4 layers96 × 42.2 mm
Candrive
Andreasdahlberg/CANDriveHW
CANDrive is a brushed DC Motor Controller controlled via a CAN interface.
70 partsCC0-1.0
4 layers96 × 42.2 mm
CANDrive
Andreasdahlberg/CANDrive3CANDrive is a brushed DC Motor Controller controlled via a CAN interface.
- Size
- 96 × 42.2 mm
- Copper layers
- 4
- Thickness
- 4.69 mm
- Parts
- 80
- Nets
- 101
- Pads
- 281
- Tracks, vias
- 0, 0
- Pours
- 1
- Routed
- Not yet
- KiCad
- KiCad 6 (file 20211014)
- Created
- 2 Mar 2021
- Updated
- 15 Jul 2026
Overview
CANDrive is an open-source printed circuit board by Andreasdahlberg, from the Andreasdahlberg/CANDrive repository on GitHub, published under the GPL-3.0 licence. It is a 4-layer board of 96 × 42.2 mm with 80 parts on 101 nets.
It is built around the SN65HVD234D, MAX5035BUSA+T and AO3401A, with the BC546 and CDBA3100-HF among its other parts. Its parts include 33 resistors, 19 capacitors, 6 ICs, 6 connectors and 3 diodes. It belongs with the robots and motor control and interfaces and adapters boards and the STM32 boards of this library.
Main components
5
SN65HVD234D
SOIC-8-40℃~+125℃ 1 1Mbps 3V~3.6V 50nA 6mA CAN Transceiver SOIC-8 CAN Transceivers ROHSTexas InstrumentsCAN TransceiversMAX5035BUSA+T
SOIC-80℃~+85℃@(TA) 1 125kHz 1A 5V 7.5V~76V Buck Buck Built-in Fixed No SOIC-8 DC-DC Converters ROHSMaxim Integrated (Analog Devices)DC-DC Converters
AO3401A
SOT-231 P-Channel 14nC@10V 30V 47mΩ@10V、60mΩ@4.5V、85mΩ@2.5V 4A 55pF 645pF 80pF 900mV SOT-23 MOSFETs ROHSAlpha & Omega SemiconductorMOSFETs
BC546
TO-921 NPN 100mA 100nA 300MHz 500mW 65V 6V 800 90mV、250mV NPN TO-92 Bipolar (BJT) ROHSDDFBipolar (BJT)
CDBA3100-HF
SMASchottky DiodesComchip
README
README.md
CANDrive
CANDrive is a brushed DC Motor Controller controlled via a CAN interface.
Features
- Velocity control
- Torque control
- CAN interface
- Firmware updates over CAN
- Emergency stop
- 5 A output current
- 12-24 V supply voltage
Getting started
Getting the Source
This project is hosted on GitHub. You can clone this project directly using this command:
git clone --recurse-submodules https://github.com/Andreasdahlberg/CANDrive.gitBuilding
scons build-opencm
scons buildRunning Tests
Run all tests with valgrind:
scons testRun a single test suite:
scons app/motor/test && build/motor/test/TestRunnerRun a single unit test:
scons app/motor/test && build/motor/test/TestRunner test_Motor_SetSpeedTools
Monitor
The monitor tool is a serial terminal which parses serial output from the device and formats the output to make it easier to read. It also incorporates a simple command line used for debug commands and device configuration. The debug commands are not intended for controlling the motors during normal operation since they bypass several of the safety features.
Features
- Host timestamps
- Color coded debug levels
- Translation from addresses to file and line
- Command line
- Filtering[Not implemented]
Usage
The monitor is started by typing scons monitor. Serial port and baudrate can be configured here or on the command line, e.g. scons monitor SERIAL_PORT=/dev/ttyACM0 BAUD_RATE=921600
The serial port used by the monitor is available at JP1 and is disabled by default. It can be enabled by moving jumper J1.
Available commands
rpm
rpm [MOTOR_INDEX] [RPM]
Ex.
CANDrive> rpm 0 50current
current [MOTOR_INDEX] [CURRENT]
Ex.
CANDrive> current 1 1500run
run [MOTOR_INDEX]
Ex.
CANDrive> run 0coast
coast [MOTOR_INDEX]
Ex.
