4 layers70 × 70 mm
4 layers70 × 70 mm
SIGURD
aesirkth/FafnirPropulsion Engine Controller
- Size
- 70 × 70 mm
- Copper layers
- 4
- Thickness
- 1.61 mm
- Parts
- 159
- Nets
- 118
- Pads
- 548
- Tracks, vias
- 967, 132
- Pours
- 26
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 11 Oct 2025
- Updated
- 22 Mar 2026
Overview
SIGURD is an open-source printed circuit board by aesirkth, from the aesirkth/Fafnir repository on GitHub. It is a 4-layer board of 70 × 70 mm with 159 parts on 118 nets, routed with 967 tracks and 132 vias.
It is built around the TCAN334GDCN, AP63203WU and LM51231QRGRRQ1, with the TPS56A37RPAR, TPS4H160AQPWPRQ1 and ESD2CAN36DBZRQ1 among its other parts. Its parts include 52 resistors, 42 capacitors, 18 diodes, 8 ICs and 7 connectors. It belongs with the STM32 boards of this library.
Main components
10
TCAN334GDCN
SOT-23-8-40℃~+125℃ 20uA 3.3V 55mA 5Mbps CAN FD Transceiver SOT-23-8 CAN Transceivers ROHSTexas InstrumentsCAN Transceivers
AP63203WU
TSOT-23-6-40℃~+85℃@(TA) 1 1.1MHz 22uA 2A 3.3V 3.8V~32V Buck Built-in Fixed Overcurrent Protection、Light load efficient mode、Cycle-by-cycle current limiting、Hiccup current limiting、EMI optimization (spread spectrum) Step-down type Yes TSOT-23-6 DC-DC Converters ROHSDiodes IncorporatedDC-DC Converters
LM51231QRGRRQ1
VQFN-20(3.5x3.5)-40℃~+125℃@(TA) 1 2.2MHz 5V~57V 800mV~42V Adjustable Boost Boost External Yes VQFN-20(3.5x3.5) DC-DC Converters ROHSTexas InstrumentsDC-DC ConvertersTPS56A37RPAR
VQFN-HR-10(3x3)-40℃~+150℃@(TJ) 1 10A 4.5V~28V 45uA 500kHz 600mV~13V Adjustable Buck Buck Built-in VQFN-HR-10(3x3) DC-DC Converters ROHSTexas InstrumentsDC-DC Converters
TPS4H160AQPWPRQ1
HTSSOP-28-EP-40℃~+125℃ 165mΩ 2.5A 4 4V~40V High Side Switch Short-Circuit Protection(SCP)、Overcurrent Protection(OCP)、Over Temperature Protection HTSSOP-28-EP Power Distribution Switches ROHSTexas InstrumentsAC-DC Controllers And Regulators
ESD2CAN36DBZRQ1
SOT-23-3-55℃~+150℃ 2.8pF 233W@8/20us 36V 4.3A@8/20us 40V 5nA 61V ESD SOT-23-3 ESD and Surge Protection (TVS/ESD) ROHSTexas InstrumentsUncategorised
CSD17577Q3A
VSONP-8(3.3x3.3)-55℃~+150℃ 1 N-channel 1.8V 103pF 2.31nF 270pF 30V 35nC@10V 53W 6.4mΩ@4.5V 83A N-Channel VSONP-8(3.3x3.3) MOSFETs ROHSTexas InstrumentsMOSFETsCSD18543Q3A
VSONP-8(3.3x3.3)-55℃~+150℃ 1 N-channel 11.1nC@10V 168pF 2V 4.8pF 60A 60V 66W 8.1mΩ@10V 885pF N-Channel VSONP-8(3.3x3.3) MOSFETs ROHSTexas InstrumentsMOSFETs
MMBT3904
SOT-23-55℃~+150℃ 1 NPN 100 100nA 200mA 200mW 300MHz 300mV 40V 6V NPN SOT-23 Bipolar (BJT) ROHSJiangsu Changjing Electronics Technology (CJ)Bipolar (BJT)SZNUP2105L
SOT-23100nA 2 24V 30pF 32V 350W@8/20us 44V 8A@8/20us Bidirectional ESD IEC 61000-4-2、IEC 61000-4-5、IEC 61000-4-4 SOT-23 ESD and Surge Protection (TVS/ESD) ROHSonsemiESD And Surge Protection (TVS/ESD)
README
README.mdFafnir
Propulsion Engine Controller
Prerequisites
Follow zephyr getting started guide
Build
cd zephyr-firmware
west update
cd fafnir
west build -b fafnir app --pristine
west flashBuild for native simulation
docker run -ti -v /Volumes/external/zephyrproject/:/workdir -v /Volumes/external/aesir/Fafnir/zephyr-firmware/:/app ghcr.io/zephyrproject-rtos/zephyr-build:main
cd /app/fafnir
west build -b native_sim/native/64 app --pristine -- -DEXTRA_CONF_FILE=debug.conf
./build/zephyr/zephyr.exeor
west build -b native_sim/native/64 app -- -DEXTRA_CONF_FILE=debug.conf && ./build/zephyr/zephyr.exeUsing shell in simulation
You can send can messages like this
uart: ~$ can send can_loopback0 ID DATAFor example, running
uart: ~$ can send can_loopback0 123 0will tell Fafnir to go into state STATE_INIT.
