NEXUS Design Analysis

1 Design Summary

out of 100

Design Type	Hierarchical (7 sheets)
Total Components	130
Total Pins	559
Total Nets	203
Total Test Points	0
Not Fitted (DNP)	13

Improve your score:

Improve fault coverage (opens/shorts) +6
Add I2C pull-up resistors +5
Improve JTAG/I2C/SPI bus accessibility +2
Add test points on switch signals +1
Move component values to VALUE property +1
Fix connector shell grounding +1
Use IPC-compliant footprint names +1
Add pull-ups on open-collector outputs +1

Points deducted for open High/Medium AI findings:

0 High, 4 Medium -2

AI findings to review:

Power findings — 2 Medium, 1 Low
Functional findings — 1 Low
EMC/ESD findings — 2 Medium, 2 Low

AI assistance is enabled for this report. Each section marked "AI-Assisted" contains AI-generated engineering observations produced during schematic-phase design review. Findings are based solely on connectivity, component values, and net annotations present in the schematic data at the time of analysis. The AI has no access to PCB layout, routing, thermal data, BOM pricing or availability, assembly constraints, or any information outside the schematic. Findings are observations to investigate, not pass/fail judgments. The absence of a finding for a given device or net does not constitute a clearance. STANDARD MODE — this analysis was produced by the standard model tier.

Based on user-selected TP insertion settings, 10 test point(s) were added and a modified design is available for download. Review the modified schematic and resubmit to update this report.

1.1 Design Overview

AI-Assisted — NEXUS is a hierarchical seven-sheet motor-control board built around an STMicroelectronics STM32F415RGT6 Arm Cortex-M4 microcontroller in an LQFP-64 package, with 1024 KB of on-chip flash and 192 KB of SRAM. The design integrates four-channel brushed-motor drive, nine-axis inertial sensing, on-board current telemetry, a user display, and USB connectivity on a single battery-powered assembly. An 8 MHz main crystal (Y1) and a 32.768 kHz timekeeping crystal (Y2) provide the MCU clock references.

Motor Drive Subsystem

Four Texas Instruments DRV8874 (DRV8874PWPR) H-bridge drivers, U11 through U14, in HTSSOP-16 packages provide the motor outputs, each routed to a six-way JST PH connector (J5–J8, MOTOR1–MOTOR4). The DRV8874 supports a 4.5 V to 37 V motor supply (VM) with a 6 A peak output and integrated current sensing via IPROPI. Motor supply is drawn from the battery input on the VIN rail.

Sensing and Human Interface

A Bosch Sensortec BNO055 intelligent nine-axis absolute-orientation sensor (U9, LGA-28) and a Texas Instruments INA226 bi-directional current/power monitor (U5, VSSOP-10) share the I2C bus with the MCU as controller. A 0.91-inch 128x32 SSD1306 OLED module (U10) provides the local display over the same I2C interface (J2). User input is via three switches (SW1–SW3, including a MENU button and an SPDT slide switch), with status LEDs D2–D9 indicating heartbeat, error, debug, battery, and rail states.

Connectivity and Protection

The board provides a USB 2.0 Type-C receptacle (J3) protected by an STMicroelectronics USBLC6-2SC6 dual-line ESD array (U7, SOT-23-6), rated to IEC 61000-4-2 Level 4 (15 kV air, 15 kV contact). A five-pin header (J4) carries the SWD debug interface to the MCU. A bidirectional SMBJ24A TVS diode (D1) guards the battery input at connector J1 (XT30).

Power Tree

The primary regulator is a Texas Instruments LMR33630B (LMR33630BDDA, U4) synchronous buck converter in the thermal HSOP-8 package. It accepts 3.8 V to 36 V at VIN and, with its feedback divider and the SW-node inductor L1, generates the main +3V3 rail (54 pins) that powers the MCU and digital peripherals. The 'B' variant runs at a 1.4 MHz switching frequency. Additional rails distributed on the board are GND (96 pins), an analog +3.3VA supply (4 pins), VIN and VBATT from the battery input, and VBUS from the USB-C connector. A 2S/3S battery-select arrangement is provided by solder jumpers JP1 and JP2, and JP3 sets the INA226 I2C address.

Temperature Rating

Component operating ranges span -40 °C to +85 °C for the BNO055 and SSD1306 and -40 °C to +125 °C for the STM32, DRV8874, INA226, and LMR33630B; the composite board operating range is therefore -40 °C to +85 °C, set by the sensor and display.

Boundary Scan

Boundary scan was evaluated for the principal programmable device on this board, the STM32F415RGT6 microcontroller (U2), which exposes a debug port on connector J4. No JEDEC Connectivity Test Mode (CTM) memory devices are present. Full boundary-scan connectivity is analyzed in the dedicated Design-for-Test section.

1.2 Processed Sheets

#	Sheet Name
1	NEXUS.kicad_sch
2	mcu.kicad_sch
3	mcu_support.kicad_sch
4	power.kicad_sch
5	indicators.kicad_sch
6	connectors.kicad_sch
7	peripherals.kicad_sch

1.3 Structured DNP (Not Fitted)

Parts marked do-not-populate at the part level, outside of assembly variants. They remain present in the netlist but are not assembled.

Status	RefDes	Part Type	Value	Footprint
DNP	H1	MountingHole_Pad	MountingHole_Pad	MountingHole:MountingHole_2.7mm_Pad_Via
DNP	H2	MountingHole_Pad	MountingHole_Pad	MountingHole:MountingHole_2.7mm_Pad_Via
DNP	H3	MountingHole_Pad	MountingHole_Pad	MountingHole:MountingHole_2.7mm_Pad_Via
DNP	H4	MountingHole_Pad	MountingHole_Pad	MountingHole:MountingHole_2.7mm_Pad_Via
DNP	J2	I2C	I2C	Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical
DNP	J4	SW-DBG	SW-DBG	Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical
DNP	JP1	2S/3S Select	2S/3S Select	Jumper:SolderJumper-3_P1.3mm_Open_Pad1.0x1.5mm_NumberLabels
DNP	JP2	2S/3S Select	2S/3S Select	Jumper:SolderJumper-3_P1.3mm_Open_Pad1.0x1.5mm_NumberLabels
DNP	JP3	I2C_ADDR	I2C_ADDR	Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm
DNP	U1	~	~
DNP	U6	~	~
DNP	U8	~	~
DNP	U10	SSD1306_128x32	SSD1306_128x32	Display:OLED_SSD1306_128x32_Module_38x12mm

1.4 Footprint Compliance

Production pick-n-place, AOI, AXI, ATE and Design Quality tools rely on proper descriptions of component footprints.

Footprint Naming	Status
1 of 28 unique footprints are IPC-7351B or IPC-7251	✓
22 SMT footprints do not follow IPC-7351B naming
3 footprints (connectors, specialty) — compliance unknown
2 footprints could not be classified for inspection

2 Component Value Properties

Component values should be in the VALUE property, either as a direct value (e.g. 100nF) or as a formula reference (e.g. =Capacitance). The typed property (Resistance, Capacitance, Inductance, Impedance, etc.) holds the actual electrical value; VALUE should point to it or contain the same data.

Value Property Check
Type	Check	Count	Components	Status
Capacitors	Values in VALUE or Capacitance	43	C20, C23, C24, C17, C18, C22, C21, C19 (+35 more)	✓
Resistors	Values in VALUE or Resistance	38	R14, R13, R11, R15, R10, R12, R9, R19 (+30 more)	✓
Inductors	Values in VALUE or Inductance	1	L1	✓
Ferrite Beads	Values in VALUE or Impedance	1	FB1	✓
Fuses	Values in VALUE or Rated Current	1	F1	✓
Crystals	Values in VALUE or Frequency	2	Y2, Y1	✓

3 Pin Connectivity Report

3.1 Unconnected Pins

Unconnected pins that are not marked NO_ERC.

100 unconnected pin(s) found:

Refdes_Pin	Pin Function	Pin Property	Device Type	Net Name	Notes
J2_2	Pin_2	Passive	I2C	connectors/SCL_OLED
J2_3	Pin_3	Passive	I2C	connectors/SDA_OLED
J2_4	Pin_4	Passive	I2C	connectors/SCL_SENS
J2_5	Pin_5	Passive	I2C	connectors/SDA_SENS
J5_3	Pin_3	Passive	MOTOR1	connectors/M1_ENC_A
J5_4	Pin_4	Passive	MOTOR1	connectors/M1_ENC_B
J5_5	Pin_5	Passive	MOTOR1	connectors/M1_OUT1
J5_6	Pin_6	Passive	MOTOR1	connectors/M1_OUT2
J6_3	Pin_3	Passive	MOTOR2	connectors/M2_ENC_A
J6_4	Pin_4	Passive	MOTOR2	connectors/M2_ENC_B
J6_5	Pin_5	Passive	MOTOR2	connectors/M2_OUT1
J6_6	Pin_6	Passive	MOTOR2	connectors/M2_OUT2
J7_3	Pin_3	Passive	MOTOR3	connectors/M3_ENC_A
J7_4	Pin_4	Passive	MOTOR3	connectors/M3_ENC_B
J7_5	Pin_5	Passive	MOTOR3	connectors/M3_OUT1
J7_6	Pin_6	Passive	MOTOR3	connectors/M3_OUT2
J8_3	Pin_3	Passive	MOTOR4	connectors/M4_ENC_A
J8_4	Pin_4	Passive	MOTOR4	connectors/M4_ENC_B
J8_5	Pin_5	Passive	MOTOR4	connectors/M4_OUT1
J8_6	Pin_6	Passive	MOTOR4	connectors/M4_OUT2
U2_2	PC13	Bidirectional	STM32F415RGT6	mcu/MENU
U2_5	PH0	Bidirectional	STM32F415RGT6	mcu/HSE_IN
U2_6	PH1	Bidirectional	STM32F415RGT6	mcu/HSE_OUT
U2_7	NRST	Input	STM32F415RGT6	mcu/RESET
U2_8	PC0	Bidirectional	STM32F415RGT6	mcu/M1_IPROPI
U2_9	PC1	Bidirectional	STM32F415RGT6	mcu/M1_FAULT
U2_10	PC2	Bidirectional	STM32F415RGT6	mcu/M1_DIR
U2_11	PC3	Bidirectional	STM32F415RGT6	mcu/M2_IPROPI
U2_12	VSSA	Power In	STM32F415RGT6	mcu/VSSA
U2_14	PA0	Bidirectional	STM32F415RGT6	mcu/M1_ENC_A
U2_15	PA1	Bidirectional	STM32F415RGT6	mcu/M1_ENC_B
U2_17	PA3	Bidirectional	STM32F415RGT6	mcu/M2_FAULT
U2_20	PA4	Bidirectional	STM32F415RGT6	mcu/M2_DIR
U2_21	PA5	Bidirectional	STM32F415RGT6	mcu/MOTOR_VREF
U2_22	PA6	Bidirectional	STM32F415RGT6	mcu/M3_IPROPI
U2_23	PA7	Bidirectional	STM32F415RGT6	mcu/M3_FAULT
U2_24	PC4	Bidirectional	STM32F415RGT6	mcu/M3_DIR
U2_25	PC5	Bidirectional	STM32F415RGT6	mcu/M4_IPROPI
U2_26	PB0	Bidirectional	STM32F415RGT6	mcu/M4_FAULT
U2_27	PB1	Bidirectional	STM32F415RGT6	mcu/M4_DIR
U2_28	PB2	Bidirectional	STM32F415RGT6	mcu/BOOT1
U2_29	PB10	Bidirectional	STM32F415RGT6	mcu/SCL_OLED
U2_30	PB11	Bidirectional	STM32F415RGT6	mcu/SDA_OLED
U2_31	VCAP_1	Power Out	STM32F415RGT6	mcu/VCAP_1
U2_33	PB12	Bidirectional	STM32F415RGT6	mcu/IMU_INT
U2_34	PB13	Bidirectional	STM32F415RGT6	mcu/IMU_RESET
U2_35	PB14	Bidirectional	STM32F415RGT6	mcu/BUZZER
U2_36	PB15	Bidirectional	STM32F415RGT6	mcu/MOTORS_SLEEP
U2_37	PC6	Bidirectional	STM32F415RGT6	mcu/M1_PWM
U2_38	PC7	Bidirectional	STM32F415RGT6	mcu/M2_PWM
U2_39	PC8	Bidirectional	STM32F415RGT6	mcu/M3_PWM
U2_40	PC9	Bidirectional	STM32F415RGT6	mcu/M4_PWM
U2_41	PA8	Bidirectional	STM32F415RGT6	mcu/M4_ENC_B
U2_42	PA9	Bidirectional	STM32F415RGT6	mcu/M4_ENC_A
U2_44	PA11	Bidirectional	STM32F415RGT6	mcu/USB_D-
U2_45	PA12	Bidirectional	STM32F415RGT6	mcu/USB_D+
U2_46	PA13	Bidirectional	STM32F415RGT6	mcu/SWDIO
U2_47	VCAP_2	Power Out	STM32F415RGT6	mcu/VCAP_2
U2_49	PA14	Bidirectional	STM32F415RGT6	mcu/SWCLK
U2_50	PA15	Bidirectional	STM32F415RGT6	mcu/LED_BATT_LOW
U2_51	PC10	Bidirectional	STM32F415RGT6	mcu/LED_BATT_HIGH
U2_52	PC11	Bidirectional	STM32F415RGT6	mcu/LED_DBG
U2_53	PC12	Bidirectional	STM32F415RGT6	mcu/LED_ERR
U2_54	PD2	Bidirectional	STM32F415RGT6	mcu/LED_ROS
U2_55	PB3	Bidirectional	STM32F415RGT6	mcu/LED_HB
U2_56	PB4	Bidirectional	STM32F415RGT6	mcu/M3_ENC_A
U2_57	PB5	Bidirectional	STM32F415RGT6	mcu/M3_ENC_B
U2_58	PB6	Bidirectional	STM32F415RGT6	mcu/M2_ENC_A
U2_59	PB7	Bidirectional	STM32F415RGT6	mcu/M2_ENC_B
U2_60	BOOT0	Input	STM32F415RGT6	mcu/BOOT0
U2_61	PB8	Bidirectional	STM32F415RGT6	mcu/SCL_SENS
U2_62	PB9	Bidirectional	STM32F415RGT6	mcu/SDA_SENS
U5_4	SDA	Bidirectional	INA226	power/SDA_INA
U5_5	SCL	Input	INA226	power/SCL_INA
U9_1	PIN1	Unknown	BNO055	-	No net
U9_7	PIN7	Unknown	BNO055	-	No net
U9_8	PIN8	Unknown	BNO055	-	No net
U9_11	RESET	Input	BNO055	peripherals/IMU_RESET
U9_12	PIN12	Unknown	BNO055	-	No net
U9_13	PIN13	Unknown	BNO055	-	No net
U9_14	INT	Output	BNO055	peripherals/IMU_INT
U9_15	PIN15	Unknown	BNO055	-	No net
U9_16	PIN16	Unknown	BNO055	-	No net
U9_19	COM1	Bidirectional	BNO055	peripherals/IMU_SCL
U9_20	COM0	Bidirectional	BNO055	peripherals/IMU_SDA
U9_21	PIN21	Unknown	BNO055	-	No net
U9_22	PIN22	Unknown	BNO055	-	No net
U9_23	PIN23	Unknown	BNO055	-	No net
U9_24	PIN24	Unknown	BNO055	-	No net
U10_3	SCL	Input	SSD1306_128x32	peripherals/SCL_OLED
U10_4	SDA	Bidirectional	SSD1306_128x32	peripherals/SDA_OLED
U11_8	OUT1	Output	DRV8874PWPR	peripherals/M1_OUT1
U11_10	OUT2	Output	DRV8874PWPR	peripherals/M1_OUT2
U12_5	VREF	Input	DRV8874PWPR	peripherals/VREF
U12_8	OUT1	Output	DRV8874PWPR	peripherals/M2_OUT1
U12_10	OUT2	Output	DRV8874PWPR	peripherals/M2_OUT2
U13_8	OUT1	Output	DRV8874PWPR	peripherals/M3_OUT1
U13_10	OUT2	Output	DRV8874PWPR	peripherals/M3_OUT2
U14_8	OUT1	Output	DRV8874PWPR	peripherals/M4_OUT1
U14_10	OUT2	Output	DRV8874PWPR	peripherals/M4_OUT2

3.2 Implied/Hidden Net Connections

No components with implied/hidden net connections found.

3.3 Open-Collector Pull-up Audit

Examined 4 candidate pin(s) on 4 net(s). 1 missing pull-up. 1 to verify with destination IC. 1 library issue(s). 1 passing.

Finding	Recommended Action	Severity
Open-collector / open-drain outputs need an external pull-up resistor to a power rail to function. This audit lists pins where a pull-up appears to be missing or where the pin type may not match the schematic library.
Q1_3 (E) on GND Q1 (S8050) Bipolar transistor symbol for simulation only, substrate tied to the emitter on-board only · library: Open Emitter	Pin is typed as open-collector and wired directly to GND. Open-collector outputs can only pull a node LOW against an external pull-up — tying the pin itself to GND is never valid. The library most likely has the pin mis-typed; correct the electrical property to match the pin's real function.	High
U4_4 (PG) on power/PG U4 (LMR33630BDDA) Simple Switcher Synchronous Buck Regulator, Vin=3.8-36V, Iout=3A, F=1400kHz, Adjustable output voltage, HSOP-8 on-board only · library: Open Collector	Missing pull-up. This open-drain output drives other regulators' enable/PGOOD inputs (a regulator cascade). Regulator RUN/PGOOD pins have no internal pull-up, so without an external pull-up to a power rail the net cannot be driven HIGH and the cascade will not release. Add a pull-up resistor to the appropriate rail.	High
Q1_1 (C) on Net-(B1--) Q1 (S8050) Bipolar transistor symbol for simulation only, substrate tied to the emitter test point B1 · library: Open Collector	Information: this net may be missing a pull-up. The destination IC (MCU/FPGA/other) may enable a configurable internal pull-up — verify its datasheet/BSDL. If none, add an external pull-up to a power rail.	Review

Net	OC Pin(s)	Pull-up	Rail	Status
These open-collector / open-drain outputs have a resistor pull-up to a power rail. The pull-up resistor and rail are shown for reference.
Net-(U5-Alert)	U5_3 (Alert)	R15	+3V3	✓

3.4 Diode Polarity / Orientation

Diode	Connections	Orientation	Severity
Diode polarity and orientation are read from the schematic. IPC-7351B (surface mount) / IPC-7251 (through-hole) Zero Component Orientation (ZCO) requires that pin 1, the cathode, is on the left with the footprint at zero rotation. Tomachie will call out schematic-symbol problems that do not meet ZCO because the PCB layout may have an error, assembly may insert the part backwards, or a novice may wrongly indict a correct part — keeping consistent is the least-expensive path for everyone who handles the PCB.
D6 BAT_HI unidirectional · pin_names	Pin 2 (A): Net-(D6-A) Pin 1 (K): indicators/LED_BAT_HIGH	Consistent
D4 ERR unidirectional · pin_names	Pin 2 (A): Net-(D4-A) Pin 1 (K): indicators/LED_ERR	Consistent
D9 VIN unidirectional · pin_names	Pin 2 (A): Net-(D9-A) Pin 1 (K): GND	Consistent
D7 BAT_LOW unidirectional · pin_names	Pin 2 (A): Net-(D7-A) Pin 1 (K): indicators/LED_BAT_LOW	Consistent
D3 ROS unidirectional · pin_names	Pin 2 (A): Net-(D3-A) Pin 1 (K): indicators/LED_ROS	Consistent
D2 HB unidirectional · pin_names	Pin 2 (A): Net-(D2-A) Pin 1 (K): indicators/LED_HB	Consistent
D5 DBG unidirectional · pin_names	Pin 2 (A): Net-(D5-A) Pin 1 (K): indicators/LED_DBG	Consistent
D8 3V3 unidirectional · pin_names	Pin 2 (A): Net-(D8-A) Pin 1 (K): GND	Consistent
D10 D unidirectional · pin_names	Pin 1 (K): +3V3 Pin 2 (A): Net-(B1--)	Consistent
D1 SMBJ24A bidirectional · symbol_graphic	Pin 1 (A1): GND Pin 2 (A2): VIN	Bidirectional (symmetric) — no single anode/cathode, so there is no orientation to check.	Information

3.5 Summary

Total NO_ERC markers in design	7
Pins needing attention (warnings)	100
Pins for information only	0

4 Power Overview

Power rails	6
Power management sources identified	2

Analysis of passive component footprint suitability, voltage ratings, and power dissipation is not performed in this revision.

