4 layers140 × 97 mm
MainBoard
Immortals-Robotics/MainBoard
Immortals main electronics for the Robocup Soccer Small-Size League
137 parts
2 layers39.4 × 42.5 mm
LeanLine
FBIopeningUPP/LeanLineA.T.L.A.S. is a bare-metal system it revolves around track-day with ur superbikes. It calculates ur lean angles, track positioning using GPS, and lap times at a frequency of 100Hz, it logs the data directly to your…
- Size
- 39.4 × 42.5 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 55
- Nets
- 62
- Pads
- 211
- Tracks, vias
- 304, 29
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 4 Jul 2026
- Updated
- 7 Jul 2026
Overview
LeanLine is an open-source printed circuit board by FBIopeningUPP, from the FBIopeningUPP/LeanLine repository on GitHub. It is a 2-layer board of 39.4 × 42.5 mm with 55 parts on 62 nets, routed with 304 tracks and 29 vias.
It is built around the RP2040, W25Q128JVPIQ and MIC5219-3.3YM5, with the AMS1117-5.0, ICM-42688-P and S4B-XH-SM4-TB(LF)(SN) among its other parts. Its parts include 31 capacitors, 8 resistors, 7 ICs, 1 connector and 1 crystal. It belongs with the RP2040 boards of this library.
Main components
7
RP2040
LQFN-56(7x7)12bit 133MHz 30 LQFN-56(7x7) Microcontrollers (MCU/MPU/SOC) ROHSRaspberry PiMicrocontrollers (MCU/MPU/SOC)
W25Q128JVPIQ
WSON-8-EP(5x6)-40℃~+85℃ 100,000 cycles 10uA 120ms@(32KB) 128Mbit 133MHz 2.7V~3.6V 20 Years Power-on reset、Hardware write protection、Software write protection、Write enable latch、Absolute write protection、Power lock protection SPI WSON-8-EP(5x6) NOR FLASH ROHSWinbond ElecNOR FLASH
MIC5219-3.3YM5
SOT23-53.3V 500mA Peak Output Low Drop-Out (LDO) RegulatorMicrochip TechnologyUncategorised
AMS1117-5.0
SOT-223-40℃~+125℃ 1 1.3V 15V 1A 5V 60dB Fixed Positive Short Circuit Protection、Thermal shutdown SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSAdvanced Monolithic SystemsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
ICM-42688-P
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 16bit 2KB 7.5uA IMU (accelerometer + gyroscope) SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps Motion Event Detection, Synchronization, Timestamp Support LGA-14(2.5x3) Accelerometers ROHSTDK InvenSenseAccelerometers
S4B-XH-SM4-TB(LF)(SN)
SMD,P=2.5mm,卧贴-25℃~+85℃ 1 10mm 15mm 1x4P 2.5mm 250V 3A 4 4P 6mm Copper alloy PA6T Surface Mount, Right Angle Tin UL94V-0 White XH SMD,P=2.5mm,卧贴 Wire To Board Connector ROHSJSTWire To Board Connector
XT30PW-M
-- Power connector / plug connector ROHSChangzhou Amass ElecUncategorised
README
README.mdA.T.L.A.S. - Apex Telemetry & Lap Analysis System (Project Lean Line)
A.T.L.A.S. is a bare-metal system it revolves around track-day with ur superbikes. It calculates ur lean angles, track positioning using GPS, and lap times at a frequency of 100Hz, it logs the data directly to your MicroSD card and visualizes the daya in custom PyQt5 Dashboard.
The Architecture
This project is divided into 3 nodes:
1. The Hardware
A custom pcb designed around the Raspberry Pi RP2040 microcontroller.
- MCU RP2040
- IMU ICM-42688-P
- GPS Any UART Based u-blox m10 GPS
- STORAGE MicroSD Card
2. Firmware
The firmware is purely written in C++
- Dual-Core Processing
- Ping-Pong Buffering
- Sensor Fusion Engine
3. The DashBoard & Simulator
A simple Desktop application built with PyQt5 and PyQtGraph
- Frame Parser: it deserializes all the 32-byte into python data class
- Telemetry Plot: It renders the speed with lean angle
- GPS Map: Renders the tracklayout based on the longitude and the latitude data.
- Lap Timer:
- Digital Twin Simulator: A gui simulator that generates track data so u can test the dashboard physics without need physical hardware
Bill of Materials (BoM)
A complete, itemized BOM is generated by kicad It can be viewed: hardware/bom.csv
Steps To Reproduce
Hardware
- The parts can be sourced by providing the BoM CSV file to lcsc from where u can order the parts.