Running
uart: ~$ can send can_loopback0 124 0 1will use the override feature to set N2 Valve HIGH.
CAN message specification to Fafnir
| CAN ID | byte | data | type |
|---|---|---|---|
| 0x123 | 0 | launch sequence number (1-6) | uint8 |
| 0x124 | 0 | Solenoid ID (1-4) | uint8 |
| 1 | 1 == open, 0 == closed | bool |
Note that the launch sequence number corresponds to the launch sequence number as given in https://aesir.slab.com/posts/mjollnir-launch-sequence-2juh5ekp
Note that the Solenoid ID corresponds to the solenoid ports on the Fafnir board. Mjollnir only has two solenoids which correspond to:
Solenoid ID 2 => Bypass valve
Solenoid ID 3 => Pilot valve
Solenoid ID 4 => Control ventSolenoid IDs 1 and 4 are not connected and don't do anything.
CAN acknowledges
| CAN ID | byte | data | meaning |
|---|---|---|---|
| 0x125 | 0 | 0x01 | Changing state! |
| 1 | <byte> | the state we're changing to | |
| 0x125 | 0 | 0x02 | Received valid override command! |
| 1 | <byte> | The first byte we received | |
| 2 | <byte> | The second byte we received | |
| 0x125 | 0 | 0xF0 | Recieved invalid state |
| 0x125 | 0 | 0xF1 | Cannot perform ignition command while attempting ignition. (Protection against double send) |
| 1 | <byte> | State command we received | |
| 0x125 | 0 | 0xF2 | Invalid state command |
| 0x125 | 0 | 0xF3 | Invalid override command |
| 0x125 | 0 | 0xF4 | Invalid pin given in override command |
The state we're changing to is of type equal to this C enum:
typedef enum {
STATE_IDLE,
STATE_INIT,
STATE_FILL,
STATE_STOP_FILL,
STATE_UMBILICAL,
STATE_N2_PRESSURIZATION,
STATE_IGNITION_1,
STATE_IGNITION_2,
STATE_IGNITION_3,
STATE_IGNITION_4,
STATE_SAFE,
STATE_ABORT_BEFORE_COUNTDOWN,
STATE_ABORT_AFTER_COUNTDOWN
} State_t;Note that this is NOT the same as the launch sequence number used in the command above (0x123).
