Oomwoo
About the Oomwoo PCB
Oomwoo is an open source STM32 PCB design by makerspet, published on GitHub under the Apache-2.0 license. It is a 4-layer board measuring 146.1 × 105.2 mm, with 380 components from 119 distinct parts.
Its main chip is the C730121, from the STM32 family. Other key parts include the C20032, C42163132, RS8422XK, MT3608 and C250547. By type, the board carries 136 resistors, 125 capacitors, 22 ICs, 22 diodes, 16 transistors and 7 LEDs.
It belongs with the robotics & motion, sensors and audio designs in this gallery.
From the project
I/O board for open-source vacuum cleaner robot
Open-source robot vacuum you build yourself.
Raspberry Pi CM4/CM5 socket · STM32G473 MCU · Motor drivers · Sensors · 2x MIPI cameras · 4S charging · KiCad
Part of OOMWOO open-source robot vacuum project.
Consumer vacuums typically split compute into CPU and MCU. The MCU (real examples) controls - all motors - driving wheels, suction fan, side brushes, mop motors, mop lift servos, pump and so on - all sensors except below - IR cliff, IR side proximity, IR docking, wheel drop, bumper (IR or micro-switches), motor encoders, ultrasonic carpet sensor - all push buttons - 2D LiDAR motor RPM -…
Main components on the Oomwoo
Oomwoo bill of materials (BOM)
380 components, 119 distinct parts — part numbers from the project's BOM.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | C20032 TMI6240 TMI | TMI6240 | U2 |
| 1 | C42163132 STWD100NYWY3F STMicroelectronics | STWD100NYWY3F | U3 |
| 1 | RS8422XK Jiangsu RUNIC Tech | RS8422XK | U4 |
| 1 | MT3608 XI'AN Aerosemi Tech | MT3608 | U5 |
| 1 | C250547 RT9742GGJ5 Richtek Tech | RT9742GGJ5 | U6 |
| 1 | C2862876 BQ25792RQMR Texas Instruments | BQ25792RQMR | U7 |
| 2 | C5656610 ICS-43434_C5656610 TDK InvenSense | ICS-43434_C5656610 | U9, U10 |
| 1 | C910544 MAX98357AETE_T Analog Devices Inc./Maxim Integrated | MAX98357AETE_T | U11 |
| 1 | XRNR4030-10UH_M XR | XRNR4030-10UH_M | U12 |
| 1 | C730121 STM32G473VCT6 | LQFP100-14x14mm | U13 |
| 4 | C86590 DRV8870DDAR * | DRV8870DDAR | U14, U15, U18, U20 |
| 1 | HT7533-1_C14289 Holtek Semicon | HT7533-1_C14289 | U16 |
| 1 | C5129967 ICM-42607-P * | ICM-42607-P | U19 |
| 3 | C2071517 AP64501SP-13 Diodes Incorporated | AP64501SP-13 | U21, U22, U24 |
| 1 | C3229246 BV1HAL45EFJ-E2 ROHM Semicon | BV1HAL45EFJ-E2 | U23 |
| 1 | AP64501SP-13 Diodes Incorporated | AP64501SP-13 | U25 |
| 1 | YLED0603B YONGYUTAI | YLED0603B | M2_ACT2 |
| 1 | C7431443 AOD407_C6396162 JSMSEMI | AOD407_C6396162 | Q1 |
| 2 | C7431443 2302V HL | 2302V | Q2, Q9 |
| 2 | 2302V HL | 2302V | Q3, Q19 |
Show 99 more
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | C727613 AOD407_C6396162 JSMSEMI | AOD407_C6396162 | Q4 |
| 1 | C15127 AO3401 * | SOT23-3D | Q8 |
| 1 | C7431443 AO3401 * | SOT23-3D | Q10 |
| 1 | C50176433 2N3904 * | SOT23-3D | Q11 |
| 1 | C49023424 2N3906_C49023424 GOODWORK | 2N3906_C49023424 | Q12 |
| 1 | 2N3906_C49023424 GOODWORK | 2N3906_C49023424 | Q13 |
| 2 | 2N3904 * | SOT23-3D | Q14, Q15 |
| 2 | AO3401 * | SOT23-3D | Q16, Q17 |
| 1 | C20628874 AO3400 * | SOT23-3D | Q20 |
| 1 | C144380 ABM3-8_000MHZ-D2Y-T Abracon LLC | ABM3-8_000MHZ-D2Y-T | X1 |
| 1 | C18214309 XKXEL89CII-SUAYLC-32_768K YXC Crystal Oscillators | XKXEL89CII-SUAYLC-32_768K | X3 |
