Hardware#
pamoja is a software library, so it runs on whatever its host runs on. This page lists the parts its drivers were written against, the radios and antennas a long-range link is built from, and the boards the project builds and tests on. Each group opens with a table for choosing between its parts; the card for each part below it gives the figures, where to buy it, and what to read and build with. The buses and protocols themselves are on Buses and links, because a protocol is not something you can buy.
A part that is not here can still be driven. Anything on a bus pamoja reaches works through a trait of your own, as Anything else with a driver shows.
The prices below were read from each store's own page between and . A workflow reads them again every day, and each card names the day its prices were read.
Sensors#
Parts pamoja decodes byte for byte, each with a driver written from the datasheet linked beside it. For what the interface line means, and how to wire it, see Buses and links.
Table 1. Sensors: what each is best for, and the lowest price listed.
| Part | Connects | Best for | From |
|---|---|---|---|
| BME280Humidity, pressure, temperature | I2C up to 3.4 MHz, or SPI up to 10 MHz | Weather on one chip, over I2C or SPI, at 3.6 µA sampling once a second | US$14.95 |
| DS18B20Temperature | 1-Wire, many devices on one pin | Many thermometers on one pin, -55 to +125 °C, powered from the data line if need be | US$3.95 |
| INA219Current, voltage, power | I2C, 16 addresses from two pins | Loads up to 26 V, with a shunt range you set | US$6.90 |
| ADS1115Analog voltage | I2C, four addresses from one pin | Reading an analog sensor: four inputs at 16 bits, with gain for small signals | US$12.00 |
| SHT3x-DISHumidity, temperature | I2C up to 1 MHz, with optional clock stretching | Humidity to ±1.5 %RH on the SHT35, with a CRC on every reading | US$9.90 |
| SCD40 and SCD41CO2, humidity, temperature | I2C at 0x62, up to 100 kHz | Indoor air, with CO2 measured directly by photoacoustic NDIR | US$44.95 |
| TMP117Temperature | I2C and SMBus, 1 kHz to 400 kHz, four addresses from one pin | ±0.1 °C from -20 to 50 °C with no calibration, and alert limits | US$11.50 |
| HDC1080Humidity, temperature | I2C, 10 to 400 kHz | Humidity in the under $5 band, ±2 %RH typical, 1.3 µA average | US$1.29 |
| OPT3001Light, in lux | I2C or SMBus up to 2.6 MHz, four addresses from the ADDR pin, INT pin | Light as the eye sees it, 0.01 to 83865.6 lux, ranging itself | US$3.60 |
| INA226Current, voltage, power | I2C or SMBus up to 2.94 MHz, 16 addresses from two pins | Loads up to 36 V at 16 bits and 0.1 % gain error, with an alert pin | US$8.50 |
| BMP280Pressure, temperature | I2C up to 3.4 MHz, or SPI (3 or 4 wire) up to 10 MHz | Altitude or weather without humidity, at 2.8 µA once a second | US$9.80 |
BME280#
Bosch Sensortec
Reports humidity, pressure and temperature as raw counts plus per-chip calibration coefficients, which the driver compensates.
- Interface
- I2C up to 3.4 MHz, or SPI up to 10 MHz
- Ranges
- 0 to 100 %RH, 300 to 1100 hPa, -40 to +85 °C
- Accuracy
- ±3 %RH from 20 to 80 %RH at 25 °C, ±1.0 hPa, ±0.5 °C from 0 to 65 °C
- Addresses
- 0x76 with SDO to ground, 0x77 with SDO to VDDIO; SDO must not float
- Supply
- 1.71 to 3.6 V main, 1.2 to 3.6 V interface
- Current
- 3.6 µA at 1 Hz for all three, 0.1 µA asleep
- Typical cost
- $5 to $20 for a breakout board
DS18B20#
Analog Devices, originally Maxim Integrated
A digital thermometer that returns Celsius over a single data line, each part carrying its own 64-bit serial code so a bus can hold many.
- Interface
- 1-Wire, many devices on one pin
- Range
- -55 °C to +125 °C
- Accuracy
- ±0.5 °C from -10 °C to +85 °C
- Resolution
- 9 to 12 bits, user programmable
- Conversion
- 750 ms maximum at 12 bits, halving with each bit dropped
- Supply
- 3.0 to 5.5 V, or parasite power from the data line
- Typical cost
- under $5 for a breakout board
Where to buy
- AdafruitDS18B20 Digital temperature sensor + extrasUS$3.95
- The Pi HutDS18B20+ One Wire Digital Temperature Sensor£7.00
- SparkFunTemperature Sensor - Waterproof (DS18B20)US$10.95
prices as listed on 2026-10-06
Read and build
INA219#
Texas Instruments
Measures the drop across an external shunt and the bus voltage, and reports current and power once its calibration register is set.
- Interface
- I2C, 16 addresses from two pins
- Bus voltage
- senses 0 to 26 V
- Shunt full scale
- ±40, ±80, ±160 or ±320 mV by PGA setting
- ADC
- 12-bit, selectable down to 9-bit or averaged
- Registers
- 10 µV per shunt count, 4 mV per bus count
- Supply
- 3 to 5.5 V, 0.7 mA typical
- Typical cost
- $5 to $20 for a breakout board
Where to buy
- DFRobotGravity: I2C Digital WattmeterUS$6.90
- AdafruitINA219 High Side DC Current Sensor Breakout - 26V ±3.2A Max - STEMMA QTUS$9.95
- The Pi HutINA219 High Side DC Current Sensor Breakout - 26V ±3.2A Max (STEMMA QT)£9.60
prices as listed on 2026-10-06
Read and build
ADS1115#
Texas Instruments
A 16-bit delta-sigma ADC that digitizes four single-ended or two differential inputs through a programmable gain amplifier.
- Interface
- I2C, four addresses from one pin
- Resolution
- 16 bits
- Inputs
- four single-ended or two differential
- Full scale
- ±0.256 V to ±6.144 V in six PGA steps
- Rate
- 8 to 860 samples per second
- Supply
- 2.0 to 5.5 V, 150 µA in continuous conversion
- Typical cost
- $5 to $20 for a breakout board
Where to buy
- Seeed StudioGrove - 4 Channel 16-bit ADC (ADS1115) with Programmable Amplifier GainUS$12.00
- AdafruitADS1115 16-Bit ADC - 4 Channel with Programmable Gain Amplifier - STEMMA QT / QwiicUS$14.95
- DFRobotGravity: I2C ADS1115 16-Bit ADC ModuleUS$15.50
prices as listed on 2026-10-06
Read and build
SHT3x-DIS#
Sensirion
Reports humidity and temperature as calibrated 16-bit words, each followed by a CRC-8, which the driver checks and converts with the fixed linear formulas.
