4 layers
4 layers103.5 × 118 mm
MEM RevA
liamobbrien1/gbr-marlbotOpen hardware, embedded software, and experimental infrastructure for the GBR MARLBOT multi-robot research platform.
- Size
- 103.5 × 118 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 84
- Nets
- 136
- Pads
- 339
- Tracks, vias
- 565, 157
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 6 Jun 2026
- Updated
- 25 Sep 2026
Overview
MEM RevA is an open-source printed circuit board by liamobbrien1, from the liamobbrien1/gbr-marlbot repository on GitHub. It is a 4-layer board of 103.5 × 118 mm with 84 parts on 136 nets, routed with 565 tracks and 157 vias.
It is built around the ICM-42688-PC, TLV75533PDBVR-MS and USBLC6-2SC6, with the B4B-ZR, B2B-ZR and 1206L075/16WR among its other parts. Its parts include 31 capacitors, 9 resistors, 8 connectors, 4 ICs and 2 switches. It belongs with the STM32 boards of this library.
Main components
11
ICM-42688-PC
LGA-14(2.5x3)-40℃~+85℃ 1.5KB 1.71V~3.6V 16bit IMU (accelerometer + gyroscope) SPI、I2C、I3C X,Y,Z X,Y,Z ±16g ±2048dps LGA-14(2.5x3) Accelerometers ROHSTokmasAccelerometers
TLV75533PDBVR-MS
SOT-23-5SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSMSKSEMIUncategorised
USBLC6-2SC6
SOT-23-60.35pF、0.8pF 100nA 150W@8/20us 15V 2 5V 6A@8/20us 6V ESD SOT-23-6 ESD and Surge Protection (TVS/ESD) ROHSUMWESD And Surge Protection (TVS/ESD)
B4B-ZR
插件,P=1.5mmWire To Board ConnectorJST
B2B-ZR
插件,P=1.5mmWire To Board ConnectorJST
1206L075/16WR
1206-40℃~+85℃ 1.25mm 1.5A 100A 16V 200ms 290mΩ 600mW 750mA 90mΩ 1206 Resettable Fuses ROHSLittelfuseResettable Fuses
B3B-ZR
插件,P=1.5mmWire To Board ConnectorJST
BLM18AG601SN1D
0603-55℃~+125℃ 1 380mΩ 500mA 600Ω@100MHz ±25% 0603 Ferrite Beads ROHSMurataFerrite Beads
ECS-250-8-33B-CTN-TR
SMD3225-4P-40℃~+85℃ 25MHz 40Ω 8pF ±10ppm ±20ppm SMD3225-4P Crystals ROHSECSCrystals
SMF5.0A
SOD-123FLESD And Surge Protection (TVS/ESD)hongjiacheng
USB4105-GF-A
SMD-40℃~+85℃ 1 12P 48V 5A Black Female Surface Mount, Right Angle Type-C USB 2.0 SMD USB Connectors ROHSGlobal Connector Technology (GCT)USB Connectors
README
README.mdGBR MARLBOT
Open hardware, embedded software, and experimental infrastructure for the GBR MARLBOT multi-robot research platform.
MARLBOT is a small differential-drive mobile robot platform used for embodied multi-agent reinforcement learning, state-estimation research, diagnostics, and sim-to-real experimentation.
Repository structure
hardware/mem/revA/kicad/— editable KiCad design sourcehardware/mem/revA/releases/— frozen fabrication releaseshardware/mem/revA/README.md— MEM Rev-A board documentation
MEM — Measurement and Estimation Module
The MEM carrier is the deterministic estimation and diagnostic subsystem for MARLBOT.
Rev A is based on the STM32H563 platform and provides:
- STM32H563ZITx MCU
- ICM-42688-P IMU
- dual hardware encoder capture
- deterministic sensor timestamping
- USB Full-Speed host transport
- UART service interface
- peer-event and external-sync capture
- SWD, reset, boot, and test access
- four-layer PCB implementation
The editable Rev-A KiCad source is located at:
hardware/mem/revA/kicad/
The frozen 2026-09-24 fabrication package is located at:
hardware/mem/revA/releases/RevA_2026-09-24/
See hardware/mem/revA/README.md for board-specific information.
Project status
Development is active. Hardware revisions, firmware, MARLBOT integration files, experimental tooling, and reproducibility artifacts will be added as they stabilize.
