# Flat Turquoise R2-D2 ## Description Dual-FOC Brushless DC Motor Controller with Integrated USB-C PD and Current Sensing ## Project Details - **Owner:** ryanf - **Created:** 10/7/2025 - **Last Updated:** 10/7/2025 - **Visibility:** Public - **System Architecture:** ```mermaid flowchart LR subgraph Power Input USB_C_PD([USB-C PD Input]) --> PD_Controller[PD Controller] PD_Controller -->|12V| Vin12 end subgraph Power Regulators Vin12 --> BUCK5V[5V Buck Converter] Vin12 --> BUCK3V3[3.3V Buck Converter] end subgraph Control and Communication MCU[MCU + BLE] -->|UART| Debug_Interface[Debug Interface (SWD/UART)] end subgraph Motor Drivers MCU -->|PWM| FOC1[Motor 1 FOC Driver] MCU -->|PWM| FOC2[Motor 2 FOC Driver] FOC1 --> MOSFETs1[3-Phase MOSFET Bridge 1] FOC2 --> MOSFETs2[3-Phase MOSFET Bridge 2] subgraph Hall Sensors Hall1[Motor 1 Hall Sensors] --> MCU Hall2[Motor 2 Hall Sensors] --> MCU end end subgraph BLE and Logging MCU --> BLE[BLE Module] end PD_Controller -->|5V| BUCK5V PD_Controller -->|3.3V| BUCK3V3 ``` - **System Architecture:** flowchart LR USB_C_PD([USB-C PD Input]) --> PD_Controller[PD Controller] PD_Controller -->|12V| VIN_12V[12V Rail] PD_Controller -->|5V| VIN_5 V Rail] PD_Controller -->|3.3V| VIN_3V3[3.3 V Rail] VIN_12V --> U2_DRV1[DRV8313 Driver 1 VM] VIN_12V --> U2_DRV2[DRV8313 Driver 2 VM] VIN_5V --> Hall_Power1[Hall Sensor Power Motor 1] VIN_5V --> Hall_Power2[Hall Sensor Power Motor 2] VIN_3V3 --> ESP32[ESP32-WROOM-32D] ESP32 -->|GPIO HALL1_A/B/C| Hall1_Conn[Motor 1 Hall Sensor Connector] ESP32 -->|GPIO HALL2_A/B/C| Hall2_Conn[Motor 2 Hall Sensor Connector] Hall1_Conn -. pull-up .-> VIN_3V3 Hall2_Conn -. pull-up .-> VIN_3V3 Hall1_Conn --> GND Hall2_Conn --> GND Hall1_Conn --> Hall_Power1 Hall2_Conn --> Hall_Power2 ESP32 -->|PWM 1-3| DRV8313_1_INs[DRV8313 Driver 1 Inputs] ESP32 -->|PWM 4-6| DRV8313_2_INs[DRV8313 Driver 2 Inputs] DRV8313_1_INs --> U2_DRV1 DRV8313_2_INs --> U2_DRV2 U2_DRV1 --> M1_Phase[A/B/C Motor Phase Connector 1] U2_DRV2 --> M2_Phase[A/B/C Motor Phase Connector 2] Shunt1[Shunt (Motor 1)] --> INA210_1[INA210 Amplifier 1] -->|OUT| ESP32_ADC1[ESP32 ADC] Shunt2[Shunt (Motor 2)] --> INA210_2[INA210 Amplifier 2] -->|OUT| ESP32_ADC2[ESP32 ADC] INA210_1 -. REF .-> VIN_3V3 INA210_2 -. REF .-> VIN_3V3 INA210_1 --> GND INA210_2 --> GND - **Forks:** 1 ## Key Components ### D1 — SMBJ12A-13-F - JLCPCB Part Class: Extended Part - Package or Case Code: SMB_L4.6-W3.6-LS5.3-RD - Part Type: TVS - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2304140030_Diodes-Incorporated-SMBJ12A-13-F_C135038.pdf - Manufacturer Name: DIODES(美台) - Manufacturer Part Number: SMBJ12A-13-F - Product Info Url: https://lcsc.com/product-detail/TVS_DIODES_SMBJ12A-13-F_SMBJ12A-13-F_C135038.html - Role: Protection - Role Details: Input overvoltage protection on 12 V PD input - LCSC Part Number: C135038 **Pins:** - A [pin 2] - K [pin 1] ### D2 — SMBJ5.0CA - Role: Protection - Diode Type: TVS Diode - LCSC Part Number: C499856 - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2410010132_Shikues-SMBJ5-0CA_C499856.pdf - Manufacturer Part Number: SMBJ5.0CA - Role Details: Overvoltage protection on 5 V rail - Manufacturer Name: SHIKUES(时科) - JLCPCB