2 layers
4 layers80 × 105 mm
RobotLegoController
OpenBotBrain/mcu-boardSome design notes for an MCU board.
- Size
- 80 × 105 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 725
- Nets
- 352
- Pads
- 1,846
- Tracks, vias
- 5,697, 784
- Pours
- 1,117
- Routed
- Yes
- KiCad
- KiCad 7 (file 20221018)
- Created
- 23 Oct 2022
- Updated
- 13 Apr 2025
Overview
RobotLegoController is an open-source printed circuit board by OpenBotBrain, from the OpenBotBrain/mcu-board repository on GitHub. It is a 4-layer board of 80 × 105 mm with 725 parts on 352 nets, routed with 5,697 tracks and 784 vias.
It is built around the LMV324, DRV8833PWP and PAM2423AECADJR, with the FUSB302B01MPX, W25X40CLSSIG and SN74LVC1G14DBV among its other parts. Its parts include 237 resistors, 182 capacitors, 65 diodes, 30 transistors and 23 ICs. It belongs with the microcontroller boards boards and the STM32 boards of this library.
Main components
12
LMV324
SOP-14-40℃~+85℃ 1MHz 2.8dB 250nA 3V~5.5V 4 400V/ms 40mA 40uV/√Hz@1kHz 430uA 5nA 7mV Built-in compensation、ESD protection SOP-14 Operational Amplifier ROHSIDCHIPOperational Amplifier
DRV8833PWP
ETSSOP-16-EP-40℃~+85℃ 1.5A 2 2.7V~10.8V 2.7V~10.8V 360mΩ Bipolar Driver Overcurrent Protection、Short-Circuit Protection、Over temperature protection、Under-voltage lockout、Dead-time / shoot-through protection Yes ETSSOP-16-EP Stepper Motor Driver ROHSTexas InstrumentsStepper Motor Driver
PAM2423AECADJR
ESOP-8-40℃~+125℃ 1 2.7V~5.5V 5.5A 520kHz Adjustable Boost Boost Built-in No ESOP-8 DC-DC Converters ROHSDiodes IncorporatedDC-DC Converters
FUSB302B01MPX
MLP-14(2.5x2.5)-40℃~+85℃ 25uA 3.3V、5V 560mA Controller USB 3.1 MLP-14(2.5x2.5) USB Converters ROHSonsemiUSB Converters
W25X40CLSSIG
SOIC-8-208mil-40℃~+85℃ 100,000 cycles 104MHz 10uA 120ms@(32KB) 2.3V~3.6V 20 Years 4Mbit 5ms 800us Hardware write protection、Software write protection、Write enable latch SPI SOIC-8-208mil NOR FLASH ROHSWinbond ElecNOR FLASH
SN74LVC1G14DBV
SOT-23-5-40℃~+85℃ 1 1 1.16V~3.33V 1.65V~5.5V 10uA 2.3V 32mA 32mA 390mV~1.87V 550mV 6.5ns@2.5V,50pF 74LVC Schmitt trigger 电源关断保护、噪声抑制功能 SOT-23-5 Inverters ROHSTexas InstrumentsInverters
BQ25601RTW
WQFN-24-EP(4x4)-40℃~+85℃ 1 2.6V 3.9V~13.5V 3A 50uA Charging IC I2C Lithium Battery Support QFN-24-EP(4x4) Battery Management ROHSTexas InstrumentsBattery Management
LSM6DSL
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 16bit 3uA 4KB IMU (accelerometer + gyroscope) Motion event detection、Synchronization and timestamp SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps LGA-14(2.5x3) Accelerometers ROHSSTMicroelectronicsAccelerometers
BAT54S
SOT-231 Pair Series Connection 1V@100mA 200mA 2uA@25V 30V 600mA SOT-23 Schottky Diodes ROHSMDDSchottky Diodes
ESD9B5.0ST5G
SOD-923(0402)-55℃~+125℃ 1 10V 15pF 5V 8.4V 80W@8/20us 80nA 8A@8/20us Bidirectional ESD IEC 61000-4-2、IEC 61000-4-5 SOD-923(0402) ESD and Surge Protection (TVS/ESD) ROHSTECH PUBLICESD And Surge Protection (TVS/ESD)BSS84
SOT-23-55℃~+150℃ 1 P-Channel 130mA 2.8pF 24.6pF 2V 3.2Ω@5V 300mW 4.7pF 50V 590pC@10V SOT-23 MOSFETs ROHSDiodes IncorporatedMOSFETsFSV330AF
DO-214AD100uA@30V 30V 3A 500mV@3A Standalone DO-214AD Schottky Diodes ROHSonsemiSchottky Diodes
README
README.mdmcu-board
Some design notes for an MCU board... Deeply WIP.
