2 layers56 × 65 mm
2 layers56 × 65 mm
MainBoard V3 2
banbatakumi/AutonomousCar自律走行ミニカー SURGE Mark.2 の STM32 ファームウェアと基板（回路）。
- Size
- 56 × 65 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 150
- Nets
- 145
- Pads
- 528
- Tracks, vias
- 673, 428
- Pours
- 132
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 24 Oct 2025
- Updated
- 2 Nov 2026
Overview
MainBoard V3 2 is an open-source printed circuit board by banbatakumi, from the banbatakumi/AutonomousCar repository on GitHub. It is a 2-layer board of 56 × 65 mm with 150 parts on 145 nets, routed with 673 tracks and 428 vias.
It is built around the OKL-T/6-W12N-C, LM1117MP-3.3 and MPU-6050, with the BSS138, SMAJ13A and CH213K among its other parts. Its parts include 45 resistors, 37 capacitors, 19 diodes, 15 connectors and 10 transistors. It belongs with the computers and single-board computers boards and the STM32 boards of this library.
Main components
9
OKL-T/6-W12N-C
SMD,12.2x12.2mm1 12.2mm 12.2mm 20mVp-p 300uF 30W 4.5V~14V 591mV~5.5V 600kHz 6A 7.2mm 93% Short Circuit Protection、Over Current Protection、Under Voltage Protection、Over-temperature protection、Automatic fault recovery、Power-on timing control SMD,12.2x12.2mm DC-DC Power Modules ROHSMurataIsolated Power Modules
LM1117MP-3.3
SOT-2230℃~+125℃@(Ta) 1 1.2V@(800mA) 15V 3.3V 5mA 75dB@(120Hz) 800mA 99uVrms Fixed Over Current Protection、Over Temperature Protection Positive SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSTexas InstrumentsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
MPU-6050
QFN-24-EP(4x4)-40℃~+85℃ 16bit 1KB 2.375V~3.46V 5uA Accelerometer Gyroscope I2C X,Y,Z X,Y,Z ±16g ±2000dps QFN-24-EP(4x4) Accelerometers ROHSTDK InvenSenseAccelerometers
BSS138
SOT-23-55℃~+150℃ 1 N-channel 1.1Ω@10V、1.2Ω@4.5V 1.2V 1.7nC@10V 17.5pF 340mA 350mW 50V 6.5pF N-Channel SOT-23 MOSFETs ROHShongjiachengMOSFETs
SMAJ13A
DO-214AC(SMA)-55℃~+150℃ 13V 15.9V 18.6A 1uA 21.5V 400W@10/1000us IEC 61000-4-2 TVS Unidirectional DO-214AC(SMA) ESD and Surge Protection (TVS/ESD) ROHShongjiachengESD And Surge Protection (TVS/ESD)
CH213K
SOT-23-32.2V~5.5V 240mV 240mΩ 3.6uA Integrated FET SOT-23-3 ORing Controllers ROHSWCH (Nanjing Qinheng Microelectronics)Power Distribution Switches
CSTNE16M0V530000R0
SMD3213-3P-40℃~+85℃ 15pF 16MHz 40Ω SMD3213-3P Ceramic Resonators ROHSMurataCeramic ResonatorsIRLML6402
SOT-23-55℃~+150℃ 1 P-Channel 1.3W 110pF 12nC 145pF 20V 3.7A 400mV 633pF 65mΩ@4.5V P-Channel SOT-23 MOSFETs ROHSGuangdong HottechMOSFETsSMAJ5.0A
DO-214AC(SMA)-65℃~+150℃ 400W@10/1000us 43.5A 5V 7V 800uA 9.2V TVS Unidirectional DO-214AC(SMA) ESD and Surge Protection (TVS/ESD) ROHSMDDESD And Surge Protection (TVS/ESD)
README
README.mdAutonomousCar
自律走行ミニカー SURGE Mark.2 の STM32 ファームウェアと基板（回路）。
技術解説サイト: https://banbatakumi.github.io/AutonomousCar_RasPi/ ファームの制御（車速制御・TC・ABS・トルクベクタリング・安全層）もこのサイトで解説しています。
ファームウェアの最新は
FW/MainBoard_V3ブランチです。 既定ブランチmainのProgram/は古い状態のままです。
構成
| ディレクトリ | 内容 |
|---|---|
Program/MainF446RE_V3/ | 現行ファーム（STM32F446RE）。最新は上記ブランチ。Program/MainF446RE・MainF446RE_V2 は旧版 |
Circuit/ | 基板の設計（MainBoard_V1〜V3_2、OtherBoard_V1） |
関連リポジトリ
AutonomousCar_RasPi — Raspberry Pi 側のプログラム。
Pi とは UART（1 Mbps）で通信します。プロトコル（RAS_PROTOCOL_VERSION）は Pi 側とセットで入れ替えます。
Parts
150| Qty | Value | Footprint | References |
|---|---|---|---|
| 22 | 10k | Resistor_SMD:R_0603_1608Metric | R1, R2, R4, R13, R15, R17, R19, R25, R26, R27, R30, R32, R34, R36, R37, R38 +6 |
| 18 | 10u | Capacitor_SMD:C_0805_2012Metric | C2, C3, C4, C6, C7, C11, C15, C17, C18, C19, C27, C30, C31, C32, C36, C37 +2 |
