4 layers62 × 50 mm
S3-OLinuXino Rev A
OLIMEX/S3-OLinuXino
IP Camera with S3 SOC from Allwinner, PoE Gigabit, LCD, micro SD, Flash
233 parts41GPL-3.0
4 layers129 × 94.5 mm
Prosoma
dialgorithm/prosoma36 channel servo controller board with 2 rp2040s
- Size
- 129 × 94.5 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 233
- Nets
- 200
- Pads
- 835
- Tracks, vias
- 6,044, 1,068
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 3 Sep 2026
- Updated
- 3 Sep 2026
Overview
Prosoma is an open-source printed circuit board by dialgorithm, from the dialgorithm/prosoma repository on GitHub. It is a 4-layer board of 129 × 94.5 mm with 233 parts on 200 nets, routed with 6,044 tracks and 1,068 vias.
It is built around the SISA40DN-T1-GE3-VB. Its parts include 66 resistors, 44 capacitors, 24 diodes, 24 connectors and 10 ICs. It belongs with the robots and motor control boards and the RP2040 boards of this library.
Main components
1README
README.md
prosoma
dual-rp2040 36 channel servo controller
it features
- dual RP2040 microcontrollers, each independently driving 18 of the 36 servo channels
- 36x WS2812B addressable RGB LEDs, one per channel, in two 18-LED chains (one per RP2040) for per-channel status indication
- 17-pin GPIO extension headers, one per RP2040, breaking out spare pins for future expansion
[!NOTE] this pcb was built to drive arachnoid, an 8-legged spider bot with 24 degrees of freedom
this board is named prosoma after the main body section of a spider, which houses much of its central nervous system and connects to all its legs.
design
prosoma is built around two RP2040 microcontrollers running in parallel, each one fully responsible for 18 servo channels.
each half of the board is effectively a self-contained servo driver: its own external QSPI flash, its own 3.3 V regulation, its own crystal, its own USB-C port, and its own BOOT/RESET pair, mirrored for "RP1" and "RP2."
schematic + pcb design
| schematic |
|---|
 |
| first layer | second layer |
|---|---|
 |  |
| third layer | fourth layer |
|---|---|
 |  |
BOM
the complete bill of materials is available in bom.csv.
Parts
233| Qty | Value | Footprint | References |
|---|---|---|---|
| 36 | 180 | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R16, R17, R18, R19, R20, R21, R22, R23, R24, R25, R26, R27, R28, R29, R30, R31 +20 |
| 20 | 100uF | Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder | C1, C2, C3, C4, C10, C12, C23, C24, C25, C26, C27, C28, C29, C32, C33, C36 +4 |
| 10 | 10k | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R3, R4, R6, R7, R14, R34, R37, R38, R40, R47 |
| 10 | 1uF | Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder | C7, C11, C15, C16, C18, C30, C31, C34, C35, C39 |
| 8 | 100nF | Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder | C17, C20, C21, C22, C40, C42, C43, C44 |
| 6 | 1k | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R5, R8, R12, R39, R43, R45 |
| 4 | 10pF | Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder | C13, C14, C37, C38 |
| 4 | 27.4k | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R1, R2, R35, R36 |
| 4 | 5.1k | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R9, R10, R41, R42 |
| 4 | MountingHole_Pad | MountingHole:MountingHole_2.7mm_M2.5_DIN965_Pad | H1, H2, H3, H4 |
| 4 | MountingHole_Pad | MountingHole:MountingHole_3.2mm_M3_DIN965_Pad | H5, H6, H7, H8 |
| 2 | 0.003 WSL10203L000FEA | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R13, R44 |
| 2 | 220uF 20V A768KE227M1DLAE029 | Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder | C19, C41 |
| 2 | 3.9k | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R15, R48 |
| 2 | 68k | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R11, R46 |
| 2 | FerriteBead | Inductor_SMD:L_1206_3216Metric_Pad1.22x1.90mm_HandSolder | FB1, FB2 |
| 2 | NSR0530HT1G | Diode_SMD:D_SOD-323_HandSoldering | D1, D20 |
| 2 | OPA333xxDBV | Package_TO_SOT_SMD:SOT-23-5 | U5, U9 |
| 2 | SISA40DN-T1-GE3 | Package_SO:Vishay_PowerPAK_1212-8_Single | Q1, Q2 |
| 2 | dialgorithm | dialgorithm:dialgorithm | dialgorithm, dialgorithm |
| 1 | 1 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D2 |
| 1 | 10 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D11 |
| 1 | 11 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D12 |
| 1 | 12 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J14 |
| 1 | 13 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D14 |
| 1 | 14 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J16 |
