4 layers86 × 125 mm
4 layers67.6 × 56.9 mm
Sensor pcb
Nautilus-UUV/sensor_pcb- Size
- 67.6 × 56.9 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 113
- Nets
- 93
- Pads
- 382
- Tracks, vias
- 698, 230
- Pours
- 3
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 23 Sep 2025
- Updated
- 10 Dec 2025
Overview
Sensor pcb is an open-source printed circuit board by Nautilus-UUV, from the Nautilus-UUV/sensor_pcb repository on GitHub. It is a 4-layer board of 67.6 × 56.9 mm with 113 parts on 93 nets, routed with 698 tracks and 230 vias.
It is built around the STM32L451CET6, ADS1115IDGS and BMP581, with the SHT40-AD1F-R2, 150060BS73220 and SMBJ3.3A among its other parts. Its parts include 42 resistors, 23 diodes, 16 capacitors, 8 transistors and 7 connectors. It belongs with the sensors and measurement boards and the STM32 boards of this library.
Main components
10
STM32L451CET6
LQFP-48(7x7)Microcontrollers (MCU/MPU/SOC)STMicroelectronics
ADS1115IDGS
MSOP10Ultra-Small, Low-Power, 4 Channels 16-Bit Analog-to-Digital Converter with Internal ReferenceTexas InstrumentsUncategorised
BMP581
LGA-10(2x2)-40℃~+85℃ 0.5pa/K 1.71V~3.6V 1uA 30Kpa~1.25bar 6pa I2C、SPI、I3C LGA-10(2x2) Pressure Sensors ROHSBosch SensortecPressure Sensors
SHT40-AD1F-R2
DFN-4(1.5x1.5)-40℃~+125℃ 0%RH~100%RH 1.08V~3.6V 16bit 400nA Factory calibration、Chemical gas resistance、Built-in heater I2C ±0.2℃ ±1.8%RH DFN-4(1.5x1.5) Temperature and Humidity Sensor ROHSSensirionUncategorised
150060BS73220
0603120° 170mcd 20mA 3.2V 465nm 470nm Blue Water Clear 0603 LED Indication - Discrete ROHSWürth ElektronikLED Indication - Discrete
SMBJ3.3A
DO-214AA(SMB)-55℃~+150℃ 3.3V 6.5V 600W@10/1000us 600uA 75A@10/1000us 8V IEC 61000-4-2 TVS Unidirectional DO-214AA(SMB) ESD and Surge Protection (TVS/ESD) ROHShongjiachengESD And Surge Protection (TVS/ESD)
BLM18SP101SN1
0603-55℃~+125℃ 1 100Ω@100MHz 22mΩ 3.7A ±25% 0603 Ferrite Beads ROHSMurataFerrite Beads
150060RS73220
0603120° 20mA 2V 624nm 632nm 90mcd Red Water Clear 0603 LED Indication - Discrete ROHSWürth ElektronikLED Indication - Discrete
B3F-1052
KEY-SMD-25℃~+70℃ 1.5N 24V 300,000 Cycles 50mA 6mm 6mm 7.3mm PC Pin Rectangular Button SPST-NO Through Hole 插件-4P,6x6mm Tactile Switches ROHSOmronTactile SwitchesFTSH-107-02-L-DV
SMD,P=1.27mm-55℃~+125℃ 1.27mm 1.27mm 14P 2 3.4A Black Phosphor bronze Surface Mount,Vertical Tin SMD,P=1.27mm Pin Headers ROHSSamtecPin Headers
README
README.mdsensor_pcb
External sensors
Those sensors just go over I2C. A connector needs to be placed on the PCB. The Leak sensor will just expose the probes.
- Temperature: https://bluerobotics.com/store/sensors-cameras/sensors/celsius-sensor-r1/
- Pressure: https://bluerobotics.com/store/sensors-cameras/sensors/bar-depth-pressure-sensor/
- Leak sensor: https://bluerobotics.com/store/sensors-cameras/leak-sensor/sos-leak-sensor/
Internal sensors
Those are also connected to the I2C bus but are on the pcb thus internal.
