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 EN_BUCK
D+ 22R USB_DP H3 INH_C EN_BUCK
4

shield
ID L1 INL_A
5 SH_A
A GND L2 INL_B A
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

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
EN_BUCK

GND VOLTAGE_1 SENS_A GH_C GH_C

P2 File: CAN.kicad_sch VOLTAGE_2 SENS_B SH_C SH_C
R42
2k2 VOLTAGE_3 SENS_C GL_C GL_C
D8 R43
R41 2k2 AN_IN SENS_SUPPLY SL_C SL_C
39k D_Schottky R44
2k2 R39 VCC PC13 SENS_FILTERED
SH_A P4
1 GND
10k
File: DRV8301.kicad_sch
2
HALL_3

HALL_ENC
D7 3 CURR_FILTER_ON CURR_FILTER
R40 R47 HALL_2
56k D_Schottky 220R 4 CURRENT_1 CURR_A
HALL_1
B SHUTDOWN 5 CURRENT_2 CURR_B B
TEMP_MOTOR
6 CURRENT_3 CURR_C
100n
C56 ADC_TEMP TEMP
D9 C58
GND VCC
D10 D_Schottky File: Power.kicad_sch
2.2u 8 CONN_SW SHUTDOWN
ADC_15
C55
100n

7 R5
3.6V

MISO_ADC_EXT2 1k
6 R38
TX_SCL_MOSI 1k
5
RX_SDA_NSS
GND 4 BMI160
SCK_ADC_EXT
COMM

R45 R46 3 GND

GND
1K PTC 1K PTC 2
VCC PA15 SCL
CONN_SW 1
+5V PB2 SDA
P5
3
100R SERVO VCC
File: BMI160.kicad_sch
SERVO

2 R6 C1
+5V
1 GND
100n D1 2 1 BLUE R7
U2 P6 1k
NRF51822-TY_EYSGJNZWY 5 GND D2 2 1 RED R8
VCC LED_RED 220R
13 17 4
C OUT_ANT SWDCLK SWCLK D3 2 1GREEN R9 C
SWD

14 16 3 LED_GREEN 220R
OUT_MOD SWDIO GND
2
SWDIO
1
10 NRST GND
DEC2 23
24 P0.00 P7
DCC 21
P0.01 NRF_SWCLK
22
P0.02 NRF_SWDIO
VCC

19
P0.03 PC10_TX
27
P0.04 PC11_RX
25
P0.05
26
P0.06
1k

5
VCC_NRF P0.17
8 File: MCU.kicad_sch
6 11
AVDD P0.19
R4

C48 4
P0.21 1 J4
7 PWR_FLAG SUPPLY
P0.23 HOLE
D6

2.2u 28 18
GND P0.25 1 J5
2

20 PWR_FLAG +5V
GND HOLE
15
GND
12 PWR_FLAG VCC
1

GND Benjamin Vedder

RED

9 3
GND P0.26_XL2 Sheet: /
1 2 PWR_FLAG GND
D GND P0.27_XL1 File: VESC_6.kicad_sch D
GND GND
Title: VESC 6 MK5
Size: A4 Date: 2020-12-09 Rev: c
KiCad E.D.A. kicad 5.99.0-unknown-59527dff2~106~ubuntu20.04.1 Id: 1/6
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.kicad_sch D

Title: VESC 6 MK5

Size: A4 Date: 2019-10-16 Rev: c
KiCad E.D.A. kicad 5.99.0-unknown-59527dff2~106~ubuntu20.04.1 Id: 2/6
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 8M C8
15 4
VOLTAGE_2 PA1(ADC123_IN1) PC15-OSC32_OUT GND

2
16 Bypass, place next to VDD pins
VOLTAGE_3 PA2(ADC123_IN2) 15p 15p
17 5 1 3
ADC_TEMP PA3(ADC123_IN3) PH0-OSC_IN GND
20 6
NRF_SWCLK PA4(ADC12_IN4/DAC1_OUT) PH1-OSC_OUT Y1
21

4
SCK_ADC_EXT PA5(ADC12_IN5/DAC2_OUT)
22 60
MISO_ADC_EXT2 PA6(ADC12_IN6) BOOT0(VPP)
23 28
TX_SCL_MOSI PA7(ADC12_IN7) PB2-BOOT1 PB2
41 GND
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) PA15
LED_RED PB1(ADC12_IN9) 55
57 PB3(JTDO/TRACESWO) SPI3_MISO
EN_GATE PB5 56
58 PB4(NJTRST) SPI3_MOSI
SERVO PB6 GND
59
FAULT PB7
B 61 B
CAN_RX PB8
62
CAN_TX PB9
29
TX_SCL_MOSI PB10
30
RX_SDA_NSS PB11
33
NRF_SWDIO 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
PC10_TX PC11 VDDA
53 12
PC11_RX PC12 VSSA
2
PC13 PC13_(RTC_AF1)
31
VCAP1
54 47
CURR_FILTER_ON PD2 VCAP2

C3
2.2u
GND
STM32F40X_LQFP64

C4
2.2u

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

Title: VESC 6 MK5

Size: A4 Date: 2019-10-16 Rev: c
KiCad E.D.A. kicad 5.99.0-unknown-59527dff2~106~ubuntu20.04.1 Id: 3/6
1 2 3 4 5 6
 1 2 3 4 5 6

