4 layers40 × 40 mm
Esptof
sikaxn/FRC-Custom-CAN-Sensor
If you are looking for IronMaple ESP32‐FRC‐devkit resources, please switch branch to dev-board.
43 parts12GPL-3.0
4 layers25 × 25 mm
LaserCAN Board
GrappleRobotics/LaserCAN3- Size
- 25 × 25 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 59
- Nets
- 62
- Pads
- 205
- Tracks, vias
- 360, 138
- Pours
- 11
- Routed
- Yes
- KiCad
- KiCad 7 (file 20221018)
- Created
- 29 Mar 2023
- Updated
- 18 Mar 2026
Overview
LaserCAN Board is an open-source printed circuit board by GrappleRobotics, from the GrappleRobotics/LaserCAN repository on GitHub, published under the GPL-3.0 licence. It is a 4-layer board of 25 × 25 mm with 59 parts on 62 nets, routed with 360 tracks and 138 vias.
It is built around the SN65HVD230D, TPS54202DDC and M24C64-RMN6TP, with the TPS7A2033PDBVR-TP, ESDCAN24-2BLY and SMF15CA among its other parts. Its parts include 21 capacitors, 9 connectors, 7 resistors, 6 ICs and 5 diodes. It belongs with the STM32 boards of this library.
Main components
9
SN65HVD230D
SOIC-8-40℃~+85℃ 1 17mA 1Mbps 370uA 3V~3.6V CAN Transceiver Low-power mode、Wake-up function、ESD protection、Thermal shutdown protection、Bus fault protection、Hot-swap protection SOIC-8 CAN Transceivers ROHSTexas InstrumentsCAN Transceivers
TPS54202DDC
SOT23-64.5V to 28V Input, 2A Output, EMI Friendly Synchronous Step Down ConverterTexas InstrumentsUncategorisedM24C64-RMN6TP
SOIC-8-40℃~+85℃ 1.8V~5.5V 1MHz 2.5mA 200 Years 3uA 4,000,000 Cycles 5ms 64Kbit Hardware write protection function、Built-in power-on reset (POR)、Built-in error correction code (ECC) function I2C SOIC-8 EEPROM ROHSSTMicroelectronicsEEPROM
TPS7A2033PDBVR-TP
SOT-23-5-40℃~+85℃ 1 180uV@(300mA) 2uA 3.3V 300mA 5.5V 75dB@(1kHz) Fixed Over Current Protection、Enable、Thermal Shutdown Positive SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSTECH PUBLICUncategorised
ESDCAN24-2BLY
SOT-23140W@8/20us 2 24V 26.7V 40V 4A@8/20us 7pF、10pF、18pF 80nA Bidirectional ESD IEC 61000-4-2、IEC 61000-4-5、IEC 61000-4-4 SOT-23 ESD and Surge Protection (TVS/ESD) ROHSTECH PUBLICESD And Surge Protection (TVS/ESD)
SMF15CA
SOD-123FL-55℃~+150℃ 1 15V 18.5V 1uA 200W@10/1000us 24.4V 8.2A Bidirectional TVS SOD-123FL ESD and Surge Protection (TVS/ESD) ROHSTWGMCESD And Surge Protection (TVS/ESD)
SI2309CDS-T1-GE3
SOT-23-3-55℃~+150℃ 1 P-Channel 1.6A 1.7W 20pF 210pF 28pF 3V 4.1nC@4.5V 450mΩ@4.5V 60V P-Channel SOT-23-3 MOSFETs ROHSVishay IntertechnologyMOSFETs
TC2050-IDC-NL
Connector for plug-of-nails programming cableTag ConnectUncategorised
YC164-JR-074K7L
0603x44 4.7kΩ 62.5mW 8 ±200ppm/℃ ±5% 0603x4 Resistor Networks, Arrays ROHSYAGEOResistor Networks & Arrays
README
README.mdGrapple LaserCAN
Welcome to the open-source repository for the Grapple LaserCAN! That's right, everything's open source from the board files to the firmware.
Looking for docs?
Project Directories
- LaserCAN-Board is the KiCAD project that contains the LaserCAN board files.
- lasercan-common are common libraries used between the firmware and bootloader.
- lasercan-bootloader is the CAN bootloader for the LaserCAN, written in Rust. The bootloader allows for over-the-air (or over-the-CAN, rather) firmware updates.
- lasercan-firmware is the actual firmware for the LaserCAN, including sensor measurement and acquisition, CAN communication, and everything else it does!