Power architecture overview. For test point coverage, see Design-for-Test section.

4.1 Power Rail Analysis

Power Rails
Rail	Voltage	Source	Consumers
VBUS	5.00V	J3 External	U7 (USBLC6-2SC6)
+3.3VA	3.30V	U4 LMR33630BDDA	U2 (STM32F415RGT6)
+3V3	3.30V	U4 LMR33630BDDA	U10 (SSD1306_128x32), U2 (STM32F415RGT6), U5 (INA226), U9 (BNO055)
GND	-	J1 External	-
VBATT	-	J1 External	-
VIN	-	J1 External	U11-U14 (DRV8874PWPR), U4 (LMR33630BDDA)

4.2 AI-Assisted Analysis

This section is created by AI and should be reviewed for accuracy. There may be some incorrect analysis, especially if any errors are called out in the Design Summary or Component Value sections. STANDARD MODE — this analysis was produced by the standard model tier.

4.2.1 Power Tree Overview

AI-Assisted — Battery power enters on J1 (XT30U, net BATT/VBATT) and passes through the single series fuse F1 (S1206-FA-15.0A, 15.0A) to the main VIN rail. Nothing sits between J1 and F1 except the fuse itself; the transient suppressor D1 (SMBJ24A) sits on the fused VIN node and is therefore protected. VIN directly supplies the four DRV8874 H-bridge drivers (U11–U14, VM 4.5–37V) and the LMR33630B buck U4 (VIN 3.8–36V). U4 is the only on-board regulator; its SW node drives inductor L1 (2.2u) to generate the +3V3 rail (VOUT 3.322V per the verified 1.000V FB reference). +3V3 feeds the STM32 (U2), the OLED (U10), the INA226 (U5, VS) and the BNO055 (U9), and is further filtered through ferrite bead FB1 (1k) plus 2x100n into +3.3VA for the STM32 analog domain. The USB-C VBUS (J3, external 5V) is used only for the USBLC6-2SC6 ESD clamp (U7) and the data pair — it does not feed any regulator. The battery voltage is not declared by a net class; the JP1 "2S/3S Select" jumper implies a 2- or 3-cell lithium pack (nominal 7.4–11.1V, up to 12.6V), which fits every VIN-side part rating, but the value should be fixed in a net class so part derating is unambiguous. Sequencing is trivial: U4 enables the instant VIN is present (EN is tied to VIN), soft-starts (~4ms per LMR33630 datasheet page 12), and +3.3VA tracks +3V3 through the bead.

4.2.2 LMR33630B Buck Regulator (U4) — +3V3 / +3.3VA

AI-Assisted — U4 is configured as a fixed 3.3V step-down. The FB divider R9 (100k) top / R11 (43k) bottom gives a ratio of 0.301 which, against the datasheet 1.000V reference (page 8), yields VOUT = 3.322V. EN is tied to VIN, so the device is permanently enabled (datasheet requires EN not float — satisfied). The bootstrap capacitor C17 (0.1u) is correctly connected BOOT-to-SW, matching the 100-nF requirement (page 4). The internal LDO cap C22 (1u) on VCC meets the 1-µF requirement (page 4). Output decoupling on +3V3 totals 46.8µF, anchored by C20/C21 (2x22u ceramic, 1210), which is ample for the 1.4-MHz 'B' variant; the SW inductor L1 (2.2u) suits the high switching frequency. Input decoupling on VIN totals 98.62µF including C18 (10u) and C19 (220n), exceeding the 10µF + 220nF typical-application value (page 4). The power-good output PG (open-drain) is pulled up by R10 (100k) to the VCC LDO node — exactly the datasheet-sanctioned 100-kΩ-to-VCC configuration (page 12) — so this is a valid pull-up, not a defect. However, power/PG reaches no monitoring input; the flag is generated but not observable in firmware or at a probe point. Monitoring it from the STM32 would be self-referencing (the MCU is powered by +3V3 itself), so a dedicated test point on power/PG is the appropriate recommendation. The +3.3VA analog supply is filtered by FB1 (1k bead) with 2x100n local decoupling.

4.2.3 INA226 Current Monitor (U5) — VIN Sensing

AI-Assisted — U5 is powered from +3V3 (VS 2.7–5.5V, satisfied) with C23 (100n) local bypass, meeting the 0.1-µF VS requirement (datasheet page 14). The open-drain Alert output is pulled to +3V3 through R15 (10k). The A1 address pin is tied to GND and A0 is set by the JP1 jumper. The shunt path, however, does not carry load current. R12 (5m) bridges VIN and Net-(U5-Vbus); Vin+ taps VIN through R13 (10R) and Vin-/Vbus tap Net-(U5-Vbus) through R14 (10R). Net-(U5-Vbus) has no load on it — U4 and U11–U14 all connect directly to VIN, upstream of the shunt. The INA226 measures the differential voltage across the external shunt (datasheet page 10); with the entire load current bypassing R12, both shunt-current and bus-power registers will read essentially zero and the monitor is non-functional as drawn. The load side of R12 (Net-(U5-Vbus)) must carry the VIN loads for the measurement to work. Common-mode and VBUS inputs (36V range, 40V absolute max, datasheet page 4) are comfortably within the derived 12.6V-max battery envelope.

4.2.4 USB ESD Front-End and Battery Protection

AI-Assisted — D1 (SMBJ24A) protects VIN. A 24V standoff gives adequate margin above the derived 12.6V battery maximum. The device is modeled with a symmetric two-anode symbol, but the ordered part number SMBJ24A (suffix A) is a unidirectional 5% device; on a DC rail its cathode should face VIN and anode GND. Reverse-leakage and clamp behaviour are unidirectional accordingly. F1 (15.0A) is sized for the aggregate four-driver VM load (each DRV8874 rated 6A peak, datasheet page 4) rather than for U4's 3A output; because D1 sits on the fused side and no passive sits between J1 and F1, nothing is left unprotected. U7 (USBLC6-2SC6) clamps the USB VBUS and data lines; its VBUS pin lacks the 100nF decoupling capacitor the datasheet recommends close to the device (page 9), which should sit on-board next to U7. The USB-C CC lines carry 5k1 pull-downs (R25/R26), correctly defining the board as a sink.

4.3 Findings

AI-Assisted —

Device	Rail	Observation	Severity
U5 (INA226)	VIN	Shunt R12 5m carries no load current — U4 and U11–U14 connect directly to VIN ahead of the shunt; bus/shunt readings ~0. Move VIN loads to Net-(U5-Vbus) side (datasheet p10).	Medium
J1 (XT30U)	VBATT	Battery voltage not declared by net class; 2S/3S jumper implies 7.4–12.6V. Add a net class specifying the pack voltage so part derating is unambiguous.	Medium
U7 (USBLC6-2SC6)	VBUS	No 100nF decoupling on VBUS pin near U7 as recommended (datasheet p9); add on-board.	Low
U4 (LMR33630B)	power/PG	Power-good reaches no monitor or test point; add a test point for observability.	Review
D1 (SMBJ24A)	VIN	Symbol drawn bidirectional but SMBJ24A (A suffix) is unidirectional; ensure cathode faces VIN (datasheet p4).	Review
D10 (SOD-123)	Net-(B1--)	Standard flyback clamp on Q1 collector to +3V3; a Schottky would clamp faster on the switched inductive load.	Review
Q1 (S8050)	GND	Emitter tied directly to GND is a correct common-emitter connection; the open-emitter symbol typing is a library artifact (datasheet p1).	Review
U4 (LMR33630B)	+3V3	FB divider R9 100k / R11 43k, ratio 0.301 x 1.000V reference = 3.322V output (datasheet p8).	✓
U4 (LMR33630B)	VIN	EN tied to VIN — permanently enabled, EN not floating as required (datasheet p5/13/31).	✓
U4 (LMR33630B)	SW	Bootstrap C17 0.1u connected BOOT-to-SW, meets 100nF requirement (datasheet p4).	✓
U4 (LMR33630B)	VCC	C22 1u on internal LDO output meets 1µF requirement (datasheet p4).	✓
U4 (LMR33630B)	+3V3	Output decoupling 46.8µF (incl. 2x22u ceramic) adequate for 1.4MHz B variant (datasheet p19).	✓
U4 (LMR33630B)	+3V3	L1 2.2u switch inductor suitable for 1.4MHz B-version switching (datasheet p8/19).	✓
U4 (LMR33630B)	VIN	Input decoupling 98.62µF (incl. C18 10u + C19 220n) exceeds typical 10µF+220nF (datasheet p4).	✓
U4 (LMR33630B)	power/PG	PG pulled up by R10 100k to VCC — datasheet-sanctioned config (p12); valid pull-up.	✓
U2 (STM32F415RGT6)	+3.3VA	FB1 1k bead + 2x100n forms VDDA analog filter; local decoupling present.	✓
U5 (INA226)	+3V3	VS bypass C23 100n meets 0.1µF VS requirement (datasheet p14).	✓
U5 (INA226)	Net-(U5-Alert)	Open-drain Alert pulled to +3V3 via R15 10k (datasheet p12).	✓
U5 (INA226)	VIN	VBUS/common-mode 36V range, 40V abs max within derived 12.6V battery maximum (datasheet p4).	✓
D1 (SMBJ24A)	VIN	24V standoff gives adequate margin over derived 12.6V battery max (datasheet p4).	✓
F1 (S1206-FA-15.0A)	VBATT/VIN	15.0A fuse sized for aggregate 4x DRV8874 (6A peak each) VM load; D1 on fused side, nothing unprotected upstream (DRV8874 datasheet p4).	✓
J3 (USB_C)	VBUS	CC1/CC2 5k1 pull-downs (R25/R26) correctly define board as USB-C sink.	✓
D8 (LED Red)	+3V3	Indicator current (3.3V-1.8V)/220R = 6.8mA, below 30mA max (Multicomp datasheet p1/2).	✓