Parts
159| Qty | Value | Footprint | References |
|---|---|---|---|
| 17 | 0.1u | Capacitor_SMD:C_0402_1005Metric | C3, C4, C5, C6, C7, C14, C15, C17, C19, C23, C27, C30, C32, C35, C40, C44 +1 |
| 10 | 47k | Resistor_SMD:R_0603_1608Metric | R29, R31, R32, R33, R34, R36, R37, R38, R43, R44 |
| 6 | 10k | Resistor_SMD:R_0402_1005Metric | R9, R11, R16, R20, R35, R45 |
| 5 | 1.0A | Fuse:Fuse_1812_4532Metric | F7, F8, F9, F10, F11 |
| 5 | 1k | Resistor_SMD:R_0402_1005Metric | R23, R24, R27, R28, R42 |
| 5 | 3V | Diode_SMD:D_SOD-323 | D10, D11, D14, D16, D18 |
| 5 | ~ | Diode_SMD:D_0603_1608Metric | D12, D13, D15, D17, D19 |
| 4 | 10u | Capacitor_SMD:C_0603_1608Metric | C13, C22, C41, C42 |
| 4 | 1M | Resistor_SMD:R_0603_1608Metric | R12, R13, R14, R15 |
| 4 | 4.7u | Capacitor_SMD:C_0402_1005Metric | C1, C2, C11, C28 |
| 4 | LED | Diode_SMD:D_0603_1608Metric | D7, D9, D20, D21 |
| 4 | MountingHole_Pad | MountingHole:MountingHole_3.2mm_M3_Pad_Via | H1, H2, H3, H4 |
| 3 | 100 | Resistor_SMD:R_0402_1005Metric | R1, R40, R50 |
| 3 | 10u | Capacitor_SMD:C_0805_2012Metric | C29, C31, C43 |
| 3 | 1k | Resistor_SMD:R_0603_1608Metric | R4, R5, R22 |
| 2 | 0.02 | Resistor_SMD:R_2512_6332Metric | R6, R21 |
| 2 | 10 | Resistor_SMD:R_0402_1005Metric | R25, R51 |
| 2 | 15k | Resistor_SMD:R_0402_1005Metric | R19, R46 |
| 2 | 18p | Capacitor_SMD:C_0402_1005Metric | C9, C10 |
| 2 | 22u | Capacitor_SMD:C_0603_1608Metric | C16, C21 |
| 2 | 22u | Capacitor_SMD:C_0805_2012Metric | C36, C37 |
| 2 | 3.3k | Resistor_SMD:R_0402_1005Metric | R7, R8 |
| 2 | 3k | Resistor_SMD:R_0603_1608Metric | R30, R39 |
| 2 | ESD2CAN36DBZRQ1 | ESD2CAN36-Q1:SOT-23-3_DBZ_TEX | CR1, CR2 |
| 2 | SolderJumper_3_Open | Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm_NumberLabels | JP2, JP3 |
| 1 | +12V | TestPoint:TestPoint_Pad_D2.0mm | TP5 |
| 1 | +24V | TestPoint:TestPoint_Pad_D2.0mm | TP1 |
| 1 | +3V3 | TestPoint:TestPoint_Pad_D2.0mm | TP3 |
| 1 | 0.47u | Capacitor_SMD:C_0402_1005Metric | C33 |
| 1 | 100p | Capacitor_SMD:C_0402_1005Metric | C39 |
| 1 | 10k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R3 |
| 1 | 10u | FAUL0640-100MT:IND-SMD_L7.0-W6.6_FAUL06XX | L2 |
| 1 | 120 | Resistor_SMD:R_0402_1005Metric | R52 |
| 1 | 120 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R10 |
| 1 | 15A | Fuse:Fuse_1206_3216Metric | F1 |
| 1 | 1u | Capacitor_SMD:C_0603_1608Metric | C38 |
| 1 | 20k | Resistor_SMD:R_0402_1005Metric | R49 |
| 1 | 24MHz | Crystal:Crystal_SMD_2016-4Pin_2.0x1.6mm | Y1 |
| 1 | 3.9u | Inductor_SMD:L_Changjiang_FNR4030S | L1 |
| 1 | 30p | Capacitor_SMD:C_0402_1005Metric | C34 |
| 1 | 330n | Capacitor_SMD:C_0402_1005Metric | C24 |
| 1 | 383k | Resistor_SMD:R_0402_1005Metric | R48 |
| 1 | 470 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R2 |
| 1 | 470p | Capacitor_SMD:C_0402_1005Metric | C12 |
| 1 | 47p | Capacitor_SMD:C_0402_1005Metric | C26 |
