4 layers124.4 × 80.4 mm
Stepper driver
harp-tech/device.stepperdriver
A stepper motor controller device for four motors including individual quadrature encoders.
212 parts1
4 layers61.9 × 84.4 mm
FastStepper
harp-tech/device.faststepperA fast moving stepper motor controller device, with acceleration, jerk control, and end stop support
- Size
- 61.9 × 84.4 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 141
- Nets
- 120
- Pads
- 467
- Tracks, vias
- 920, 286
- Pours
- 36
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 24 Jan 2025
- Updated
- 29 Jun 2026
Overview
FastStepper is an open-source printed circuit board by harp-tech, from the harp-tech/device.faststepper repository on GitHub. It is a 4-layer board of 61.9 × 84.4 mm with 141 parts on 120 nets, routed with 920 tracks and 286 vias.
It is built around the ATXMEGA32A4U-AU, M74VHC1GT126DT1G and THVD1450D, with the FT232RNL-REEL, 74LVC1G157GV,125-JSM and ADUM1201BRZ among its other parts. Its parts include 42 capacitors, 30 resistors, 22 ICs, 8 diodes and 8 crystals. It belongs with the robots and motor control boards and the AVR (ATmega, ATtiny) boards of this library.
Main components
12
ATXMEGA32A4U-AU
TQFP-44(10x10)-40℃~+85℃ 1.6V~3.6V 12bit 12bit 1KB 32KB 32MHz 34 4KB 8/16 Bit AVR Built-in FLASH TQFP-44(10x10) Microcontrollers (MCU/MPU/SOC) ROHSMicrochip TechnologyMicrocontrollers (MCU/MPU/SOC)
M74VHC1GT126DT1G
TSOP-5-1.5mm-55℃~+125℃ 1 1 3V~5.5V 40uA 7.5ns@5V,50pF 8mA 8mA Power-off isolation、Output enable、Level shifting Tri-State Unidirectional VHC TSOP-5-1.5mm Buffers, Drivers, Receivers, Transceivers ROHSonsemiBuffers, Drivers, Receivers, Transceivers
THVD1450D
SOIC-8-40℃~+125℃ 1 1 256 3V~5.5V 3mA 50Mbps Half-Duplex Transceiver ±18kV SOIC-8 RS-485 / RS-422 ICs ROHSTexas InstrumentsRS-485 / RS-422 ICs
FT232RNL-REEL
SSOP-28-40℃~+85℃ 15mA 3.3V~5.25V 70uA USB 2.0 USB to UART SSOP-28 USB Converters ROHSFTDIUSB Converters
74LVC1G157GV,125-JSM
TSOP-6-40℃~+125℃ 1.65V~5.5V 2/1 24mA 24mA 4uA 74LVC 9ns@5V,50pF Level shifting Single Supply TSOP-6 Signal Switches, Multiplexers, Decoders ROHSJSMSEMISignal Switches, Multiplexers, DecodersADUM1201BRZ
SOIC-8-40℃~+125℃ 1 1 10Mbps 2.7V~5.5V 2.7V~5.5V 2500 25kV/us 50ns SOIC-8 Digital Isolators ROHSAnalog DevicesDigital Isolators
LP5907MFX-3.3/NOPB(MS)
SOT-23-5-40℃~+125℃@(Tj) 1 180mV@(300mA) 2uA 3.3V 300mA 5.5V Fixed Over Current Protection、Over Temperature Protection、Enable Positive SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSMSKSEMIVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
CGA2B3X7R1H104K050BB
0402100nF 50V X7R ±10% 0402 Multilayer Ceramic Capacitors MLCC - SMD/SMT ROHSTDKMultilayer Ceramic Capacitors MLCC - SMD/SMT
ESD9B3.3ST5G
SOD-923(0402)ESD And Surge Protection (TVS/ESD)TECH PUBLIC
MI0805K400R-10
0805-40℃~+125℃ 1 1.5A 40Ω@100MHz 50mΩ 0805 Ferrite Beads ROHSLairdFerrite Beads04025A470JAT2A
040247pF 50V C0G ±5% 0402 Multilayer Ceramic Capacitors MLCC - SMD/SMT ROHSKyocera AVXMultilayer Ceramic Capacitors MLCC - SMD/SMT
PESD5V0L2BT,215-JSM
SOT-23-55℃~+150℃ 100pF 1uA 2 350W@8/20us 5V 7V 9.8V Bidirectional ESD IEC 61000-4-2、IEC 61000-4-4 SOT-23 ESD and Surge Protection (TVS/ESD) ROHSJSMSEMIUncategorised
README
README.mdHarp FastStepper
This repository contains the device metadata, firmware and high-level interface to the FastStepper device. Below are simple getting started instructions for maintainers to create a new device using the automatic code generators.
Device metadata
Prerequisites
- Install Visual Studio Code
- Install the YAML extension.
The device.yml file in the root of the project contains the FastStepper device metadata. A complete specification of device registers, including any bit masks, group masks, and payload specs needs to be provided for code generation to work.
