Recommend Projects


1 year ago 1124
  • Description
  • Documents
  • BOM
  • Attachments
  • Members
  • Comments


Raspberry Pi HAT for autonomous RC cars

Note: I have a small quantity built, programmed, and tested available for sale. Contact [email protected]


  • Screw terminals for connecting to a 2S-3S Lipo battery (operating range is ~7-15V) and a 3A buck converter to power the Raspberry Pi at 5V.
  • 6-pin sensored brushless motor cable pass-through for odometry / velocity control
  • ARM Cortex M0 microcontroller generating PWM for ESC / servo and reading the motor position sensor pulses
  • InvenSense ICM-20600 6-axis IMU (gyroscope + accelerometer, compatible with MPU-6050/MPU-6500).

The power section is reverse-protected (putting the wires in backwards = no current flows) and has a transient voltage suppression diode, so it should be safe from parallel-connected motors trying to blow it up.

This board is designed to mate with this display: (also available through several resellers on AliExpress and others) -- make sure to get the one with four pins on the far side (some have 5). Those four pins are only used for mounting, though, so not critical.

Use the fbtft device driver in Raspbian for the display. Create /etc/modprobe.d/fbtft.conf with the following contents:

options fbtft_device name=adafruit22a rotate=90

Create /etc/modules-load.d/fbtft.conf with:


Follow the instructions at to enable the boot console and set the console font, then reboot and your display should show the boot console (albeit very small!). At this point, /dev/fb0 is a memory-mappable device which the code at uses to display the camera view and the menu.

From a fresh Raspbian image, use apt-get install i2c-tools and i2cdetect 1 should show two addresses in use: 0x69 (the IMU) and 0x75 (the microcontroller).

Instructions for interfacing with the on-board microcontroller (via I2C, serial, or reflashing the firmware) are at:






ID Name Designator Footprint Quantity
1 220 R4 0603 1
2 1k R5 0603 1
3 33 R11,R12 0603 2
4 4.22k 1% R6 0603 1
5 30.9k 1% R7 0603 1
6 100k R8 0603 1
7 A2541WR-3P H3 210S-1X3P 1
8 LTST-C190KRKT (red) LED1 LED-0603 1
9 LTST-C190GKT (green) LED2 LED-0603 1
10 LTST-C190KFKT (yellow) LED3,LED4,LED5 LED-0603 3
11 PiTFT 2.2 RPI1 RPI-HAT 1
12 Header-Female-2.54_1x9 P2 HDR-9X1/2.54 1
13 WJ126V-5.0-2P P3 WJ126V-5.0-2P 1
14 SMBJ15CA D2 SMB(DO-214AA) 1
15 100n C2,C12,C13,C15,C5,C6 0603 6
16 NP C3,C4 0402 2
17 2.2uF C14,C1,C10 0603 3
18 NP C7 0603 1
19 NP C11 0603 1
20 AO3401 Q4 SC-59 1
21 Header-Female-2.54_1x4 P1 HDR-4X1/2.54 1
22 FR8205AS6CTR U3 SOT-23-6 1
23 SS-12D02-VG4 SW1 SS-12D02-VG4 1
24 Header-Female-2.54_1x5 STLINK1 HDR-5X1/2.54 1
25 BSS138 Q1,Q2,Q3 SOT-23(SOT-23-3) 3
26 A2541WR-2X3P H1,H2 A2541WR-2X3P 2
27 S6B-ZR-3.4 (LF)(SN) CN1,CN2 S6B-ZR-3.4 (LF)(SN) 2
28 6.8uH L2 0630 1
29 100uF 16V C8 CAP-D6.3XH5.5 1
30 100uF 6.3V C9 CAP-D6.3XH5.5 1
31 1k R1,R2,R3,R9,R10 0603 5
32 RT9078-33GJ5 or LP2985-33DBVR orLN1134A332MR-G U2 TSOT-23-5 1
33 ABM3B-8.000MHZ-B2-T X1 SMD-5032_4P 1
34 STM32F030F4P6 U1 TSSOP-20 1
35 ICM-20600 U5 LGA-14_2.5X3.0XP05MM 1
36 Header-Male-2.54_2x4 P4 A2541WR-2X4P 1




The owner does not allow comments in this project now

Comments (0)

如果需要转移工程请在个人中心 - 工程 - 工程高级设置 - 下载工程,下载后在 打开保存即可。
有问题联系QQ 3001956291 不再提醒
svg-battery svg-battery-wifi svg-books svg-more svg-paste svg-pencil svg-plant svg-ruler svg-share svg-user svg-logo-cn svg-double-arrow
We use cookies to offer you a better experience. Detailed information on the use of cookies on this website is provided in our Privacy Policy. By using this site, you consent to the use of our cookies.