| 1 | ASEK-32.768KHZ-LRT Abracon | XTAL_ASEK-32.768KHZ-LRT | Y2 |
| 1 | 91302-85-067RDM UMAX | 91302-85-067RDM | CN1 |
| 1 | C239364 EV2400 CJT(Changjiang Connectors) | A2543WV-4P | CN2 |
| 1 | C563847 BATTERY MOLEX | 436500412 | BAT2 |
| 1 | C32713268 Conn_01x02_Pin | PinHeader_1x02_P2.54mm_Vertical | BOOT1 |
| 1 | S16B-PHDSS_LF_SN JST | S16B-PHDSS_LF_SN | BUMP_CLIFF1 |
| 3 | SFW15R-1STE1LF Amphoenol FCI | AMPHENOL_SFW15R-1STE1LF | CAM0, MIPI0, MIPI1 |
| 2 | HX_PZ2_54-1X5P_TP-YQ hanxia | HX_PZ2_54-1X5P_TP-YQ | CM_CONSOLE1, STM32_DEBUG1 |
| 1 | HX_PM2_54-2X6P_WT hanxia | HX_PM2_54-2X6P_WT | CM_IO1 |
| 2 | WAFER-PH2_0-4PWB XUNPU | WAFER-PH2_0-4PWB | CONTACT_CHGR1, MAIN_FAN1 |
| 1 | DC-005-5A-2_0 XKB Connection | DC-005-5A-2_0 | DC1 |
| 2 | C5261080 ESD5451N WillSemi(韦尔半导体) | ESD0402 | ED3, ED4 |
| 1 | JFC1206-2200FS Shenzhen JDT Fuse | JFC1206-2200FS | F1 |
| 2 | S2B-ZR-SM4A-TF_LF_SN JST | S2B-ZR-SM4A-TF_LF_SN | FAN1, US1 |
| 2 | ZX-ZH1_5-4PWT Megastar | ZX-ZH1_5-4PWT | IR-F1, IR-F2 |
| 1 | C5563894 STLINK-V3MINIE Samtec | FTSH-107-01-L-DV-K-A | JTAG1 |
| 1 | WAFER-GH1_25-4PWB XUNPU | WAFER-GH1_25-4PWB | LIDAR1 |
| 1 | HX_PM2_54-1X4P_WT hanxia | HX_PM2_54-1X4P_WT | LIDAR2 |
| 3 | C19272405 ZX-ZH1_5-2PWT Megastar | ZX-ZH1_5-2PWT | LIGHT1, PUMP1, SPK1 |
| 2 | ZX-ZH1_5-2PWT Megastar | ZX-ZH1_5-2PWT | MAIN_BRUSH1, SIDE_BRUSH1 |
| 6 | ZX-ZH1_5-7PWT Megastar | ZX-ZH1_5-7PWT | MOT_WHEEL_L1, MOT_WHEEL_R1, SIDE-L1, SIDE-R1, VL-L1, VL-R1 |
| 1 | 2XC6932320 ComputeModule5-CM5 | Raspberry-Pi-5-Compute-Module | Module1 |
| 1 | C585350 1040310811 MOLEX | 1040310811 | SDCARD2 |
| 3 | TS-1187A-B-A-B XKB Connection | TS-1187A-B-A-B | SW_CLEAN1, SW_HOME1, SW_PWR1 |
| 1 | NTCG164KF104FT1 TDK | NTCG164KF104FT1 | T1 |
| 2 | USB4215-03-A USB4215-03-A_REVA | GCT_USB4215-03-A_REVA | USB2, USB_BOOT1 |
| 1 | 3V3_SENSORS * | LED0603-B | 3.3V_SENSORS1 |
| 1 | 3V3-STM * | LED0603-B | 3.3V_STM1 |
| 1 | ~ * | LED0603-B | 5V1 |
| 2 | YLED0603B YONGYUTAI | YLED0603B | CM_ACT1, CM_PWR1 |
| 2 | C19171394 YLED0603B YONGYUTAI | YLED0603B | HOME1, PWR1 |
| 1 | C523793 SMBJ24A_C908801 GOODWORK | SMBJ24A_C908801 | D1 |
| 1 | C523793 ZMM9V1_C2891750 YONGYUTAI | ZMM9V1_C2891750 | D2 |
| 1 | C148219 SMAJ18A_C148219 Littelfuse | SMAJ18A_C148219 | D3 |
| 4 | SS34_C8678 MDD(Microdiode Semiconductor) | SS34_C8678 | D4, D7, D8, D9 |
| 5 | C22448055 SS34 * | D_SMA | D5, D6, D10, D37, D38 |
| 1 | SS34 * | D_SMA | D11 |
| 5 | C917030 1N4148 * | SOD123 | D24, D25, D26, D27, D28 |
| 1 | C19171394 3V3-STAT * | LED0603-B | D29 |
| 2 | TPD2EUSB30DRTR | SOTFL35P100X50-3N | D34, D35 |
| 1 | C507911 SS34 * | D_SMA | D39 |
| 3 | C5189747 CYA0630-3_3UH SHOU HAN | CYA0630-3_3UH | L2, L3, L4 |
| 1 | CYA0630-3_3UH SHOU HAN | CYA0630-3_3UH | L5 |
| 1 | C51933819 1uH FAUKU | GSM0420-1R0-M | L7 |
| 4 | 100nF/50V | C_0603_1608Metric | C1, C2, C4, C25 |
| 23 | C96446 10uF/25V | C_0603_1608Metric | C3, C62, C83, C95, C96, C97, C98, C99 +15 |
| 15 | 100nF/6.3V | C_0603_1608Metric | C5, C9, C12, C13, C15, C16, C30, C32 +7 |
| 15 | C96446 10uF/6.3V | C_0603_1608Metric | C6, C17, C19, C31, C33, C90, C91, C108 +7 |
| 3 | 150pF/50V | C_0603_1608Metric | C7, C101, C105 |
| 2 | 100nF/10V | C_0603_1608Metric | C10, C163 |
