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8 layers85 × 70 mmPi5 sts3215 robot controller revA, the printed circuit board in 3D

Pi5 sts3215 robot controller revA

CryptorGit/pi5-sts3215-robot-controller-starter

このリポジトリは、Raspberry Pi 5の40-pin GPIOへ直接装着する汎用Robot Controller HATを、CodexとKiCadで設計するためのベース資料です。特定の機体、筐体、関節配置、電池を設計前提にしません。

Open in PCBKitView on GitHub.kicad_pcb
Size
85 × 70 mm
Copper layers
8
Thickness
1.6 mm
Parts
267
Nets
1,475
Pads
1,260
Tracks, vias
29, 0
Pours
6
Routed
Yes
KiCad
KiCad 8 (file 20240108)
Created
29 Aug 2026
Updated
29 Aug 2026

Overview

Pi5 sts3215 robot controller revA is an open-source printed circuit board by CryptorGit, from the CryptorGit/pi5-sts3215-robot-controller-starter repository on GitHub. It is an 8-layer board of 85 × 70 mm with 267 parts on 1,475 nets, routed with 29 tracks and 0 vias.

It is built around the 0287030.PXS. Its parts include 44 resistors, 34 capacitors and 1 fuse. It belongs with the robots and motor control boards of this library.

Main components

1

README

README.md

Raspberry Pi 5 Generic Robot Controller HAT Starter Pack

このリポジトリは、Raspberry Pi 5の40-pin GPIOへ直接装着する汎用Robot Controller HATを、CodexとKiCadで設計するためのベース資料です。特定の機体、筐体、関節配置、電池を設計前提にしません。

先に結論

狙うものは、次の性格を持つPi 5 Robot Controller HATです。

  • Raspberry Pi 5の40-pin GPIOへ直接装着
  • FEETECH STS3215-family Half-Duplex TTL Bus Servo対応
  • 最大15サーボ、通常9～10サーボ
  • 5系統の独立Servo Bus、各Busに同じDATAを共有するA/Bの2 port、合計10 physical port
  • 各portからdaisy-chain可能。10 physical portは10 independent busesではない
  • Servo Bus topologyとPower distribution topologyを分離
  • 外部電源入力V_SERVO_INからServo PowerとPi Powerを分岐
  • HAT入力範囲は6.0～14.0 V。Servo railを別の固定Servo電圧へ変換しない
  • Pi rail 5.1 V、5 A以上を設計目標
  • onboard MCU、onboard 6-axis IMU
  • 電圧・電流・温度監視
  • Servo Power hardware enable/disable、E-STOP、watchdog/heartbeat fail-safe
  • Pi停止またはMCU異常時のServo Power safe-off
  • 外部I2C/SPI/UART/GPIOの汎用拡張

V_SERVO_IN 6.0～14.0 VはHAT自身の入力範囲であり、全STS3215-family servoの対応電圧ではありません。各servoは当該variantのメーカー定格電圧範囲内だけで使用します。STS3215-familyの正確な購入variant、TTL interface voltage、baud rate、current envelope等は、仕様書改訂や論理アーキテクチャ開始の前提にはしませんが、回路設計前に一次資料から固定します。

このパックの状態

これは設計開始用の仕様書・作業契約・検証計画です。製造可能な回路図やGerberではありません。G1A～G1Eを統合したdocs/g2_architecture_baseline.mdとADR-006はPROPOSEDであり、人間承認前です。DECISIONS_REQUIRED.mdのUNRESOLVEDを解消し、各設計ゲートを人間承認するまで、Codexに製造出力を作らせてはいけません。

主な未確定事項:

  • STS3215-family compatibility envelopeと購入variant
  • V_SERVO_INのaggregate continuous/peak current、source/sink能力、入力保護
  • Bus/portごとの実証可能なdaisy-chain範囲とconnector/contact/wire current capacity
  • five Bus-aligned branch候補のexact protection、current limit、shunt、retry/selectivity、およびPower Bankを追加する場合の構成
  • MCU、IMU、監視IC、EEPROMのexact MPN
  • Pi high-duty DC-DC/reverse blocker、Servo master gate/watchdog/dumpのexact partsとthreshold/timing
  • final MCU pin/clock、コネクタ、PCB stackup

最初に START_HERE.md を読み、G3へ進む前はdocs/g2_architecture_baseline.md、reports/g2_architecture_consistency_audit.md、BLOCKED.mdを確認してください。

