Nautilus mainboard
About the Nautilus mainboard PCB
Nautilus mainboard is an open source STM32 PCB design by Nautilus-UUV, published on GitHub. It is a 4-layer board measuring 125 × 75 mm, with 112 components from 44 distinct parts.
Its main chip is the STM32H7B0RBT6, from the STM32 family. Other key parts include the TCAN3414DRBR, TPS2121RUXT, 262-BMI088 and 74LVC1G07SE-7. By type, the board carries 47 capacitors, 24 resistors, 10 LEDs, 8 ICs, 7 diodes and 6 connectors.
It belongs with the power & battery and sensors designs in this gallery.
From the project
Additionally the mainboard provides two IMUs (BMI088) that can be accessed over I^2C by the STM32. Those components house accelerometers and gyroscopes for orientation and movement detection and listen to the following addresses: - Accelerometer: 0x18, 0x19 - Gyroscope: 0x68, 0x6
Additionally the mainboard provides two IMUs (BMI088) that can be accessed over I^2C by the STM32. Those components house accelerometers and gyroscopes for orientation and movement detection and listen to the following addresses: - Accelerometer: 0x18, 0x19 - Gyroscope: 0x68, 0x69
The Power supply is primarily provided by the UUV's battery lines (5V, 3.3V and GND) but the board also accepts USB-C 2.0 for both data and power inputs (only powering the CM4 and nothing else) or the 3.3V Power supply over the STM programmer pins. (only powers the STM32) The power logic is achieved using three…
Main components on the Nautilus mainboard
Nautilus mainboard bill of materials (BOM)
112 components, 44 distinct parts.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | STM32H7B0RBT6 STMicroelectronics | LQFP-64_10x10mm_P0.5mm | IC1 |
| 1 | TCAN3414DRBR Texas Instruments | TCAN3414DRBR | IC2 |
| 3 | TPS2121RUXT Texas Instruments | TI_Switchover_TPS2121RUXT | IC3, IC5, IC6 |
| 2 | 262-BMI088 Bosch Sensortec | Bosch_IMU_BMI088 | U1, U2 |
| 1 | 74LVC1G07SE-7 Buffers & Line Driver Diodes Incorporated | SOT65P210X110-5N | U3 |
| 3 | BSS138 50V onsemi / Fairchild | onsemi_Mosfet_BSS138 | Q1, Q2, Q3 |
| 1 | 830205028309 32.768 kHz Würth Elektronik | 830205028309 | Y1 |
| 1 | FTSH-107-02-L-DV Samtec | FTSH-107-XX-YYY-DV | J1 |
| 1 | 179-UJ20CHC4SMTTR Same Sky | CON_Samesky_CUI_UJ20-C-H-C-4-SMT-TR | J3 |
| 1 | 22284054 Header male 1x05 Molex | PinHeader_1x05_P2.54mm_Vertical | J4 |
| 1 | MDT275M02001 Amphenol FCI | PCIE_MDT275M02001 | J6 |
| 1 | LPHT-04-16-L-RT1-GP SAMTEC | SAMTEC_LPHT-04-16-X-RT1-GP | J7 |
| 1 | 61300211121 Wurth Elektronik | Wurth_Con_61300211121 | J8 |
| 1 | CMT-1209-590T Piezo Buzzers & Audio Indicators 12mmx9mm deep Mag 5V 2048Hz Same Sky | CMT1209590T | LS1 |
| 1 | DF40C-100DS-0.4V(51) Hirose | Con-Raspberry-Pi-4-Compute-Module | Module1 |
| 1 | B3F-1052 Button Switch SPST-No Omron | SW_PUSH_6mm | SW1 |
| 2 | TPD4EUSB30DQAR ~ Texas Instruments | IC_TPD4EUSB30DQAR | TPD4EUSB30DQAR1, TPD4EUSB30DQAR2 |
| 1 | 824094024 Würth Elektronik | SOT95P240X104-3N | Z1 |
| 5 | 150060RS83000 710-150060RS83000 Wurth Elektronik | Wuerth_LED_150060RS83000 | LED1, LED2, LED3, LED9, LED10 |
| 2 | 150060RS83000 710-150060VS83000 Wurth Elektronik | Wuerth_LED_150060RS83000 | LED4, LED5 |
