4 layers40.8 × 40.8 mm
4 layers86.4 × 54.6 mm
BeagleBone cape
wasyl07/skylarkDrone control board based on AM335 BeagleBone Black and Ardupilot
- Size
- 86.4 × 54.6 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 108
- Nets
- 114
- Pads
- 369
- Tracks, vias
- 112, 31
- Pours
- 6
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 28 Jun 2026
- Updated
- 22 Oct 2026
Overview
BeagleBone cape is an open-source printed circuit board by wasyl07, from the wasyl07/skylark repository on GitHub, published under the GPL-3.0 licence. It is a 4-layer board of 86.4 × 54.6 mm with 108 parts on 114 nets, routed with 112 tracks and 31 vias.
It is built around the BMP390, IIS2MDC and LTC4412ES6#PBF, with the LSM6DSV16X, DS1307ZN+ and BZT52C12 among its other parts. Its parts include 23 capacitors, 15 resistors, 14 connectors, 8 ICs and 5 diodes.
Main components
10
BMP390
LGA-10(2x2)-40℃~+85℃ 0.6pa/K 1.5uA 1.65V~3.6V 30Kpa~1.25bar 3pa 50pa I2C、SPI Integrated ADC and digital interface、Standby mode、On-chip temperature output Yes LGA-10(2x2) Pressure Sensors ROHSBosch SensortecPressure Sensors
IIS2MDC
LGA-12(2x2)-40℃~+85℃ 1.13mA 1.71V~3.6V 16bit I2C、SPI ±4.9152mT ±4.9152mT LGA-12(2x2) 3D Magnetic Sensors ROHSSTMicroelectronics3D Magnetic Sensors
LTC4412ES6#PBF
TSOT-23-6-40℃~+85℃ 11uA 2.5V~28V 2.5uA 32mV 50uA 7V External FET TSOT-23-6 ORing Controllers ROHSAnalog DevicesGate Drivers
LSM6DSV16X
LGA-14_2.5x3mmUncategorisedSTMicroelectronics
DS1307ZN+
SO-8-40℃~+85℃ 1.5mA 300nA 4.5V~5.5V Backup power management and battery charging、InsideSRAM/NVRAM、Programmable clock output External I2C SO-8 Real Time Clocks ROHSMaxim Integrated (Analog Devices)Real Time Clocks
BZT52C12
SOD-123-65℃~+150℃ 1 Independent 100nA@1V 11.4V~12.7V 12V 150Ω 25Ω 370mW SOD-123 Zener Diodes ROHSDiodes IncorporatedZener Diodes
DMP3013SFV
PowerDI3333-8-55℃~+150℃ 1 P-Channel 1.674nF 1.94W 17mΩ@4.5V 230pF 30V 33.7nC@10V 35A 3V P-Channel PowerDI3333-8 MOSFETs ROHSDiodes IncorporatedMOSFETs
S-LP03N060TZHG
SOT-223-55℃~+150℃ 1 P-Channel 1.7W 170mΩ@10V、200mΩ@4.5V 17pF 2.8A 24pF 3.6nC@4.5V 366pF 3V 60V P-Channel SOT-223 MOSFETs ROHSLeshan Radio (LRC)MOSFETs
SMBJ33CA
DO-214AA(SMB)ESD And Surge Protection (TVS/ESD)hongjiacheng
SZNUP2105L
SOT-23100nA 2 24V 30pF 32V 350W@8/20us 44V 8A@8/20us Bidirectional ESD IEC 61000-4-2、IEC 61000-4-5、IEC 61000-4-4 SOT-23 ESD and Surge Protection (TVS/ESD) ROHSonsemiESD And Surge Protection (TVS/ESD)
README
README.mdskylark
Drone control board based on AM335 BeagleBone Black and Ardupilot
Repository layout
BeagleBone-cape/- KiCad project of the Skylark capebr2-skylark/- Buildroot external tree: A/B (RAUC) Linux image with systemd, see docs/buildroot.mdbuildroot-2025.02.15/- Buildroot itself (plus the legacy single-slot config, docs/buildroot-legacy.md)scripts/- image checks (verify-image.sh,check-defconfig.sh)ardupilot/- ArduPilot (submodule)docker/- PRU toolchain container and PRU firmwaredocs/- documentation- buildroot.md - building, A/B updates, services, flashing, serial console, CAN, RTC/NTP
- FUNCTIONS.md - requirements
- bringup-2026-10-05.md - first bring-up: test results, cape rev 1 issues, board state
- prus.md - PRU usage: PRU1 servo/ESC PWM firmware design and ArduPilot interface
Quick start
make setup && make # -> output/images/sdcard.img, update.raucb
sh scripts/verify-image.shQuick reference
- Serial console: UART4, P9.11 (RX) / P9.13 (TX), 115200 8N1, 3.3 V
- Network: DHCP,
skylark.local(mDNS), SSH as root - Updates:
rauc install update.raucb(A/B slots, automatic fallback after 3 failed boots) - CAN:
can0(DCAN1, P9.24/P9.26), 1 Mbit/s, up at boot - RTC: DS1307 on I2C2 (
/dev/rtc1), synced from NTP when online (cape rev 1: RTC does not keep time, see bring-up record)
Parts
108| Qty | Value | Footprint | References |
|---|---|---|---|
| 30 | TestPoint | TestPoint:TestPoint_Pad_D1.0mm | TP1, TP2, TP10, TP11, TP12, TP13, TP14, TP15, TP16, TP17, TP19, TP20, TP21, TP25, TP26, TP27 +14 |
| 13 | 100n | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C1, C2, C3, C5, C7, C13, C17, C18, C19, C20, C21, C29, C30 |
| 4 | 1u | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C8, C9, C10, C11 |