推奨ツールチェーン

  • KiCad 10.x
  • STM32CubeMX / STM32CubeIDE
  • Git
  • Codex CLI
  • Seeed Studio KiCad MCP Server（解析・ERC/DRC補助を主用途にする）
  • Fusion 360または同等の機械CAD
  • kicad-cli

KiCad MCPの回路図編集は実験的です。自動編集結果をそのまま製造へ流してはいけません。設計の正本はKiCad GUIで目視し、kicad-cliと人間レビューを通します。

正しい順序

  1. G0 要求凍結
  2. G1 電力・ケーブル・回生の実測
  3. G2 構成決定
  4. G3 正確な部品・ピン割当凍結
  5. EVT-A: Pi電源、MCU、IMU、1 Busの低リスク試作
  6. EVT-B: 5 Bus、Power distribution、E-STOPの試作
  7. DVT: 熱、短絡、回生、USB-C同時給電、safe-off試験
  8. 製造リリース

一発で最大構成へ飛ばず、各段階で故障原因を切り分けます。

Parts

267
QtyValueFootprintReferences
6—revA:MountingHole_3.2mmHOST_COMMON_H1, HOST_COMMON_H2, PI5_H3, PI5_H4, ZERO2W_H3, ZERO2W_H4
10 ohm 1%revA:FP_R75_RC0603JR_070RLR75
10 ohm 1%revA:FP_R70_RC0603JR_070RLR70
10287030.PXSrevA:FP_F1_0287030_PXSF1
11 nF 50 V C0G DNPrevA:FP_C40_GRM1885C1H102JA01DC40
11 nF 50 V C0G DNPrevA:FP_C37_GRM1885C1H102JA01DC37
11 nF 50 V C0G DNPrevA:FP_C38_GRM1885C1H102JA01DC38
11 nF 50 V C0G DNPrevA:FP_C41_GRM1885C1H102JA01DC41
11 nF 50 V C0G DNPrevA:FP_C36_GRM1885C1H102JA01DC36
11 nF 50 V C0G DNPrevA:FP_C39_GRM1885C1H102JA01DC39
11 uF 10 V X7RrevA:FP_C30_GRM188R71A105KA61DC30
11 uF 10 V X7RrevA:FP_C32_GRM188R71A105KA61DC32
11 uF 10 V X7RrevA:FP_C31_GRM188R71A105KA61DC31
11 uF 10 V X7RrevA:FP_C10_GRM188R71A105KA61DC10
11 uF 25 V X7RrevA:FP_C24_GRM188R71E105KA12DC24
11.0 M 1%revA:FP_R10_CRCW06031M00FKEAR10
11.0 k 1 WrevA:FP_R76_CRCW25121K00FKEGR76
11.0 k 1%revA:FP_R16_CRCW06031K000FKEAR16
11.0 k 1%revA:FP_R17_CRCW06031K000FKEAR17
11.0 uF 25 V X7RrevA:FP_C21_GRM188R71E105KA12DC21
11.0 uF 25 V X7RrevA:FP_C22_GRM188R71E105KA12DC22
11.0 uF 25 V X7RrevA:FP_C19_GRM188R71E105KA12DC19
11.0 uF 25 V X7RrevA:FP_C18_GRM188R71E105KA12DC18
11.0 uF 25 V X7RrevA:FP_C20_GRM188R71E105KA12DC20
11.20 k 1%revA:FP_R84_CRCW06031K20FKEAR84
11.20 k 1%revA:FP_R83_CRCW06031K20FKEAR83
110 k 1%revA:FP_R15_CRCW060310K0FKEAR15
110 nF 50 V X7RrevA:FP_C25_GRM188R71H103KA01DC25
110 uF 10 V X7RrevA:FP_C5_GRM21BR71A106KA01LC5
110 uF 10 V X7RrevA:FP_C2_GRM21BR71A106KA01LC2
110 uF 25 V X7RrevA:FP_C12_GRM21BR71E106KA73LC12
110 uF 25 V X7RrevA:FP_C16_GRM21BR71E106KA73LC16
110 uF 25 V X7RrevA:FP_C4_GRM21BR71E106KA73LC4
110 uF 25 V X7RrevA:FP_C13_GRM21BR71E106KA73LC13
110 uF 25 V X7RrevA:FP_C15_GRM21BR71E106KA73LC15
110 uF 25 V X7RrevA:FP_C1_GRM21BR71E106KA73LC1
110 uF 25 V X7RrevA:FP_C11_GRM21BR71E106KA73LC11
110 uF 25 V X7RrevA:FP_C14_GRM21BR71E106KA73LC14
110.0 M 1%revA:FP_R7_CRCW060310M0FKEAR7
110.0 k 0.1%revA:FP_R4_RT0603BRD0710K0LR4
110.0 k 1%revA:FP_R56_CRCW060310K0FKEAR56
110.0 k 1%revA:FP_R47_CRCW060310K0FKEAR47