- Interface
- I2C up to 1 MHz, with optional clock stretching
- Ranges
- 0 to 100 %RH, -40 to +125 °C
- Accuracy
- typical ±2 %RH and ±0.2 °C (SHT30, SHT31), ±1.5 %RH and ±0.1 °C (SHT35)
- Repeatability
- 0.08 to 0.21 %RH and 0.04 to 0.15 °C across the three modes, measured in 15, 6, or 4 ms
- Addresses
- 0x44 with ADDR to logic low, 0x45 with ADDR to logic high; ADDR must not float
- Supply
- 2.15 to 5.5 V
- Current
- 0.2 µA idle in single-shot mode, 600 µA measuring, 1.7 µA average at one low-repeatability measurement per second
- Typical cost
- $5 to $20 for a breakout board
Where to buy
- Seeed StudioGrove - Temperature & Humidity Sensor (SHT31)US$9.90
- AdafruitAdafruit Sensirion SHT31-D Temperature & Humidity SensorUS$13.95
- AdafruitSHT-30 Mesh-protected Weather-proof Temperature/Humidity Sensor - 1M CableUS$24.95
prices as listed on 2026-10-06
Read and build
SCD40 and SCD41#
Sensirion
A photoacoustic NDIR CO2 sensor with a built-in humidity and temperature sensor; every word it sends carries a CRC-8 the driver checks.
- Interface
- I2C at 0x62, up to 100 kHz
- CO2 range
- 0 to 40000 ppm output; specified 400 to 2000 ppm (SCD40) and 400 to 5000 ppm (SCD41)
- CO2 accuracy
- ±(50 ppm + 5 %) for the SCD40, ±(40 ppm + 5 %) for the SCD41
- Humidity and temperature
- 0 to 100 %RH within ±6 %RH, -10 to 60 °C within ±0.8 °C
- Update interval
- 5 s periodic, about 30 s low power, single shot on the SCD41
- Supply
- 2.4 to 5.5 V, 15 mA average and 175 mA peak at 3.3 V in periodic measurement
- Typical cost
- $20 to $60 for a breakout board
Where to buy
- AdafruitAdafruit SCD-40 - True CO2, Temperature and Humidity Sensor - STEMMA QT / QwiicUS$44.95
- AdafruitAdafruit SCD-41 - True CO2 Temperature and Humidity Sensor - STEMMA QT / QwiicUS$49.95
- Seeed StudioGrove - CO2 & Temperature & Humidity Sensor - SCD41US$52.90
prices as listed on 2026-10-06
Read and build
TMP117#
Texas Instruments
A 16-bit digital thermometer accurate to ±0.1 °C with no calibration, with programmable alert limits, a user offset, and 48 bits of EEPROM.
- Interface
- I2C and SMBus, 1 kHz to 400 kHz, four addresses from one pin
- Range
- -55 °C to +150 °C
- Accuracy
- ±0.1 °C from -20 °C to 50 °C, ±0.3 °C over the full range
- Resolution
- 16 bits, 7.8125 m°C per count
- Addresses
- 0x48 to 0x4B with ADD0 tied to GND, V+, SDA, or SCL
- Conversion
- 15.5 ms typical one-shot, 1 s cycle with 8 averages at reset
- Supply
- 1.7 to 5.5 V up to 70 °C, 1.8 to 5.5 V to 150 °C
- Current
- 3.5 µA typical at a 1 Hz cycle, 150 nA in shutdown
- Typical cost
- $5 to $20 for a breakout board
Where to buy
- AdafruitAdafruit TMP117 ±0.1°C High Accuracy I2C Temperature Sensor - STEMMA QT / QwiicUS$11.50
- SparkFunSparkFun High Precision Temperature Sensor - TMP117 (Qwiic)US$16.95
prices as listed on 2026-10-06
Read and build
HDC1080#
Texas Instruments
Reports humidity and temperature as 16-bit fractions of full scale with no per-chip calibration, which the driver decodes in exact integer arithmetic alongside the configuration register.
- Interface
- I2C, 10 to 400 kHz
- Ranges
- 0 to 100 %RH; temperature sensor -40 to +125 °C, humidity sensor -20 to +70 °C (functional to +85 °C)
- Accuracy
- ±2 %RH typical; ±0.2 °C typical, ±0.4 °C max from 5 to 60 °C
- Resolution
- 14, 11, or 8 bit humidity in 6.50, 3.85, or 2.50 ms; 14 or 11 bit temperature in 6.35 or 3.65 ms
- Address
- fixed 0x40; manufacturer id 0x5449, device id 0x1050, 40-bit serial number
- Supply
- 2.7 to 5.5 V; 1.3 µA average at 1 sample/s for 11-bit humidity and temperature, 100 nA asleep
- Typical cost
- under $5 for a breakout board
Where to buy
- LCSCTexas Instruments HDC1080DMBRUS$1.29 on 2026-10-06
- Digi-KeyTexas Instruments HDC1080DMBRlisted price; the page refuses scripted readersUS$2.27 on 2026-09-06
prices as listed on the day named
Read and build
OPT3001#
Texas Instruments
A single-chip lux meter filtered to the human eye's response that reports illuminance as a 4-bit exponent and 12-bit mantissa, ranging itself across twelve full-scale settings.
- Interface
- I2C or SMBus up to 2.6 MHz, four addresses from the ADDR pin, INT pin
- Range
- 0.01 to 83865.6 lux, 12 binary-weighted full-scale ranges or automatic ranging
- Resolution
- 0.01 lux per LSB at the lowest range, 23-bit effective dynamic range
- Accuracy
- 2000 lux reads 1800 to 2200 lux, 0.2 % matching between ranges, 0.2 % response at 850 nm
- Conversion
- 100 ms or 800 ms, 720 to 880 ms in the 800 ms setting
- Addresses
- 0x44 to 0x47 with ADDR to GND, VDD, SDA, or SCL
- Supply
- 1.6 to 3.6 V, 1.8 µA active and 0.3 µA shutdown typical, I/O 5.5 V tolerant
- Temperature
- -40 to +85 °C
- Typical cost
- $5 to $20 for a breakout board
Where to buy
prices as listed on 2026-10-06
Read and build
INA226#
Texas Instruments
Measures the drop across a shunt and the bus voltage on either side of the load, reports current and power once calibrated, and drives an alert pin from one programmable limit.
