v0.3

• A4950 replaced with AT8236 which has lower Rdson, however requires voltage control scheme
• shorter return ground path from the driver to the big capacitor
• removed inactive test circuits

v0.2

Available at https://shop.retropilot.org/product/stepperservocan
Changes:

• 1.2mm 4layer PCB for better thermal transfer
• improved durability
  • high-rating current sense resistors
  • more ESD protections
  • larger CAN terminator resistor to handle prolonged bus short
  • thicker power traces
• up to 10x less power consumption (<2mA sleep and <20mA active) allowing for periodic continuous angle tracking without quickly draining the battery
  • Uses TI's DCDC with ultra-low quiescent current
  • selective load switching - angle sensor can be periodically turned off, and CAN transceiver can be put on standby
  • dimmer power LED indicator - 4% of idle power consumption
  • larger values of voltage dividers
  • DCDC hard shutdown below <7.3V
• optional expansion port:
  • moved to the same side as the power connector so connectors occupy only three sides
  • 3.3v (~100mA) and ground (can be turned off in low power mode) for powering an external sensor
  • two ESD protected pins available for connection via UART, I2C or TIM4
  • Two pull-up resistors that can be solder-jumped for high-speed I2C

Docs:
StepperServoCAN-schematic.pdf
StepperServoCAN-bom.csv

And the following assets:

• interactive ibom
• gerbers
• CAD
• rotations csv

v0.1

Published in a Retropoliot Store:
https://shop.retropilot.org/product/stepperservocan/

The release contains:

• gerbers and positions for JLCPCB.
• project.db
• Docs:
  StepperServoCAN-board_bottom.pdf
  StepperServoCAN-board_top.pdf
  StepperServoCAN-schematic.pdf

Proto1

• gerbers and positions for JLCPCB.
• project.db for https://github.com/Bouni/kicad-jlcpcb-tools
• Docs:
  StepperServoCAN-board_bottom.pdf
  StepperServoCAN-board_top.pdf
  StepperServoCAN-schematic.pdf