CANDrive> coast 0brake
brake [MOTOR_INDEX]
Ex.
CANDrive> brake 0reset
reset
Ex.
CANDrive> resetlevel
level [MODULE] [LEVEL]
Ex.
CANDrive> level App 10store
store [PARAMETER] [VALUE]
Ex.
CANDrive> store number_of_motors 1Hardware
Parts
80| Qty | Value | Footprint | References |
|---|---|---|---|
| 13 | 1K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R1, R4, R5, R7, R10, R11, R20, R24, R25, R27, R28, R31, R32 |
| 6 | 100nF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C8, C10, C11, C12, C13, C14 |
| 4 | 0.1uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C6, C9, C16, C17 |
| 4 | 10K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R2, R18, R19, R22 |
| 4 | 22 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R14, R15, R16, R17 |
| 4 | 2K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R8, R9, R29, R30 |
| 2 | 1K5 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R3, R23 |
| 2 | 1uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C19, C20 |
| 2 | 220uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C2, C4 |
| 2 | 33n | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C1, C3 |
| 2 | 47K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R6, R26 |
| 2 | 68uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C15, C18 |
| 2 | Conn_01x06_Male | Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Horizontal | J2, J6 |
| 2 | Conn_01x06_Male | Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical | J3, J4 |
| 2 | LED | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D1, D2 |
| 2 | Polyfuse | Fuse:Fuse_Bourns_MF-RHT300 | F1, F2 |
| 2 | SolderJumper_2_Bridged | Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm | JP1, JP2 |
| 2 | VNH7070BASTR | andreas:VNH7070BASTR | U4, U5 |
| 1 | 100uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C7 |
| 1 | 100uH | Inductor_SMD:L_0805_2012Metric_Pad1.05x1.20mm_HandSolder | L1 |
| 1 | 120 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R33 |
| 1 | 1k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R13 |
| 1 | 2.7K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R21 |
| 1 | 3.3V | TestPoint:TestPoint_THTPad_D1.0mm_Drill0.5mm | TP3 |
| 1 | 510 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R12 |
| 1 | 5V | TestPoint:TestPoint_THTPad_D1.0mm_Drill0.5mm | TP2 |
| 1 | AO3401A | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | BC546 | Package_TO_SOT_THT:TO-92_Inline | Q2 |
| 1 | CDBA3100-HF | Diode_SMD:D_SMA | D3 |
| 1 | Conn_01x02_Male | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Horizontal | J1 |
| 1 | Conn_01x03_Male | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Horizontal | J5 |
| 1 | ENCEN | TestPoint:TestPoint_THTPad_D1.0mm_Drill0.5mm | TP4 |
| 1 | FerriteBead | Ferrite_THT:LairdTech_28C0236-0JW-10 | FB1 |
| 1 | LD1117S33TR_SOT223 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U2 |
| 1 | MAX5035BUSA | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U6 |
| 1 | SN65HVD234 | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U3 |
| 1 | STM32F103RBTx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U1 |
| 1 | SW_Push | Button_Switch_SMD:SW_Push_1P1T_NO_CK_KSC6xxJ | SW1 |
| 1 | VCC | TestPoint:TestPoint_THTPad_D1.0mm_Drill0.5mm | TP1 |
Questions
How big is the CANDrive PCB?
It measures 96 × 42.2 mm and has 4 copper layers, 4.69 mm thick.
What parts does the CANDrive use?
80 parts, built around the SN65HVD234D, MAX5035BUSA+T, AO3401A and BC546. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the CANDrive KiCad files?
From the Andreasdahlberg/CANDrive repository on GitHub, at the commit this page was made from: the board is hardware/candrive/candrive.kicad_pcb and its schematic hardware/candrive/candrive.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the CANDrive design in my own project?
Its repository publishes it under the GPL-3.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
Similar boards
- 2 layers191.3 × 181.7 mm
IO Card G3
PerMalmberg/IO-Card-G3
This is my custom I/O card, third generation. Main purpose is to serve as an alarm system.
400 parts7MIT - 2 layers88.4 × 46.1 mm
- 2 layers90.6 × 46.1 mm
- 2 layers156.2 × 187.5 mm
- 4 layers254.9 × 150.1 mm
- 4 layers50 × 50 mm
- 4 layers373.1 × 220.9 mm