- Interface
- I2C or SMBus up to 2.94 MHz, 16 addresses from two pins
- Bus voltage
- senses 0 to 36 V, 1.25 mV per count
- Shunt full scale
- ±81.92 mV, 2.5 µV per count
- ADC
- 16-bit, 140 µs to 8.244 ms per conversion, 1 to 1024 samples averaged
- Accuracy
- 0.1 % gain error and 10 µV shunt offset, maximum
- Alert
- open-drain pin on a shunt, bus, or power limit, or conversion ready
- Supply
- 2.7 to 5.5 V, 330 µA typical, 2 µA maximum powered down
- Typical cost
- $5 to $20 for a breakout board
Where to buy
- M5StackINA226-1A Current Voltage Power Monitor UnitUS$8.50
- The Pi HutINA226-1A Current Voltage Power Monitor Unit£8.20
prices as listed on 2026-10-06
Read and build
BMP280#
Bosch Sensortec
Reports barometric pressure and temperature as 20-bit raw counts plus per-chip calibration coefficients, which the driver compensates; the BME280 without the humidity element.
- Interface
- I2C up to 3.4 MHz, or SPI (3 or 4 wire) up to 10 MHz
- Ranges
- 300 to 1100 hPa, -40 to +85 °C (full accuracy 0 to +65 °C)
- Accuracy
- ±1.0 hPa absolute from 0 to 65 °C, ±0.12 hPa relative from 700 to 900 hPa, ±0.5 °C at 25 °C
- Resolution
- 0.16 Pa and 0.0003 °C at ×16 oversampling; 1.3 Pa RMS noise unfiltered, 0.2 Pa with the IIR filter
- Addresses
- 0x76 with SDO to ground, 0x77 with SDO to VDDIO; SDO must not float
- Supply
- 1.71 to 3.6 V main, 1.2 to 3.6 V interface
- Current
- 2.8 µA at 1 Hz forced mode, lowest power; 0.1 µA asleep
- Typical cost
- $5 to $20 for a breakout board
Actuators#
Parts pamoja drives: a PWM generator for servos and LEDs, the transistor array a four-wire stepper runs through, and the step and direction chips a bipolar stepper sits behind. For what the interface line means, and how to wire it, see Buses and links.
Table 2. Actuators: what each is best for, and the lowest price listed.
| Part | Connects | Best for | From |
|---|---|---|---|
| PCA9685PWM for servos and dimming | I2C, up to 62 devices per bus | Sixteen servos or lights from one I2C bus, 12 bits each at one shared frequency | US$13.95 |
| ULN2003ASwitches coils and relays | seven logic inputs, one per channel | Small four-wire steppers and relays, 500 mA a channel up to 50 V | US$0.97 |
| A4988Bipolar stepper driver | step and direction, with three mode pins | Bipolar steppers up to 35 V and ±2 A, down to 1/16 step | US$6.95 |
| DRV8825Bipolar stepper driver | step and direction, with three mode pins | Bipolar steppers up to 45 V and down to 1/32 step, reporting its own faults | US$8.95 |
PCA9685#
NXP Semiconductors
A 16-channel PWM generator that produces servo and dimming pulses; each output sinks 25 mA, so load current is switched by an external driver.
- Interface
- I2C, up to 62 devices per bus
- Channels
- 16, all sharing one frequency
- Resolution
- 12-bit, 4096 steps per output
- Frequency
- typically 24 Hz to 1526 Hz, 200 Hz at reset
- Supply
- 2.3 to 5.5 V, inputs and outputs 5.5 V tolerant
- Drive
- sinks 25 mA, sources 10 mA at 5 V; larger loads need external drivers
- Typical cost
- $5 to $20 for a breakout board
Where to buy
- SparkFunSparkFun Servo pHAT for Raspberry Pi (DEV-15316)US$13.95
- Seeed StudioGrove - 16-Channel PWM Driver (PCA9685)US$14.20
- AdafruitAdafruit 16-Channel 12-bit PWM/Servo Driver - I2C interfaceUS$14.95
prices as listed on 2026-10-06
Read and build
ULN2003A#
Texas Instruments
A Darlington array that switches the coil current directly, for the four-wire steppers the coil sequencer walks a pattern across.
- Interface
- seven logic inputs, one per channel
- Channels
- seven NPN Darlington pairs
- Collector current
- 500 mA rated, single output
- Output voltage
- 50 V maximum
- Inductive loads
- common-cathode output clamp diodes included
- Typical cost
- under $5 for a breakout board
Where to buy
- Digi-KeyULN2003AN, 16-DIP (bare chip)listed price; the page refuses scripted readersUS$0.97 on 2026-09-06
- Seeed StudioGear Stepper Motor Driver Pack (ULN2003 driver board with 28BYJ-48 motor)US$6.90 on 2026-10-06
- The Pi HutStepper Motor Driver Pack (Seeed 105990072)£6.70 on 2026-10-06
prices as listed on the day named
Read and build
A4988#
Allegro MicroSystems
A bipolar stepper driver that turns one pulse on STEP into one microstep, sequencing the coils and regulating current in hardware.
- Interface
- step and direction, with three mode pins
- Motor supply
- 8 to 35 V
- Output current
- ±2 A maximum
- Steps
- full, 1/2, 1/4, 1/8 and 1/16
- Logic supply
- 3 to 5.5 V
- Note
- The datasheet states no continuous per-phase current against a cooling condition
- Typical cost
- under $5 for a breakout board
Where to buy
- AdafruitAdafruit A4988 Stepper Motor Driver Breakout BoardUS$6.95
- The Pi HutAdafruit A4988 Stepper Motor Driver Breakout Board£6.70
- PololuA4988 Stepper Motor Driver CarrierUS$8.95
prices as listed on 2026-10-06
Read and build
DRV8825#
Texas Instruments
A bipolar stepper driver with two H-bridges and an indexer, taking step and direction down to 1/32 step.
- Interface
- step and direction, with three mode pins
- Motor supply
- 8.2 to 45 V
- Output current
- up to 2.5 A per output at 24 V and 25 °C, with heat sinking
- Steps
- full, 1/2, 1/4, 1/8, 1/16 and 1/32
- Decay
- slow, fast or mixed
- Protection
- overcurrent, thermal shutdown and undervoltage lockout, reported on nFAULT
- Typical cost
- $5 to $20 for a breakout board
Where to buy
- M5StackATOMIC Stepmotor Base (DRV8825)US$8.95
- The Pi HutATOMIC Stepmotor Base (DRV8825)£8.70
- PololuDRV8825 Stepper Motor Driver Carrier, High CurrentUS$15.95
prices as listed on 2026-10-06
Read and build
Radios and long-range links#
Reaching a network that is not there: the transceivers, the gateway concentrators, and the short-range meshes. For range, loss, duty cycle, and what the regulator allows, see Radios and antennas.