| 1 | 49.9k | Capacitor_SMD:C_0402_1005Metric | R17 |
| 1 | 5.6u | FEXL0660A-5R6M:IND-SMD_L6.6-W6.4 | L3 |
| 1 | 52.3k | Resistor_SMD:R_0402_1005Metric | R47 |
| 1 | 54.9k | Resistor_SMD:R_0402_1005Metric | R18 |
| 1 | 56 | Resistor_SMD:R_0402_1005Metric | R41 |
| 1 | 6.8n | Capacitor_SMD:C_0402_1005Metric | C25 |
| 1 | 7.5k | Resistor_SMD:R_0603_1608Metric | R26 |
| 1 | AP63203WU | Package_TO_SOT_SMD:TSOT-23-6 | U9 |
| 1 | CAN input | Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical | J2 |
| 1 | CAN out (optional) | Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical | J3 |
| 1 | CHANNELS | 1935242:CONN10_1935242_PXC | J14 |
| 1 | CMT-8504-100 | FEXL0660A-5R6M:BUZ-SMD_4P-L7.5-W7.5-P7.59-TL | BZ1 |
| 1 | CSD17577Q3A | Package_SON:VSON-8_3.3x3.3mm_P0.65mm_NexFET | Q3 |
| 1 | CSD18543Q3A | Package_SON:VSON-8_3.3x3.3mm_P0.65mm_NexFET | Q4 |
| 1 | Conn_01x04 | Connector_PinSocket_1.27mm:PinSocket_1x04_P1.27mm_Vertical | J6 |
| 1 | D | Diode_SMD:D_SOD-523 | D2 |
| 1 | GND | TestPoint:TestPoint_Pad_D2.0mm | TP4 |
| 1 | INA226 | Package_SO:VSSOP-10_3x3mm_P0.5mm | U4 |
| 1 | INPUT | Connector_AMASS:AMASS_XT30PW-F_1x02_P2.50mm_Horizontal | J1 |
| 1 | LED_ARBG | LED_SMD:LED_Lumex_SML-LX0404SIUPGUSB | D5 |
| 1 | LM51231QRGRRQ1 | LM51231-Q1:RGR0020C-MFG | U3 |
| 1 | MMBT3904 | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | SENSE1 | TestPoint:TestPoint_Pad_D2.0mm | TP7 |
| 1 | SERVO | 1727023:CONN_1727023_PXC | J5 |
| 1 | STM32U575CGTx | Package_QFP:LQFP-48_7x7mm_P0.5mm | U2 |
| 1 | SWD | Connector_JST:JST_SH_SM06B-SRSS-TB_1x06-1MP_P1.00mm_Horizontal | J4 |
| 1 | SZNUP2105L | Package_TO_SOT_SMD:SOT-23 | D6 |
| 1 | SolderJumper_2_Open | Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm | JP1 |
| 1 | SolderJumper_2_Open | Jumper:SolderJumper-2_P1.3mm_Open_Pad1.0x1.5mm | JP5 |
| 1 | SolderJumper_3_Open | Jumper:SolderJumper-3_P1.3mm_Open_Pad1.0x1.5mm_NumberLabels | JP4 |
| 1 | TCAN334GDCN | Package_TO_SOT_SMD:TSOT-23-8 | U1 |
| 1 | TPS4H160AQPWPRQ1 | TPS4H160-Q1:PWP0028C_N | U6 |
| 1 | TPS56A37RPAR | TPS56A37RPAR:RPA0010A-MFG | IC3 |
| 1 | VN7050ASTR | VN7050ASTR:SOIC_050ASTR_STM | U7 |
| 1 | rx | Diode_SMD:D_0603_1608Metric | D4 |
The 157 most common of 159 parts.
Questions
How big is the SIGURD PCB?
It measures 70 × 70 mm and has 4 copper layers, 1.61 mm thick.
What parts does the SIGURD use?
159 parts, built around the TCAN334GDCN, AP63203WU, LM51231QRGRRQ1 and TPS56A37RPAR. 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 SIGURD KiCad files?
From the aesirkth/Fafnir repository on GitHub, at the commit this page was made from: the board is Hardware/SIGURD.kicad_pcb and its schematic Hardware/Ignition.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the SIGURD design in my own project?
Its repository states no licence, so its author keeps all rights: ask aesirkth before reusing the design.
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