4 layers99.1 × 98.5 mm
QMTECH XC7A100T Expantion Board
dartcom/QMTECH_XC7A100T-Expantion-Board
Expantion board for the QMTECH_XC7A***T
160 parts
4 layers85 × 54 mm
Integrated motor controller
kgieselman/integrated_motor_controller_pcbIntegrated Motor Controller for a robotics competion hosted by my work. The competitions changes each year so this board is flexible and contains mutliple headers for expanding to daughter boards.
- Size
- 85 × 54 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 150
- Nets
- 104
- Pads
- 518
- Tracks, vias
- 884, 166
- Pours
- 178
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 10 May 2026
- Updated
- 24 May 2026
Overview
Integrated motor controller is an open-source printed circuit board by kgieselman, from the kgieselman/integrated_motor_controller_pcb repository on GitHub, published under the CERN-OHL-S-2.0 licence. It is a 4-layer board of 85 × 54 mm with 150 parts on 104 nets, routed with 884 tracks and 166 vias.
It is built around the AP63205WU, LSM6DSV and M24C64-RMN6TP, with the USBLC6-2SC6, 1812L200THPR and ASE-25.000MHZ-ET among its other parts. Its parts include 45 capacitors, 33 resistors, 15 connectors, 10 diodes and 9 ICs. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
11
AP63205WU
TSOT-23-6-40℃~+85℃@(TA) 1 1.1MHz 22uA 2A 3.8V~32V 5V Buck Built-in Fixed Overcurrent Protection、Light load efficient mode、Cycle-by-cycle current limiting、Hiccup current limiting、EMI optimization (spread spectrum) Step-down type Yes TSOT-23-6 DC-DC Converters ROHSDiodes IncorporatedDC-DC Converters
LSM6DSV
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 16bit 4.5KB Accelerometer Gyroscope SPI、I2C、I3C X,Y,Z X,Y,Z ±16g ±4000dps LGA-14(2.5x3) Accelerometers ROHSSTMicroelectronicsAccelerometers
M24C64-RMN6TP
SOIC-8-40℃~+85℃ 1.8V~5.5V 1MHz 2.5mA 200 Years 3uA 4,000,000 Cycles 5ms 64Kbit Hardware write protection function、Built-in power-on reset (POR)、Built-in error correction code (ECC) function I2C SOIC-8 EEPROM ROHSSTMicroelectronicsEEPROMUSBLC6-2SC6
SOT-23-60.35pF、0.8pF 100nA 150W@8/20us 15V 2 5V 6A@8/20us 6V ESD SOT-23-6 ESD and Surge Protection (TVS/ESD) ROHSUMWESD And Surge Protection (TVS/ESD)
1812L200THPR
1812-40℃~+85℃ 0.61mm 100A 20mΩ 2A 2s 3.41mm 3.5A 4.73mm 70mΩ 800mW 8V 1812 Resettable Fuses ROHSLittelfuseResettable Fuses
ASE-25.000MHZ-ET
SMD3225-4P-20℃~+70℃ 13mA 25MHz 3.3V CMOS SMD3225-4P Crystal Oscillators ROHSAbraconCrystal Oscillators
BZT52C3V3
SOD-123-55℃~+150℃ 1 Independent 3.1V~3.5V 3.3V 500mW 5uA 600Ω 95Ω SOD-123 Zener Diodes ROHSJiangsu Changjing Electronics Technology (CJ)Zener Diodes
MM3Z10VT1GX
SOD-3231 Independent 100nA@7V 10V 300mW 60Ω 9.45V~10.55V ±5% SOD-323 Zener Diodes ROHSNexperiaZener DiodesPMEG3010EJ
SOD-3231 Independent 150uA@30V 1A 30V 560mV@1A 9A SOD-323 Schottky Diodes ROHSNexperiaSchottky Diodes
SI7157DP
PowerPAK-SO-8-55℃~+150℃ 1 P-Channel 1.4V 20V 22nF 3.2mΩ@2.5V 305nC@4.5V 415pF 60A 61.25W P-Channel PowerPAK-SO-8 MOSFETs ROHSVishay IntertechnologyMOSFETs
SMAJ16A
DO-214AC(SMA)-65℃~+150℃ 15.4A 15.4uA 16V 17.8V 26V 400W TVS Unidirectional DO-214AC(SMA) ESD and Surge Protection (TVS/ESD) ROHSLittelfuseESD And Surge Protection (TVS/ESD)
README
README.mdIntegrated Motor Controller PCB
A reusable base board for yearly robotics competitions. The base board handles drive, sensing, control, and radio. Per-season expansion is exposed through a small set of discrete headers (AUX, UART, QWIIC I²C, servo), not a single dedicated mechanism connector.
Adapter boards are named after creature parts: Fang (ping pong gripper/launcher), with future adapters extending the menagerie.
