1 2 3 4 5 6

A
BLDC motor controller P4

P5
V_SUPPLY Voltage supply (0 - 60v)
Needs external decoupling
caps to avoid high voltage
transients produced by the
inductance of the battery
A
wiring while switching the FETs
Also critical for EMI/RF compliance
GNDPWR

MCU

R3
V_SUPPLY 33k AN_IN
R4
2k2
Mosfet driver Power MOSFETS
C2 100n
EN_GATE EN_GATE
H1 H1 M_H1 M_H1 P9
MINI-USB-SHIELD-32005-201 PHASE_1
L1 L1 M_L1 M_L1 P7
+5V
Mount 0R if used
as USB host H2 H2 M_H2 M_H2 PHASE_2
1 R6
1 0R
R103
L2 L2 M_L2 M_L2
2
2 22R
R104
USB_DM H3 H3 M_H3 M_H3
3 ESD protection?
3 22R USB_DP L3 L3 M_L3 M_L3
4
4
5
B 5 B
SENS1 SENS1 H1_VS H1_VS
X1A SENS2 SENS2 H2_VS H2_VS
SENS3 SENS3 H3_VS H3_VS P6
P101 +5V PHASE_3
4 CAN bus transceiver
3 H1_LOW H1_LOW
CANH CAN_RX CAN_RX FAULT FAULT
2 H2_LOW H2_LOW
CANL CAN_TX CAN_TX
1 H3_LOW H3_LOW
CAN.sch

1
CANBUS GNDPWR mosfets.sch
BR_SO1 BR_SO1 SH1_A

SHUNT
P1 3
Filters

R54
6 BR_SO2 BR_SO2
5 DC_CAL DC_CAL SH1_B 4
HALL3_IN HALL3_OUT HALL_3

2
4 HALL2_IN HALL2_OUT HALL_2

2
3 HALL1_IN HALL1_OUT HALL_1 GNDPWR
2 SH2_A

SHUNT
TEMP_IN TEMP_OUT TEMP_MOTOR 4

R53
GNDPWR
1 +5V

hall_filters.sch SH2_B
HALL/Encoder 3

1
Power.sch
P3 GNDPWR
6 +5V
C 5 VCC
+5V C
4 100R if used as
servo output
3 ADC_EXT
ADC_EXT SERVO 2k2
1

SERVO
2 TX_SDA 2

K1
TX_SDA R5
1 RX_SCL
RX_SCL 3
LED_GREEN 100n C3
PWR_COMM NTC temp sensor
LED_RED
Temp ADC_TEMP
VCC
temp.sch
STM32F4 64LQFP.sch
100R

100R
R38

R37

R22
2k2
Top level
1

RED GREEN LED

D2 D1 D3
2

Benjamin Vedder
Sheet: /
D File: BLDC_4.sch D

Title: BLDC Driver 4.6

Size: A4 Date: 25 Aug 2014 Rev: 4.6
KiCad E.D.A. kicad (2014-09-02 BZR 5112)-product Id: 1/7
1 2 3 4 5 6
 1 2 3 4 5 6

A A

V_SUPPLY

Q1 Q3 Q5

D
IRFS3006

IRFS3006
G G G
M_H1 4R7 M_H2 4R7 M_H3 4R7

IRFS3006
R28 R34 R42

S
B
H1_VS PHASE_1 H2_VS PHASE_2 H3_VS PHASE_3 B

IRFS3006

IRFS3006

IRFS3006
Q2 Q4 Q6

D
G G G
M_L1 4R7 M_L2 4R7 M_L3 4R7
R29 R35 R43

S
33k 33k 33k
R30 R36 R46

H1_LOW

H2_LOW

H3_LOW
C C

Benjamin Vedder
Sheet: /Power MOSFETS/
D File: mosfets.sch D

Title: BLDC Driver 4.6

Size: A4 Date: 25 Aug 2014 Rev: 4.6
KiCad E.D.A. kicad (2014-09-02 BZR 5112)-product Id: 2/7
1 2 3 4 5 6
 1 2 3 4 5 6