Features
- STM32 Cortex M4 with FSMC (possibility: STM32F413ZGT6 for 144-LQFP, STM32F413VGT3 for 100-LQFP, and STM32F413RGT6 for 64-LQFP)
- Extra flash and PSRAM
- WIFI module e.g. ESP32 C3 or ESP32 S3
- 4 motor control ports (EV3 compatible)
- 4 sensor control ports (EV3 compatible)
- Raspberry Pi pin-out connector (enough to communicate with Raspberry pi Zero, does not need full support)
- SD card (SPI interface enough/SDIO nice to have but requires supported MCU)
- Accelerometer (could be external)
- STEMMA QT connector (nice to have)
- Some informative display (nice to have)
- A couple of buttons for interface (nice to have also)
- Lego "compatible" physical shape.
Alternative
- STM32L4R5VGT6 with 640KB of RAM instead of the external ram versions (but it also supports the FMC/FSMC). And it is cheap, and more available than the previous ones. (Or the subtly better STM32L4R5VIT6)
Notes
- The WIFI module with the SD card on one side and the Raspberry Pi connector may not need to be active at the same time.
- The display could be controlled by the WIFI module via AT commands. Other things could be moved to the WIFI module too (the interface buttons, maybe).
- The board would be a Raspberry Pi hat that can work alone. This can be a rev 2 objective, but planning for the space would not hurt.
- Driving external memories with the FSMC, application not AN4761
smaller mcu-board
Features
-
STM32 Cortex M4 - May be
- STM32L4P5CGT6
- STM32L4P5CGT6P
- STM32L4Q5CGT6
- STM32L4Q5CGT6P all (48-LQFP with 1MB of flash, and 320KB of RAM).
-
4 motor control ports (EV3 compatible)
-
4 sensor control ports (EV3 compatible)
-
Raspberry Pi pin-out connector (enough to communicate with Raspberry pi Zero, does not need full support)
-
SD card (SPI interface enough/SDIO nice to have but requires supported MCU)
-
Accelerometer (could be external)
-
STEMMA QT connector (nice to have)
-
Some informative display and a couple of LEDs (nice to have)
-
A couple of buttons for interface (nice to have also)
-
Lego "compatible" physical shape.
Parts
725| Qty | Value | Footprint | References |
|---|---|---|---|
| 137 | S1mm | TestPoint:TestPoint_Pad_1.0x1.0mm | TP1, TP10, TP11, TP100, TP101, TP103, TP104, TP105, TP106, TP107, TP108, TP109, TP110, TP111, TP112, TP113 +121 |
| 65 | 10K | Resistor_SMD:R_0402_1005Metric | R1, R13, R14, R110, R111, R112, R114, R124, R125, R134, R135, R140, R141, R142, R143, R144 +49 |
| 53 | 100n | Capacitor_SMD:C_0402_1005Metric | C1, C10, C12, C14, C113, C141, C142, C143, C144, C145, C146, C166, C167, C168, C169, C170 +37 |
| 46 | 100K | Resistor_SMD:R_0402_1005Metric | R102, R103, R106, R108, R117, R119, R126, R127, R132, R133, R148, R149, R154, R167, R169, R174 +30 |