110.0 k 1%revA:FP_R66_CRCW060310K0FKEAR66
110.0 k 1%revA:FP_R58_CRCW060310K0FKEAR58
110.0 k 1%revA:FP_R69_CRCW060310K0FKEAR69
110.0 k 1%revA:FP_R68_CRCW060310K0FKEAR68
110.0 k 1%revA:FP_R54_CRCW060310K0FKEAR54
110.0 k 1%revA:FP_R43_CRCW060310K0FKEAR43
110.0 k 1%revA:FP_R49_CRCW060310K0FKEAR49
110.0 k 1%revA:FP_R74_CRCW060310K0FKEAR74
110.0 k 1%revA:FP_R20_CRCW060310K0FKEAR20
110.0 k 1%revA:FP_R46_CRCW060310K0FKEAR46
110.0 k 1%revA:FP_R59_CRCW060310K0FKEAR59
110.0 k 1%revA:FP_R67_CRCW060310K0FKEAR67
110.0 k 1%revA:FP_R57_CRCW060310K0FKEAR57
110.0 k 1%revA:FP_R53_CRCW060310K0FKEAR53
1100 k 0.1%revA:FP_R65_RT0603BRD07100KLR65
1100 k 0.1%revA:FP_R61_RT0603BRD07100KLR61
1100 k 0.1%revA:FP_R71_RT0603BRD07100KLR71
1100 k 0.1%revA:FP_R34_RT0603BRD07100KLR34
1100 k 0.1%revA:FP_R9_RT0603BRD07100KLR9
1100 k 0.1%revA:FP_R73_RT0603BRD07100KLR73
1100 k 0.1%revA:FP_R6_RT0603BRD07100KLR6
1100 k 1%revA:FP_R55_CRCW0603100K0FKEAR55
1100 k 1%revA:FP_R51_CRCW0603100K0FKEAR51
1100 k 1%revA:FP_R94_CRCW0603100K0FKEAR94
1100 k 1%revA:FP_R95_CRCW0603100K0FKEAR95
1100 k 1%revA:FP_R93_CRCW0603100K0FKEAR93
1100 k 1%revA:FP_R52_CRCW0603100K0FKEAR52
1100 k 1%revA:FP_R96_CRCW0603100K0FKEAR96
1100 k 1%revA:FP_R91_CRCW0603100K0FKEAR91
1100 k 1%revA:FP_R63_CRCW0603100K0FKEAR63
1100 k 1%revA:FP_R92_CRCW0603100K0FKEAR92
1100 nF 10 V X7RrevA:FP_C28_GRM188R71A104KA01DC28
1100 nF 10 V X7RrevA:FP_C35_GRM188R71A104KA01DC35
1100 nF 10 V X7RrevA:FP_C27_GRM188R71A104KA01DC27
1100 nF 10 V X7RrevA:FP_C29_GRM188R71A104KA01DC29
1100 nF 10 V X7RrevA:FP_C6_GRM188R71A104KA01DC6
1100 nF 10 V X7RrevA:FP_C34_GRM188R71A104KA01DC34
1100 nF 25 V X7RrevA:FP_C3_GRM188R71E104KA93DC3

The 85 most common of 267 parts.

Questions

How big is the Pi5 sts3215 robot controller revA PCB?

It measures 85 × 70 mm and has 8 copper layers, 1.6 mm thick.

What parts does the Pi5 sts3215 robot controller revA use?

267 parts, built around the 0287030.PXS. 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 Pi5 sts3215 robot controller revA KiCad files?

From the CryptorGit/pi5-sts3215-robot-controller-starter repository on GitHub, at the commit this page was made from: the board is kicad/pi5_sts3215_robot_controller_revA.kicad_pcb and its schematic kicad/bprcm/bprcm.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Pi5 sts3215 robot controller revA design in my own project?

Its repository states no licence, so its author keeps all rights: ask CryptorGit before reusing the design.

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