A A

VCC

NTC 10k
B B

R1
Temp

C41

10k
R2
1u

C C

Mrk Industries
Sheet: /NTC temp sensor/
D File: temp.sch D

Title: NTC resistor temperature sensor

Size: A4 Date: 27 sep 2014 Rev:
KiCad E.D.A. kicad (2014-09-02 BZR 5112)-product Id: 3/7
1 2 3 4 5 6
 1 2 3 4 5 6

A A

VCC

C401
B B
1u
VCC

3
U401
CANH 4
RXD CAN_RX

VDD
7 1
CANH TXD CAN_TX

R401
NI
5
6 Vref
CANL

VSS
8
Rs
CANL SN65HVD232

10k
R402
Propagation delay
resistor

C C

Mrk Industries
Sheet: /CAN bus transceiver/
D File: CAN.sch D

Title: CAN BUS transceiver

Size: A4 Date: 25 Aug 2014 Rev:
KiCad E.D.A. kicad (2014-09-02 BZR 5112)-product Id: 4/7
1 2 3 4 5 6
 1 2 3 4 5 6

A A

VCC
10k
2k2
2k2
2k2
B B

R11
R12
R13
R7
HALL3_IN 10k HALL3_OUT
R10
HALL2_IN 10k HALL2_OUT
R9
HALL1_IN 10k HALL1_OUT
TEMP_MOTOR R8
TEMP_IN TEMP_OUT

4n7 C5 C6 C7

C4 4n7 4n7 4n7

C C

Sheet: /Filters/
D File: hall_filters.sch D

Title:
Size: A4 Date: 25 Aug 2014 Rev:
KiCad E.D.A. kicad (2014-09-02 BZR 5112)-product Id: 5/7
1 2 3 4 5 6
 1 2 3 4 5 6

VCC

2.2u 2.2u 2.2u 2.2u 2.2u

A C10 C11 C12 C13 C14 A

Required for USB
to work

U1
Bypass, place next to VDD pins
14 3 15p 15p
SENS3 PA0(ADC123_IN0/WKUP) PC14-OSC32_IN
15 4
SENS2 PA1(ADC123_IN1) PC15-OSC32_OUT
16 C15 C38
SENS1 PA2(ADC123_IN2) X2
17 5 1 2
PA3(ADC123_IN3) PH0-OSC_IN
20 6
ADC_TEMP

3
PA4(ADC12_IN4/DAC1_OUT) PH1-OSC_OUT 8MHz 10ppm
21
BR_SO2 PA5(ADC12_IN5/DAC2_OUT)
22 60
BR_SO1 PA6(ADC12_IN6) BOOT0(VPP)
23 28
LED_RED PA7(ADC12_IN7) PB2-BOOT1
41
H3 PA8
42
H2 PA9(OTG_FS_VBUS) Reset pin internally
43 7

VCC
pulled up
H1 PA10 NRST NRST
44
USB_DM PA11 1
45
USB_DP PA12 46 2
PA13(JTMS-SWDIO) SWDIO 100n SWCLK
49 3

SWD
26 PA14(JTCK-SWCLK) SWCLK

P2
PB0(ADC12_IN8) 50 4
27 PA15(JTDI) C32 SWDIO
PB1(ADC12_IN9) 55 5
B 57 PB3(JTDO/TRACESWO) NRST
SERVO PB5 56 6 B
58 PB4(NJTRST)
HALL_1 PB6
59
HALL_2 PB7
61 Programming / Debug
CAN_RX PB8
62 connector
CAN_TX PB9
29
RX_SCL PB10
30
TX_SDA PB11
33
DC_CAL PB12
VCC
34
L3 PB13(OTG_HS_VBUS)
35
L2 PB14
36 19
L1 PB15 VDD
32
VDD
8 48
TEMP_MOTOR PC0(ADC123_IN10) VDD
9 64
PC1(ADC123_IN11) VDD
10
AN_IN PC2(ADC123_IN12)
11
PC3(ADC123_IN13)
24 18
LED_GREEN PC4(ADC12_IN14) VSS
VCC
25 63
ADC_EXT PC5(ADC12_IN15) VSS
37
TX_SDA PC6
38
RX_SCL PC7 VCC
C 39
PC8
C
2.2u 2.2u
40 1
PC9 VBAT
51
EN_GATE PC10 C31 C35
52 13
HALL_3 PC11 VDDA
53 12
FAULT PC12 VSSA
2
PC13_(RTC_AF1)
31