Generating interface and firmware
Prerequisites
- Install
dotnet - Install
dotnet-t4
dotnet tool install -g dotnet-t4The Generators folder contains all text templates and project files required to generate both the firmware headers and the interface for the FastStepper device. To run the text templating engine just build the project inside this folder.
cd Generators
dotnet buildParts
141| Qty | Value | Footprint | References |
|---|---|---|---|
| 30 | 100nF | Capacitor_SMD:C_0402_1005Metric | C1, C12, C14, C16, C17, C18, C19, C20, C21, C22, C23, C25, C26, C27, C28, C29 +14 |
| 15 | M74VHC1GT126DT1G | Package_SO:TSOP-5_1.65x3.05mm_P0.95mm | IC2, IC4, IC5, IC6, IC11, IC13, IC14, IC15, IC16, IC17, IC18, IC19, IC20, IC21, IC22 |
| 14 | 10k | Resistor_SMD:R_0402_1005Metric | R6, R8, R10, R11, R12, R13, R14, R16, R17, R18, R19, R22, R23, R34 |
| 9 | NO_COMPONENT | TestPoint:TestPoint_THTPad_D1.0mm_Drill0.5mm | TP1, TP4, TP5, TP6, TP8, TP9, TP10, TP11, TP13 |
| 6 | Pin_D4mm_hole2mm | FastStepper PCBLib:Pin_D4mm_hole2mm | SC1, SC1, SC1, SC1, SC1, SC1 |
| 5 | ESD9B3 | Diode_SMD:D_SOD-923 | D1, D2, D3, D7, D8 |
| 4 | 4.7uF | Capacitor_SMD:C_0603_1608Metric | C8, C10, C11, C39 |
| 3 | 100k | Resistor_SMD:R_0402_1005Metric | R2, R26, R27 |
| 3 | 1k | Resistor_SMD:R_0402_1005Metric | R5, R24, R25 |
| 3 | 40R@100MHz | Resistor_SMD:R_0805_2012Metric | L1, L2, L3 |
| 3 | 47pF | Capacitor_SMD:C_0402_1005Metric | C4, C6, C13 |
| 3 | DNI | Resistor_SMD:R_0402_1005Metric | R4, R7, R9 |
| 3 | PESD5V0L2BT | Package_TO_SOT_SMD:SOT-23 | D4, D5, D6 |
| 3 | SolderJumper_2_Open | Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm | JP1, JP2, JP3 |
| 3 | conn 1x3 | FastStepper PCBLib:22-23-2031 | X3, X4, X10 |
| 3 | conn 1x5 | FastStepper PCBLib:22-23-2051 | X2, X5, X9 |
| 2 | 15nF | Capacitor_SMD:C_0402_1005Metric | C41, C42 |
| 2 | 5.1k | Resistor_SMD:R_0402_1005Metric | R28, R29 |
| 2 | DLW21HN900SQ2L | FastStepper PCBLib:FIL_DLW21HN900SQ2L | FL1, FL2 |
| 2 | Keystone 8734 | FastStepper PCBLib:Terminal_Block_Keystone_8734_1x01_Horizontal_Screw | J4, J6 |
| 2 | PJ-316A-6A | FastStepper PCBLib:Jack_3.5mm_PJ316A_Horizontal | J2, J3 |
| 1 | 0R | Resistor_SMD:R_0402_1005Metric | R15 |
| 1 | 15k | Resistor_SMD:R_0402_1005Metric | R21 |
| 1 | 1M | Resistor_SMD:R_0402_1005Metric | R3 |
| 1 | 1u | Capacitor_SMD:C_0603_1608Metric | C24 |
| 1 | 24k | Resistor_SMD:R_0402_1005Metric | R20 |
| 1 | 330R | Resistor_SMD:R_0402_1005Metric | R1 |
| 1 | 4.7nF | Capacitor_SMD:C_0402_1005Metric | C2 |
| 1 | 74LVC1G157 | Package_SO:TSOP-6_1.65x3.05mm_P0.95mm | U1 |
| 1 | ADUM1201BRZ | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U3 |
| 1 | AO3401A | Package_TO_SOT_SMD:TSOT-23 | Q1 |
| 1 | ATXMEGA32A4U | Package_QFP:TQFP-44_10x10mm_P0.8mm | IC8 |
| 1 | DNI | Capacitor_SMD:C_0603_1608Metric | C15 |
| 1 | FT232RL | Package_SO:SSOP-28_5.3x10.2mm_P0.65mm | IC1 |
| 1 | GREEN_LED | LED_SMD:LED_0603_1608Metric | STATE0 |
| 1 | LP5907MFX-3.3 | Package_TO_SOT_SMD:TSOT-23-5 | IC3 |
| 1 | OSCILLATOR | Oscillator:Oscillator_SMD_Abracon_ASE-4Pin_3.2x2.5mm | X6 |
| 1 | PINHD-2X3 | Connector_PinHeader_2.54mm:PinHeader_2x03_P2.54mm_Vertical | SV2 |
| 1 | THS4281DBVT | Package_TO_SOT_SMD:SOT-23-5 | IC10 |
| 1 | THVD1450D | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U2 |
| 1 | USB_C_Receptacle | Connector_USB:USB_C_Receptacle_Amphenol_12401610E4-2A | J1 |
| 1 | conn 1x5 2 | FastStepper PCBLib:20_155MH_5 | X1 |
Questions
How big is the FastStepper PCB?
It measures 61.9 × 84.4 mm and has 4 copper layers, 1.6 mm thick.
What parts does the FastStepper use?
141 parts, built around the ATXMEGA32A4U-AU, M74VHC1GT126DT1G, THVD1450D and FT232RNL-REEL. 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 FastStepper KiCad files?
From the harp-tech/device.faststepper repository on GitHub, at the commit this page was made from: the board is Hardware/PCB/FastStepper.kicad_pcb and its schematic Hardware/PCB/FastStepper.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the FastStepper design in my own project?
Its repository states no licence, so its author keeps all rights: ask harp-tech before reusing the design.
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