Architecture
┌──────────────────────────────────────────────────────────────────┐
│ Base Board │
│ │
│ ┌───────────────────┐ ┌──────────────────────────────────────┐ │
│ │ Power │ │ STM32 H563RIT6 │ │
│ │ 2S/3S → 5V ×2 │ │ 250 MHz, 2MB / 640KB │ │
│ │ (aux + main) │ │ Y1 ASE-25MHz active oscillator │ │
│ │ 5V → 3.3V LDO │ │ BZ buzzer, D6–D9 LEDs │ │
│ │ USB/batt PowerPath| └────────────┬─────────────────────────┘ │
│ └───────────────────┘ │ │
│ │ │
│ ┌───────────────────────────────────┼───────────────┐ │
│ │ DRV8874 ×2 Motor Drivers │ │ │
│ │ ~9A peak each │ Encoders ×2 │ │
│ │ IN1/IN2 + IPROPI │ TIM4 / TIM8 │ │
│ └───────────────────────────────────┴───────────────┘ │
│ │
│ Connectors (* = DNP, footprint reserved): │
│ J1 RCVR 1×4 pin — ELRS/CRSF RX/TX + 5 V * │
│ J2 SWD 2×3 pin — SWDIO/SWCLK/nRST, 3.3 V * │
│ J3 ENC 0 1×3 pin — encoder 0 signal, 3.3 V * │
│ J4 ENC 1 1×3 pin — encoder 1 signal, 3.3 V * │
│ J5 UART 1×3 pin — expansion UART, JST GH 1.25 mm * │
│ J6 CH0 1×3 pin — servo 0, +5V_Aux, GND * │Key Specs
| MCU | STM32H563RIT6 — Cortex-M33 @ 250 MHz, 2 MB flash, 640 KB SRAM, LQFP-64 |
| Clock | Y1 ASE-25.000MHZ — Abracon active oscillator, 4-pin SMD 3.2×2.5 mm |
| Motor drivers | 2× DRV8874 (PWP-16, HTSSOP) — IN1/IN2 mode (PMODE driven high), IPROPI current sense |
| IMU | LSM6DSV (U6) — 6-axis, SPI1 on PB3/PB4/PB5, CS=PC12, INT1=PD2, INT2=PB8; LGA-14 3×2.5 mm |
| EEPROM | M24C64 — 64 Kbit, I²C1 on PB6/PB7, WC=PA9 |
| RC control | External CRSF/ELRS receiver via J1 (1×4); JP1/JP2 solder jumpers bridged by default |
| Servo channels | 3, powered from +5V_Aux buck |
| Expansion UART | JST GH 1.25 mm |
| I2C expansion | JST SH 1.0 mm, 1×4 |
| Power input | 2S/3S LiPo (7.4–12.6 V) via XT60; USB-C VBUS can power logic rails only |
| Power topology | SW1 power switch; SI7157DP; 2N7002; AP63205WU bucks (5V_Aux + 5V); AP1117-33 LDO for 3.3 V |
| Debug | SWD, MCU RST, MCU BOOT0, USR button, power switch, LEDs, buzzer |
| Board | 4-layer FR4 |
Schematic Hierarchy
integrated_motor_controller.kicad_sch (Root)
├── power_regulator_2s_3s.kicad_sch — Battery input, power switch, bucks, LDO, VBAT sense
├── mcu_h563r.kicad_sch — STM32H563, Y1 active oscillator, bypass, pin assignments, VCAP, SW2/SW3
├── motor_driver_drv8874.kicad_sch — DRV8874 (instantiated twice: Motor 0 + Motor 1), motor output connectors
├── imu_lsm6dsv.kicad_sch — LSM6DSV on SPI1
├── eeprom_m24c64.kicad_sch — M24C64 on I²C1
├── debug_leds.kicad_sch — Debug LEDs (×4), buzzer, user button, transistor drivers
└── connector_usb.kicad_sch — USB-C receptacle + USBLC6-2SC6 ESD + CC pulldownsServo, encoder, UART, I2C, RCVR, and SWD connectors are placed directly on the root sheet.
