4 layers62.8 × 97.5 mm
2 layers111 × 25 mm
Carrierboard teensy v3
ntnu-arl/embedded_rio-pcb6This is the PCB for the master thesis "Embedded Radar-Inertial Odometry". It is a carrier board built around a Teensy 4.0 that holds all the sensors and plugs into a Pixhawk flight controller.
- Size
- 111 × 25 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 21
- Nets
- 88
- Pads
- 165
- Tracks, vias
- 570, 67
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 9 Jun 2026
- Updated
- 24 Jun 2026
Overview
Carrierboard teensy v3 is an open-source printed circuit board by ntnu-arl, from the ntnu-arl/embedded_rio-pcb repository on GitHub. It is a 2-layer board of 111 × 25 mm with 21 parts on 88 nets, routed with 570 tracks and 67 vias.
It is built around the BMP388, BMI088 and QTH-030-01-L-D-A. Its parts include 5 capacitors, 4 resistors, 2 ICs and 2 diodes. It belongs with the computers and single-board computers boards of this library.
Main components
3
BMP388
LGA-10(2x2)-40℃~+85℃ 1.65V~3.6V 1pa/K 2uA 30Kpa~1.25bar 50pa 8pa I2C、SPI LGA-10(2x2) Pressure Sensors ROHSBosch SensortecPressure Sensors
BMI088
LGA-16(3x4.5)-40℃~+85℃ Accelerometer Gyroscope LGA-16(3x4.5) Accelerometers ROHSBosch SensortecAccelerometers
QTH-030-01-L-D-A
SMD,P=0.5mm0.5mm 2 60P Gold Phosphor bronze Surface Mount,Vertical SMD,P=0.5mm Board-to-Board and Backplane Connector ROHSSamtecBoard-To-Board And Backplane Connector
README
README.mdCarrier board for Embedded RIO
This is the PCB for the master thesis "Embedded Radar-Inertial Odometry". It is a carrier board built around a Teensy 4.0 that holds all the sensors and plugs into a Pixhawk flight controller.
The firmware that runs on it lives in a separate repo: https://github.com/ntnu-arl/embedded_rio
What is on the board
- Teensy 4.0 microcontroller (runs the estimator)
- TI IWR6843AOPEVM mmWave radar (connected with the samtec 60 pin connector)
- Bosch BMI088 IMU
- Bosch BMP388 barometer
- micro-SD card slot for logging
- status LEDs
- connector to the Pixhawk 6C mini (TELEM1 port)
Power
Power comes in as a single 5V rail from the Pixhawk TELEM1 port. The radar runs straight off the 5V. The Teensy makes its own 3.3V rail that powers the IMU, the barometer, and the SD card.
Buses and links
- I2C at 400 kHz shared by the IMU and the barometer
- UART to the radar for config at 115200 baud
- UART from the radar for the detection stream at 921600 baud
- UART to the Pixhawk carrying MAVLink at 921600 baud
Files
This is a normal KiCad project. Open carrierboard_teensy_v3.kicad_pro in KiCad to see the schematic and the layout. Fabrication outputs are generated with the
Fabrication Toolkit plugin (settings are in fabrication-toolkit-options.json).
Known issue, read before ordering more boards
The mounting holes are not quite right, but it works. The hole dimensions and positions are a little off, so before sending this off for a new batch they should be adjusted slightly. Changing the holes will move things around a bit, so expect to redo some of the routing (rewiring) after the fix.
Parts
21| Qty | Value | Footprint | References |
|---|---|---|---|
| 5 | 100nF | Capacitor_SMD:C_0603_1608Metric | C1, C2, C3, C4, C5 |
| 2 | 330 | Resistor_SMD:R_0603_1608Metric | R3, R4 |
| 2 | 4.7k | Resistor_SMD:R_0603_1608Metric | R1, R2 |
| 2 | Conn_01x14 | Connector_PinSocket_2.54mm:PinSocket_1x14_P2.54mm_Vertical | TEENSY_LEFT, TEENSY_RIGHT |
| 1 | BMI088 | BMI088:PQFN50P450X300X100-16N | U2 |
| 1 | BMP388 | BMP388:XDCR_BMP388 | U1 |
| 1 | Conn_01x04 | Connector_JST:JST_GH_SM04B-GHS-TB_1x04-1MP_P1.25mm_Horizontal | FCU IO |
| 1 | LED_BLUE | LED_SMD:LED_0603_1608Metric | D2 |
| 1 | LED_RED | LED_SMD:LED_0603_1608Metric | D1 |
| 1 | Micro_SD_Card_Det_Hirose_DM3AT | Connector_Card:microSD_HC_Hirose_DM3AT-SF-PEJM5 | MICROSD_CARD |
| 1 | QTH-030-01-L-D-A | QTH-030-01-L-D-A:SAMTEC-QTH-030-01-L-D-A | RADAR IO |
The 18 most common of 21 parts.
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Questions
How big is the Carrierboard teensy v3 PCB?
It measures 111 × 25 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Carrierboard teensy v3 use?
21 parts, built around the BMP388, BMI088 and QTH-030-01-L-D-A. 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 Carrierboard teensy v3 KiCad files?
From the ntnu-arl/embedded_rio-pcb repository on GitHub, at the commit this page was made from: the board is carrierboard_teensy_v3.kicad_pcb and its schematic carrierboard_teensy_v3.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Carrierboard teensy v3 design in my own project?
Its repository states no licence, so its author keeps all rights: ask ntnu-arl before reusing the design.