- Temperature + Humidity: SHT45-AD1B Datasheet
- Pressure Sensor: BMP581 Product Page
- Tank Pressure: ADS1115 Datesheet Note: The tank pressure is an analog signal. Plase design and layout the pcb so that a optional resistor devider could be used but normaly is not used
Parts
113| Qty | Value | Footprint | References |
|---|---|---|---|
| 25 | 1k | Resistor_SMD:R_0603_1608Metric | R4, R13, R14, R15, R17, R19, R20, R22, R24, R26, R28, R30, R32, R34, R36, R38 +9 |
| 11 | 100nF | Capacitor_SMD:C_0603_1608Metric | C1, C2, C3, C4, C6, C8, C10, C11, C12, C13, C14 |
| 8 | 150060BS73220 | dz_dio:LED_0603 | D2, D3, D10, D11, D12, D13, D14, D15 |
| 8 | 27k | Resistor_SMD:R_0603_1608Metric | R7, R12, R16, R21, R25, R29, R33, R37 |
| 8 | NPN BJT 40V 200mA | Package_TO_SOT_SMD:SOT-23 | Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8 |
| 7 | SMBJ3.3A | Diode_SMD:D_SMB | D4, D6, D7, D8, D18, D19, D20 |
| 6 | 710-82402374 | Package_TO_SOT_SMD:SOT-23-5 | D5, D9, D16, D17, D21, D22 |
| 6 | Test Point | TestPoint:TestPoint_Pad_D1.5mm | TP1, TP2, TP3, TP4, TP5, TP6 |
| 3 | 10k | Resistor_SMD:R_0603_1608Metric | R1, R5, R6 |
| 2 | 100 | Resistor_SMD:R_0603_1608Metric | R2, R3 |
| 2 | 100k | Resistor_SMD:R_0603_1608Metric | R10, R11 |
| 2 | 10pF | Capacitor_SMD:C_0603_1608Metric | C26, C31 |
| 2 | 643280100305 | dz_con:Wuerth_WR_CIRCM_643280100305 | J2, J4 |
| 2 | 66200421024 | dz_con:Wurth_66200421024 | J1, J7 |
| 2 | 66200821024 | dz_con:Wurth_66200821024 | J3, J5 |
| 2 | 824094024 | dz_dio:SOT95P240X104-3N | Z1, Z2 |
| 1 | 0 | Resistor_SMD:R_0603_1608Metric | R41 |
| 1 | 100 | Resistor_SMD:R_0402_1005Metric | R3 |
| 1 | 100Ω@100MHz | Inductor_SMD:L_0603_1608Metric | FB2 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric | C7 |
| 1 | 150060RS73220 | dz_dio:LED_0603 | D1 |
| 1 | 16-bit ADC | Package_SO:VSSOP-10_3x3mm_P0.5mm | U2 |
| 1 | 16.0MHz | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | 1uF | Capacitor_SMD:C_0603_1608Metric | C9 |
| 1 | 4.7nF | Capacitor_SMD:C_0603_1608Metric | C15 |
| 1 | 710-150060RS83000 | dz_dio:Wuerth_LED_150060RS83000 | LED1 |
| 1 | BMP581 | dz_sens:QFN10_BMP581_BOS | U4 |
| 1 | Button Switch SPST-No | Button_Switch_THT:SW_PUSH_6mm | SW1 |
| 1 | FTSH-107-02-L-DV | dz_con:FTSH-107-XX-YYY-DV | J6 |
| 1 | LOGO | dz_art:giacomo_logo | G*** |
| 1 | SHT45-AD1B | Sensor_Humidity:Sensirion_DFN-4_1.5x1.5mm_P0.8mm_SHT4x_NoCentralPad | U1 |
| 1 | STM32L451CET6 | dz_mcu:STM32L451CET6 | U3 |
| 1 | TCAN3414DRBR | dz_comm:TCAN3414DRBR | IC1 |
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Questions
How big is the Sensor pcb PCB?
It measures 67.6 × 56.9 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Sensor pcb use?
113 parts, built around the STM32L451CET6, ADS1115IDGS, BMP581 and SHT40-AD1F-R2. 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 Sensor pcb KiCad files?
From the Nautilus-UUV/sensor_pcb repository on GitHub, at the commit this page was made from: the board is src/sensor_pcb/sensor_pcb.kicad_pcb and its schematic src/sensor_pcb/leak_sensors.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Sensor pcb design in my own project?
Its repository states no licence, so its author keeps all rights: ask Nautilus-UUV before reusing the design.