2 layers65 × 56.2 mm
DonkeyHat-2
zlite/donkeyhat
This is the repo for the new Donkeycar RC hat (aka Donkeyhat) for the Raspberry Pi. It has a Waveshare RP2040-zero microprocessor running CircuitPython 9.x and has the following functions:
13 parts1
2 layers65 × 56.2 mm
DonkeyHat prod
zlite/donkeyhat1This is the repo for the new Donkeycar RC hat (aka Donkeyhat) for the Raspberry Pi. It has a Waveshare RP2040-zero microprocessor running CircuitPython 9.x and has the following functions:
- Size
- 65 × 56.2 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 14
- Nets
- 51
- Pads
- 105
- Tracks, vias
- 286, 46
- Pours
- 5
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 14 Apr 2024
- Updated
- 22 Jan 2026
Overview
DonkeyHat prod is an open-source printed circuit board by zlite, from the zlite/donkeyhat repository on GitHub. It is a 2-layer board of 65 × 56.2 mm with 14 parts on 51 nets, routed with 286 tracks and 46 vias.
It is built around the RP2040-ZERO and B4B-PH-K-S(LF)(SN). Its parts include 6 connectors and 1 IC. It belongs with the RP2040 boards of this library.
Main components
2README
README.mdThis is the repo for the new Donkeycar RC hat (aka Donkeyhat) for the Raspberry Pi. It has a Waveshare RP2040-zero microprocessor running CircuitPython 9.x and has the following functions:
- Read three channels of RC input from a standard RC receiver
- Control two servo channels (steering and throttle)
- Communicates with the RaspberryPi via hardware serial/UART
- Display data on an OLED screen (controlled by the Raspberry Pi via I2C)
- Reads two wheel/shaft encoders, and can handle both single channel and quadrature encoders
- Blinks a Neopixel LED to show normal operation
Instructructions:
- Copy the CircuitPython firmware to the RP2040 following these instructions: https://circuitpython.org/board/waveshare_rp2040_zero/
- Copy the required Neopixel library files to the "lib" directory of your RP2040 as instructed here: https://learn.adafruit.com/circuitpython-essentials/circuitpython-neopixel
- Copy the
code.pyfile to the root for the RP2040 (CircuitPython always runs code.py at startup) - Use the Mu Editor for modifying the code: https://codewith.mu/
Parts
14| Qty | Value | Footprint | References |
|---|---|---|---|
| 2 | Conn_01x04_Pin | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | I2C1, OLED1 |
| 2 | Conn_02x03_Odd_Even | Connector_PinHeader_2.54mm:PinHeader_2x03_P2.54mm_Vertical | J5, J6 |
| 1 | Conn_01x02_Pin | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | 5V1 |
| 1 | Conn_01x03_Pin | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | Throttle1 |
| 1 | Encoder 1 | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J3 |
| 1 | Encoder 2 | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J2 |
| 1 | GPIO | Connector_PinSocket_2.54mm:PinSocket_2x20_P2.54mm_Vertical | J1 |
| 1 | I2C | Connector_JST:JST_SH_BM04B-SRSS-TB_1x04-1MP_P1.00mm_Vertical | J4 |
| 1 | rp2040-zero | mcu:rp2040-zero-tht | U2 |
The 11 most common of 14 parts.
Questions
How big is the DonkeyHat prod PCB?
It measures 65 × 56.2 mm and has 2 copper layers, 1.6 mm thick.
What parts does the DonkeyHat prod use?
14 parts, built around the RP2040-ZERO and B4B-PH-K-S(LF)(SN). 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 DonkeyHat prod KiCad files?
From the zlite/donkeyhat repository on GitHub, at the commit this page was made from: the board is DonkeyHat/DonkeyHat-prod.kicad_pcb and its schematic DonkeyHat/DonkeyHat.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the DonkeyHat prod design in my own project?
Its repository states no licence, so its author keeps all rights: ask zlite before reusing the design.
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zlite/donkeyhat
This is the repo for the new Donkeycar RC hat (aka Donkeyhat) for the Raspberry Pi. It has a Waveshare RP2040-zero microprocessor running CircuitPython 9.x and has the following functions:
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