- The PCB can be ordered through JLCPCB with a stencil for precise soldering.
- Soldering can be done using low temp solder paste while using the stencil to create a perfect solder layer
Software
RP2040 bare-metal is pretty easy to program not that hard
- Install 'arm-none-eabi-gcc' toolchain and CMake.
- Open terminal and go into the 'firmware/'
bash mkdir build && cd build cmake -G "Ninja" -DPICO_SDK_DETCH_FROM_GIT=ON .. ninja - Through the debug pads of RP2040 the board can be programmed through the uf2 file provided in the firmware directory
Running the Dashboard
-
Copy the telemetry.dat file from the MicroSd card
-
Install the python libraries: pip install PyQt5 pyqtgraph
-
Run the Digital Twin Dashboard: python dashboard/main.py
-
Click Load Telemetry Binary and select the MicroSd card data
IMAGES
Front
Back
USAGE OF AI
the usage of ai was done to figure out the pinout and the project structure of how everything will be done
Parts
55| Qty | Value | Footprint | References |
|---|---|---|---|
| 16 | 100nF | Capacitor_SMD:C_0402_1005Metric | C103, C105, C106, C107, C108, C109, C110, C111, C112, C113, C115, C117, C119, C121, C123, C126 |
| 7 | 1uF | Capacitor_SMD:C_0402_1005Metric | C104, C114, C116, C118, C120, C122, C127 |
| 6 | 10k | PCM_Resistor_SMD_AKL:R_0402_1005Metric | R104, R105, R106, R107, R108, R109 |
| 4 | MountingHole | MountingHole:MountingHole_3.2mm_M3_DIN965 | H101, H102, H103, H104 |
| 2 | 100nF | PCM_Capacitor_SMD_AKL:C_0603_1608Metric | C128, C132 |
| 2 | 15pF | Capacitor_SMD:C_0402_1005Metric | C101, C102 |
| 2 | 1uF | PCM_Capacitor_SMD_AKL:C_0603_1608Metric | C129, C133 |
| 2 | MIC5219-3.3YM5 | Package_TO_SOT_SMD:SOT-23-5 | U104, U105 |
| 1 | 10nF | Capacitor_SMD:C_0402_1005Metric | C125 |
| 1 | 12MHz | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y101 |
| 1 | 1k | PCM_Resistor_SMD_AKL:R_0402_1005Metric | R101 |
| 1 | 2.2uF | Capacitor_SMD:C_0402_1005Metric | C124 |
| 1 | AMS1117-5.0 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U106 |
| 1 | DNF | PCM_Resistor_SMD_AKL:R_0402_1005Metric | R102 |
| 1 | ICM-42688-P | easyeda2kicad:LGA-14_L3.0-W2.5-P0.50-TL | U103 |
| 1 | RP2040 | easyeda2kicad:LQFN-56_L7.0-W7.0-P0.4-EP | U101 |
| 1 | S4B-XH-SM4-TB- | easyeda2kicad:CONN-SMD_S4B-XH-SM4-TB-LF-SN | U107 |
| 1 | SWCLK | TestPoint:TestPoint_Pad_D1.0mm | TP101 |
| 1 | SWD | TestPoint:TestPoint_Pad_D1.0mm | TP102 |
| 1 | TF PUSH | easyeda2kicad:TF-SMD_TF-PUSH | Card101 |
| 1 | W25Q128JVP | Package_SON:WSON-8-1EP_6x5mm_P1.27mm_EP3.4x4.3mm | U102 |
| 1 | XT30PW-M | easyeda2kicad:CONN-TH_XT30PW-M | CN101 |
Questions
How big is the LeanLine PCB?
It measures 39.4 × 42.5 mm and has 2 copper layers, 1.6 mm thick.
What parts does the LeanLine use?
55 parts, built around the RP2040, W25Q128JVPIQ, MIC5219-3.3YM5 and AMS1117-5.0. 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 LeanLine KiCad files?
From the FBIopeningUPP/LeanLine repository on GitHub, at the commit this page was made from: the board is hardware/pcb/pcb.kicad_pcb and its schematic hardware/pcb/pcb.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the LeanLine design in my own project?
Its repository states no licence, so its author keeps all rights: ask FBIopeningUPP before reusing the design.
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