Show 24 more
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 3 | 150060RS83000 710-150060YS83000 Wurth Elektronik | Wuerth_LED_150060RS83000 | LED6, LED7, LED8 |
| 4 | 710-82402374 Wurth Elektronik | SOT-23-5 | D1, D2, D3, D4 |
| 1 | TPD2EUSB30DRTR 595-TPD2EUSB30DRTR Texas Instruments | TI_Prot_TPD2EUSB30DRTR | D5 |
| 1 | 833-SMF5.0A-TP SMF5.0A-TP Micro Commercial Components | SMF50ATP | D6 |
| 1 | DDZ5V1B-7 Diodes Incorporated | SOD3716X145N | D9 |
| 28 | 885012206095 100nF Wurth Elektronik | C_0603_1608Metric | C1, C2, C3, C4, C5, C6, C8, C11 +20 |
| 2 | 885012206126 1uF Wurth Elektronik | C_0603_1608Metric | C7, C42 |
| 1 | 885012006052 15pF Wurth Elektronik | C_0603_1608Metric | C9 |
| 2 | 885012006047 2.2pF Wurth Elektronik | C_0603_1608Metric | C10, C15 |
| 8 | GRM32EC72A106KE05 10uF Murata Electronics | C_1210_3225Metric | C16, C21, C22, C35, C36, C47, C48, C49 |
| 1 | 885012206087 4.7nF Wurth Elektronik | C_0603_1608Metric | C20 |
| 2 | 885012106007 330nF Wurth Elektronik | C_0603_1608Metric | C25, C41 |
| 3 | GRM21BR61A476ME15 47uF Murata Electronics | C_0805_2012Metric | C27, C53, C54 |
| 2 | 560112116098 2.2k Wurth Elektronik | R_0603_1608Metric | R1, R18 |
| 1 | 560112116141 4.3k Wurth Elektronik | R_0603_1608Metric | R2 |
| 10 | 560112116014 1k Wurth Elektronik | R_0603_1608Metric | R3, R5, R6, R7, R8, R9, R13, R16 +2 |
| 2 | 560112116005 10k Wurth Elektronik | R_0603_1608Metric | R4, R33 |
| 2 | 560112116132 4.99k Wurth Elektronik | R_0603_1608Metric | R10, R12 |
| 1 | 560112116074 1M Wurth Elektronik | R_0603_1608Metric | R11 |
| 2 | 560112116004 100k Wurth Elektronik | R_0603_1608Metric | R14, R27 |
| 1 | 560112116064 68k Wurth Elektronik | R_0603_1608Metric | R17 |
| 1 | 560112116022 22k Wurth Elektronik | R_0603_1608Metric | R22 |
| 1 | 560112116119 120 Wurth Elektronik | R_0603_1608Metric | R32 |
| 1 | ERJ-2RKF1000X 100 Panasonic | R_0402_1005Metric | R40 |
Nautilus mainboard design files
The KiCad project lives in the Nautilus-UUV/nautilus-mainboard-PCB repository on GitHub; these links point at the commit this page was built from.
- Layoutnautilus_mainboard.kicad_pcb
- Schematicnautilus_mainboard.kicad_sch
Nautilus mainboard: common questions
What microcontroller does the Nautilus mainboard use?
The Nautilus mainboard is built around the STM32H7B0RBT6, from the STM32 family.
How big is the Nautilus mainboard PCB?
The Nautilus mainboard measures 125 × 75 mm, has 4 copper layers and is 1.645 mm thick.
How many components are on the Nautilus mainboard?
112 components, from 44 distinct parts. The full bill of materials is listed on this page.
Where can I download the Nautilus mainboard design files?
From the Nautilus-UUV/nautilus-mainboard-PCB repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.
Can I use the Nautilus mainboard design in my own project?
The repository has no license, so all rights stay with Nautilus-UUV. Use it as a reference, and ask the author before reusing the design.
Can I test firmware for the Nautilus mainboard 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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