Part Class: Extended Part - Package or Case Code: SMB_L4.4-W3.6-LS5.3-BI - Product Info Url: https://lcsc.com/product-detail/New-Arrivals_Shikues-SMBJ5-0CA_C499856.html - Forward Voltage: 1V - Reverse Voltage: 5V - Part Type: TVS **Pins:** - 1 [pin 1] - 2 [pin 2] ### D3 — SMLVT3V3 - Manufacturer Part Number: SMLVT3V3 - Manufacturer Name: STMicroelectronics - Role Details: Overvoltage protection on 3.3 V rail - Part Type: Diode - Role: Protection - Datasheet URL: https://datasheet.lcsc.com/lcsc/1811021517_STMicroelectronics-SMLVT3V3_C283619.pdf - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - A [pin 2] - K [pin 1] ### J1 — 2024100002 - Part Type: Connector - Manufacturer Part Number: 2024100002 - Datasheet URL: https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/834/202410002_Pkg_Spec.pdf - Role Details: USB-C PD input jack - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Manufacturer Name: Molex **Pins:** - CC1 [pin A5] - CC2 [pin B5] - DA- [pin A7] - DA+ [pin A6] - DB- [pin B7] - DB+ [pin B6] - GND1 [pin A1] - GND2 [pin A12] - GND3 [pin B1] - GND4 [pin B12] - RX1- [pin B10] - RX1+ [pin B11] - RX2- [pin A10] - RX2+ [pin A11] - SBU1 [pin A8] - SBU2 [pin B8] - SHIELD1 [pin SH1] - SHIELD2 [pin SH2] - SHIELD3 [pin SH3] - SHIELD4 [pin SH4] - TX1- [pin A3] - TX1+ [pin A2] - TX2- [pin B3] - TX2+ [pin B2] - VBUS1 [pin A4] - VBUS2 [pin A9] - VBUS3 [pin B4] - VBUS4 [pin B9] ### J2 — TSW-103-07-G-S - Part Type: Connector - Manufacturer Name: Samtec Inc. - Manufacturer Part Number: TSW-103-07-G-S - Role: Connector - Role Details: 3-phase motor phase header - Datasheet URL: https://suddendocs.samtec.com/prints/tsw-xxx-xx-x-x-xx-xxx-footprint.pdf - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J3 — TSW-103-07-G-S - Part Type: Connector - Role Details: 3-phase motor phase header - Manufacturer Part Number: TSW-103-07-G-S - Manufacturer Name: Samtec Inc. - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Datasheet URL: https://suddendocs.samtec.com/prints/tsw-xxx-xx-x-x-xx-xxx-footprint.pdf **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J4 — Pin Header 02x03 2.54mm Vertical - Role Details: Hall sensor connector Motor 1 - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] ### J4 — TSW-103-07-G-S - Part Type: Connector - Manufacturer Part Number: TSW-103-07-G-S - Manufacturer Name: Samtec Inc. - Role Details: Hall sensor header - Datasheet URL: https://suddendocs.samtec.com/prints/tsw-xxx-xx-x-x-xx-xxx-footprint.pdf - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J5 — TSW-103-07-G-S - Role Details: Hall sensor header - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://suddendocs.samtec.com/prints/tsw-xxx-xx-x-x-xx-xxx-footprint.pdf - Part Type: Connector - Role: Connector - Manufacturer Part Number: TSW-103-07-G-S - Manufacturer Name: Samtec Inc. **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J5 — Pin Header 02x03 2.54mm Vertical - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] ### J5 — Pin Header 02x03 2.54mm Vertical - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Part Type: Connector - Role Details: Hall sensor connector Motor 2 **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] ### J6 — Pin Header 02x03 2.54mm Vertical - Role: Connector - Role Details: SWD/UART debug header - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] ### J7 — U.FL-R-SMT(01) - Manufacturer Name: Hirose Electric Co Ltd - Role: Connector - Role Details: BLE antenna connector - Manufacturer Part Number: U.FL-R-SMT(01) - Datasheet URL: https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/2607/UFL%20Series.pdf - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - GND [pin 2] - GND [pin 1] - SIG [pin 3] ### U1 — DRV8313PWP - Manufacturer Name: TI(德州仪器) - Manufacturer Part Number: DRV8313PWP - JLCPCB Part Class: Extended Part - Part Type: Motor Drivers - Package or Case Code: TSSOP-28_L9.7-W4.4-P0.65-LS6.4-TL-EP-2 - LCSC Part Number: C2863441 - Role: Switching - Role Details: 3-phase gate driver for motor phases **Pins:** - ~{COMPO} [pin 19] - ~{FAULT} [pin 18] - ~{RESET} [pin 16] - ~{SLEEP} [pin 17] - COMPN [pin 13] - COMPP [pin 12] - CP1 [pin 1] - CP2 [pin 2] - EN1 [pin 26] - EN2 [pin 24] - EN3 [pin 22] - EP [pin 29] - GND [pin 28] - GND [pin 20] - GND [pin 14] - IN1 [pin 27] - IN2 [pin 25] - IN3 [pin 23] - NC [pin 21] - OUT1 [pin 5] - OUT2 [pin 8] - OUT3 [pin 9] - PGND1 [pin 6] - PGND2 [pin 7] - PGND3 [pin 10] - V3P3OUT [pin 15] - VCP [pin 3] - VM [pin 11] - VM [pin 4] ### U1 — STUSB4500QTR - Manufacturer Part Number: STUSB4500QTR - Part Type: Integrated Circuit - Role: Integrated Circuit - Role Details: USB-C PD Controller negotiating 12 V PD - Manufacturer Name: STMicroelectronics - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.st.com/resource/en/datasheet/stusb4500.pdf **Pins:** - A_B_SIDE [pin 17] - ADDR0 [pin 12] - ADDR1 [pin 13] - ALERT [pin 19] - ATTACH [pin 11] - CC1 [pin 2] - CC1DB [pin 1] - CC2 [pin 4] - CC2DB [pin 5] - DISCH [pin 9] - EP [pin 25] - GND [pin 10] - GPIO [pin 15] - NC [pin 3] - POWER_OK2 [pin 20] - POWER_OK3 [pin 14] - RESET [pin 6] - SCL [pin 7] - SDA [pin 8] - VBUS_EN_SNK [pin 16] - VBUS_VS_DISCH [pin 18] - VDD [pin 24] - VREG_1V2 [pin 21] - VREG_2V7 [pin 23] - VSYS [pin 22] ### U2 — LM2596T-5.0/NOPB - Datasheet URL: https://www.ti.com/lit/ds/symlink/lm2596.pdf - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: 5 V Buck Converter from 12 V to 5 V - Role: Power Management - Manufacturer Part Number: LM2596T-5.0/NOPB - Manufacturer Name: Texas Instruments - Part Type: Integrated Circuit **Pins:** - ~ON-OFF [pin 5] - FEEDBACK [pin 4] - GND [pin 3] - OUTPUT [pin 2] - VIN [pin 1] ### U3 — INA210BIDCKR - Package or Case Code: SC-70-6_L2.0-W1.3-P0.65-LS2.1-BL - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2001031721_Texas-Instruments-INA210BIDCKR_C473370.pdf - Manufacturer Part Number: INA210BIDCKR - Product Info Url: https://lcsc.com/product-detail/General-Purpose-Amplifiers_Texas-Instruments-Texas-Instruments-INA210BIDCKR_C473370.html - JLCPCB Part Class: Extended Part - Manufacturer Name: TI(德州仪器) - Part Type: Operational Amplifier - Role: Sensing (Shunt) - LCSC Part Number: C473370 - Role Details: Current-sense amplifier for FOC control **Pins:** - -IN [pin 5] - +IN [pin 4] - GND [pin 2] - OUT [pin 6] - REF [pin 1] - V+ [pin 3] ### U4 — INA210BIDCKR - Part Type: Operational Amplifier - Role: Sensing (Shunt) - Role Details: Current-sense amplifier for FOC control - LCSC Part Number: C473370 - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2001031721_Texas-Instruments-INA210BIDCKR_C473370.pdf - Package or Case Code: SC-70-6_L2.0-W1.3-P0.65-LS2.1-BL - Manufacturer Name: TI(德州仪器) - Manufacturer Part Number: INA210BIDCKR - Product Info Url: https://lcsc.com/product-detail/General-Purpose-Amplifiers_Texas-Instruments-Texas-Instruments-INA210BIDCKR_C473370.html - JLCPCB Part Class: Extended Part **Pins:** - -IN [pin 5] - +IN [pin 4] - GND [pin 2] - OUT [pin 6] - REF [pin 1] - V+ [pin 3] ### U5 — DRV8313PWP - Part Type: Motor Drivers - Manufacturer Part Number: DRV8313PWP - Manufacturer Name: TI(德州仪器) - JLCPCB Part Class: Extended Part - Package or Case Code: TSSOP-28_L9.7-W4.4-P0.65-LS6.4-TL-EP-2 - LCSC Part Number: C2863441 - Role Details: 3-phase gate driver for motor phases - Role: Switching **Pins:** - ~{COMPO} [pin 19] - ~{FAULT} [pin 18] - ~{RESET} [pin 16] - ~{SLEEP} [pin 17] - COMPN [pin 13] - COMPP [pin 12] - CP1 [pin 1] - CP2 [pin 2] - EN1 [pin 26] - EN2 [pin 24] - EN3 [pin 22] - EP [pin 29] - GND [pin 28] - GND [pin 20] - GND [pin 14] - IN1 [pin 27] - IN2 [pin 25] - IN3 [pin 23] - NC [pin 21] - OUT1 [pin 5] - OUT2 [pin 8] - OUT3 [pin 9] - PGND1 [pin 6] - PGND2 [pin 7] - PGND3 [pin 10] - V3P3OUT [pin 15] - VCP [pin 3] - VM [pin 11] - VM [pin 4] ### U6 — LM1117MP-3.3/NOPB - Manufacturer Part Number: LM1117MP-3.3/NOPB - Role Details: 3.3 V LDO from 5 V to 3.3 V - Manufacturer Name: Texas Instruments - Datasheet URL: http://www.ti.com/general/docs/suppproductinfo.tsp?distId=10&gotoUrl=http%3A%2F%2Fwww.ti.com%2Flit%2Fgpn%2Flm1117 - License: https://creativecommons.org/licenses/by/4.0/ - Package or Case Code: SOT230P700X180-4N - Role: Power Management - Part Type: Integrated Circuit **Pins:** - ADJ/GND [pin 1] - INPUT [pin 3] - OUTPUT [pin 2] - VOUT [pin 4] ### U7 — ESP32-WROOM-32D - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: Espressif Systems - Manufacturer Part Number: ESP32-WROOM-32D - Part Type: Microcontroller - Role Details: Main MCU + BLE module handling FOC and data logging - Datasheet URL: https://www.espressif.com/sites/default/files/documentation/esp32-wroom-32d_esp32-wroom-32u_datasheet_en.pdf - Role: Microcontroller **Pins:** - 3.3V [pin 2] - AGND [pin 39] - CLK [pin 20] - CMD [pin 19] - EN [pin 3] - GND [pin 38] - GND [pin 15] - GND [pin 1] - IO0 [pin 25] - IO12 [pin 14] - IO13 [pin 16] - IO14 [pin 13] - IO15 [pin 23] - IO16 [pin 27] - IO17 [pin 28] - IO18 [pin 30] - IO19 [pin 31] - IO2 [pin 24] - IO21 [pin 33] - IO22 [pin 36] - IO23 [pin 37] - IO25 [pin 10] - IO26 [pin 11] - IO27 [pin 12] - IO32 [pin 8] - IO33 [pin 9] - IO34 [pin 6] - IO35 [pin 7] - IO4 [pin 26] - IO5 [pin 29] - NC [pin 32] - RXD0 [pin 34] - SD0 [pin 21] - SD1 [pin 22] - SD2 [pin 17] - SD3 [pin 18] - TXD0 [pin 35] - VN [pin 5] - VP [pin 4] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/ryanf/flat-turquoise-r2-d2~ta](https://www.flux.ai/ryanf/flat-turquoise-r2-d2~ta).* --- *Generated from [https://www.flux.ai/ryanf/flat-turquoise-r2-d2~ta](https://www.flux.ai/ryanf/flat-turquoise-r2-d2~ta)*