Loading your own firmware
If you want to load your own firmware onto the LaserCAN, clone this repository and make your changes to lasercan-firmware. You can flash this image to the board by running python build.py firmware and flashing the target/lasercan-firmware-update-VERSION.grplfw file using GrappleHook.
NOTE: Be careful about what firmware you flash - custom firmware may brick the firmware update process if you don't have a ST-Link probe handy.
Flashing a new bootloader
If you for whatever reason need to flash a new bootloader, or if a custom firmware has crashed and the watchdog hasn't picked it up, you can flash a new bootloader and firmware by running python build.py flash. This requires an ST-Link v2 compatible probe and a TagConnect TC-2050-NL cable to connect to the debug pads on the bottom of the LaserCAN.
Parts
59| Qty | Value | Footprint | References |
|---|---|---|---|
| 10 | 100n | Capacitor_SMD:C_0402_1005Metric | C2, C4, C5, C6, C7, C8, C9, C14, C15, C18 |
| 8 | ~ | Pad:Pad | J1, J3, J4, J5, J6, J7, J8, J9 |
| 6 | 10uF | Capacitor_SMD:C_0603_1608Metric | C1, C3, C12, C16, C17, C19 |
| 2 | 10k | Resistor_SMD:R_0402_1005Metric | R1, R10 |
| 2 | 20pF | Capacitor_SMD:C_0402_1005Metric | C20, C21 |
| 2 | 220 | Resistor_SMD:R_0402_1005Metric | R6, R7 |
| 2 | 22uF | Capacitor_SMD:C_0603_1608Metric | C10, C11 |
| 2 | LOGO | LOGO | G***, G*** |
| 2 | MountingHole | MountingHole:MountingHole_3.2mm_M3_Pad_TopBottom | H1, H2 |
| 1 | 100k | Resistor_SMD:R_0402_1005Metric | R2 |
| 1 | 12V | Diode_SMD:D_SOD-523 | D1 |
| 1 | 18.2k | Resistor_SMD:R_0402_1005Metric | R8 |
| 1 | 22uH | Inductor_SMD:L_1008_2520Metric | L2 |
| 1 | 33pF | Capacitor_SMD:C_0402_1005Metric | C13 |
| 1 | 4.7 | Resistor_SMD:R_0603_1608Metric | R9 |
| 1 | 8MHz 12pF | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | BLM18AG102SN1D | Inductor_SMD:L_0603_1608Metric | FB1 |
| 1 | ESDCAN24-2BLY | Package_TO_SOT_SMD:SOT-23 | D4 |
| 1 | LED GREEN | LED_SMD:LED_0603_1608Metric | D3 |
| 1 | LED_ORANGE | LED_SMD:LED_0603_1608Metric | D2 |
| 1 | M24C64-RMN6TP | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U3 |
| 1 | NetTie_2 | NetTie:NetTie-2_SMD_Pad2.0mm | NT2 |
| 1 | NetTie_2 | NetTie:NetTie-2_SMD_Pad0.5mm | NT1 |
| 1 | SMF15CA | Diode_SMD:D_SMF | D6 |
| 1 | SN65HVD230 | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U6 |
| 1 | STM32F103C8Tx | Package_QFP:LQFP-48_7x7mm_P0.5mm | U4 |
| 1 | Si2309CDS-T1-GE3 | SI2309CDS-T1-GE3:SOT-23_L2.9-W1.3-P1.90-LS2.4-BR | Q1 |
| 1 | TC2050-IDC-NL | Project:TAG-CONNECT_TC2050-IDC-NL | J2 |
| 1 | TPS54202DDC | Package_TO_SOT_SMD:SOT-23-6 | U9 |
| 1 | TPS7A2033PDBVR | Package_TO_SOT_SMD:SOT-23-5 | U1 |
| 1 | VL53L1CXV0FY1 | Sensor_Distance:ST_VL53L1x | U2 |
| 1 | YC164-JR-074K7L | Resistor_SMD:R_Array_Convex_4x0603 | RN1 |
Questions
How big is the LaserCAN Board PCB?
It measures 25 × 25 mm and has 4 copper layers, 1.6 mm thick.
What parts does the LaserCAN Board use?
59 parts, built around the SN65HVD230D, TPS54202DDC, M24C64-RMN6TP and TPS7A2033PDBVR-TP. 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 LaserCAN Board KiCad files?
From the GrappleRobotics/LaserCAN repository on GitHub, at the commit this page was made from: the board is LaserCAN-Board/LaserCAN-Board.kicad_pcb and its schematic LaserCAN-Board/LaserCAN-Board.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the LaserCAN Board design in my own project?
Its repository publishes it under the GPL-3.0 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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