4.4 Citations

AI-Assisted —

References
3mm Round LED Lamp (Red) (Multicomp) — datasheet, cited pages 1,2,3 www.farnell.com/datasheets/1626756.pdf
BNO055 (Bosch Sensortec) — datasheet, cited pages 1,2,19,23,38 www.bosch-sensortec.com/media/boschsensortec/downloads/da...
DRV8874 (Texas Instruments) — datasheet datasheet.lcsc.com/datasheet/pdf/70bf2508fc7e8ef3009a3ef0...
INA226 (Texas Instruments) — datasheet, cited pages 15 www.ti.com/lit/ds/symlink/ina226.pdf
LMR33630B (Texas Instruments) — datasheet www.ti.com/lit/ds/symlink/lmr33630.pdf
S8050L (Jiangsu Changjing Electronics Technology Co., Ltd (JSCJ)) — datasheet datasheet.lcsc.com/datasheet/pdf/916f796ed66ea3166350dbd9...
SMBJ (Kyocera AVX) — datasheet, cited pages 1,2,3 datasheets.kyocera-avx.com/tvsdiodes.pdf
SSD1306 (Solomon Systech) — datasheet, cited pages 1,15 cdn-shop.adafruit.com/datasheets/SSD1306.pdf
USBLC6-2SC6 (STMicroelectronics) — datasheet datasheet.lcsc.com/datasheet/pdf/0d3a2ab954b34651a0695e7c...

5 Connector Pinouts

Total connectors

5.1 J1 BATT

J1 - BATT
Pin	Pin Name	Net	Notes
1	Pin_1	GND
2	Pin_2	VBATT

5.2 J2 I2C (I2C)

J2 - I2C (I2C)
Pin	Pin Name	Net	Notes
1	Pin_1	+3V3
2	Pin_2	connectors/SCL_OLED
3	Pin_3	connectors/SDA_OLED
4	Pin_4	connectors/SCL_SENS
5	Pin_5	connectors/SDA_SENS
6	Pin_6	GND

5.3 J3 USB_C

J3 - USB_C
Pin	Pin Name	Net	Notes
A1	GND	GND
A4	VBUS	VBUS
A5	CC1	Net-(J3-CC1)
A6	D+	connectors/USBC_D+
A7	D-	connectors/USBC_D-
A8	SBU1	NC
A9	VBUS	VBUS
A12	GND	GND
B1	GND	GND
B4	VBUS	VBUS
B5	CC2	Net-(J3-CC2)
B6	D+	connectors/USBC_D+
B7	D-	connectors/USBC_D-
B8	SBU2	NC
B9	VBUS	VBUS
B12	GND	GND
S1	SHIELD	GND

5.4 J4 SW-DBG (SWD)

J4 - SW-DBG (SWD)
Pin	Pin Name	Net	Notes
1	Pin_1	+3V3
2	Pin_2	GND
3	Pin_3	connectors/SWDIO
4	Pin_4	connectors/SWCLK
5	Pin_5	connectors/RESET

5.5 J5 MOTOR1

J5 - MOTOR1
Pin	Pin Name	Net	Notes
1	Pin_1	+3V3
2	Pin_2	GND
3	Pin_3	connectors/M1_ENC_A
4	Pin_4	connectors/M1_ENC_B
5	Pin_5	connectors/M1_OUT1
6	Pin_6	connectors/M1_OUT2

5.6 J6 MOTOR2

J6 - MOTOR2
Pin	Pin Name	Net	Notes
1	Pin_1	+3V3
2	Pin_2	GND
3	Pin_3	connectors/M2_ENC_A
4	Pin_4	connectors/M2_ENC_B
5	Pin_5	connectors/M2_OUT1
6	Pin_6	connectors/M2_OUT2

5.7 J7 MOTOR3

J7 - MOTOR3
Pin	Pin Name	Net	Notes
1	Pin_1	+3V3
2	Pin_2	GND
3	Pin_3	connectors/M3_ENC_A
4	Pin_4	connectors/M3_ENC_B
5	Pin_5	connectors/M3_OUT1
6	Pin_6	connectors/M3_OUT2

5.8 J8 MOTOR4

J8 - MOTOR4
Pin	Pin Name	Net	Notes
1	Pin_1	+3V3
2	Pin_2	GND
3	Pin_3	connectors/M4_ENC_A
4	Pin_4	connectors/M4_ENC_B
5	Pin_5	connectors/M4_OUT1
6	Pin_6	connectors/M4_OUT2

6 Indicator Documentation

No indicator devices (LED*, LD*, D* LEDs) found in design.

7 Switch Documentation

3 switch(es) found in design.

7.1 Switch Configurations

SW1 Contact Pairs (SW_Push)
Contact	Pin A	Net A	Pin B	Net B	When Open	When Closed	Notes
1	1	connectors/RESET	2	GND	SIGNAL	LOW

SW1 All Pins
Pin #	Pin Name	Net	Paired With	Type
1	1	connectors/RESET	2	CONTACT
2	2	GND	1	CONTACT

SW2 Contact Pairs (SW_SPDT)
Contact	Pin A	Net A	Pin B	Net B	When Open	When Closed	Notes
1	3	+3V3	2	mcu_support/BOOT0	SIGNAL	HIGH

SW2 All Pins
Pin #	Pin Name	Net	Paired With	Type
3	C	+3V3	2	CONTACT
1	A	Net-(SW2-A)	-	-
2	B	mcu_support/BOOT0	3	CONTACT

SW3 Contact Pairs (MENU)
Contact	Pin A	Net A	Pin B	Net B	When Open	When Closed	Notes
1	1	Net-(R8-Pad2)	2	mcu_support/MENU	OPEN	SHORTED

SW3 All Pins
Pin #	Pin Name	Net	Paired With	Type
1	1	Net-(R8-Pad2)	2	CONTACT
2	2	mcu_support/MENU	1	CONTACT

7.2 Switch DFT Analysis

Bed-of-nails or flying probe access was not selected. Test point and isolation resistor recommendations for switches will not be applied.

8 Low-Speed Serial Interfaces (LSSI)

Detected: 6 I2C | 1 partial

8.1 I2C

I2C
Topology: Access (J2)
Signal	Net Name	Connector	Test Point
SCL (needs pull-up)	connectors/SCL_OLED	J2_2	(none)
SDA (needs pull-up)	connectors/SDA_OLED	J2_3	(none)

I2C
Topology: Access (J2)
Signal	Net Name	Connector	Test Point
SCL (needs pull-up)	connectors/SCL_SENS	J2_4	(none)
SDA (needs pull-up)	connectors/SDA_SENS	J2_5	(none)

I2C: U2 -> U10
Topology: U2 » Targets (U10, J2)
Signal	Net Name	Connector	Test Point	Target Pin
SCL	mcu_support/SCL_OLED	J2_2	(none)	U10_3 (SCL), U2_29 (PB10)
SDA	mcu_support/SDA_OLED	J2_3	(none)	U10_4 (SDA), U2_30 (PB11)
Address	Target	Industry Type	Description
	U10	SSD1306_128x32	0.91 inch 128x32 I2C OLED display module, 4-pin (GND/VCC/SCL/SDA)
Controller	Industry Type	Description
U2	STM32F415RGT6	STMicroelectronics Arm Cortex-M4 MCU, 1024KB flash, 192KB RAM, 168 MHz, 1.8-3.6V, 51 GPIO, LQFP64

I2C: U2 -> U5, U9
Topology: U2 » Targets (U5, U9, J2)
Signal	Net Name	Connector	Test Point	Target Pin
SCL	mcu_support/SCL_SENS	J2_4	(none)	U2_61 (PB8), U5_5 (SCL), U9_19 (COM1)
SDA	mcu_support/SDA_SENS	J2_5	(none)	U2_62 (PB9), U5_4 (SDA), U9_20 (COM0)
Address	Target	Industry Type	Description
	U5	INA226	High-Side or Low-Side Measurement, Bi-Directional Current and Power Monitor (0-36V) with I2C Compatible Interface, VSSOP-10
	U9	BNO055	Intelligent 9-axis absolute orientation sensor, LGA-28
Controller	Industry Type	Description
U2	STM32F415RGT6	STMicroelectronics Arm Cortex-M4 MCU, 1024KB flash, 192KB RAM, 168 MHz, 1.8-3.6V, 51 GPIO, LQFP64

I2C -> U10
Topology: Targets (U10)
Signal	Net Name	Connector	Test Point	Target Pin
SCL (needs pull-up)	peripherals/SCL_OLED	(none)	(none)	U10_3 (SCL)
SDA (needs pull-up)	peripherals/SDA_OLED	(none)	(none)	U10_4 (SDA)
Address	Target	Industry Type	Description
	U10	SSD1306_128x32	0.91 inch 128x32 I2C OLED display module, 4-pin (GND/VCC/SCL/SDA)

I2C -> U5
Topology: Targets (U5)
Signal	Net Name	Connector	Test Point	Target Pin
SCL (needs pull-up)	power/SCL_INA	(none)	(none)	U5_5 (SCL)
SDA (needs pull-up)	power/SDA_INA	(none)	(none)	U5_4 (SDA)
Address	Target	Industry Type	Description
	U5	INA226	High-Side or Low-Side Measurement, Bi-Directional Current and Power Monitor (0-36V) with I2C Compatible Interface, VSSOP-10

