1 2 3 4 5 6

+5V
Optional MCU DRV8301 Power
1 R1
VCC 0R H1 INH_A SUPPLY SUPPLY
R2

USB_OTG
2
D- 22R USB_DM H2 INH_B
3 R3
D+ 22R USB_DP H3 INH_C

shield
4
ID L1 INL_A
A 5 A
GND L2 INL_B
L3 INL_C GH_A GH_A

VCC

P1
+5V

6
SH_A SH_A
FAULT FAULT GL_A GL_A
EN_GATE EN_GATE SL_A SL_A
GND
SENSOR_VOLTAGE

SPI3_MISO SDO GH_B GH_B

3

1 CAN SPI3_MOSI SDI SH_B SH_B

U11 4
+5V SPI3_SCK SCLK GL_B GL_B
3
CANH TX CAN_TX SPI3_CS CS SL_B SL_B

CAN
2
CANL RX CAN_RX
2

1 GND VOLTAGE_1 SENS_A GH_C GH_C

P2 CAN.sch VOLTAGE_2 SENS_B SH_C SH_C
R42
2k2 VOLTAGE_3 SENS_C GL_C GL_C
R43
2k2 AN_IN SENS_SUPPLY SL_C SL_C
R44
2k2 R39 VCC
P4
1 GND DRV8301.sch
2 10k
HALL_3
HALL_ENC

3
HALL_2
B 4 CURRENT_1 CURR_A
HALL_1 B
5 CURRENT_2 CURR_B
TEMP_MOTOR
6 CURRENT_3 CURR_C
100n
ADC_TEMP TEMP
C58
GND

VCC
Power.sch
8
ADC_15 nrf
7
MPU9150 MISO_ADC_EXT2
6 CE
TX_SCL_MOSI
SCL 5 PD2 MISO
RX_SDA_NSS
SDA 4 PB3 MOSI
SCK_ADC_EXT
PB4 SCK
COMM

mpu9150.sch 3 GND
2 PB12 CSN
VCC
1 IRQ
+5V
P5 nrf.sch
3
100R SERVO VCC
SERVO

2 R6 C1
+5V
1 GND
100n D1 2 1 BLUE R7
P6 1k
5 GND D2 2 1 RED R8
VCC LED_RED 220R
C 4 C
SWCLK D3 2 1GREEN R9
SWD

3 LED_GREEN 220R
GND
2
SWDIO
1
NRST GND
P7
MCU.sch

PWR_FLAG SUPPLY

PWR_FLAG +5V

PWR_FLAG VCC
Benjamin Vedder
PWR_FLAG GND
Sheet: /
D File: VESC_6.sch D

Title: VESC 6.4

Size: A4 Date: 2016-11-13 Rev: A
KiCad E.D.A. kicad no-vcs-found-6cefb6858ubuntu16.04.1 Id: 1/7
1 2 3 4 5 6
 1 2 3 4 5 6

VCC

C9 C10 C11 C12

A U1 A
14 3 2.2u 2.2u 2.2u 2.2u
VOLTAGE_1 PA0(ADC123_IN0/WKUP) PC14-OSC32_IN C2 C8
15 4
VOLTAGE_2 PA1(ADC123_IN1) PC15-OSC32_OUT GND
16 Bypass, place next to VDD pins
VOLTAGE_3 PA2(ADC123_IN2) 15p X1 15p
17 5 1 2
ADC_TEMP PA3(ADC123_IN3) PH0-OSC_IN GND
20 6
RX_SDA_NSS