Parts
84| Qty | Value | Footprint | References |
|---|---|---|---|
| 19 | 100nF | Capacitor_SMD:C_0603_1608Metric | C2, C6, C10, C11, C12, C13, C14, C15, C16, C17, C18, C20, C22, C25, C27, C31 +3 |
| 4 | 0 | Resistor_SMD:R_0603_1608Metric | R1, R7, R8, R9 |
| 4 | MountingHole_3.2mm_M3 | MountingHole:MountingHole_3.2mm_M3 | MH1, MH2, MH3, MH4 |
| 3 | 1uF | Capacitor_SMD:C_0805_2012Metric | C5, C21, C29 |
| 3 | 2.2uF | Capacitor_SMD:C_0805_2012Metric | C3, C4, C26 |
| 3 | B4B-ZR | Connector_JST:JST_ZH_B4B-ZR_1x04_P1.50mm_Vertical | J3, J4, J6 |
| 2 | 10 pF | Capacitor_SMD:C_0603_1608Metric | C23, C24 |
| 2 | 10k | Resistor_SMD:R_0603_1608Metric | R2, R6 |
| 2 | 4.7uF | Capacitor_SMD:C_0805_2012Metric | C19, C30 |
| 2 | 5.1k | Resistor_SMD:R_0603_1608Metric | R3, R4 |
| 2 | B2B-ZR | Connector_JST:JST_ZH_B2B-ZR_1x02_P1.50mm_Vertical | J1, J8 |
| 1 | +3V3_MEM | TestPoint:TestPoint_Pad_D1.5mm | TP3 |
| 1 | +5V_IN | TestPoint:TestPoint_Pad_D1.5mm | TP1 |
| 1 | +5V_PROTECTED | TestPoint:TestPoint_Pad_D1.5mm | TP2 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric | C28 |
| 1 | 10uF | Capacitor_SMD:C_0805_2012Metric | C1 |
| 1 | 1206L075/16WR | Fuse:Fuse_1206_3216Metric_Pad1.42x1.75mm_HandSolder | F1 |
| 1 | 4.7K | Resistor_SMD:R_0603_1608Metric | R5 |
| 1 | B3B-ZR | Connector_JST:JST_ZH_B3B-ZR_1x03_P1.50mm_Vertical | J7 |
| 1 | BLM18AG601SN1D | Inductor_SMD:L_0603_1608Metric | FB1 |
| 1 | BOOT | Button_Switch_THT:SW_PUSH_6mm | SW2 |
| 1 | ECS-250-8-33B-CTN-TR | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm_HandSoldering | Y1 |
| 1 | GND | TestPoint:TestPoint_Pad_D1.5mm | TP16 |
| 1 | ICM-42688_P | MEM:ICM-42688-P_LGA14_3x2.5mm_P0.5mm | U3 |
| 1 | RESET | Button_Switch_THT:SW_PUSH_6mm | SW1 |
| 1 | SMF5.0A | Diode_SMD:D_SOD-123F | D1 |
| 1 | STM32H563ZITx | Package_QFP:LQFP-144_20x20mm_P0.5mm | U1 |
| 1 | SWD_1x05_2.54mm | Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical | J2 |
| 1 | TLV75533PDBVR | Package_TO_SOT_SMD:SOT-23-5 | U2 |
| 1 | TP_BOOT | TestPoint:TestPoint_Pad_D1.5mm | TP5 |
| 1 | TP_ENC1_A | TestPoint:TestPoint_Pad_D1.5mm | TP6 |
| 1 | TP_ENC1_B | TestPoint:TestPoint_Pad_D1.5mm | TP7 |
| 1 | TP_ENC2_A | TestPoint:TestPoint_Pad_D1.5mm | TP8 |
| 1 | TP_ENC2_B | TestPoint:TestPoint_Pad_D1.5mm | TP9 |
| 1 | TP_EXT_SYNC | TestPoint:TestPoint_Pad_D1.5mm | TP14 |
| 1 | TP_IMU_CS_N | TestPoint:TestPoint_Pad_D1.5mm | TP22 |
| 1 | TP_IMU_DRDY | TestPoint:TestPoint_Pad_D1.5mm | TP10 |
| 1 | TP_IMU_MISO | TestPoint:TestPoint_Pad_D1.5mm | TP20 |
| 1 | TP_IMU_MOSI | TestPoint:TestPoint_Pad_D1.5mm | TP21 |
| 1 | TP_IMU_SCK | TestPoint:TestPoint_Pad_D1.5mm | TP19 |
| 1 | TP_PEER_EVT | TestPoint:TestPoint_Pad_D1.5mm | TP15 |
| 1 | TP_RESET | TestPoint:TestPoint_Pad_D1.5mm | TP4 |
| 1 | TP_SWCLK | TestPoint:TestPoint_Pad_D1.5mm | TP17 |
| 1 | TP_SWDIO | TestPoint:TestPoint_Pad_D1.5mm | TP18 |
| 1 | TP_UART_RX | TestPoint:TestPoint_Pad_D1.5mm | TP12 |
| 1 | TP_UART_TX | TestPoint:TestPoint_Pad_D1.5mm | TP13 |
| 1 | TP_USB_VBUS_SENSE | TestPoint:TestPoint_Pad_D1.5mm | TP11 |
| 1 | USB4105-GF-A | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J5 |
| 1 | USBLC6-2SC6 | Package_TO_SOT_SMD:SOT-23-6 | U4 |
Questions
How big is the MEM RevA PCB?
It measures 103.5 × 118 mm and has 4 copper layers, 1.6 mm thick.
What parts does the MEM RevA use?
84 parts, built around the ICM-42688-PC, TLV75533PDBVR-MS, USBLC6-2SC6 and B4B-ZR. 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 MEM RevA KiCad files?
From the liamobbrien1/gbr-marlbot repository on GitHub, at the commit this page was made from: the board is hardware/mem/revA/kicad/MEM_RevA.kicad_pcb and its schematic hardware/mem/revA/kicad/01_POWER.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the MEM RevA design in my own project?
Its repository states no licence, so its author keeps all rights: ask liamobbrien1 before reusing the design.
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