Table 3. Radios and long-range links: what each is best for, and the lowest price listed.
| Part | Connects | Best for | From |
|---|---|---|---|
| SX1276LoRa and FSK transceiver | SPI | Boards already built around it, anywhere from 137 to 1020 MHz | US$14.95 |
| SX1262LoRa transceiver | SPI | A new end device: +22 dBm out, 4.6 mA receiving, 150 to 960 MHz | US$4.99 |
| LLCC68LoRa transceiver | SPI | Medium-range indoor links, on an SX1262 footprint | US$12.95 |
| SX1302Gateway baseband chip | SPI | A gateway that hears many channels and spreading factors at once | US$12.99 |
| SX1303Gateway baseband chip | SPI | A gateway that also timestamps finely enough to locate a node | US$83.00 |
| SX1250Gateway RF front end | SPI | Pairing with an SX1302 or SX1303; it comes on the gateway cards | US$12.99 |
| RAK2287 WisLink concentratorSX1302 gateway card | mini PCIe, SPI | A gateway over SPI, with a GPS for timing | US$84.00 |
| RAK5146 WisLink concentratorSX1303 gateway card | mini PCIe, SPI or USB | A gateway over SPI or USB, with listen before talk and a GPS | US$83.00 |
| WM1302 LoRaWAN gateway moduleSX1302 gateway module | mini PCIe, SPI or USB | A gateway over SPI or USB, in EU868 and US915 versions | US$12.99 |
| ESP-NOWWi-Fi links with no access point | Wi-Fi PHY, vendor-specific action frames | Short packets between ESP32 boards with no router, up to 20 peers | boards from US$4.99 |
SX1276#
Semtech
The sub-GHz LoRa and FSK transceiver on most 137 to 1020 MHz end devices, and the radio a pamoja airtime budget is computed for.
- Interface
- SPI
- Coverage
- 137 MHz to 1020 MHz
- Modulation
- LoRa, FSK, GFSK, MSK, GMSK and OOK
- Transmit power
- +20 dBm at 100 mW, with a separate +14 dBm high efficiency amplifier
- Sensitivity
- down to -148 dBm, for a maximum link budget of 168 dB
- Receive current
- 9.9 mA, with 200 nA register retention
- Typical cost
- $5 to $20 for a module or a card
Where to buy
- SparkFunLoRa Transceiver Module (RFM95CW), 137 to 1020 MHz, SX1276 basedUS$14.95
- AdafruitAdafruit RFM95W LoRa Radio Transceiver Breakout - 868 or 915 MHzUS$19.95
- PimoroniAdafruit RFM95W LoRa Radio Transceiver Breakout - 868 or 915 MHz (ADA3072)£19.50
prices as listed on 2026-10-06
Read and build
- DatasheetSemtech SX1276
- Driver source
sx127x.rs - Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
SX1262#
Semtech
The later sub-GHz LoRa transceiver, covering 150 to 960 MHz with a higher power amplifier and a much lower receive current.
- Interface
- SPI
- Coverage
- 150 MHz to 960 MHz, continuous
- Modulation
- LoRa, LR-FHSS, FSK, GFSK, MSK and GMSK
- Transmit power
- +22 dBm high efficiency amplifier
- Sensitivity
- down to -148 dBm, for a maximum link budget of 170 dB
- Receive current
- 4.6 mA, with an integrated DC-DC converter and LDO
- Typical cost
- $5 to $20 for a module or a card
Where to buy
- Seeed StudioWio-SX1262 for XIAO, 862 to 930 MHzUS$4.99 on 2026-10-06
- The Pi HutWio-SX1262 for XIAO, 862 to 930 MHz£4.80 on 2026-10-06
- Heltec AutomationWiFi LoRa 32 (V3), ESP32-S3 + SX1262 LoRa node, 863 to 870 or 902 to 928 MHz variantsUS$17.90 to US$19.90 on 2026-09-06
- The Pi HutSX1262 868 MHz LoRa node module for Raspberry Pi Pico, with antenna and battery holder£14.40 on 2026-10-06
- WavesharePico-LoRa-SX1262, SX1262 LoRa node module for Raspberry Pi Pico, EU868 and other bandsUS$19.99 on 2026-09-11
prices as listed on the day named
Read and build
- DatasheetSemtech SX1262
- Driver source
sx126x.rs - Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
LLCC68#
Semtech
A sub-GHz LoRa transceiver for medium-range indoor and indoor-to-outdoor links, pin-to-pin compatible with the SX1262.
- Interface
- SPI
- Transmit power
- +22 dBm high efficiency amplifier
- Receive current
- 4.6 mA
- Sensitivity
- down to -129 dBm
- Blocking immunity
- 88 dB at 1 MHz offset; co-channel rejection 19 dB in LoRa mode
- Channel activity detection
- automatic, with ultra-fast AFC
- Typical cost
- $5 to $20 for a module or a card
Where to buy
- M5StackLoRa Unit 433MHz with Antenna (E220), an LLCC68 moduleUS$12.95
- The Pi HutLoRa Unit with Antenna (E220), 920 MHz, an LLCC68 module£33.80
prices as listed on 2026-10-06
Read and build
- DatasheetSemtech LLCC68
- Driver source
sx126x.rs - Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
SX1302#
Semtech
The LoRa baseband chip for gateways: it listens across many channels and spreading factors at once, behind separate RF front ends, and draws far less current than the chips before it.
- Interface
- SPI
- Sensitivity
- up to -141 dBm with the SX1250 front end
- 125 kHz reception
- 8 x 8 channel packet detectors, 8 SF5 to SF12 and 8 SF5 to SF10 demodulators
- Wideband reception
- one 125, 250 or 500 kHz LoRa demodulator and one (G)FSK demodulator
- Front ends
- direct interface to the SX1250, SX1255, SX1257 and SX1258
- Clock and package
- a single 32 MHz clock, QFN68
- Typical cost
- $5 to $20 for a module or a card
Where to buy
- Seeed StudioWio-WM1302 Long Range Gateway Module (SPI), EU868US$12.99
- RAKwirelessRAK2287 concentrator module, SPIUS$84.00
prices as listed on 2026-10-06
Read and build
- DatasheetSemtech SX1302
- Driver source
sx1302.rs - Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - Crate for LoRaWAN gateways
pamoja-gateway - LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
- LoRaWAN gateways guideWhat a LoRaWAN gateway speaks
SX1303#
Semtech
The SX1302's size and pin compatible successor, which adds a fine timestamp so a network can locate a node by time difference of arrival.