I2C Pull-up Check
Net	Component	Status
connectors/SDA_OLED		Pull-up not found on connectors/SDA_OLED. It is acceptable to not have an on-PCB pull-up when the SDA is driven from off-board only. A pull-up will be required at the source I2C driver.	-
connectors/SCL_OLED		Pull-up not found on connectors/SCL_OLED. It is acceptable to not have an on-PCB pull-up when the SCL is driven from off-board only. A pull-up will be required at the source I2C driver.	-
connectors/SDA_SENS		Pull-up not found on connectors/SDA_SENS. It is acceptable to not have an on-PCB pull-up when the SDA is driven from off-board only. A pull-up will be required at the source I2C driver.	-
connectors/SCL_SENS		Pull-up not found on connectors/SCL_SENS. It is acceptable to not have an on-PCB pull-up when the SCL is driven from off-board only. A pull-up will be required at the source I2C driver.	-
mcu_support/SDA_OLED	R5	Pull-up resistor 4.7K (R5) found on SDA	✓
mcu_support/SCL_OLED	R2	Pull-up resistor 4.7K (R2) found on SCL	✓
mcu_support/SDA_SENS	R4	Pull-up resistor 4.7K (R4) found on SDA	✓
mcu_support/SCL_SENS	R1	Pull-up resistor 4.7K (R1) found on SCL	✓
peripherals/SDA_OLED		Pull-up on peripherals/SDA_OLED was not detected. A pull-up for basic I2C operation would be about 4.7K ohms. Even if an IC has internal pull-ups on its inputs, they are likely just for biasing the input high (47-100K ohms) and are not sufficient for I2C. We did not consult the datasheet for U10 but low-value resistors cost silicon area, so it is unlikely the IC has them.
peripherals/SCL_OLED		Pull-up on peripherals/SCL_OLED was not detected. A pull-up for basic I2C operation would be about 4.7K ohms. Even if an IC has internal pull-ups on its inputs, they are likely just for biasing the input high (47-100K ohms) and are not sufficient for I2C. We did not consult the datasheet for U10 but low-value resistors cost silicon area, so it is unlikely the IC has them.
power/SDA_INA		Pull-up on power/SDA_INA was not detected. A pull-up for basic I2C operation would be about 4.7K ohms. Even if an IC has internal pull-ups on its inputs, they are likely just for biasing the input high (47-100K ohms) and are not sufficient for I2C. We did not consult the datasheet for U5 but low-value resistors cost silicon area, so it is unlikely the IC has them.
power/SCL_INA		Pull-up on power/SCL_INA was not detected. A pull-up for basic I2C operation would be about 4.7K ohms. Even if an IC has internal pull-ups on its inputs, they are likely just for biasing the input high (47-100K ohms) and are not sufficient for I2C. We did not consult the datasheet for U5 but low-value resistors cost silicon area, so it is unlikely the IC has them.

8.2 Signals That Failed to Trace

These signals appear to be part of LSSI interfaces based on naming patterns, but their endpoints could not be fully traced. The signals were found on test points or connectors but the target IC could not be determined. This may indicate daisy-chained connections (TDO->TDI), signals through resistors, or non-standard naming.

Failed Interface Trace Details
Interface	Target	Found Signals	Trace Path	Missing Signals	Connector	Test Point
SWD	U2	NRST, SWDIO, TCK	NRST: connectors/RESET SWDIO: connectors/SWDIO TCK: connectors/SWCLK	SWCLK	J4_3, J4_4, J4_5	(none)

8.3 LSSI DFT Analysis

15 signal(s) missing test point coverage. Test points allow ATE to run tests without requiring operator intervention and setup. They should be considered mandatory for high volume products.

During test, ATE can override functional operation to explicitly test through the interface in ways that functional operation cannot, or is not available at certain test stages.

Missing Test Points
Signal	Net Name	Connector	Interface
SCL	connectors/SCL_OLED	J2_2	I2C
SDA	connectors/SDA_OLED	J2_3	I2C
SCL	connectors/SCL_SENS	J2_4	I2C
SDA	connectors/SDA_SENS	J2_5	I2C
SCL	mcu_support/SCL_OLED	J2_2	I2C -> U10
SDA	mcu_support/SDA_OLED	J2_3	I2C -> U10
SCL	mcu_support/SCL_SENS	J2_4	I2C -> U5, U9
SDA	mcu_support/SDA_SENS	J2_5	I2C -> U5, U9
SCL	peripherals/SCL_OLED	(none)	I2C -> U10
SDA	peripherals/SDA_OLED	(none)	I2C -> U10
SCL	power/SCL_INA	(none)	I2C -> U5
SDA	power/SDA_INA	(none)	I2C -> U5
NRST	connectors/RESET	J4_5	SWD -> U2
SWDIO	connectors/SWDIO	J4_3	SWD -> U2
TCK	connectors/SWCLK	J4_4	SWD -> U2

9 High-Speed Serial Interfaces (HSSI)

No controlled impedance nets detected in design.

10 Memory Interface Analysis

No memory devices with detectable bus interfaces found.

11 Functional Analysis

19 device(s) to review across 4 category(ies)

Device Inventory
RefDes	Category	Part Number	Description	Interfaces	HSSI
Y1	CRYSTAL	8MHz	Two pin crystal	-	-
Y2	CRYSTAL	32.768k	Two pin crystal	-	-
JP1	DEVICE	2S/3S Select	Jumper, 3-pole, pins 1+2 closed/bridged	-	-
JP2	DEVICE	2S/3S Select	Jumper, 3-pole, pins 1+2 closed/bridged	-	-
JP3	DEVICE	I2C_ADDR	Solder Jumper, 2-pole, open	-	-
U10	DEVICE	SSD1306_128x32	0.91 inch 128x32 I2C OLED display module, 4-pin (GND/VCC/SCL/SDA)	I2C	-
U2	DEVICE	STM32F415RGT6	STMicroelectronics Arm Cortex-M4 MCU, 1024KB flash, 192KB RAM, 168 MHz, 1.8-3.6V, 51 GPIO, LQFP64	I2C, SWD (partial)	-
U7	DEVICE	USBLC6-2SC6	Very low capacitance ESD protection diode, 2 data-line, SOT-23-6	-	-
U9	DEVICE	BNO055	Intelligent 9-axis absolute orientation sensor, LGA-28	I2C	-
D2	DIODE	HB	Light emitting diode	-	-
D3	DIODE	ROS	Light emitting diode	-	-
D4	DIODE	ERR	Light emitting diode	-	-
D5	DIODE	DBG	Light emitting diode	-	-
D6	DIODE	BAT_HI	Light emitting diode	-	-
D7	DIODE	BAT_LOW	Light emitting diode	-	-
U11	MOTOR	DRV8874PWPR	40-V, 6-A H-bridge motor driver with integrated current sensing feedback	-	-
U12	MOTOR	DRV8874PWPR	40-V, 6-A H-bridge motor driver with integrated current sensing feedback	-	-
U13	MOTOR	DRV8874PWPR	40-V, 6-A H-bridge motor driver with integrated current sensing feedback	-	-
U14	MOTOR	DRV8874PWPR	40-V, 6-A H-bridge motor driver with integrated current sensing feedback	-	-

11.1 Functional Analysis

11.1.1 8 MHz HSE crystal Y1

AI-Assisted — Y1 is the high-speed external resonator for the STM32F415, wired between PH0/OSC_IN (U2 pin 5) and PH1/OSC_OUT (U2 pin 6) on nets HSE_IN and HSE_OUT. Each leg carries a 27p loading capacitor (C2 on HSE_IN, C3 on HSE_OUT) referenced to GND, giving an effective external load of roughly 27p/2 plus stray, i.e. about 18p, a conventional value for an 8 MHz fundamental crystal. The two-pin oscillator topology, matched load caps and dedicated OSC_IN/OSC_OUT routing are correct for the STM32 HSE input. No supply-range concern applies to a passive resonator.

11.1.2 32.768 kHz crystal Y2

AI-Assisted — Y2 is not the STM32 LSE; it is wired to the BNO055 optional 32.768 kHz oscillator inputs, XIN32 (U9 pin 27) and XOUT32 (U9 pin 26), each with a 15p load capacitor (C26 on XIN32, C25 on XIN32/XOUT32 respectively) to GND. The BNO055 datasheet lists XIN32/XOUT32 as an optional external oscillator; providing it improves fusion timing stability. The 15p caps give an effective load near 12.5p, matching a typical 32.768 kHz tuning-fork crystal. Topology is correct.

11.1.3 Battery/address select jumpers JP1 and JP2

AI-Assisted — JP1 is a three-pole select whose center pole (pin 2, C) drives the INA226 address input A0 (U5 pin 2), with the GND leg (pin 1) and the +3V3 leg (pin 3) forming the two selectable states; the alternate pads are expressed with do-not-install markings rather than the eCAD tool's variant feature, so the fitted default state is ambiguous to downstream test tooling. JP2 selects between R23 and R24 (both returning to VIN) feeding the VIN indicator LED D9, i.e. a 2S/3S brightness-compensation option; its legs are likewise handled as ad-hoc do-not-install. Neither jumper is a wiring fault; the recommendation is to capture the fitted/unfitted choice through the design-variant mechanism so the netlist is unambiguous. Confirm the fitted JP1 state yields a defined INA226 address that does not collide with the BNO055 (0x28/0x29) sharing the sensor bus.

11.1.4 I2C address jumper JP3

AI-Assisted — JP3 sets the BNO055 I2C address by driving COM3 (U9 pin 17). The default path is R30, a pull-down to GND on the COM3 net, giving the low address (0x28); the +3V3 leg (pin 2) is the alternate state and is handled as an ad-hoc do-not-install pad. This is a legitimate configuration select, not a fault; expressing the option through the eCAD variant feature would remove ambiguity for the test netlist.

