CAD files
- Firmware - example firmware to be run on interface board
- Software - example software to visualise live data
Performance
|-------------------|-------------------------| | Framerate | 16 Hz | | Maximum distance | 4 m | | Resolution | 8 v x256 h | | FoV | 45° v x 360° h | | Size | 31x31x67 mm (with mast) | | Weight | 11g |
| Power consumption | 1.5W |
|---|
License
This project is licensed under the GNU AGPL license (see LICENSE.txt).
Contributing
If you have improvements or want this repo to link to a usecase you made, please submit a pull request! If you have problems, please open an issue - I'm happy to improve this repository over time!
Parts
91| Qty | Value | Footprint | References |
|---|---|---|---|
| 7 | 0.1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C1, C10, C13, C22, C23, C24, C25 |
| 7 | 10k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R6, R7, R9, R13, R14, R15, R21 |
| 6 | 100nF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C4, C6, C14, C15, C17, C19 |
| 4 | 10uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C2, C3, C5, C18 |
| 3 | Conn_01x01 | MountingHole:MountingHole_2.5mm_Pad_Via | MH1, MH2, MH3 |
| 3 | DNP | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R12, R22, R23 |
| 3 | NC | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R16, R17, R18 |
| 3 | TestPoint | TestPoint:TestPoint_Pad_D1.0mm | RX, TP1, TX |
| 2 | 0R | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R10, R11 |
| 2 | 12pf NC | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C20, C21 |
| 2 | 330R | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R5, R19 |
| 2 | 5.1k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R1, R2 |
| 2 | DNP | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C11, C12 |
| 2 | LED | LED_SMD:LED_0603_1608Metric_Pad1.05x0.95mm_HandSolder | D1, D3 |
| 2 | Selector | Jumper:SolderJumper-3_P1.3mm_Bridged12_RoundedPad1.0x1.5mm_NumberLabels | JP5, JP6 |
| 2 | TXS0102DCU | Package_SO:VSSOP-8_2.3x2mm_P0.5mm | U8, U10 |
| 1 | 0.4R | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R20 |
| 1 | 1.2k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R_PROG1 |
| 1 | 100R | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R3 |
| 1 | 100uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C7 |
| 1 | 1k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R4 |
| 1 | 1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C8 |
| 1 | 220nF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C16 |
| 1 | 22uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C9 |
| 1 | 2k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R8 |
| 1 | Boot Option | Jumper:SolderJumper-3_P1.3mm_Bridged12_RoundedPad1.0x1.5mm | JP8 |
| 1 | Conn_01x02 | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J6 |
| 1 | Conn_01x02_MountingPin | Connector_JST:JST_PH_S2B-PH-SM4-TB_1x02-1MP_P2.00mm_Horizontal | J1 |
| 1 | DMP1045U | Package_TO_SOT_SMD:TSOT-23 | Q2 |
| 1 | DW01A | Package_TO_SOT_SMD:SOT-23-6 | U4 |
| 1 | EN_SW | Jumper:SolderJumper-2_P1.3mm_Bridged2Bar_RoundedPad1.0x1.5mm | JP3 |
| 1 | ESP32-S3-WROOM-1 | RF_Module:ESP32-S3-WROOM-1 | U1 |
| 1 | FS8205A | FS8205A:SOP65P640X120-8N | Q1 |
| 1 | JTAG Source Sel | Jumper:SolderJumper-3_P1.3mm_Bridged12_RoundedPad1.0x1.5mm | JP9 |
| 1 | LD1117S18TR_SOT223 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U6 |
| 1 | LIS2MDL | Package_LGA:LGA-12_2x2mm_P0.5mm | U3 |
| 1 | LOGO | SparkFun-Qwiic:qwiic_4mm | G*** |
| 1 | LOGO | LOGO | G*** |
| 1 | LSM6DSO | Package_LGA:LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y | U2 |
| 1 | Molex 522071060 | Molex522071060:CON_522071060_MOL | J4 |
| 1 | NC | Crystal:Crystal_SMD_SeikoEpson_MC306-4Pin_8.0x3.2mm | Y1 |
| 1 | QUIIC connector | Connector_JST:JST_SH_SM04B-SRSS-TB_1x04-1MP_P1.00mm_Horizontal | J5 |
| 1 | RB551VM-30 | RB551VM_Schottky:DIO_RB500V_ROM | D2 |
| 1 | SS14 | SS14_Schottky:DIOM5227X270N | D4 |
| 1 | SW_Push | Button_Switch_SMD:SW_Push_1P1T_NO_CK_KMR2 | SW1 |
| 1 | TC2050 | Connector:Tag-Connect_TC2050-IDC-NL_2x05_P1.27mm_Vertical | J3 |
| 1 | TLV75801PDBV | Package_TO_SOT_SMD:SOT-23-5 | U7 |
| 1 | TP4056-42-ESOP8 | Package_SO:SOIC-8-1EP_3.9x4.9mm_P1.27mm_EP2.41x3.3mm_ThermalVias | U5 |
| 1 | TestPoint | TestPoint:TestPoint_Pad_1.0x1.0mm | TP4 |
| 1 | USBD+ | Jumper:SolderJumper-2_P1.3mm_Bridged_RoundedPad1.0x1.5mm | JP1 |
| 1 | USBD- | Jumper:SolderJumper-2_P1.3mm_Bridged_RoundedPad1.0x1.5mm | JP2 |
| 1 | USBLC6-2P6 | Package_TO_SOT_SMD:SOT-666 | U9 |
| 1 | USB_C_Receptacle_USB2.0_16P | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J2 |
| 1 | disable_reset | Jumper:SolderJumper-2_P1.3mm_Bridged_RoundedPad1.0x1.5mm | JP4 |
| 1 | ~ | Molex522071060:3waysel_default_4 | JP7 |
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Questions
How big is the Mcu board PCB?
It measures 31.5 × 75 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Mcu board use?
91 parts, built around the ESP32-S3-WROOM-1-N8, LIS2MDL, TXS0102DCU and DW01A. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Mcu board KiCad files?
From the 0sleep/lwLIDAR repository on GitHub, at the commit this page was made from: the board is Rigid/mcu_board/mcu_board.kicad_pcb and its schematic Flex/sensor_board/sensor_board.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Mcu board design in my own project?
Its repository publishes it under the AGPL-3.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).