3
PA4(ADC12_IN4/DAC1_OUT) PH1-OSC_OUT 8m
21
SCK_ADC_EXT PA5(ADC12_IN5/DAC2_OUT)
22 60
MISO_ADC_EXT2 PA6(ADC12_IN6) BOOT0(VPP) GND
23 28
TX_SCL_MOSI PA7(ADC12_IN7) PB2-BOOT1
41
H1 PA8
42 GND
H2 PA9(OTG_FS_VBUS)
43 7
H3 PA10 NRST NRST
44
USB_DM PA11
45
USB_DP PA12 46 C7
PA13(JTMS-SWDIO) SWDIO
49
26 PA14(JTCK-SWCLK) SWCLK
LED_GREEN PB0(ADC12_IN8) 50 100n
27 PA15(JTDI)
LED_RED PB1(ADC12_IN9) 55
57 PB3(JTDO/TRACESWO) PB3
EN_GATE PB5 56
58 PB4(NJTRST) PB4
SERVO PB6 GND
59
B
FAULT PB7
B
61
CAN_RX PB8
62
CAN_TX PB9
29
TX_SCL_MOSI PB10
30
RX_SDA_NSS PB11
33
PB12 PB12
VCC
34
L1 PB13(OTG_HS_VBUS)
35
L2 PB14
36 19
L3 PB15 VDD
32
VDD
8 48
CURRENT_1 PC0(ADC123_IN10) VDD
9 64
CURRENT_2 PC1(ADC123_IN11) VDD
10
CURRENT_3 PC2(ADC123_IN12)
11
AN_IN PC3(ADC123_IN13)
24 18
TEMP_MOTOR PC4(ADC12_IN14) VSS
25 63
ADC_15 PC5(ADC12_IN15) VSS
VCC
37
HALL_1 PC6
38
HALL_2 PC7 GND
39
HALL_3 PC8 VCC
40 1 C5 C6
SPI3_CS PC9 VBAT
51
C SPI3_SCK PC10 C
52 13 2.2u 2.2u
SPI3_MISO PC11 VDDA
53 12
SPI3_MOSI PC12 VSSA
2
PC13_(RTC_AF1)
31
VCAP1
54 47
PD2 PD2 VCAP2

C3
2.2u
GND
STM32F40X_LQFP64

C4
2.2u

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

Title: VESC 6.4

Size: A4 Date: 2016-07-07 Rev: A
KiCad E.D.A. kicad no-vcs-found-6cefb6858ubuntu16.04.1 Id: 2/7
1 2 3 4 5 6
 1 2 3 4 5 6

A C16 A

R10
3.3k
GND SUPPLY

220k
R14
6.8n C18
C22 SUPPLY
+5V
120p C27
15n

R11

R12
18k

15k
U3
1 56 4.7u_100V
RT_CLK SS_TR
2 55
COMP EN_BUCK GND
3 54
VSENSE PVDD2 GND
4 53 +5V
PWRGD PVDD2 +5V
5 52 100n C28
OCTW BST_BK 22u
6 51
R13 FAULT FAULT PH
7 50 L2
10k DTC PH VCC C31 C32

DIODE
8 49 D5

D4
CS nSCS VDD_SPI
9 48 C23 TVS 5V
SDI SDI BST_A 2.2u 100u
10 47 220n
GND SDO SDO GH_A GH_A
11 46
SCLK SCKL SH_A SH_A
12 45
DC_CAL GL_A GL_A GND GND
13 44
GVDD SL_A SL_A
14 43 C24
B CP1 BST_B B
C14 C15 22n C19 15 42 220n
CP2 GH_B GH_B
16 41
EN_GATE EN_GATE SH_B SH_B
2.2u 2.2u 17 40
INH_A INH_A GL_B GL_B
18 39
INL_A INL_A SL_B SL_B
19 38 C25
INH_B INH_B BST_C
GND 20 37 220n
INL_B INL_B GH_C GH_C R15
21 36 SENS_SUPPLY 39k SUPPLY
INH_C INH_C SH_C SH_C
22 35 R16
INL_C INL_C GL_C GL_C 2k2

GND(POWER_PAD)
23 34
DVDD SL_C SL_C
24 33
REF SN1 GND
C17 25 32
SO1 SP1 R17
26 31 SENS_A 39k SH_A
SO2 SN2 GND
2.2u 27 30 R18
AVDD SP2 2k2
28 29
AGND PVDD1 SUPPLY
C20 GND
C26
GND 57 DRV8301
R19
2.2u SENS_B 39k SH_B
4.7u_100V
R20
2k2
C C
GND
GND GND
GND
R21
SENS_C 39k SH_C
R22
2k2

GND

+5V
VCC

U2 L1
1 5
C13 Vin SW
2 2.2u
GND
3 4 C64 C21
2.2u EN FB
LM3671
2.2u 100u

GND
Benjamin Vedder
GND
Sheet: /DRV8301/
D File: DRV8301.sch D

Title: VESC 6.4

Size: A4 Date: 2016-07-07 Rev: A
KiCad E.D.A. kicad no-vcs-found-6cefb6858ubuntu16.04.1 Id: 3/7
1 2 3 4 5 6
 1 2 3 4 5 6