| 46 | 330 | Resistor_SMD:R_0402_1005Metric | R10, R11, R12, R100, R101, R104, R105, R107, R109, R113, R115, R128, R129, R130, R131, R150 +30 |
| 38 | 330p | Capacitor_SMD:C_0402_1005Metric | C100, C101, C102, C103, C104, C105, C106, C107, C115, C116, C120, C121, C122, C123, C124, C125 +22 |
| 29 | 1u 16V | Capacitor_SMD:C_0603_1608Metric | C2, C16, C17, C19, C110, C111, C112, C114, C119, C132, C135, C140, C157, C160, C165, C181 +13 |
| 25 | 10n | Capacitor_SMD:C_0402_1005Metric | C15, C108, C109, C117, C118, C128, C129, C133, C134, C138, C139, C150, C158, C159, C163, C164 +9 |
| 25 | 2K4 | Resistor_SMD:R_0402_1005Metric | R21, R22, R120, R121, R136, R137, R170, R171, R178, R179, R192, R193, R213, R214, R227, R228 +9 |
| 24 | 4K7 | Resistor_SMD:R_0402_1005Metric | R122, R123, R138, R139, R172, R173, R176, R177, R182, R183, R190, R191, R196, R197, R211, R212 +8 |
| 24 | BAT54S | Package_TO_SOT_SMD:SOT-23 | D13, D14, D15, D16, D19, D20, D23, D24, D27, D28, D29, D30, D33, D34, D37, D38 +8 |
| 22 | ESD9B5.0ST5G | Diode_SMD:D_SOD-923 | D17, D18, D21, D22, D25, D26, D31, D32, D35, D36, D39, D40, D41, D42, D45, D46 +6 |
| 19 | 2N7002 | Package_TO_SOT_SMD:SOT-23 | Q13, Q15, Q16, Q19, Q20, Q27, Q28, Q29, Q30, Q31, Q32, Q33, Q34, Q35, Q36, Q37 +3 |
| 16 | 22 | Resistor_SMD:R_0402_1005Metric | R5, R9, R28, R29, R30, R32, R34, R36, R37, R38, R44, R46, R48, R49, R52, R152 |
| 11 | 10u | Capacitor_SMD:C_0805_2012Metric | C9, C49, C50, C51, C56, C73, C74, C75, C77, C78, C79 |
| 11 | 10u 16V | Capacitor_SMD:C_0805_2012Metric | C40, C44, C57, C59, C61, C64, C65, C67, C70, C147, C172 |
| 11 | BSS84 | Package_TO_SOT_SMD:SOT-23 | Q1, Q2, Q3, Q5, Q6, Q9, Q10, Q11, Q12, Q17, Q18 |
| 10 | TH1mm | TestPoint:TestPoint_THTPad_1.0x1.0mm_Drill0.5mm | TP15, TP17, TP19, TP21, TP23, TP28, TP133, TP146, TP147, TP149 |
| 8 | 30mA | Resistor_SMD:R_0603_1608Metric | F3, F4, F5, F6, F7, F8, F9, F10 |
| 8 | RJ12 | Connector_RJ:RJ12_Amphenol_54601 | J7, J8, J9, J10, J11, J12, J13, J14 |
| 8 | SD12_SOD323 | Diode_SMD:D_SOD-323 | D49, D50, D51, D52, D61, D62, D63, D64 |
| 8 | SN74LVC1G14DBV | Package_TO_SOT_SMD:SOT-23-5 | U13, U14, U15, U16, U19, U20, U21, U22 |
| 6 | LED | LED_SMD:LED_0402_1005Metric | D1, D2, D3, D8, D9, D10 |
| 5 | 220K | Resistor_SMD:R_0402_1005Metric | R42, R116, R118, R166, R168 |
| 5 | 4u7 16V | Capacitor_SMD:C_0603_1608Metric | C11, C13, C60, C149, C174 |
| 4 | 0.43 | Resistor_SMD:R_0805_2012Metric | R207, R208, R242, R243 |
| 4 | 100uF 16V | Capacitor_SMD:CP_Elec_6.3x5.2 | C66, C69, C148, C173 |
| 4 | 3mm | MountingHole:MountingHole_3.2mm_M3_Pad | H1, H2, H3, H4 |
| 4 | 51K | Resistor_SMD:R_0402_1005Metric | R60, R63, R64, R66 |
| 4 | Fiducial | Fiducial:Fiducial_1mm_Mask3mm | FID1, FID2, FID3, FID4 |
| 4 | LMV324 | Package_SO:SOIC-14_3.9x8.7mm_P1.27mm | U10, U11, U12, U18 |