Status
- Schematic hierarchy defined
- Sub-schematics created and wired
- PCB layout complete (KiCad 10)
- Gerber / drill files generated (
gerbers/) - ERC clean
- DRC clean
- BOM and pick-and-place outputs
- First board assembled and tested
Getting Started
- Clone this repo
- Open
integrated_motor_controller.kicad_proin KiCad 10+ - Custom symbols are in
libraries/symbols/— resolved via the committedsym-lib-table - Custom footprints are in
libraries/footprints/— resolved viafp-lib-table
Repo Structure
integrated_motor_controller-pcb/
├── integrated_motor_controller.kicad_pro # KiCad project file — open this
├── integrated_motor_controller.kicad_sch # Root schematic
├── integrated_motor_controller.kicad_pcb # PCB layout
├── power_regulator_2s_3s.kicad_sch
├── mcu_h563r.kicad_sch
├── motor_driver_drv8874.kicad_sch
├── imu_lsm6dsv.kicad_sch
├── eeprom_m24c64.kicad_sch
├── debug_leds.kicad_sch
├── connector_usb.kicad_sch
├── gerbers/ # Gerber + drill files (ready for fab)
├── output/
│ ├── integrated_motor_controller.csv # BOM export
│ └── integrated_motor_controller.net # Netlist export
├── libraries/
│ ├── symbols/ # Custom KiCad symbol libraries (.kicad_sym)
│ ├── footprints/ # Custom KiCad footprint libraries (.kicad_mod)
│ └── 3d_models/ # STEP/WRL 3D models
├── sym-lib-table # Symbol library table (committed — paths are relative)
└── fp-lib-table # Footprint library table (committed — paths are relative)License
CERN Open Hardware Licence Version 2 - Strongly Reciprocal (CERN-OHL-S-2.0) © 2026 Kyle Gieselman
Parts
150| Qty | Value | Footprint | References |
|---|---|---|---|
| 20 | 100nF | Capacitor_SMD:C_0603_1608Metric | C2, C3, C11, C12, C14, C20, C21, C22, C23, C24, C26, C27, C31, C32, C36, C37 +4 |
| 14 | 22uF | Capacitor_SMD:C_1206_3216Metric | C6, C7, C8, C10, C13, C15, C16, C18, C33, C34, C35, C39, C40, C41 |
| 9 | 10k | Resistor_SMD:R_0603_1608Metric | R11, R13, R14, R16, R17, R18, R22, R23, R31 |
| 4 | 220 | Resistor_SMD:R_0603_1608Metric | R27, R28, R29, R30 |
| 4 | 2N7002 | Package_TO_SOT_SMD:SOT-23 | Q2, Q3, Q4, Q5 |
| 4 | 3.3k | Resistor_SMD:R_0603_1608Metric | R2, R3, R32, R33 |
| 4 | M2 Mount | MountingHole:MountingHole_2.2mm_M2_Pad_Via | H1, H2, H3, H4 |
| 3 | 100k | Resistor_SMD:R_0603_1608Metric | R7, R9, R10 |
| 3 | GND | TestPoint:TestPoint_Pad_D1.0mm | TP1, TP2, TP3 |
| 2 | 0 | Resistor_SMD:R_0805_2012Metric | R19, R24 |
| 2 | 1.5k | Resistor_SMD:R_0805_2012Metric | R20, R25 |
| 2 | 100 | Resistor_SMD:R_0805_2012Metric | R21, R26 |
| 2 | 2.2uF | Capacitor_SMD:C_0603_1608Metric | C28, C29 |
| 2 | 22nF | Capacitor_SMD:C_0603_1608Metric | C38, C44 |
| 2 | 4.7uH | Inductor_SMD:L_Sunlord_MWSA0503S | L1, L2 |
| 2 | 5.1k | Resistor_SMD:R_0603_1608Metric | R5, R6 |
| 2 | >=100uF | Capacitor_THT:CP_Radial_D5.0mm_P2.00mm | C1, C9 |
| 2 | AP63205WU | Package_TO_SOT_SMD:TSOT-23-6 | U2, U4 |
| 2 | DRV8874PWPR | DRV8874PWPR:PWP0016J_N | U7, U8 |
| 2 | Fiducial | MountingHole:ToolingHole_1.152mm | FID1, FID2 |
| 2 | I2C | Connector_JST:JST_SH_BM04B-SRSS-TB_1x04-1MP_P1.00mm_Vertical | J7, J9 |
| 2 | MOT | Connector_Molex:Molex_Micro-Fit_3.0_43650-0215_1x02_P3.00mm_Vertical | J14, J15 |
| 2 | Schottky | Diode_SMD:D_SOD-123 | D5, D10 |
| 2 | SolderJumper_2_Bridged | Jumper:SolderJumper-2_P1.3mm_Bridged_Pad1.0x1.5mm | JP1, JP2 |
| 1 | 100 | Resistor_SMD:R_0603_1608Metric | R1 |
| 1 | 100pF | Capacitor_SMD:C_0603_1608Metric | C4 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric | C30 |
| 1 | 10uF | Capacitor_SMD:C_0603_1608Metric | C17 |
| 1 | 1812L200THPR | Fuse:Fuse_1812_4532Metric | F1 |
| 1 | 1M | Resistor_SMD:R_0603_1608Metric | R8 |
| 1 | 1uF | Capacitor_SMD:C_0603_1608Metric | C25 |
| 1 | 30k | Resistor_SMD:R_0603_1608Metric | R12 |