- Interface
- SPI
- Note
- Fine timestamp for time difference of arrival (TDOA) network geolocation
- Sensitivity
- up to -141 dBm with the SX1250 front end
- 125 kHz reception
- 8 x 8 channel packet detectors, 8 SF5 to SF12 and 8 SF5 to SF10 demodulators
- Wideband reception
- one 125, 250 or 500 kHz LoRa demodulator
- Compatibility
- size and pin compatible with the SX1302, with all of its features
- Typical cost
- $60 to $200 for a module or a card
Where to buy
- RAKwirelessRAK5146 concentrator module, SPIUS$83.00
- RoklandRAK5146 WisLink LPWAN Concentrator, USB, no LBT, with GPS, US915 (516011)US$114.97
prices as listed on 2026-10-06
Read and build
- DatasheetSemtech SX1303
- Driver source
sx1302.rs - Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - Crate for LoRaWAN gateways
pamoja-gateway - LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
- LoRaWAN gateways guideWhat a LoRaWAN gateway speaks
SX1250#
Semtech
The sub-GHz RF front end a gateway pairs with the SX1302, covering any license-free band below 1 GHz.
- Interface
- SPI
- Coverage
- 150 to 960 MHz ISM bands
- Operation
- half duplex, capable of low power operation
- Modulation
- constant-envelope schemes such as LoRa or FSK
- Receiver
- a built-in differential low noise amplifier
- Control
- SPI and a set of general purpose DIO lines
- Typical cost
- $5 to $20 for a module or a card
Where to buy
- Seeed StudioWio-WM1302 Long Range Gateway Module (SPI), EU868US$12.99
- RAKwirelessRAK5146 concentrator module, SPIUS$83.00
- RAKwirelessRAK2287 concentrator module, SPIUS$84.00
prices as listed on 2026-10-06
Read and build
- DatasheetSemtech SX1250
- Driver source
sx1250.rs - Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - Crate for LoRaWAN gateways
pamoja-gateway - LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
- LoRaWAN gateways guideWhat a LoRaWAN gateway speaks
RAK2287 WisLink concentrator#
RAKwireless
An SX1302 concentrator on a mini PCIe card, with two SX1250 front ends, a U.FL antenna connector and a GPS for timing.
- Interface
- mini PCIe, SPI
- Chips
- one SX1302 and two SX1250
- Radio
- Tx power up to 27 dBm, Rx sensitivity down to -139 dBm at SF12, BW 125 kHz
- Demodulation
- up to 10 parallel paths, an 8 x 8 channel packet detector, 8 SF5 to SF12 and 8 SF5 to SF10 demodulators
- Bands
- EU868, EU433, CN470, US915, AS923, AU915, KR920 and IN865
- Host
- SPI and 3.3 V aux through the mini PCIe connector; ZOE-M8Q GPS with its PPS wired to the SX1302
- Typical cost
- $60 to $200 for a module or a card
Where to buy
- RAKwirelessRAK2287, SPI without GPS, 8XX MHz for EU868/RU864/IN865US$84.00
- RoklandRAK2287 concentrator module, SPI with GPS, US915 (516000)US$109.97
prices as listed on 2026-10-06
Read and build
- DatasheetRAKwireless RAK2287
- Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - Crate for LoRaWAN gateways
pamoja-gateway - Board pagewiring, setup, and the first program
- LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
- LoRaWAN gateways guideWhat a LoRaWAN gateway speaks
RAK5146 WisLink concentrator#
RAKwireless
An SX1303 concentrator on a mini PCIe card, with two SX1250 front ends, an SX126x for listen before talk, and an onboard GPS.
- Interface
- mini PCIe, SPI or USB
- Chips
- one SX1303 and two SX1250, with an SX126x for listen before talk
- Radio
- Tx power up to 27 dBm, Rx sensitivity down to -139 dBm at SF12, BW 125 kHz
- Demodulation
- up to 10 parallel paths, an 8 x 8 channel packet detector, 8 SF5 to SF12 and 8 SF5 to SF10 demodulators
- Bands
- EU868, EU433, RU864, CN470, US915, AS923, AU915, KR920 and IN865
- Host
- SPI or USB through the mini PCIe connector, powered from 3.3 V aux
- Typical cost
- $60 to $200 for a module or a card
Where to buy
- RAKwirelessRAK5146, SPI, no LBT and no GPS, 8XX MHz for EU868/RU864/IN865US$83.00
- RoklandRAK5146 WisLink LPWAN Concentrator, USB, no LBT, with GPS, US915 (516011)US$114.97
prices as listed on 2026-10-06
Read and build
- DatasheetRAKwireless RAK5146
- Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - Crate for LoRaWAN gateways
pamoja-gateway - Board pagewiring, setup, and the first program
- LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
- LoRaWAN gateways guideWhat a LoRaWAN gateway speaks
WM1302 LoRaWAN gateway module#
Seeed Studio
An SX1302 gateway module on a mini PCIe card with the standard 52-pin edge connector, in SPI and USB versions for EU868 and US915.
- Interface
- mini PCIe, SPI or USB
- Chip
- the SX1302 baseband with an SX1250 front end
- Radio
- sensitivity down to -139 dBm at SF12; TX power up to 26 dBm at 3.3 V
- Versions
- SPI and USB, each on US915 and EU868
- Plans
- EU868, US915, AS923, AS920, AU915, KR920 and IN865
- Form factor
- mini PCIe with a 52-pin edge connector
- Typical cost
- $5 to $20 for a module or a card
Where to buy
- Seeed StudioWio-WM1302 Long Range Gateway Module (SPI), EU868US$12.99
- Seeed StudioWM1302 LoRaWAN Gateway Module (SPI), US915, with SKY66420US$25.00
prices as listed on 2026-10-06
Read and build
- DatasheetSeeed Studio WM1302
- Crate for LoRa airtime and range
pamoja-lora - Crate for LoRa radios
pamoja-radios - Crate for LoRaWAN gateways
pamoja-gateway - Board pagewiring, setup, and the first program
- LoRa airtime and range guideTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
- LoRa radios guideThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators
- LoRaWAN gateways guideWhat a LoRaWAN gateway speaks
ESP-NOW#
Espressif Systems
Espressif's connectionless protocol: short packets straight between Wi-Fi devices with no access point and no association step.
