6 layers39.5 × 39.5 mm
4 layers
MotorCAN
chairlesengi/MotorCANCANBus based FOC motor driver board designed for drone gimbal motors
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 68
- Nets
- 77
- Pads
- 261
- Tracks, vias
- 743, 178
- Pours
- 23
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 6 Jun 2026
- Updated
- 10 Aug 2026
Overview
MotorCAN is an open-source printed circuit board by chairlesengi, from the chairlesengi/MotorCAN repository on GitHub, published under the MIT licence. It is a 4-layer board with 68 parts on 77 nets, routed with 743 tracks and 178 vias.
It is built around the STM32G431CBT6, SN65HVD230DR and DRV8316CRRGFR, with the MT6816CT-AKD-R, ZX-SH1.0-3PWT and WAFER-GH1.25-4PWB among its other parts. Its parts include 29 capacitors, 14 resistors, 8 connectors, 4 ICs 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
8
STM32G431CBT6
LQFP-48(7x7)-40℃~+85℃ 1.71V~3.6V 128KB 12bit 12bit 170MHz 32 Bit 32KB 38 ARM Cortex-M4F Built-in FLASH LQFP-48(7x7) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
SN65HVD230DR
SOP-8CAN TransceiversTokmas
DRV8316CRRGFR
VQFN40-40℃~+125℃ 1.5uA 3 8A 95mΩ SPI Three Phase Yes VQFN40 Brushless DC (BLDC) Motor Driver ROHSTexas InstrumentsPower Management - Specialized
MT6816CT-AKD-R
SOP-8-40℃~+125℃ 0°~360° 1.75mm 10mA 3.9mm 3V~5.5V 5mm Magnetic rotary position sensor No Programmable transmission、Zero position programming、Fault diagnosis、Multi-axis magnetic field detection SPI SOP-8 Position Sensors ROHSNOVOSENSEPosition Sensors
ZX-SH1.0-3PWT
SMD,P=1mm,卧贴-40℃~+85℃ 1 1A 1mm 1x3P 3 3.15mm 3P 4.3mm 5.35mm 50V Auxiliary Solder Pin Beige Brass LCP SH Surface Mount, Right Angle Tin SMD,P=1mm,卧贴 Wire To Board Connector ROHSMegastarWire To Board Connector
WAFER-GH1.25-4PWB
SMD,P=1.25mm,卧贴-25℃~+85℃ 1 1.25mm 125V 1A 1x4P 4 4.35mm 4P 5mm 8.25mm Auxiliary Solder Pin Beige Brass GH LCP Surface Mount, Right Angle Tin SMD,P=1.25mm,卧贴 Wire To Board Connector ROHSXUNPUWire To Board Connector
PESD2CANFD24V-K
SOT-23ESD And Surge Protection (TVS/ESD)PAKER
XL7EL89CKI-111YLC-24M
SMD2016-4P-40℃~+85℃ 100Ω 24MHz 8pF Crystal Oscillator ±10ppm ±20ppm SMD2016-4P Crystals ROHSYXCCrystals
README
README.mdMotorCAN
CANBus based FOC motor driver board designed for drone gimbal motors for node-based control, designed in KiCad.
Features:
- STM32G431 processor core for SimpleFOC software and CAN communication
- 3.3V CAN communication for easy logic level support
- Runs on 20-26V DC
- Integrated magnetic absolute encoder (MT6816CT)
- Handles up to ~3A of motor current
This driver is designed to be a fully integrated solution that mounts to the back of a gimbal motor with a diametrically magnetized magnet. For that reason, it includes an absoulute magnetic encoder and leverages the current sensing capabilities of the DRV8316C driver to maintain a continous measurement of the position of the rotor of the motor and its magnetic field. Then, the STM32 running SimpleFOC calculates the exact currents on each phase needed to create a magnetic torque on the motor that is 90 degrees from the magnetic field and therefore gives the greatest overall control of the motor. This chip also has a 3.3V CAN chip so it can link up to a simple 4 wire network of muliple of these boards for applications like camera gimbals.