11.1.5 SSD1306 OLED module U10

AI-Assisted — U10 and its I2C header J2 are entirely do-not-install; all four pins (VCC, GND, SCL, SDA) carry the do-not-install marking, so the 0.91-inch display is an optional/unpopulated accessory rather than a fitted device. When fitted, VCC sits on +3V3 (within the module's supply range) and SCL/SDA map to PB10/PB11 with pull-ups R2 (SCL_OLED) and R5 (SDA_OLED) to +3V3, which satisfies the SSD1306 requirement for external I2C pull-ups. No functional wiring problem; note only the not-installed status.

11.1.6 STM32F415RGT6 MCU U2

AI-Assisted — The five VDD/VBAT pins run on +3V3 (3.3 V, inside the 1.8–3.6 V range) with ample decoupling (seven 100n plus 2x22u and 2x1u on the rail), and VBAT (pin 1) tied to +3V3 is an acceptable no-backup configuration. VDDA (pin 13) is fed from +3V3 through ferrite bead FB1 with C14 100n and C15 100n to GND; the ferrite isolation is correct but the analog supply lacks a bulk (~1u) capacitor that the STM32F4 reference decoupling pairs with the 100n. Both VCAP pins carry the required 2.2u ceramics (C13 on VCAP_1, C12 on VCAP_2). NRST (pin 7) has R3 10k pull-up to +3V3, C1 100n to GND and reset button SW1 — correct. BOOT0 (pin 60) is selectable via SW2 between +3V3 and R6 pull-down to GND; PB2/BOOT1 has R7 pull-down to GND. USB D-/D+ (PA11/PA12) route through ESD device U7. Two independent I2C buses are correctly pulled up: sensor bus PB8/PB9 (R1/R4) and OLED bus PB10/PB11 (R2/R5). VSS/VSSA are grounded. All wiring is consistent with the datasheet.

11.1.7 USBLC6-2SC6 ESD protection U7

AI-Assisted — U7 is placed in-line on both USB data pairs: I/O1 (pins 1 and 6) on the D- path between connector J3 and PA11, and I/O2 (pins 3 and 4) on the D+ path between J3 and PA12, which is the correct pass-through clamp topology. VBUS (pin 5) ties to the USB-C VBUS net and GND (pin 2) to ground. The STMicroelectronics datasheet recommends a 100 nF decoupling capacitor from the VBUS pin to GND for the rail-to-rail clamp; no such capacitor is present on the VBUS net, so the recommended part is missing. The device orientation is symmetric on the data lines and needs no polarity check.

11.1.8 BNO055 orientation sensor U9

AI-Assisted — VDD (pin 3) and VDDIO (pin 28) both sit on +3V3, within the datasheet ranges (VDD 2.4–3.6 V, VDDIO 1.7–3.6 V), with GND and GNDIO grounded. The CAP pin (pin 9) has the required 100n (C27) to GND. Protocol selects are set for I2C: PS0 (pin 6) via R27 pull-down and PS1 (pin 5) via R28 pull-down both to GND (PS1=PS0=0 = I2C). COM0/COM1 (pins 20/19) are the I2C SDA/SCL on the sensor bus; COM3 (pin 17) is the address select through JP3/R30. nRESET (pin 11) is driven by PB13 and INT (pin 14) reaches PB12 — both correct. nBOOT_LOAD_PIN (pin 4) is held high on +3V3, selecting normal operation. The DNC pins left unconnected match the datasheet do-not-connect designation, so no connection is required.

11.1.9 Heartbeat LED D2

AI-Assisted — D2 is the heartbeat indicator, anode fed from +3V3 through current-limit resistor R16 (100R) and cathode driven by PB3 (LED_HB), an active-low sink configuration. Diode orientation is consistent with the net wiring. With a high-brightness Vf near 2 V the drive current is about (3.3−2)/100 ≈ 13 mA, acceptable for the 0603 LED though on the brighter end of the indicator set.

11.1.10 Status LEDs D3, D4, D5, D6, D7

AI-Assisted — All five are single-color indicators in the active-low sink configuration: anode fed from +3V3 through a series limit resistor, cathode driven by an STM32 GPIO. D3 (ROS) uses R17 270R to PD2; D4 (ERR) R18 330R to PC12; D5 (DBG) R19 220R to PC11; D6 (BAT_HI) R20 270R to PC10; D7 (BAT_LOW) R21 330R to PA15. Each diode's orientation is consistent with its net wiring. Assuming a typical indicator forward drop near 2 V, drive currents are about 4.8 mA (270R), 3.9 mA (330R) and 5.9 mA (220R) respectively — all safe for the 0603 parts and adequate for visibility. No fault; the slight per-channel brightness spread from the mixed resistor values is intentional and harmless.

11.1.11 DRV8874 H-bridge motor drivers U11–U14

AI-Assisted — The four drivers are wired identically and correctly to the TI DRV8874 datasheet. VM (pin 11) sits on the battery-derived VIN rail; a 2S/3S pack (~6–12.6 V) is comfortably inside the 4.5–37 V operating range and above the 4.45 V UVLO. Each device has its 22-nF ceramic charge-pump flying capacitor between CPH and CPL (C28/C29/C36/C37) and its 100-nF VCP-to-VM capacitor (C30/C31/C38/C39), both matching the datasheet-required X5R/X7R values. VM carries a 22-µF bulk capacitor per driver (C33/C35/C41/C43) plus the rail's 10-µF and 220-nF; the datasheet's separate 0.1-µF low-ESR high-frequency VM bypass at each pin is not individually present. PMODE (pin 16) is tied to GND selecting PH/EN control mode, which matches the applied signals — M#_PWM on EN/IN1 (speed) and M#_DIR on PH/IN2 (direction). IMODE (pin 7) tied to GND selects fixed off-time chopping with automatic retry (quad-level 1), a valid state. IPROPI (pin 6) each has a 10k RIPROPI to GND (R31/R32/R35/R36) routed to an MCU ADC input. VREF (pin 5) is common on MOTOR_VREF driven from PA5, setting the chopping threshold. nSLEEP is on MOTORS_SLEEP from PB15. nFAULT (open-drain, pin 4) has a 10k pull-up to +3V3 on each channel (R33/R34/R37/R38) to individual GPIOs. GND (pin 15) and PGND (pin 9) are grounded, giving correct DC return.

11.2 Findings

AI-Assisted —

Device	Finding	Severity
U7 USBLC6-2SC6 [DEVICE]	Recommended 100 nF VBUS-to-GND decoupling capacitor absent on VBUS net (STMicroelectronics datasheet).	Low
JP1 2S/3S Select [DEVICE]	INA226 A0 address-select jumper; ad-hoc do-not-install on alternate legs. Express fitted state via eCAD variant feature.	Review
JP2 2S/3S Select [DEVICE]	2S/3S brightness select (R23/R24) for VIN LED; ad-hoc do-not-install legs. Express via eCAD variant feature.	Review
JP3 I2C_ADDR [DEVICE]	BNO055 COM3 address select; default R30 pull-down to GND (address 0x28). Legitimate config, capture in variant feature.	Review
U10 SSD1306_128x32 [DEVICE]	Optional display fully do-not-install; when fitted, +3V3 supply and I2C pull-ups R2/R5 satisfy SSD1306 requirements.	Review
U2 STM32F415RGT6 [DEVICE]	VDDA fed via ferrite FB1 with C14/C15 100n but no ~1u bulk cap that STM32F4 reference decoupling pairs with the 100n.	Review
U11-U14 DRV8874PWPR [MOTOR]	VM bulk (22u per driver plus rail 10u/220n) present, but the datasheet-recommended local 0.1uF HF VM bypass at each VM pin is not individually placed.	Review
Y1 8MHz [CRYSTAL]	HSE resonator on PH0/PH1 with matched 27p load caps (C2, C3); correct 8 MHz oscillator topology.	✓
Y2 32.768k [CRYSTAL]	Correctly wired to BNO055 optional XIN32/XOUT32 with 15p load caps (C25, C26); per BNO055 datasheet.	✓
U2 STM32F415RGT6 [DEVICE]	VDD/VBAT on +3V3 (1.8-3.6V range) with adequate decoupling; VCAP pins carry required 2.2u (C12, C13). Per STM32F4 datasheet.	✓
U2 STM32F415RGT6 [DEVICE]	Reset (R3/C1/SW1), BOOT0 (SW2), BOOT1 (R7) and dual I2C pull-ups correctly configured.	✓
U7 USBLC6-2SC6 [DEVICE]	Correct in-line ESD clamp on D+/D- pairs to connector J3; symmetric part, no polarity concern.	✓
U9 BNO055 [DEVICE]	VDD/VDDIO on +3V3 within range; CAP pin has required 100n (C27); PS0/PS1 pulled low select I2C mode. Per BNO055 datasheet.	✓
U9 BNO055 [DEVICE]	nRESET->PB13, INT->PB12, COM3 address select, nBOOT_LOAD_PIN held high (normal); DNC pins correctly left open.	✓
D2 HB [DIODE]	Heartbeat LED, active-low GPIO sink, R16 100R limit (~13 mA); orientation consistent with wiring.	✓
D3 ROS [DIODE]	Active-low indicator, R17 270R limit (~4.8 mA) to PD2; orientation consistent with wiring.	✓
D4 ERR [DIODE]	Active-low indicator, R18 330R limit (~3.9 mA) to PC12; orientation consistent with wiring.	✓
D5 DBG [DIODE]	Active-low indicator, R19 220R limit (~5.9 mA) to PC11; orientation consistent with wiring.	✓
D6 BAT_HI [DIODE]	Active-low indicator, R20 270R limit (~4.8 mA) to PC10; orientation consistent with wiring.	✓
D7 BAT_LOW [DIODE]	Active-low indicator, R21 330R limit (~3.9 mA) to PA15; orientation consistent with wiring.	✓
U11 DRV8874PWPR [MOTOR]	VM on VIN (in 4.5-37V range), 22n CPH/CPL (C28), 100n VCP (C30), IPROPI R31 10k, nFAULT R33 pull-up; PMODE=GND PH/EN mode. Per TI DRV8874 datasheet.	✓
U12 DRV8874PWPR [MOTOR]	VM on VIN, 22n CPH/CPL (C29), 100n VCP (C31), IPROPI R32 10k, nFAULT R34 pull-up; config correct. Per TI DRV8874 datasheet.	✓
U13 DRV8874PWPR [MOTOR]	VM on VIN, 22n CPH/CPL (C36), 100n VCP (C38), IPROPI R35 10k, nFAULT R37 pull-up; config correct. Per TI DRV8874 datasheet.	✓
U14 DRV8874PWPR [MOTOR]	VM on VIN, 22n CPH/CPL (C37), 100n VCP (C39), IPROPI R36 10k, nFAULT R38 pull-up; config correct. Per TI DRV8874 datasheet.	✓