| 1 | 15 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J17 |
| 1 | 16 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D17 |
| 1 | 17 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D18 |
| 1 | 18 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J20 |
| 1 | 19 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J31 |
| 1 | 2 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D3 |
| 1 | 20 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J32 |
| 1 | 21 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D23 |
| 1 | 22 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D24 |
| 1 | 23 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D25 |
| 1 | 24 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D26 |
| 1 | 25 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J37 |
| 1 | 26 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J38 |
| 1 | 27 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J39 |
| 1 | 28 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D30 |
| 1 | 29 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D31 |
| 1 | 3 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D4 |
| 1 | 30 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J42 |
| 1 | 31 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D33 |
| 1 | 32 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D34 |
| 1 | 33 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J45 |
| 1 | 34 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D36 |
| 1 | 35 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D37 |
| 1 | 36 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J48 |
| 1 | 4 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J6 |
| 1 | 5 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J7 |
| 1 | 6 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D7 |
| 1 | 7 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D8 |
| 1 | 8 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D9 |
| 1 | 9 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J11 |
| 1 | RP1 74LV4051BQ_115 | 74LV4051BQ_115:DHVQFN16_SOT763-1_NO_PAD | U4 |
| 1 | RP1 ABM8-272-T3 | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm_HandSoldering | Y1 |
| 1 | RP1 BOOT | Button_Switch_SMD:SW_SPST_TL3305A | SW2 |
| 1 | RP1 Extension | Connector_PinHeader_2.54mm:PinHeader_1x17_P2.54mm_Vertical | J27 |
| 1 | RP1 NCP115ASN330T2G | NCP115ASN330T2G:SOT95P275X110-5N | U3 |
| 1 | RP1 RESET | Button_Switch_SMD:SW_SPST_TL3305A | SW1 |
| 1 | RP1 USB C | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J1 |
| 1 | RP1 W25Q16JVUXIQ_TR | W25Q16JVUXIQ_TR:IC_W25Q16JVUXIQ_TR | U2 |
| 1 | RP2 74LV4051BQ_115 | 74LV4051BQ_115:DHVQFN16_SOT763-1_NO_PAD | U10 |
| 1 | RP2 ABM8-272-T3 | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm_HandSoldering | Y2 |
| 1 | RP2 BOOT | Button_Switch_SMD:SW_SPST_TL3305A | SW4 |
| 1 | RP2 Extension | Connector_PinHeader_2.54mm:PinHeader_1x17_P2.54mm_Vertical | J30 |
| 1 | RP2 NCP115ASN330T2G | NCP115ASN330T2G:SOT95P275X110-5N | U7 |
| 1 | RP2 RESET | Button_Switch_SMD:SW_SPST_TL3305A | SW3 |
| 1 | RP2 USB C | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J28 |
| 1 | RP2 W25Q16JVUXIQ_TR | W25Q16JVUXIQ_TR:IC_W25Q16JVUXIQ_TR | U8 |
| 1 | RP2040 1 | Package_DFN_QFN:QFN-56-1EP_7x7mm_P0.4mm_EP3.2x3.2mm | U1 |
| 1 | RP2040 2 | Package_DFN_QFN:QFN-56-1EP_7x7mm_P0.4mm_EP3.2x3.2mm | U6 |
| 1 | SERVO_1-16 | 1714971:PHOENIX_1714971 | J2 |
| 1 | SERVO_19-36 | 1714971:PHOENIX_1714971 | J29 |
| 1 | Servo 1 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J3 |
| 1 | Servo 10 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J12 |
| 1 | Servo 11 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J13 |
| 1 | Servo 12 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D13 |
The 188 most common of 233 parts.
Questions
How big is the Prosoma PCB?
It measures 129 × 94.5 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Prosoma use?
233 parts, built around the SISA40DN-T1-GE3-VB. 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 Prosoma KiCad files?
From the dialgorithm/prosoma repository on GitHub, at the commit this page was made from: the board is KiCad/prosoma.kicad_pcb and its schematic KiCad/prosoma.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Prosoma design in my own project?
Its repository states no licence, so its author keeps all rights: ask dialgorithm before reusing the design.
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