v0.3

• A4950 replaced with AT8236 which has lower Rdson (i.e. can provide 3A continuously), however requires voltage control scheme to operate smoothly. Voltage control is smoother in general but requires to enter motor parameters (resistance, K_bemf constant - to be automated by the firmware...)
• shorter current return ground path from the driver to the big capacitor
• removed some 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