11.3 Citations

AI-Assisted —

References
BNO055 (Bosch Sensortec) — datasheet, cited pages 1,2,19,23,38 www.bosch-sensortec.com/media/boschsensortec/downloads/da...
DRV8874 (Texas Instruments) — datasheet datasheet.lcsc.com/datasheet/pdf/70bf2508fc7e8ef3009a3ef0...
SMBJ (Kyocera AVX) — datasheet, cited pages 1,2,3 datasheets.kyocera-avx.com/tvsdiodes.pdf
SSD1306 (Solomon Systech) — datasheet, cited pages 1,15 cdn-shop.adafruit.com/datasheets/SSD1306.pdf
USBLC6-2SC6 (STMicroelectronics) — datasheet datasheet.lcsc.com/datasheet/pdf/0d3a2ab954b34651a0695e7c...

12 Designer Annotated Nets

Annotated signals

Designer-placed annotation markers on nets that are not already analyzed as HSSI differential pairs or Memory Bus signals.

Designer Annotations
Net Name	Annotation	Impedance	Notes
+3.3VA	PWR
+3V3	PWR
VBATT	PWR
VBUS	PWR
VIN	PWR
VIN	PWR

13 EMC & ESD Protection Checks

Checks run	1
Passed	0
Issues found	1

EMC Check Summary
Check	Issues	Status
Connector Shell Grounding	1

13.1 Connector Shell Grounding

RefDes	Type	Issue	Recommendation	Severity
J3	USB_C	J3 (USB_C): Shell pins connected directly to logic GND which masks design intent for layout.	Per USB Type-C Specification R2.5, Section 3.2.1: the receptacle shell shall be connected to the PCB ground plane — this is a directive to prevent a floating shell, not a directive to ignore IEC 61000-4-2 ESD requirements and mandate a direct short. Place shell/shield tabs on a dedicated schematic net per connector (e.g. SHIELD_GND_TYPE_C, SHIELD_GND_SD). This net represents the copper pour under the shielded connector. For plastic enclosed products with no earth ground, add a schematic note for dense via stitching of the shield copper pours to the ground plane with no isolation network. For earth ground connected products, review if the product requires R\|\|C isolation of shields from logic GND to meet ESD compliance (IEC 61000-4-2).

13.2 EMC & ESD Analysis

13.2.1 EMC Architecture — Grounding, Filtering and Shielding Overview

AI-Assisted — The design uses a single logic ground net GND as the common return for all connectors, the USB-C shell (J3 S1), the current monitor U5, the four H-bridge drivers U11–U14 and the MCU U2. No separate chassis/earth domain is defined, which is consistent with a battery-powered consumer product in a plastic enclosure. Power distribution is +3V3 (sourced by U4, LMR33630BDDA) feeding U2, U5, U9 and U10; +3.3VA (also sourced by U4) feeds U2 analog supply; and VIN (sourced by J1) feeds U4 and the four motor drivers U11–U14. VBUS (5.00V, sourced by J3) reaches only U7. The I2C bus carries on-board pull-ups R1, R2, R4, R5 (each 4.7k) referenced to +3V3 at pin 1 and to the bus nets at pin 2. No common-mode chokes, ferrite beads or series filtering are present on the motor output nets or encoder nets leaving the board through J5–J8; PWM H-bridge switching at VIN drives unfiltered cables, a radiated-emissions risk assessed under EN 55032 for a consumer (Class B) product. The absence of split analog/digital ground for the INA226 shunt sense is acceptable at this single-point topology. Decoupling on all connector-facing supply pins is present and on-board.

13.2.2 USB-C Receptacle J3

AI-Assisted — J3 is a horizontal top-mount USB 2.0-only Type-C receptacle — an external, hot-pluggable, consumer-facing port. D+ and D- are protected by U7 (USBLC6-2SC6), a low-capacitance dual-line ESD array; per the ST USBLC6-2SC6 datasheet it withstands ±15 kV air / ±8 kV contact to IEC 61000-4-2, satisfying the interface ESD requirement. CC1/CC2 present R26/R25 (5k1) pull-downs to GND, the correct Rd sink-role termination per USB Type-C Cable and Connector Specification R2.5. VBUS reaches only U7 pin 5, which serves as the clamp reference for the diode array; no local bypass capacitor is fitted on that node, and a small local capacitor at U7 improves transient clamping performance. The shell/shield S1 shares the logic GND net. The schematic therefore does not capture a dedicated shield-bond strategy as design intent: a per-connector net such as SHIELD_GND_TYPE_C would let the layout tool keep the shell copper pour distinct and make the bond components explicit. For a plastic enclosure with no earth (Scenario A) the shell should bond directly to the logic GND plane through dense via stitching so the plane rises common-mode during an ESD strike. For a metal-chassis earthed product (Scenario B) an R||C isolation (1 Mohm || 4.7 nF, ≥2 kV) to logic GND with a mechanical earth bond may be preferred. Enclosure type is not shown.

13.2.3 I2C Header J2

AI-Assisted — J2 is a vertical 2.54 mm pin header carrying SCL_OLED, SCL_SENS, SDA_OLED, SDA_SENS plus +3V3 and GND. The vertical mounting and 2.54 mm pitch indicate a board-to-board/internal ribbon rather than a panel-mount external port. Bus pull-ups (R1, R2, R4, R5 at 4.7k) are on-board and referenced to +3V3 and to the respective bus nets, appropriate for standard-mode/fast-mode I2C. No series resistance or ESD device sits between the header and the MCU/OLED/sensor pins. If the attached OLED or sensor cable is routed outside the enclosure, series resistors and a low-capacitance ESD array on the four lines warrant investigation against IEC 61000-4-2; for a purely internal ribbon this is not required.

13.2.4 Motor Connectors J5–J8

AI-Assisted — J5–J8 are 2.00 mm JST PH vertical connectors, each carrying two H-bridge outputs (OUT1/OUT2 from U11–U14), two encoder inputs (ENC_A/ENC_B direct to MCU U2 GPIO), GND and +3V3. Although vertical, these connectors feed motor cables that leave the board, so the harness is effectively exposed. The output nets carry PWM switching at VIN with no series ferrite, snubber or common-mode choke; long unshielded motor leads are a dominant radiated- and conducted-emissions source assessed under EN 55032 Class B, and filtering on these lines warrants investigation. The encoder lines connect directly to U2 port pins with no series resistance or ESD clamp; because these enter the MCU through an external harness, a low-capacitance ESD array and series resistors merit investigation per IEC 61000-4-2 for a consumer product. The +3V3 pin exports logic supply to encoder electronics on each connector; no reverse or over-current protection is shown on that exported rail.

13.2.5 Debug Header J4

AI-Assisted — J4 is a vertical 2.54 mm SWD debug header (RESET, SWCLK, SWDIO) with +3V3 and GND. It is an internal service/programming interface not exposed in normal consumer use; NRST carries C1 (100n) and pull-up R3 (10k) to +3V3 with the push button SW1 to GND. No ESD device is expected or required on a non-field debug port.

13.2.6 Power Input VIN / VBATT

AI-Assisted — J1 sources GND, VBATT and VIN. VIN feeds U4 (LMR33630BDDA) and the four DRV8874PWPR drivers U11–U14; VBATT has no consumers shown. Because the input is a battery of unspecified voltage, the input voltage rating of the DRV8874PWPR (VM abs-max 40 V per the TI DRV8874 datasheet) and of the LMR33630BDDA (VIN 3.8–36 V per the TI LMR33630 datasheet) cannot be assessed against the actual pack voltage; these ratings must be checked against the battery voltage. No input transient protection (TVS/reverse-polarity) is shown on VIN.

13.3 Observations

AI-Assisted — The board is a single-ground consumer motor controller. USB-C data protection is well handled by U7; the CC role termination is correct. The principal residual EMC exposure is the four unfiltered motor harnesses (radiated/conducted emissions) and the directly-connected encoder inputs (ESD coupling into MCU GPIO). All power-IC supply and ground pins present in the design have valid DC returns: U4 GND (pins 1, 9), U5 GND (pin 7) and address pin A1, U7 GND (pin 2), and the DRV8874 GND/PGND pins (15/9) all terminate on the GND net. Shield-bond design intent for J3 is not captured at the schematic net level; a dedicated SHIELD_GND net is recommended so the layout engineer receives explicit copper-pour and bond guidance for either enclosure scenario.