| 4 | 4k7 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R22, R23, R25, R26 |
| 4 | MountingHole_3.2mm_M3_DIN965 | MountingHole:MountingHole_3.2mm_M3_DIN965 | MH1, MH2, MH3, MH4 |
| 3 | 40u | Capacitor_SMD:C_Elec_5x5.4 | C14, C15, C16 |
| 2 | 100 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R10, R13 |
| 2 | 100k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R19, R29 |
| 2 | 10k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R24, R27 |
| 2 | BeagleBone_Black_Header | Connector_PinHeader_2.54mm:PinHeader_2x23_P2.54mm_Vertical | P8, P9 |
| 2 | LSM6DSV16X | Package_LGA:LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y | U2, U4 |
| 1 | 100u 50V | Capacitor_SMD:CP_Elec_8x10 | C31 |
| 1 | 10u | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C6 |
| 1 | 120 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R7 |
| 1 | 15u | Inductor_SMD:L_7.3x7.3_H4.5 | L1 |
| 1 | 1M | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R18 |
| 1 | 1k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R28 |
| 1 | 220n | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C4 |
| 1 | 24V | TerminalBlock:TerminalBlock_Xinya_XY308-2.54-2P_1x02_P2.54mm_Horizontal | J12 |
| 1 | 2A 63V | Fuse:Fuse_1206_3216Metric_Pad1.42x1.75mm_HandSolder | F1 |
| 1 | 32.768kHz | Crystal:Crystal_SMD_3215-2Pin_3.2x1.5mm | Y1 |
| 1 | 3k3 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R12 |
| 1 | 470 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R11 |
| 1 | A6983C50QTR | caplib:A6983C50QTR | IC1 |
| 1 | Air Speed Sensor | Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical | J8 |
| 1 | BMP390 | caplib:BMP390 | IC3 |
| 1 | BZT52C12 | Diode_SMD:D_SOD-123 | D8 |
| 1 | Battery_Cell | Battery:BatteryHolder_MYOUNG_BS-07-A1BJ001_CR2032 | BT1 |
| 1 | Blue | Diode_SMD:D_0603_1608Metric | D1 |
| 1 | Buzzer | Buzzer_Beeper:Buzzer_TDK_PS1240P02BT_D12.2mm_H6.5mm | BZ1 |
| 1 | CAN | TerminalBlock:TerminalBlock_Xinya_XY308-2.54-3P_1x03_P2.54mm_Horizontal | J11 |
| 1 | CAN_TERM | Jumper:SolderJumper-2_P1.3mm_Bridged_RoundedPad1.0x1.5mm | JP1 |
| 1 | DMP3013SFV | Package_SON:Diodes_PowerDI3333-8 | Q1 |
| 1 | DS1307ZN+ | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U3 |
| 1 | IIS2MDC | Package_LGA:LGA-12_2x2mm_P0.5mm | U1 |
| 1 | LEDL | Connector_JST:JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical | J5 |
| 1 | LEDR | Connector_JST:JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical | J6 |
| 1 | LTC4412ES6 | Package_TO_SOT_SMD:TSOT-23-6 | U6 |
| 1 | MAVLink | Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical | J13 |
| 1 | MotorL | Connector_JST:JST_EH_B2B-EH-A_1x02_P2.50mm_Vertical | J9 |
| 1 | MotorR | Connector_JST:JST_EH_B2B-EH-A_1x02_P2.50mm_Vertical | J10 |
| 1 | Q_NMOS_GSD | Package_TO_SOT_SMD:SOT-23 | Q2 |
| 1 | Red | Diode_SMD:D_0603_1608Metric | D2 |
| 1 | S-LP03N060TZHG | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | Q3 |
| 1 | SMBJ33CA | Diode_SMD:D_SMB | D7 |
| 1 | SZNUP2105L | Package_TO_SOT_SMD:SOT-23 | D6 |
| 1 | Servo 0 | Connector_JST:JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical | J1 |
| 1 | Servo 1 | Connector_JST:JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical | J3 |
| 1 | Servo 2 | Connector_JST:JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical | J2 |
| 1 | Servo 3 | Connector_JST:JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical | J4 |
| 1 | TCAN3413DDFR | caplib:SOT65P280X110-8N | IC2 |
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Questions
How big is the BeagleBone cape PCB?
It measures 86.4 × 54.6 mm and has 4 copper layers, 1.6 mm thick.
What parts does the BeagleBone cape use?
108 parts, built around the BMP390, IIS2MDC, LTC4412ES6#PBF and LSM6DSV16X. 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 BeagleBone cape KiCad files?
From the wasyl07/skylark repository on GitHub, at the commit this page was made from: the board is BeagleBone-cape/BeagleBone-cape.kicad_pcb and its schematic BeagleBone-cape/BeagleBone-cape.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the BeagleBone cape 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).