| 1 | 33 | Resistor_SMD:R_0603_1608Metric | R15 |
| 1 | 3V3 | TestPoint:TestPoint_Pad_D1.0mm | TP8 |
| 1 | 4.7uF | Capacitor_SMD:C_0603_1608Metric | C19 |
| 1 | 5V | TestPoint:TestPoint_Pad_D1.0mm | TP9 |
| 1 | 5V_AUX | TestPoint:TestPoint_Pad_D1.0mm | TP6 |
| 1 | 68k | Resistor_SMD:R_0603_1608Metric | R4 |
| 1 | AP1117-33 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U3 |
| 1 | ASE-25.000MHZ | Oscillator:Oscillator_SMD_Abracon_ASE-4Pin_3.2x2.5mm | Y1 |
| 1 | BATT_DIV | TestPoint:TestPoint_Pad_D1.0mm | TP7 |
| 1 | BATT_IN | Connector_AMASS:AMASS_XT60-M_1x02_P7.20mm_Vertical | J13 |
| 1 | BOOT | Button_Switch_SMD:SW_SPST_TS-1088-xR020 | SW3 |
| 1 | BZT52C3V3 | Diode_SMD:D_SOD-123 | D3 |
| 1 | Buzzer | Buzzer_Beeper:MagneticBuzzer_PUI_AT-0927-TT-6-R | BZ1 |
| 1 | CH0 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J6 |
| 1 | CH1 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J8 |
| 1 | CH2 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J10 |
| 1 | ENC 0 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J3 |
| 1 | ENC 1 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J4 |
| 1 | Ferrite | Inductor_SMD:L_0805_2012Metric | FB1 |
| 1 | LED0 | LED_SMD:LED_0603_1608Metric | D7 |
| 1 | LED1 | LED_SMD:LED_0603_1608Metric | D8 |
| 1 | LED2 | LED_SMD:LED_0603_1608Metric | D9 |
| 1 | LSM6DSV | Package_LGA:LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y | U6 |
| 1 | Logo_Open_Hardware_Small | Symbol:KiCad-Logo2_6mm_SilkScreen | SYM2 |
| 1 | M24C64-RMN6TP | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U9 |
| 1 | MM3Z10VT1G | Diode_SMD:D_SOD-323 | D1 |
| 1 | PA10 | TestPoint:TestPoint_Pad_D1.0mm | TP10 |
| 1 | PB12 | TestPoint:TestPoint_Pad_D1.0mm | TP12 |
| 1 | PB13 | TestPoint:TestPoint_Pad_D1.0mm | TP13 |
| 1 | PC8 | TestPoint:TestPoint_Pad_D1.0mm | TP11 |
| 1 | PMEG3010EJ | Diode_SMD:D_SOD-323F | D4 |
| 1 | PWR | LED_SMD:LED_0603_1608Metric | D6 |
| 1 | RCVR | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J1 |
| 1 | SI7157DP | Package_SO:PowerPAK_SO-8_Single | Q1 |
| 1 | SMAJ16A | Diode_SMD:D_SMA | D2 |
| 1 | STM32H563RITx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U5 |
| 1 | SWD | Connector_PinHeader_2.54mm:PinHeader_2x03_P2.54mm_Vertical | J2 |
| 1 | SW_PWR | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | SW1 |
| 1 | SYM_ESD_Large | Symbol:ESD-Logo_6.6x6mm_SilkScreen | SYM1 |
| 1 | UART | Connector_JST:JST_GH_BM03B-GHS-TBT_1x03-1MP_P1.25mm_Vertical | J5 |
| 1 | USB C 2.0 | Connector_USB:USB_C_Receptacle_HRO_TYPE-C-31-M-12 | J11 |
| 1 | USBLC6-2SC6 | Package_TO_SOT_SMD:SOT-23-6 | U1 |
| 1 | USB_DET | TestPoint:TestPoint_Pad_D1.0mm | TP5 |
| 1 | USR | Button_Switch_SMD:SW_SPST_TS-1088-xR020 | SW4 |
| 1 | VBUS | TestPoint:TestPoint_Pad_D1.0mm | TP4 |
| 1 | VMeter | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J12 |
| 1 | ~{RST} | Button_Switch_SMD:SW_SPST_TS-1088-xR020 | SW2 |
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Questions
How big is the Integrated motor controller PCB?
It measures 85 × 54 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Integrated motor controller use?
150 parts, built around the AP63205WU, LSM6DSV, M24C64-RMN6TP and USBLC6-2SC6. 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 Integrated motor controller KiCad files?
From the kgieselman/integrated_motor_controller_pcb repository on GitHub, at the commit this page was made from: the board is integrated_motor_controller.kicad_pcb and its schematic connector_usb.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Integrated motor controller design in my own project?
Its repository publishes it under the CERN-OHL-S-2.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).