2.2u
C16
VCAP1
54 47
PD2 VCAP2

2.2u
C17
STM32F40X_LQFP64

Benjamin Vedder
Sheet: /MCU/
D File: STM32F4 64LQFP.sch D

Title: BLDC Driver 4.6

Size: A4 Date: 25 Aug 2014 Rev: 4.6
KiCad E.D.A. kicad (2014-09-02 BZR 5112)-product Id: 6/7
1 2 3 4 5 6
 1 2 3 4 5 6
PWR_FLAG

V_SUPPLY

+5V U2 VCC
NCP1117ST33T3G
V_SUPPLY
3 2
VI VO C8 10u,50V
V_SUPPLY

GND

10u,50V

15u,100V
PWR_FLAG C24 + C25
C9 10u,50V
A A

1
2.2u 100u

6.8n

C21
C40 10u,50V

C1

C37
+5V
3.3v regulator C51 15u, 100v

120p
for the logic

C19
GNDPWR

R21

R17
18k
220k

R19
15k
U3
1 56 15n V_SUPPLY
RT_CLK SS_TR
2 55 C26
COMP EN_BUCK
3 54 10u,50V
+5V PWR_FLAG
VSENSE PVDD2

R18
3k3
4 53
PWRGD PVDD2 22u
5 52 100n C39
OCTW BST_BK
6 51 L1
FAULT FAULT PH C27

D4
R20 7 50

DIODESCH
10k
8
DTC PH
49
+ C33
M_PWM BIAS 1M R23
VCC
9 48 220n
B M_OC BST_A R25 100u SENS1 33k H3_VS B
10 47
GAIN GH_A M_H1 C28 2k2
11 46
OC_ADJ SH_A H1_VS R24
12 45
DC_CAL DC_CAL GL_A M_L1
13 44
GVDD SL_A H1_LOW R26
C22 22n 14 43 220n
2.2u

CP1 BST_B SENS2 33k H2_VS

15 42
CP2 GH_B M_H2 C29 2k2
16 41
EN_GATE EN_GATE SH_B H2_VS R27
17 40
H1 INH_A GL_B M_L2
C18

18 39 R32
L1 INL_A SL_B H2_LOW
19 38 220n SENS3 33k H1_VS
H2 INH_B BST_C
20 37 2k2
L2 INL_B GH_C M_H3 C30
C52 21 36 R33
H3 INH_C SH_C H3_VS MCU must sense the
1u 22 35 voltage at each phase
L3 INL_C GL_C M_L3
330k
R15

GND(POWER_PAD)
23 34
C20 DVDD SL_C H3_LOW
24 33 R48
1u REF SN1 100R SH1_A
25 32 2.2n R49
VCC BR_SO1 SO1 SP1 100R SH1_B
26 31 C34 R50
BR_SO2 SO2 SN2 100R SH2_A
27 30 R51
AVDD SP2 100R SH2_B
28 29
AGND PVDD1
R16

C C
10k

C23

2.2n
C36
DRV8302
57

V_SUPPLY
1u

10u,50V

C43
10u,50V

C44
10u,50V

C49

Benjamin Vedder
Sheet: /Mosfet driver/
D File: Power.sch D

Title: BLDC Driver 4.5

Size: A4 Date: 25 Aug 2014 Rev: 4.5
KiCad E.D.A. kicad (2014-09-02 BZR 5112)-product Id: 7/7
1 2 3 4 5 6