- Interface
- Wi-Fi PHY, vendor-specific action frames
- Payload
- 250 bytes on v1.0 devices, 1470 bytes on v2.0
- Default bit rate
- 1 Mbps
- Peers
- 20 paired devices, of which at most 17 encrypted, 7 by default
- Security
- CCMP per IEEE 802.11-2012, with a 16-byte primary master key and per-peer local keys
- Interfaces
- sends over either the station or the SoftAP interface
Boards that speak it
- Seeed StudioSeeed Studio XIAO ESP32-C3US$4.99
- The Pi HutSeeed XIAO ESP32C3 (board with loose headers)£5.10
- AdafruitESP32-C3 DevKitM-01 - 4 MB SPI Flash (Espressif ESP32-C3-MINI-1)US$9.95
prices as listed on 2026-10-06
Read and build
Antennas, cables and protection#
What stands between a radio and the air: the antenna, the pigtail that reaches it, and the arrestor on the mast. For gain, VSWR, feed line loss, height, and bonding, see Radios and antennas.
Table 4. Antennas, cables and protection: what each is best for, and the lowest price listed.
| Part | Connects | Best for | From |
|---|---|---|---|
| 5.8 dBi fiberglass antenna, 863 to 870 MHzOutdoor gateway antenna | N-type male | A mast in Europe: 863 to 870 MHz, omnidirectional | US$20.00 |
| 5.8 dBi fiberglass antenna, 902 to 928 MHzOutdoor gateway antenna | N-type male | A mast on 902 to 928 MHz, omnidirectional | US$14.95 |
| MHF to SMA or RP-SMA pigtailPigtail, MHF to SMA | MHF-1 or MHF-4 to SMA or RP-SMA | Bringing a concentrator's MHF socket out to the enclosure wall | US$5.00 |
| SMA to u.FL adapter cablePigtail, u.FL to SMA | u.FL to panel-mount SMA | A node board's u.FL socket out to an SMA antenna, 15 cm | US$3.95 |
| N-type lightning arrestorSurge arrestor | N-type male to N-type female | A mast line up to 2700 MHz, sealed to IP67 | US$24.97 |
| N-type lightning surge protector, DC to 6 GHzSurge protector | N-type male to bulkhead N-type female | A line up to 6 GHz, with a replaceable gas tube and a sealed bulkhead | US$78.99 |
5.8 dBi fiberglass antenna, 863 to 870 MHz#
RAKwireless
An outdoor fiberglass gateway antenna for the European band, an omnidirectional, vertically polarized dipole that comes with its installation kit.
- Interface
- N-type male
- Band
- 863 to 870 MHz
- Gain
- 5.8 dBi peak as specified; 6.15 to 6.33 dBi measured from 864 to 870 MHz
- VSWR
- 2.0 or better; 1.13 measured at 868 MHz
- Pattern
- omnidirectional, vertical polarization, 50 ohms, efficiency up to 79%
- Size
- 29.8 mm by 800.0 mm, white fiberglass radome
- Environment
- operating from -30 to +65 C, 5 to 95% humidity
- Typical cost
- $20 to $60 for the part
Where to buy
- RAKwireless5.8dBi Fiberglass Antenna, N-Type to RP-SMA, White, 863MHz-870MHz, with brackets and an indoor pigtailUS$20.00
- SparkFunLoRa Fiberglass Antenna Type N - 5.8dBi (863-870MHz), with mounting hardware and no cableUS$29.95
prices as listed on 2026-10-06
Read and build
5.8 dBi fiberglass antenna, 902 to 928 MHz#
RAKwireless
An outdoor fiberglass gateway antenna for the 902 to 928 MHz band, an omnidirectional, vertically polarized dipole that comes with its installation kit.
- Interface
- N-type male
- Band
- 902 to 930 MHz
- Gain
- 5.8 dBi peak as specified; 5.4 to 6.1 dBi measured from 902 to 930 MHz
- VSWR
- 2.0 or better; 1.33 measured at 902 MHz and 1.47 at 930 MHz
- Pattern
- omnidirectional, vertical polarization, 50 ohms, efficiency up to 79%
- Size
- 29.8 mm by 800.0 mm, white fiberglass radome
- Environment
- operating from -20 to +65 C, 5 to 95% humidity
- Typical cost
- $20 to $60 for the part
Where to buy
- SparkFunLoRa Fiberglass Antenna Type N - 5.8dBi (902-928MHz), with mounting hardware and no cableUS$14.95
- RAKwireless5.8dBi Fiberglass Antenna, N-Type to RP-SMA, White, 902MHz-928MHz, with brackets and an indoor pigtailUS$20.00
prices as listed on 2026-10-06
Read and build
MHF to SMA or RP-SMA pigtail#
RAKwireless
The short coaxial lead from a module's MHF (U.FL-type) socket to a bulkhead connector on the enclosure wall, where the antenna screws on.
- Interface
- MHF-1 or MHF-4 to SMA or RP-SMA
- Connectors
- MHF-1 or MHF-4 on one end, RP-SMA or SMA with a nut and washer on the other
- Lengths
- 65, 100 and 220 mm
- Note
- MHF-1 fits the RAK2287 and RAK5146 concentrators; MHF-4 fits the RAK5166 and RAK5167
- Typical cost
- $5 to $20 for the part
Where to buy
prices as listed on 2026-10-06
Read and build
SMA to u.FL adapter cable#
Adafruit
A short RG178 lead from a board's u.FL socket to an SMA connector fixed through the enclosure wall, where an SMA antenna screws on.
- Interface
- u.FL to panel-mount SMA
- Cable
- RG178, 15 cm (5.9 in) long, not counting the SMA connector
- Connectors
- u.FL, also sold as IPEX, IPX or MHF, to a panel-mount SMA
- Fit
- SMA only; SMA and RP-SMA do not mate, so check the antenna first
- Typical cost
- under $5 for the part
Where to buy
- AdafruitSMA to uFL/u.FL/IPX/IPEX RF Adapter CableUS$3.95
- PimoroniSMA to uFL/u.FL/IPX/IPEX RF Adapter Cable (Adafruit 851)£3.90
prices as listed on 2026-10-06
Read and build
N-type lightning arrestor#
RAKwireless
A surge protective device for a gateway's antenna line, fitted on each N-type antenna terminal.