| 4 | SW_Omron_B3FS | Button_Switch_SMD:SW_Push_1P1T_NO_6x6mm_H9.5mm | SW1, SW2, SW3, SW5 |
| 2 | 2.2n | Capacitor_SMD:C_0402_1005Metric | C84, C85 |
| 2 | 29K4 | Resistor_SMD:R_0402_1005Metric | R59, R67 |
| 2 | 47p | Capacitor_SMD:C_0402_1005Metric | C82, C83 |
| 2 | 6.8uH 3.6A | Inductor_SMD:L_Ferrocore_DLG-0504 | L2, L3 |
| 2 | 6p8 | Capacitor_SMD:C_0402_1005Metric | C21, C22 |
| 2 | 8V 2A | Resistor_SMD:R_1812_4532Metric | F1, F2 |
| 2 | DRV8833PWP | Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm_ThermalVias | U17, U23 |
| 2 | ESD5Zxx | Diode_SMD:D_SOD-523 | D4, D5 |
| 2 | FSV330AF | Diode_SMD:D_SOD-128 | D11, D12 |
| 2 | PAM2423AECADJR | Package_SO:SOIC-8-1EP_3.9x4.9mm_P1.27mm_EP2.29x3mm_ThermalVias | U8, U9 |
| 1 | 1.2uH 6.5A | Inductor_SMD:L_Chilisin_BMRA00050520 | L1 |
| 1 | 8Z-24.000MAAJ-T | Crystal:Crystal_SMD_Abracon_ABM10-4Pin_2.5x2.0mm | Y2 |
| 1 | AP2127K-3.3 | Package_TO_SOT_SMD:SOT-23-5 | U7 |
| 1 | BQ25601 | Package_DFN_QFN:Texas_S-PWQFN-N24_EP2.7x2.7mm_ThermalVias | U6 |
| 1 | Conn_01x02 | Connector_JST:JST_PH_B2B-PH-K_1x02_P2.00mm_Vertical | J4 |
| 1 | DF11-10DP-2DSA | Connector_JST:JST_PHD_B10B-PHDSS_2x05_P2.00mm_Vertical | J1 |
| 1 | FUSB302B01MPX | Package_DFN_QFN:WQFN-14-1EP_2.5x2.5mm_P0.5mm_EP1.45x1.45mm | U5 |
| 1 | Inolux_IN-PI554FCH | LED_SMD:LED_Inolux_IN-PI554FCH_PLCC4_5.0x5.0mm_P3.2mm | D65 |
| 1 | LSM6DSL | Package_LGA:LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y | U1 |
| 1 | Raspberry_Pi_2_3 | Connector_PinHeader_2.54mm:PinHeader_2x20_P2.54mm_Vertical | J2 |
| 1 | SSD1306 | SSD1306:128x64OLED | U3 |
| 1 | STM32L496ZGTx | Package_QFP:LQFP-144_20x20mm_P0.5mm | U2 |
| 1 | USB_C_Receptacle_USB2.0 | Connector_USB:USB_C_Receptacle_Palconn_UTC16-G | J3 |
| 1 | W25X40CLSS | Package_SO:SOIC-8_5.275x5.275mm_P1.27mm | U4 |
| 1 | ~ | CustomLibrary:sggtav_logo | SYMBOL1 |
| 1 | ~ | CustomLibrary:lego_robot_controller | SYMBOL2 |
| 1 | ~ | CustomLibrary:open_source | SYMBOL3 |
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Questions
How big is the RobotLegoController PCB?
It measures 80 × 105 mm and has 4 copper layers, 1.6 mm thick.
What parts does the RobotLegoController use?
725 parts, built around the LMV324, DRV8833PWP, PAM2423AECADJR and FUSB302B01MPX. 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 RobotLegoController KiCad files?
From the OpenBotBrain/mcu-board repository on GitHub, at the commit this page was made from: the board is PCB-RevA/RobotLegoController/RobotLegoController.kicad_pcb and its schematic PCB-RevA/RobotLegoController/01-Microcontroller and Extras.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the RobotLegoController design in my own project?
Its repository states no licence, so its author keeps all rights: ask OpenBotBrain before reusing the design.