A A

B B

+5V VCC
TJA1051TK3
U4
1 8
TX TXD S
2 7

220R
GND CANH CANH

R23
3 6
VCC CANL CANL

PAD
4 5
RX RXD VIO

C33 C34

9
2.2u 2.2u

GND

C C

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

Title: VESC 6.4

Size: A4 Date: 2016-07-07 Rev: A
KiCad E.D.A. kicad no-vcs-found-6cefb6858ubuntu16.04.1 Id: 4/7
1 2 3 4 5 6
 1 2 3 4 5 6

SUPPLY P11
A 1 A
SUPPLY

D
IRF7749 IRF7749 IRF7749
Q1 Q3 Q5
GH_A 4.7R G GH_B 4.7R G GH_C 4.7R G
R24 R25 R29 R30 R32 R33

S
4.7u_100V

4.7u_100V

4.7u_100V

4.7u_100V
0.0005R 0.0005R 0.0005R

4.7u_100V

4.7u_100V
PH_A 1 PH_B 1 PH_C 1
1 2 1 2 1 2
P8 P9 P10
3

4
C37

C39

C41

C40
SH_A SH_B SH_C

C43

C44
GL_A
U5 U6 U7

GL_C
GL_B
1

8
IN+

IN+

IN+
IN-

IN-

IN-
VCC VCC VCC

D
IRF7749 IRF7749 IRF7749
C_A 5
OUT 4.7R
Q2 C_B 5
OUT 4.7R
Q4 C_C 5
OUT 4.7R
Q6
3 7 G 3 7 G 3 7 G
REF2 REF1 R26 REF2 REF1 R31 REF2 REF1 R34

S
B 2 6 2 6 2 6 B
GND VS GND VS GND VS
SL_A SL_B SL_C
AD8418 AD8418 AD8418
GND GND GND
C35

C38

C42
2.2u

2.2u

2.2u
P12
1
GND

GND

R35
CURR_A C_A
100R
C29
4.7n SUPPLY
C C
VCC C46 C47
680u_63V 680u_63V
GND
R36
C_B
NTC 10K

CURR_B
R27

100R
GND
C30
4.7n
TEMP
C36
R28
10k

GND
R37 2.2u
CURR_C C_C
100R
C45
GND
4.7n

Benjamin Vedder
GND Sheet: /Power/
D File: Power.sch D

Title: VESC 6.4

Size: A4 Date: 2016-07-07 Rev: A
KiCad E.D.A. kicad no-vcs-found-6cefb6858ubuntu16.04.1 Id: 5/7
1 2 3 4 5 6
 1 2 3 4 5 6

A A

VCC

C49
C48 R38 VCC
100n 22k

100n
21
20
19
18
17
16
C53
U8 100n
C56

VSS
DVDD

VSS
VDD

IREF
GND_PAD
GND L4 1.5p
3.9n
B B
1 15
CE CE VDD
2 14 GND
CSN CSN VSS

1
3 13 C57
SCK SCK ANT2 L3
1p
4 12 2 2
MOSI MOSI ANT1 8.2n
5 11
MISO MISO VDD_PA L5
2.7n
U9
VDD CONN_U_FL
VSS
XC2
XC1
IRQ

GND

10
NRF24L01P GND GND
6
7
8
9

VCC
IRQ

C54 C55
15p C51
2.2n 4.7p
1

C50 3 X2
16M GND GND
100n 15p C52
2

GND
C C

GND GND

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

Title: VESC 6.4

Size: A4 Date: 2016-07-07 Rev: A
KiCad E.D.A. kicad no-vcs-found-6cefb6858ubuntu16.04.1 Id: 6/7
1 2 3 4 5 6
 1 2 3 4 5 6

A A

VCC
U10
10 8
REGOUT VLOGIC

C59
2.2u
20 3
CPOUT VDD
13
VDD
B B

C60
1

100n
CLKN
22
CLKOUT
GND
9 2.2u 2.2u 2.2u
VCC AD0
11
FSYNC
12 C61 C62 C63
INT

R40

R41
GND
6
ES_DA
7
ES_CL
1k

1k GND
15
23 17
SCL SCL GND
24 18
SDA SDA GND

MPU9150
GND

C C

Benjamin Vedder
Sheet: /MPU9150/
D File: mpu9150.sch D

Title: VESC 6.4

Size: A4 Date: 2016-07-07 Rev: A
KiCad E.D.A. kicad no-vcs-found-6cefb6858ubuntu16.04.1 Id: 7/7
1 2 3 4 5 6