- Interface
- N-type male to N-type female
- Frequency range
- 0 to 2700 MHz, 50 ohms
- Loss
- 0.2 dB or less from 0 to 2000 MHz
- Discharge current
- 10 kA nominal, 20 kA maximum
- Voltage protection level
- 1200 V or less
- Ingress protection
- IP67
- Typical cost
- $20 to $60 for the part
Where to buy
- RoklandRAKwireless lightning arrestor N-Male N-Female 0-2700 MHz (PID 910033)US$24.97
- RAKwirelessLightning Arrestor, N-typeUS$32.00
prices as listed on 2026-10-06
Read and build
N-type lightning surge protector, DC to 6 GHz#
L-com
A gas discharge tube surge protector for an antenna line, with a replaceable tube, DC passing through, and a bulkhead port that seals through an enclosure wall with an O-ring.
- Interface
- N-type male to bulkhead N-type female
- Frequency range
- DC to 6 GHz, 50 ohms
- Loss
- insertion loss of 0.6 dB or less and VSWR of 1.2:1 or better, DC to 6 GHz
- Gas tube
- 90 V breakdown, plus or minus 20%, replaceable (LPX090-6), multi-strike
- Protection
- bidirectional, so either port can face the antenna, with a ground lug on the housing
- Size
- 68 by 23 by 31 mm, 0.11 kg, nickel-plated brass body
- Typical cost
- $60 to $200 for the part
Where to buy
prices as listed on 2026-09-11
Read and build
Boards you can buy#
Where pamoja itself runs, each with a page that wires a part to it and runs the first program.
Table 5. Boards you can buy: what each is best for, and the lowest price listed.
| Part | Best for | From |
|---|---|---|
| Raspberry Pi 5Linux board | A gateway or the dashboard: the full std build and every transport | US$110.00 |
| Raspberry Pi Zero 2 WSmall Linux board | The same std build as the Pi 5, on a smaller and cheaper board | US$17.25 |
| ESP32Wi-Fi microcontroller | A sensor node with Wi-Fi, Bluetooth and CAN on the chip | US$10.00 |
| Raspberry Pi PicoMicrocontroller board | The no_std crates on bare metal, in the under $5 band | US$3.95 |
Raspberry Pi 5#
Raspberry Pi Ltd
The gateway-class Linux board: the full std build, every transport, and the dashboard.
- SoC
- Broadcom BCM2712, quad-core 64-bit Arm Cortex-A76 at 2.4 GHz
- Memory
- LPDDR4X, in 1, 2, 4, 8 and 16 GB
- Connectivity
- gigabit Ethernet with PoE+ via a HAT, dual-band 802.11ac, Bluetooth 5.0
- I/O
- the standard 40-pin header, two USB 3.0 and two USB 2.0 ports, a UART debug port
- Typical cost
- $60 to $200 for the board
Where to buy
- PiShop.usRaspberry Pi 5, 4 GBUS$110.00
- PimoroniRaspberry Pi 5, 4 GB (SC1111)£105.60
- The Pi HutRaspberry Pi 5, 4 GB£105.60
prices as listed on 2026-10-06
Read and build
Raspberry Pi Zero 2 W#
Raspberry Pi Ltd
The small, low-cost Linux board, running the same std build as the Pi 5 on the same 40-pin footprint.
- SoC
- RP3A0, quad-core 64-bit Arm Cortex-A53 at 1 GHz
- Memory
- 512 MB
- Wireless
- 2.4 GHz 802.11 b/g/n, Bluetooth 4.2 and BLE, onboard antenna
- I/O
- HAT-compatible 40-pin header footprint, unpopulated; micro USB OTG
- Typical cost
- $5 to $20 for the board
Where to buy
- PiShop.usRaspberry Pi Zero 2 W (SC1146)US$17.25
- PimoroniRaspberry Pi Zero 2 W (SC1176)£14.40
- The Pi HutRaspberry Pi Zero 2 W£14.40
prices as listed on 2026-10-06
Read and build
ESP32#
Espressif Systems
The Wi-Fi and Bluetooth microcontroller behind most small sensor nodes, with the buses above and a CAN controller on chip.
- CPU
- Xtensa 32-bit LX6, single or dual core, up to 240 MHz
- Memory
- 448 KB ROM, 520 KB SRAM, 16 KB RTC SRAM
- Wireless
- 802.11 b/g/n up to 150 Mbit/s, Bluetooth 4.2 BR/EDR and LE
- Peripherals
- four SPI, two I2C, three UART, 34 GPIO
- CAN
- a TWAI controller compatible with ISO 11898-1
- pamoja
- the ESP32-C3 first program builds in CI on stable Rust; the Xtensa parts need Espressif's own Rust toolchain
- Typical cost
- $5 to $20 for the board
Where to buy
- Digi-KeyESP32-DEVKITC-32E (Espressif ESP32-DevKitC with ESP32-WROOM-32E)listed price; the page refuses scripted readersUS$10.00 on 2026-09-06
- AdafruitEspressif ESP32 Development Board - Developer EditionUS$15.00 on 2026-10-06
- The Pi HutEspressif ESP32 Development Board - Developer Edition£14.40 on 2026-10-06
prices as listed on the day named
Read and build
Raspberry Pi Pico#
Raspberry Pi Ltd
The RP2040 board: two Cortex-M0+ cores and no operating system, running the no_std crates over its own I2C, SPI, and UART peripherals.
- Microcontroller
- RP2040 with 2 MB flash, dual-core Cortex-M0+ at up to 133 MHz, 264 kB SRAM
- I/O
- 26 multi-function 3.3 V GPIO on a 40-pin DIP footprint with castellated edges, 3 of them ADC capable
- Peripherals
- 2 UART, 2 I2C, 2 SPI, 16 PWM channels, a 12-bit 500 ksps ADC, USB 1.1, two PIO blocks
- Programming
- hold BOOTSEL at power-up and the board is a USB mass-storage device that takes a UF2 file; a 3-pin SWD port for a debugger
- pamoja
- the first program builds in CI for thumbv6m-none-eabi on rp2040-hal
- Typical cost
- under $5 for the board
Where to buy
- PiShop.usRaspberry Pi Pico (Non-Wireless)US$3.95
- PimoroniRaspberry Pi Pico, without headers (SC0915)£3.80
- The Pi HutRaspberry Pi Pico, without headers£3.80
prices as listed on 2026-10-06
Read and build
Autopilots, standards and targets#
Firmware, an open hardware standard, and an instruction set. None of these is a thing you buy; each names the boards that carry it.
