2 layers100.1 × 121.4 mm
Panel
da-penguin-guy/Proteus
The Proteus is a modular collection of PCBs that will be used to develop the Virgil sound Protocol
137 parts3
2 layers102.9 × 17.5 mm
Yals
el-bart/yals1Yet Another Linear Servo
- Size
- 102.9 × 17.5 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 46
- Nets
- 56
- Pads
- 176
- Tracks, vias
- 419, 55
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 7 (file 20221018)
- Created
- 13 Feb 2024
- Updated
- 10 Oct 2025
Overview
Yals is an open-source printed circuit board by el-bart, from the el-bart/yals repository on GitHub, published under the BSD-3-Clause licence. It is a 2-layer board of 102.9 × 17.5 mm with 46 parts on 56 nets, routed with 419 tracks and 55 vias.
It is built around the RP2040, DRV8220DSG and LM321, with the W25Q32JVSSIQ and M24C02-FMN6P among its other parts. Its parts include 16 capacitors, 10 resistors, 6 ICs, 6 diodes and 4 connectors. It belongs with the robots and motor control boards and the RP2040 boards of this library.
Main components
5
RP2040
LQFN-56(7x7)12bit 133MHz 30 LQFN-56(7x7) Microcontrollers (MCU/MPU/SOC) ROHSRaspberry PiMicrocontrollers (MCU/MPU/SOC)
DRV8220DSG
WSON-8(2x2)WSON-8(2x2) Brushed DC Motor Drivers ROHSTexas InstrumentsBrushed DC Motor Drivers
LM321
SOT-23-50℃~+70℃ 1 2mV 3nA 400V/ms 40mA 430uA 45nA 90dB SOT-23-5 Operational Amplifier ROHSPJSEMIOperational Amplifier
W25Q32JVSSIQ
SOIC-8-208mil-40℃~+85℃ 100,000 cycles 133MHz 1uA 2.7V~3.6V 20 Years 32Mbit 3ms SPI SOIC-8-208mil NOR FLASH ROHSWinbondNOR FLASH
M24C02-FMN6P
SOIC-8-40℃~+85℃ 1.7V~5.5V 200 Years 2Kbit 4,000,000 Cycles 400kHz 5ms Hardware write protection function、Noise suppression function、Built-in power-on reset (POR) I2C SOIC-8 EEPROM ROHSSTMicroelectronicsEEPROM
README
README.mdYALS: Yet Another Linear Servo
project to build a linear servo for RC models.
key project assumptions
- long move range
- digital position control
- digital feedback on current servo position
- 12V power supply (directly from battery)
- does not consume power when not moving, while still keeping position
- possible magnetic coupling with element moved
- programmable and persistent:
- min / max positions
- LED brightness
building
TL;DR just run make from project's root directory.
toolchain has been dockerized.
to make usage more convenient, there's a top-level Makefile to run all the elements.
it automatically keeps dependsncies in place.
generated stuff:
- 3D models for printing:
- all in:
body/build/voron_24_revo/petg/strength/*.gcode - note that there can be >1 carriage to choose from
- all in:
- electronics (HW):
- gerber files for PCB:
board/hw/build/gerber.zip - PCB assembly:
board/hw/build/graphics/ - BOM:
board/hw/build/bom.csv
- gerber files for PCB:
- software (SW):
- to flash use
./rp2020_sdk rp2040_flash <name_of_binary.elf>fromboard/swdirectory - binaries:
- controller to flash (production):
board/sw/build/rp2040/servo_ctrl.elf - manual tests (for validation of HW assembly):
board/sw/build/rp2040/Hal/rp2040/Hal_*.mtest.elfboard/sw/build/rp2040/Utils/*.mtest.elf
- controller to flash (production):
- to flash use
assembly
BOM
- 1x PCB assembly (see
baord/hw- build it to getboard/hw/build/bom.csv) - 1x MT44 DC motor
- 2x 3x7x3mm ball bearing
- 1x 3mm-3mm universal joing (aka: Cardan joint)
- 1x 3mm threaded rod (~12cm)
- 3x 3mm threaded inset (1x for carriage and 2x for engine)
- 2x M3x14 screws (engine mount)
- 2x M3x10 screws (potentiometer mount)
tools
- soldering iron
- 3D printer for YALS' body
- hex-key set
- pico-probe or raspberry pi SBC to flash
rp2040µC
FAQ
why no position-watchdog?