A C16 A
C22

3.3k
R10
GND SUPPLY

220k
R14
6.8n C18
15n SUPPLY
+5V

SUPPLY
120p C27

R11

R12
18k

15k
U3
GND
1 56 4.7u_100V
RT_CLK SS_TR
2 55
COMP EN_BUCK EN_BUCK

R15
3 54
VSENSE PVDD2 GND
4 53 +5V
PWRGD PVDD2
5 52 100n C28

39k
OCTW BST_BK 22u
6 51
R13 FAULT FAULT PH
7 50 L2
10k DTC PH VCC C31 C32 +5V

DIODE
8 49

D4
CS nSCS VDD_SPI

3
9 48 C23
SDI SDI BST_A 2.2u 100u Q7
EN_GATE

10 47 220n 1
GND SDO SDO GH_A GH_A DMN62D0UW-7
11 46
SCLK SCKL SH_A SH_A

2
12 45
DC_CAL GL_A GL_A GND
13 44
GVDD SL_A SL_A SENS_SUPPLY
14 43 C24
B CP1 BST_B B
C14 C15 22n C19 15 42 220n
CP2 GH_B GH_B
R48

16 41

2k2
EN_GATE EN_GATE SH_B SH_B
10k

2.2u 2.2u 17 40
INH_A INH_A GL_B GL_B

R16
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
21 36 +5V
GND INH_C INH_C SH_C SH_C GND
22 35
INL_C INL_C GL_C GL_C

GND(POWER_PAD)
23 34
DVDD SL_C SL_C
24 33
REF SN1 D5
C17 25 32
SO1 SP1 TVS 5V
26 31
SO2 SN2 GND
2.2u 27 30
AVDD SP2
28 29
AGND PVDD1 SUPPLY
GND
C20
C26
GND 57 DRV8301
2.2u +5V
4.7u_100V
U8 VCC
TC2117
C C
GND 3 2
GND VI VO
GND

GND
C13 C64 C21

1
2.2u 2.2u 100u
39k 60V 39k 60V 39k 60V
R17 R19 R21
SENS_A SH_A SENS_B SH_B SENS_C SH_C
R18 R20 R22
2k2 2k2 2k2
GND
C49

C57

C59

100n GND 100n GND 100n GND

VCC VCC VCC

U14 U15 U16
MC74VHC1GT66 MC74VHC1GT66 MC74VHC1GT66
5 1 5 1 5 1
VCC IO_XA VCC IO_XA VCC IO_XA
2 2 2
IO_YA IO_YA IO_YA

3 4 3 4 3 4
GND ON_OFF GND GND ON_OFF GND GND ON_OFF GND
Benjamin Vedder
Sheet: /DRV8301/
D GND GND GND D
SENS_FILTERED SENS_FILTERED SENS_FILTERED File: DRV8301.kicad_sch
Title: VESC 6 MK5
Size: A4 Date: 2019-10-16 Rev: c
KiCad E.D.A. kicad 5.99.0-unknown-59527dff2~106~ubuntu20.04.1 Id: 4/6
1 2 3 4 5 6
 1 2 3 4 5 6

A A

VCC

B B
BMI160

5
8
VDDIO
VDD
1
SDO
14 2
SDA SDx ASDx C50 C51
13 3
SCL SCx ASCx
12 10
CSB OCSB 2.2u 2.2u
4 11

GNDIO
INT1 OSDO

GND
9
INT2

6
7
U9

GND

C C

Benjamin Vedder
Sheet: /BMI160/
D File: BMI160.kicad_sch D

Title: VESC 6 MK5

Size: A4 Date: 2019-10-16 Rev: c
KiCad E.D.A. kicad 5.99.0-unknown-59527dff2~106~ubuntu20.04.1 Id: 5/6
1 2 3 4 5 6
 1 2 3 4 5 6

SUPPLY P11
1
SUPPLY

D
IRF7749 IRF7749 IRF7749
A Q1 Q3 Q5 A
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

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

S
2 6 2 6 2 6
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
B B

P12
1
GND

GND

R35 R36 R37

C_A C_B C_C
CURR_A CURR_B CURR_C
VCC VCC VCC
MC74VHC1GT66 1k MC74VHC1GT66 1k MC74VHC1GT66 1k
5 1 5 1 5 1
VCC IO_XA VCC IO_XA VCC IO_XA
2 C29 2 C30 2 C45
IO_YA IO_YA IO_YA
U10 1n U12 1n U13 1n
3 4 C52 3 4 C53 3 4 C54
GND ON_OFF GND ON_OFF GND ON_OFF

CURR_FILTER 15n CURR_FILTER 15n CURR_FILTER 15n

GND GND GND

C C
GND GND GND

VCC
NTC 10K

R27

TEMP
SUPPLY
C36
Benjamin Vedder
R28
10k

C46 C47
680u_63V 680u_63V
Sheet: /Power/
D 2.2u D
File: Power.kicad_sch
Title: VESC 6 MK5
GND GND Size: A4 Date: 2019-10-16 Rev: c
KiCad E.D.A. kicad 5.99.0-unknown-59527dff2~106~ubuntu20.04.1 Id: 6/6
1 2 3 4 5 6