HardLabs

Calibration board

htl-stp-ecer·calibration-board·IMU_Extendor_Board/IMU_Extendor_Board.kicad_pcb

Calibration board layout, top view — open source STM32 board by htl-stp-ecer

About the Calibration board

Calibration board is an open source STM32 PCB design by htl-stp-ecer, published on GitHub. It is a 2-layer board measuring 54.9 × 55 mm, with 74 components from 31 distinct parts.

Its main chip is the STM32F722RETx, from the STM32 family. Other key parts include the XC6210B332PR-G, USBLC6-2SC6, BNO086 and ICM-42688-P. By type, the board carries 32 resistors, 24 capacitors, 7 connectors, 5 ICs, 4 crystals and 2 diodes.

It belongs with the sensors designs in this gallery.

From the project

Wombat companion board — absolute position from optical flow and a reference IMU for calibrating the onboard one, enabling motion teach-in and automated setup routines

A companion board for the KIPR Wombat: absolute position from optical flow, and a reference IMU good enough to calibrate the Wombat's own.

KiCad PCB · STM32F722 firmware · On-board Madgwick fusion · Persistent flash calibration · USB-CDC to LCM bridge

There are two things a Wombat can't tell you well on its own.

The first is where it actually is. Wheel odometry integrates encoder ticks and trusts them, but wheels slip on seams, on poms and on ramps, and every slipped tick stays in the estimate for the rest of the run. Encoders measure the wheels, not the ground.

Main components on the Calibration board

XC6210B332PR-GUSBLC6-2SC6STM32F722RETxBNO086ICM-42688-P

Calibration board bill of materials (BOM)

74 components, 31 distinct parts.

QtyPartRefs
1
XC6210B332PR-G
U101
1
USBLC6-2SC6
U102
1
STM32F722RETx
U201
1
BNO086
U401
1
ICM-42688-P
U501
1
Crystal_GND24
Y101
3
ECS-327KE
Y203, Y401, Y501
1
USB_C_Receptacle_USB2.0_16P
J101
1
Conn_01x02_Pin
J102
1
DNP
J201
1
Conn_01x06_Pin
J501
1
Conn_01x07_Pin
J601
1
Conn_01x10_Pin
J702
1
Conn_01x04_Pin
J703
2
LED
D101, D201
2
1u
C101, C102
11
100n
C201, C202, C203, C204, C205, C207, C209, C401 +3
2
4u7
C206, C214
1
1u
C208
2
27p
C210, C211
Show 11 more
QtyPartRefs
4
10n
C212, C404, C501, C504
1
DNP
C213
1
2.2u
C502
2
5k1
R101, R102
2
1k
R103, R207
2
2k2
R104, R105
7
10k
R201, R202, R205, R407, R408, R409, R410
12
0R
R203, R402, R403, R405, R406, R501, R502, R503 +4
1
4k7
R204
5
DNP
R206, R401, R404, R504, R506
1
0.1R
R208

Calibration board design files

The KiCad project lives in the htl-stp-ecer/calibration-board repository on GitHub; these links point at the commit this page was built from.

Calibration board: common questions

What microcontroller does the Calibration board use?

The Calibration board is built around the STM32F722RETx, from the STM32 family.

How big is the Calibration board?

The Calibration board measures 54.9 × 55 mm, has 2 copper layers and is 1.69112 mm thick.

How many components are on the Calibration board?

74 components, from 31 distinct parts. The full bill of materials is listed on this page.

Where can I download the Calibration board design files?

From the htl-stp-ecer/calibration-board repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the Calibration board design in my own project?

The repository has no license, so all rights stay with htl-stp-ecer. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the Calibration board without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug STM32 firmware against it before you order a PCB.

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