| 12 | 0.1uf | Capacitor_SMD:C_0603_1608Metric | C1, C5, C12, C13, C14, C20, C21, C22, C23, C24, C26, C35 |
| 12 | 1k | Resistor_SMD:R_0603_1608Metric | R8, R11, R14, R16, R18, R20, R22, R23, R24, R39, R40, R44 |
| 10 | LED | LED_SMD:LED_0603_1608Metric | D4, D5, D6, D9, D10, D11, D12, D13, D15, D16 |
| 8 | 10 | Resistor_SMD:R_0603_1608Metric | R10, R12, R21, R29, R31, R33, R35, R41 |
| 7 | BSS138 | Package_TO_SOT_SMD:SOT-23 | Q3, Q5, Q6, Q7, Q8, Q9, Q10 |
| 5 | D_Schottky | Diode_SMD:D_SOD-323_HandSoldering | D1, D2, D3, D7, D8 |
| 4 | MountingHole | MountingHole:MountingHole_3.2mm_M3_Pad_Via | H1, H2, H3, H4 |
| 4 | TestPoint | TestPoint:TestPoint_THTPad_D4.0mm_Drill2.0mm | TP1, TP2, TP3, TP4 |
| 3 | 100uf | Capacitor_THT:CP_Radial_D6.3mm_P2.50mm | C10, C28, C29 |
| 3 | Conn_01x02 | Connector_JST:JST_PH_S2B-PH-K_1x02_P2.00mm_Horizontal | J1, J2, J3 |
| 3 | Conn_01x02 | Connector_Molex:Molex_SPOX_5268-02A_1x02_P2.50mm_Horizontal | J5, J6, J7 |
| 3 | Conn_01x04 | Connector_JST:JST_XH_S4B-XH-A_1x04_P2.50mm_Horizontal | J4, J12, J13 |
| 3 | SW_Push | Button_Switch_SMD:SW_SPST_PTS810 | SW1, SW2, SW3 |
| 2 | 1uf | Capacitor_SMD:C_0603_1608Metric | C33, C34 |
| 2 | Conn_01x03 | Connector_JST:JST_PH_S3B-PH-K_1x03_P2.00mm_Horizontal | J10, J11 |
| 2 | Conn_01x04 | Connector_JST:JST_PH_S4B-PH-K_1x04_P2.00mm_Horizontal | J14, J15 |
| 2 | Fuse | Fuse:Fuseholder_Clip-5x20mm_Keystone_3517_Inline_P23.11x6.76mm_D1.70mm_Horizontal | F1, F2 |
| 2 | INA180A2 | Package_TO_SOT_SMD:SOT-23-5 | U4, U5 |
| 2 | Q_PMOS_GDS | Package_TO_SOT_SMD:TO-252-2 | Q1, Q2 |
| 2 | SMAJ13A | Diode_SMD:D_SMA | D17, D18 |
| 2 | SW_Slide_DPDT | 0-MyLibrary:IS-2235 | SW4, SW5 |
| 1 | 10m | Resistor_SMD:R_1206_3216Metric | R3 |
| 1 | 2200pf | Capacitor_SMD:C_0603_1608Metric | C25 |
| 1 | 330 | Resistor_SMD:R_0603_1608Metric | R9 |
| 1 | 4.7u | Capacitor_SMD:C_0805_2012Metric | C16 |
| 1 | 5m | Resistor_SMD:R_1206_3216Metric | R28 |
| 1 | Buzzer | Buzzer_Beeper:Buzzer_Murata_PKLCS1212E | BZ1 |
| 1 | CH213K | Package_TO_SOT_SMD:TSOT-23 | D14 |
| 1 | CSTNE16M0V530000R0 | Crystal:Resonator_SMD_Murata_CSTxExxV-3Pin_3.0x1.1mm | Y1 |
| 1 | Conn_01x07 | Connector_JST:JST_PH_S7B-PH-K_1x07_P2.00mm_Horizontal | J8 |
| 1 | IRLML6402 | Package_TO_SOT_SMD:SOT-23 | Q4 |
| 1 | LM1117MP-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U2 |
| 1 | MPU-6050 | Package_DFN_QFN:QFN-24-1EP_4x4mm_P0.5mm_EP2.15x2.15mm | U3 |
| 1 | NetTie_2 | NetTie:NetTie-2_SMD_Pad0.5mm | NT1 |
| 1 | OKL-T_6-W12N-C | 0-MyLibrary:MURATA_OKL-T-6-W12N-C_0 | MD1 |
| 1 | Raspberry_Pi_2_3 | 0-MyLibrary:raspberreyPi | J9 |
| 1 | SMAJ5.0A | Diode_SMD:D_SMA | D19 |
| 1 | STM32F446RETx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U1 |
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Questions
How big is the MainBoard V3 2 PCB?
It measures 56 × 65 mm and has 2 copper layers, 1.6 mm thick.
What parts does the MainBoard V3 2 use?
150 parts, built around the OKL-T/6-W12N-C, LM1117MP-3.3, MPU-6050 and BSS138. 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 MainBoard V3 2 KiCad files?
From the banbatakumi/AutonomousCar repository on GitHub, at the commit this page was made from: the board is Circuit/MainBoard_V3_2/MainBoard_V3_2.kicad_pcb and its schematic Circuit/MainBoard_V1/MainBoard_V1.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the MainBoard V3 2 design in my own project?
Its repository states no licence, so its author keeps all rights: ask banbatakumi before reusing the design.