Credits: SimpleFOC: https://github.com/simplefoc KiCad: https://www.kicad.org
Parts
68| Qty | Value | Footprint | References |
|---|---|---|---|
| 10 | 10uF | Capacitor_SMD:C_1206_3216Metric | C3, C4, C5, C6, C7, C8, C9, C10, C11, C12 |
| 8 | 100nF | Capacitor_SMD:C_0402_1005Metric | C13, C16, C20, C21, C22, C23, C27, C28 |
| 5 | 10k | Resistor_SMD:R_0603_1608Metric | R9, R10, R11, R13, R14 |
| 4 | 100 | Resistor_SMD:R_0603_1608Metric | R4, R5, R6, R8 |
| 4 | ZX-SH1.0-3PWT | easyeda2kicad:CONN-SMD_3P-P1.00_MEGASTAR_ZX-SH1.0-3PWT | CN1, CN4, CN5, CN6 |
| 3 | 100k | Resistor_SMD:R_0603_1608Metric | R2, R7, R12 |
| 3 | 1nF | Capacitor_SMD:C_0603_1608Metric | C17, C18, C19 |
| 3 | 1uF | Capacitor_SMD:C_0603_1608Metric | C14, C24, C25 |
| 3 | MountingHole_Pad | MountingHole:MountingHole_2.2mm_M2_ISO14580_Pad_TopBottom | H1, H3, H4 |
| 2 | 10pF | Capacitor_SMD:C_0402_1005Metric | C1, C2 |
| 2 | WAFER-GH1.25-4PWB | easyeda2kicad:CONN-SMD_4P-P1.25_XUNPU_WAFER-GH1.25-4PWB | CN2, CN3 |
| 1 | 100uF | Capacitor_SMD:CP_Elec_6.3x7.7 | C29 |
| 1 | 120 | Resistor_SMD:R_0603_1608Metric | R1 |
| 1 | 22k | Resistor_SMD:R_0603_1608Metric | R3 |
| 1 | 22uF | Capacitor_SMD:C_1206_3216Metric | C26 |
| 1 | 26V | Diode_SMD:D_SMB | D3 |
| 1 | 2N7002 | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | 4.7V Zener | Diode_SMD:D_SOD-123 | D1 |
| 1 | 47nF | Capacitor_SMD:C_0603_1608Metric | C15 |
| 1 | 47uH | easyeda2kicad:IND-SMD_L4.0-W4.0 | L1 |
| 1 | 600@100MHz | Resistor_SMD:R_0603_1608Metric | FB1 |
| 1 | A | Connector_Wire:SolderWirePad_1x01_SMD_2x4mm | M1 |
| 1 | B | Connector_Wire:SolderWirePad_1x01_SMD_2x4mm | M2 |
| 1 | C | Connector_Wire:SolderWirePad_1x01_SMD_2x4mm | M3 |
| 1 | DRV8316CRRGFR | easyeda2kicad:VQFN-40_L7.0-W5.0-P0.50-BL-EP5.7 | U2 |
| 1 | MT6816CT-AKD-R | easyeda2kicad:SOP-8_L4.9-W3.9-P1.27-LS6.0-BL-1 | U4 |
| 1 | PESD2CANFD24V-K | easyeda2kicad:SOT-23-3_L2.9-W1.3-P1.90-LS2.4-BR | D2 |
| 1 | PWR IN | Connector_AMASS:AMASS_XT30PW-M_1x02_P2.50mm_Horizontal | J2 |
| 1 | PWR OUT | Connector_AMASS:AMASS_XT30PW-F_1x02_P2.50mm_Horizontal | J3 |
| 1 | SN65HVD230DR | easyeda2kicad:SOIC-8_L4.9-W3.9-P1.27-LS6.0-BL | U3 |
| 1 | STM32G431CBT6 | easyeda2kicad:LQFP-48_L7.0-W7.0-P0.50-LS9.0-BL | U1 |
| 1 | XL7EL89CKI-111YLC-24M | easyeda2kicad:CRYSTAL-SMD_4P-L2.0-W1.6-BL-A | X1 |
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Questions
What parts does the MotorCAN use?
68 parts, built around the STM32G431CBT6, SN65HVD230DR, DRV8316CRRGFR and MT6816CT-AKD-R. 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 MotorCAN KiCad files?
From the chairlesengi/MotorCAN repository on GitHub, at the commit this page was made from: the board is MotorCAN/MotorCAN.kicad_pcb and its schematic MotorCAN/MotorCAN.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the MotorCAN design in my own project?
Its repository publishes it under the MIT licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).