µC has internal watchdog, that kicks in in case software gets stuck.
however there's no application-level watchdog (e.g. a dedicated command that'd require a new command reception in a given time) as servo does not go bonkers when signal is lost (as typical, cheap, analog do). instead it keeps current position effortlessly. on start, current position is retained as well. therefor there's no need to perform any special actions, when no new command is received.
Parts
46| Qty | Value | Footprint | References |
|---|---|---|---|
| 10 | 100nF | Capacitor_SMD:C_1206_3216Metric | C3, C6, C7, C8, C9, C10, C11, C12, C13, C15 |
| 4 | 1N4007 | Diode_SMD:D_SOD-123F | D2, D3, D4, D5 |
| 3 | 100k | Resistor_SMD:R_0603_1608Metric | R4, R7, R10 |
| 2 | 18pF | Capacitor_SMD:C_0603_1608Metric | C1, C2 |
| 2 | 4.7k | Resistor_SMD:R_0603_1608Metric | R1, R2 |
| 1 | 0.1R | Resistor_SMD:R_1206_3216Metric | R6 |
| 1 | 10nF | Capacitor_SMD:C_1206_3216Metric | C16 |
| 1 | 10uF | Capacitor_SMD:CP_Elec_5x4.5 | C5 |
| 1 | 1k | Resistor_SMD:R_0603_1608Metric | R3 |
| 1 | 1uF | Capacitor_SMD:CP_Elec_5x4.5 | C14 |
| 1 | 22k | Resistor_SMD:R_0603_1608Metric | R5 |
| 1 | 2N7002 | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | 3.3k | Resistor_SMD:R_0603_1608Metric | R8 |
| 1 | 330R | Resistor_SMD:R_0805_2012Metric | R9 |
| 1 | 4.7uF | Capacitor_SMD:CP_Elec_5x4.5 | C4 |
| 1 | BOOTSEL | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | JP1 |
| 1 | CDE23N-60-B50K | st_passives_potentiometers:CDE23N-60-B50K | RV1 |
| 1 | Crystal | Crystal:Crystal_SMD_SeikoEpson_MA505-2Pin_12.7x5.1mm | Y1 |
| 1 | DRV8220 | Package_TO_SOT_SMD:SOT-563 | U5 |
| 1 | LED green | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D6 |
| 1 | LM321 | Package_TO_SOT_SMD:SOT-23-5 | U6 |
| 1 | M24C02-FMN | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U2 |
| 1 | MCP1703Ax-330xxTT | Package_TO_SOT_SMD:SOT-23 | U3 |
| 1 | RP2040 | Package_DFN_QFN:QFN-56-1EP_7x7mm_P0.4mm_EP3.2x3.2mm | U1 |
| 1 | SWD | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J1 |
| 1 | TS418C | Diode_SMD:D_0603_1608Metric | D1 |
| 1 | UART | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J2 |
| 1 | W25Q32JVSS | Package_SO:SOIC-8_5.23x5.23mm_P1.27mm | U4 |
| 1 | eng | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J3 |
| 1 | power | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J4 |
Questions
How big is the Yals PCB?
It measures 102.9 × 17.5 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Yals use?
46 parts, built around the RP2040, DRV8220DSG, LM321 and W25Q32JVSSIQ. 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 Yals KiCad files?
From the el-bart/yals repository on GitHub, at the commit this page was made from: the board is board/hw/yals.kicad_pcb and its schematic board/hw/engine_ctrl.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Yals design in my own project?
Its repository publishes it under the BSD-3-Clause licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
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