Table 6. Autopilots, standards and targets: what each is best for, and the lowest price listed.
| Part | Connects | Best for | From |
|---|---|---|---|
| ArduPilotAutopilot firmware | MAVLink | Copters, planes, rovers and submarines over MAVLink, under the GPL | boards from US$130.99 |
| PX4 AutopilotAutopilot firmware | MAVLink | Multirotors, fixed wing and VTOL over MAVLink, under a BSD license | boards from US$130.99 |
| Pixhawk standardFlight controller standard | standardized connectors and pin-outs | Flight controllers that interchange across vendors | boards from US$130.99 |
| Cortex-M4 with FPU, bare metalMicrocontroller core | Knowing a no_std build compiles for a microcontroller with an FPU | boards from US$9.99 |
ArduPilot#
ArduPilot Dev Team
Open autopilot firmware for copters, planes, rovers and submarines; the firmware is free, and the flight controller it runs on is what costs money.
- Interface
- MAVLink
- Vehicles
- multicopters, helicopters, fixed wing, rovers, submarines and antenna trackers
- Protocol
- MAVLink between ground station, flight controller and peripherals
- License
- GPL v3 or later
- Verified
- in CI, pamoja-mavlink stores a mission plan on it and arms it in SITL
Flight controllers that run it
- HolybroPixhawk 6C Mini, Model-B, no power moduleUS$130.99
- HolybroPixhawk 6C, plastic case, no power moduleUS$199.00
prices as listed on 2026-10-06
Read and build
PX4 Autopilot#
Dronecode Foundation
Open autopilot firmware for multirotors, fixed wing, VTOL, helicopters and rovers, under a permissive license; again, the board is the cost.
- Interface
- MAVLink
- Vehicles
- multirotors, fixed wing, VTOL, helicopters and rovers
- Protocol
- MAVLink for the ground station link
- License
- BSD 3-clause
- Verified
- in CI, pamoja-mavlink stores a mission plan on it and arms it in SITL
Flight controllers that run it
- HolybroPixhawk 6C Mini, Model-B, no power moduleUS$130.99
- HolybroPixhawk 6C, plastic case, no power moduleUS$199.00
prices as listed on 2026-10-06
Read and build
Pixhawk standard#
Dronecode Foundation
The open hardware standard that fixes flight controller pin-outs, connectors and layout so boards from different vendors interchange; a board built to it is what costs money.
- Interface
- standardized connectors and pin-outs
- Autopilot standards
- v5X (DS-011), v6X (DS-012), v6U (DS-016) and v6C (DS-018)
- Supporting standards
- the connector standard (DS-009), the autopilot bus standard (DS-010) and the payload bus standard (DS-014); a smart battery standard is in draft
- Note
- Each fixes pin-outs, block diagrams, PCB layout guidelines and connector specifications
Boards built to it
- HolybroPixhawk 6C Mini, Model-B, no power moduleUS$130.99
- HolybroPix32 v6, FC module onlyUS$146.99
- HolybroPixhawk 6C, plastic case, no power moduleUS$199.00
prices as listed on 2026-10-06
Read and build
Cortex-M4 with FPU, bare metal#
Arm
The bare-metal target: CI cross-compiles every no_std crate for thumbv7em-none-eabihf, which is this core with its floating-point unit and no operating system.
- Architecture
- Armv7-M
- Floating point
- a built-in single-precision FPU, credited with 10x on single-precision operations
- DSP
- integrated DSP, SIMD and MAC instructions
- Designed for
- industrial control, IoT sensors, AI and ML, audio
- pamoja
- the bare-metal job in CI builds pamoja-core, security, audit, update, zenoh, ros2 and mavlink for this target
Boards with this core
- Seeed StudioSeeed Studio XIAO nRF52840 (XIAO BLE)US$9.99
- AdafruitAdafruit ItsyBitsy M4 Express featuring ATSAMD51US$14.95
- The Pi HutSTM32F411 BlackPill Development Board (DFRobot DFR0864)£15.90
prices as listed on 2026-10-06
Read and build
Anything else with a driver#
The parts above are the ones pamoja decodes itself. They are not the limit of what it can
talk to. Everything below the driver is a trait: implement
Sensor or
Actuator for
your own part and the kit, the profiles, and the ladder take it as they take the ones here. The
your own device guide builds a probe and a valve pamoja has never heard of and
runs them, in all four languages, with nothing plugged in.
The same holds for transports. A part reachable over I2C, SPI, a serial line, RS485, or CAN is reachable through the crates on Buses and links, whether or not its decoder ships here.
About this page#
Nothing here is a compatibility promise. It is a record of what the code was written from, so you can tell whether a part you already have is one pamoja decodes byte for byte, one it reaches over a bus it speaks, or one you will be writing a driver for.
Where the figures come from. Every part links one document under "Read and build": the
manufacturer's own datasheet, or the standard that defines the thing, or the maker's own
documentation for a board. The figures on the card, and the selection tables drawn from
them, come from that document and nowhere else. There are no distributor listings, datasheet
mirrors, or tutorial sites among them, and cargo xtask links fetches every one so a rotted
link fails the build rather than sitting there looking authoritative. The exception is the
handful of vendors whose sites refuse any scripted client; those entries say so in the data
file, and a person opens them instead.
What the cost line means. A coarse band in USD for a typical breakout board, module, or board, to tell a two dollar sensor from a two hundred dollar autopilot. It is not a quote, it is not a 1000-unit chip price, and it is not tracked against any vendor.
Where to buy. Each part lists a few product pages from the makers' own stores and the larger distributors, the cheapest reputable option first, with the price each page listed on the day it was read. Those are places to buy, not sources: nothing on a card is taken from them. A workflow reads every page again each day, orders the offers cheapest first, and opens a pull request with what moved, which merges itself once every check passes and puts the day it read each page on the cards. A store that no longer lists a part loses its offer, and Digi-Key is read through its own product API. A page that refuses scripted readers keeps the last price read from it, and its card names the day that was. An entry that is not a thing you buy, firmware, a standard, a protocol, or an instruction set, carries no price of its own; its list names the boards that carry it instead.
How this page stays honest. The entries are tied to the code. Adding a driver module under
pamoja-sensors, pamoja-actuators, or pamoja-radios without an entry here fails
cargo xtask docs --check, as does a part without the lines its group's selection table
needs. The LoRaWAN channel plans are held to the radio page the same way.