| 6 | C96446 10uF/10V Samsung Electro-Mechanics | C_0603_1608Metric | C11, C63, C121, C122, C133, C147 |
| 20 | 100nF/25V * | C_0603_1608Metric | C18, C21, C22, C84, C88, C92, C102, C103 +12 |
| 7 | 10uF/6.3V Samsung Electro-Mechanics | C_0603_1608Metric | C20, C23, C24, C64, C159, C160, C161 |
| 2 | 22pF/50V | C_0603_1608Metric | C34, C35 |
| 2 | 18pF/50V | C_0603_1608Metric | C39, C42 |
| 4 | 10uF/25V Samsung Electro-Mechanics | C_0603_1608Metric | C46, C150, C151, C154 |
| 7 | C96446 10uF/50V | C_0805_2012Metric | C67, C68, C69, C78, C80, C81, C82 |
| 1 | C96446 4.7uF/10V Samsung Electro-Mechanics | C_0603_1608Metric | C70 |
| 3 | 47nF/50V | C_0603_1608Metric | C75, C79, C110 |
| 1 | 1nF/50V | C_0603_1608Metric | C77 |
| 5 | 1.2nF/50V | C_0603_1608Metric | C85, C112, C120, C130, C162 |
| 1 | 10uF/50V | C_0805_2012Metric | C125 |
| 4 | 10uF/10V Samsung Electro-Mechanics | C_0603_1608Metric | C148, C149, C152, C153 |
| 28 | 10k | R_0603_1608Metric | R1, R18, R21, R22, R23, R25, R31, R32 +20 |
| 10 | 47k | R_0603_1608Metric | R2, R7, R39, R44, R48, R53, R61, R62 +2 |
| 31 | 100k | R_0603_1608Metric | R3, R4, R8, R10, R11, R13, R16, R17 +23 |
| 8 | 2.2k | R_0603_1608Metric | R5, R6, R24, R26, R33, R46, R149, R164 |
| 3 | 0 | R_0603_1608Metric | R9, R12, R19 |
| 17 | 1k * | R_0603_1608Metric | R14, R28, R37, R66, R68, R71, R77, R78 +9 |
| 2 | RL12FTNR250 TA-I Tech | RL12FTNR250 | R15, R65 |
| 1 | 330 | R_0603_1608Metric | R30 |
| 1 | 22 | R_0603_1608Metric | R35 |
| 13 | 10 | R_0603_1608Metric | R36, R42, R79, R80, R94, R95, R96, R97 +5 |
| 3 | 20k | R_0603_1608Metric | R47, R147, R162 |
| 1 | 30.31k | R_0603_1608Metric | R60 |
| 1 | GL5537-1 Senba Sensing Tech | GL5537-1 | R75 |
| 1 | C5375488 RL12FTNR300 TA-I Tech | RL12FTNR300 | R83 |
| 1 | C5375488 RLH12FTCR110 TA-I Tech | RLH12FTCR110 | R84 |
| 1 | C5375488 10 | R_0603_1608Metric | R88 |
| 1 | C185443 215k YAGEO | R_0603_1608Metric | R99 |
| 1 | 100 | R_0603_1608Metric | R100 |
| 1 | 215k YAGEO | R_0603_1608Metric | R101 |
| 1 | 5.24k | R_0603_1608Metric | R127 |
| 1 | C327366 17.4k YAGEO | R_0603_1608Metric | R129 |
| 4 | 12k | R_0603_1608Metric | R143, R148, R155, R163 |
| 2 | 69.8k | R_0603_1608Metric | R144, R156 |
| 2 | 22.1k | R_0603_1608Metric | R145, R157 |
| 1 | 324k | R_0603_1608Metric | R160 |
Oomwoo design files
The KiCad project lives in the makerspet/oomwoo-pcb repository on GitHub; these links point at the commit this page was built from.
Oomwoo: common questions
What microcontroller does the Oomwoo use?
The Oomwoo is built around the C730121, from the STM32 family.
How big is the Oomwoo PCB?
The Oomwoo measures 146.1 × 105.2 mm, has 4 copper layers and is 1.6 mm thick.
How many components are on the Oomwoo?
380 components, from 119 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.
Where can I download the Oomwoo design files?
From the makerspet/oomwoo-pcb repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.
Can I use the Oomwoo design in my own project?
Yes, under the terms of its Apache-2.0 license, which makerspet chose for the repository.
Can I test firmware for the Oomwoo 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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