13.4 Findings

AI-Assisted —

Connector	Finding	Severity
J5-J8	Motor PWM output lines (OUT1/OUT2 from U11–U14) leave the board with no ferrite, snubber or common-mode filtering — radiated/conducted emissions risk under EN 55032 Class B; investigate output filtering.	Medium
VIN	Battery voltage unspecified; DRV8874PWPR VM abs-max 40 V (TI DRV8874 datasheet) and LMR33630BDDA VIN 3.8–36 V (TI LMR33630 datasheet) ratings must be checked against actual pack voltage.	Medium
J5-J8	Encoder inputs (ENC_A/ENC_B) connect directly to U2 GPIO through an external harness with no series resistor or ESD clamp; investigate ESD protection per IEC 61000-4-2 for a consumer product.	Low
VIN	No input transient/TVS or reverse-polarity protection shown on the VIN battery input.	Low
J3	U7 VBUS clamp-reference pin (pin 5) has no local bypass capacitor; a local cap improves transient clamping per USBLC6-2SC6 datasheet application guidance.	Review
J3	Shell/shield S1 shares logic GND; schematic does not capture a dedicated shield-bond net. Recommend a per-connector SHIELD_GND net so layout intent (Scenario A direct bond, or Scenario B 1 Mohm\|\|4.7 nF ≥2 kV isolation) is explicit per IEC 61000-4-2.	Review
J2	No series resistance or ESD array on the four I2C lines; if the harness is routed externally, investigate low-capacitance ESD protection per IEC 61000-4-2.	Review
J3	USB 2.0 Type-C, external hot-plug port; D+/D- protected by U7 (USBLC6-2SC6), ±15 kV air / ±8 kV contact to IEC 61000-4-2 per ST datasheet — protection adequate.	✓
J3	CC1/CC2 terminated with R26/R25 5k1 to GND — correct Rd sink-role termination per USB Type-C Cable and Connector Spec R2.5.	✓
J2	Vertical 2.54 mm I2C header, likely internal board-to-board; on-board pull-ups R1/R2/R4/R5 (4.7k) referenced to +3V3 and bus nets — correct per I2C-bus specification.	✓
J4	Internal SWD debug header, not field-exposed; NRST has R3 (10k) pull-up and C1 (100n). No ESD device required.	✓
U4	GND pins 1 and 9 terminate on the GND net — valid DC return (LMR33630 datasheet).	✓
U5	VS (pin 6) on +3V3, GND (pin 7) and address A1 (pin 1) on GND — valid supply and return (INA226 datasheet).	✓
U11-U14	GND (pin 15) and PGND (pin 9) terminate on the GND net — valid power return (DRV8874 datasheet).	✓
U7	GND (pin 2) terminates on the GND net; D+/D- clamp path referenced correctly (USBLC6-2SC6 datasheet).	✓
GND	Single-point logic ground shared by all connectors and the USB-C shell — acceptable for a battery-powered plastic-enclosure consumer device per IEC 61000-4-2 Scenario A.	✓

14 Design-for-Test

Design for Testability (DFT) analysis for ICT/bed-of-nails test coverage.

14.1 DFx Options Selected

Option	Setting	Description
Test Point Insertion
Insert on power rails	Yes	Place test points on power rail nets in schematic
Insert on all nets	No	Extend TP insertion to signal nets beyond power rails
Exclude HSSI nets	Yes	Exclude HSSI/differential pair nets from TP insertion
Exclude DRAM nets	Yes	Exclude SDRAM/DDR nets from TP insertion
Exclude BSCAN opens (full)	Yes	Exclude nets with 100% boundary scan opens coverage
Exclude BSCAN opens (partial)	No	Exclude nets with partial boundary scan opens coverage
Exclude BSCAN shorts	No	Exclude nets with boundary scan shorts coverage
GND test points	6	Number of GND test points to insert for BON fixture ground connections
Target PCOLA-SOQ	0%	Insert TPs in priority order until this PCOLA-SOQ % is reached
Target fault coverage	0%	Insert TPs in priority order until this shorts/opens fault coverage % is reached
Kelvin min resistance	0.000 ohm	Lower bound (ohms) for Kelvin 4-wire TP insertion range
Kelvin max resistance	1.000 ohm	Upper bound (ohms) for Kelvin 4-wire TP insertion range
Tester Styles
Optical	AOI	Automated Optical Inspection of visible solder joints
AXI	Yes	Automated X-ray Inspection of hidden solder joints (BGA, QFN)
ATE	None	No automated test equipment
Test Access
JTAG/LSSI Connector	Yes	Connector access to JTAG, SPI, I2C buses
IO Connectors	No	IO connectors available for external stimulus/observation
TP Access	None	No physical probe access to test points
Loopback	None	No loopback cables
Test Types
Powered-Off Shorts/Opens	No	Unpowered shorts and opens detection via probe access
Passives	No	R, C, L value measurement via probe or fixture access
Active Analog	No	Voltage regulator, reference, and op-amp output verification
Non-BSCAN Digital	No	Digital ICs without boundary scan: pin observability analysis
Boundary Scan	1149.1	IEEE 1149.1-2013 structural boundary scan
LSSI	No	JTAG chain, SPI, I2C, UART bus test coverage analysis
JTAG Functional	No	Functional verification beyond structural scan
Require Rail TPs for Diode Test	No	Require TPs on all IO power rails for ESD diode opens test (default: basic test with GND TP only)
Capacitance Probe Plate Target Devices	—	Refdes or footprint patterns for capacitance probe plate targets (ICs and vertical connectors)
Use Boundary Scan for Capacitance Probe Plate Stimulus	No	Count boundary scan drive cells on other devices as valid stimulus for the capacitance probe plate (applicable to VTEP / IEEE 1149.8.1-capable hardware)
NVM Programming
Default Method	Direct	Program via direct pin access; TPs on flash data/control lines
Environment
Test environment	lab	Prototype/NPI: manual probing, bench JTAG, longer test times acceptable

14.2 Power Rail Test Point Check

Power rails found	6
Rails with TPs	1
Rails without TPs	5
With designer annotation	5

5 power rail(s) need test points in the submitted design.

10 test point(s) inserted in modified output. Download modified schematics to see placements.

Power Rail Coverage
Net Name	Annotation	Test Point	Status
+3.3VA	PWR	-	NEEDS TP
+3V3	PWR	B1	✓
GND		-	NEEDS TP
VBATT	PWR	-	NEEDS TP
VBUS	PWR	-	NEEDS TP
VIN	PWR	-	NEEDS TP

Inserted Test Points (Modified Output)
Test Point	Net	Sheet
TP2	VBUS	connectors.kicad_sch
TP3	+3.3VA	mcu_support.kicad_sch
TP4	GND	peripherals.kicad_sch
TP5	VIN	peripherals.kicad_sch
TP6	VBATT	power.kicad_sch
TP7	GND	peripherals.kicad_sch
TP8	GND	mcu_support.kicad_sch
TP9	GND	connectors.kicad_sch
TP10	GND	power.kicad_sch
TP11	GND	NEXUS.kicad_sch

14.3 Current Test Points

Total test points

Test Points by Footprint
Footprint	Description	Count
BUZ-SMD_4P-L8.5-W8.5-P8.50-BR	MLT-8530	1

14.3.1 By Sheet

Test Point	Net Name	Footprint
peripherals (1 test points)
B1	Net-(B1--)	BUZ-SMD_4P-L8.5-W8.5-P8.50-BR

14.3.2 All Test Points

Test Point	Net Name	Sheet	Footprint
B1	Net-(B1--)	peripherals	BUZ-SMD_4P-L8.5-W8.5-P8.50-BR

14.4 Boundary Scan Testability

No boundary scan capable devices were found in this design.

14.5 Inspection

Total: 115 components, 419 of 426 pins with inspection coverage.

14.5.1 AOI

IPC Compliant Footprints
Visible-joint components with IPC compliant footprints. Package type structurally verified from footprint name.
Footprint	Size (mil)	Pkg Type	Classification	Method	Count	Pins	Refdes
Opens only (leads visible, shorts unreliable)
Package_SO
SOP65P640X120-17N			SOIC/SOP	IPC-7351B	4	64	U11, U12, U13, U14
Subtotal: 4 components, 64 pins

Assumed Classification (Non-IPC Footprints)
Footprint names are not IPC-7351B or IPC-7251. Package type inferred from Pkg Type property or designator prefix. Classification may be incorrect.
Footprint	Size (mil)	Pkg Type	Classification	Method	Count	Pins	Refdes
Opens + Shorts (all joints visible)
Package_QFP
LQFP-64_10x10mm_P0.5mm			QFP (Quad Flat Pack)	Footprint	1	64	U2
Package_TO_SOT_SMD
SOT-23			SOT (Small Outline Transistor)	Footprint	1	3	Q1
SOT-23-6			SOT (Small Outline Transistor)	Footprint	1	6	U7
Capacitor_SMD
C_0402_1005Metric			Chip Passive	Designator	26	52	C1, C10, C14, C15, C2, C25, C26, C28 ...+18 more
C_0603_1608Metric			Chip Passive	Designator	10	20	C11, C12, C13, C16, C17, C19, C22, C23 ...+2 more
C_1206_3216Metric			Chip Passive	Designator	4	8	C33, C35, C41, C43
C_1210_3225Metric			Chip Passive	Designator	3	6	C18, C20, C21
Fuse
Fuse_1206_3216Metric			Chip Passive	Designator	1	2	F1
Inductor_SMD
L_0402_1005Metric			Chip Passive	Designator	1	2	FB1
L_Sunlord_MWSA0518S			Chip Passive	Designator	1	2	L1
Resistor_SMD
R_0402_1005Metric			Chip Passive	Designator	31	62	R1, R16, R17, R18, R19, R2, R20, R21 ...+23 more
R_0603_1608Metric			Chip Passive	Designator	3	6	R10, R13, R14
R_0805_2012Metric			Chip Passive	Designator	3	6	R11, R15, R9
R_2512_6332Metric			Chip Passive	Designator	1	2	R12
Diode_SMD
D_SMB			SOD (Diode Package)	Designator	1	2	D1
D_SOD-123			SOD (Diode Package)	Footprint	1	2	D10
LED_SMD
LED_0603_1608Metric			SOD (Diode Package)	Designator	8	16	D2, D3, D4, D5, D6, D7, D8, D9
Crystal
Crystal_SMD_2012-2Pin_2.0x1.2mm			Oscillator / Crystal	Designator	1	2	Y2
Crystal_SMD_5032-2Pin_5.0x3.2mm			Oscillator / Crystal	Designator	1	2	Y1
Subtotal: 99 components, 265 pins
Opens only (leads visible, shorts unreliable)
Package_SO
Texas_HSOP-8-1EP_3.9x4.9mm_P1.27mm_ThermalVias			SOIC/SOP	Footprint	1	9	U4
VSSOP-10_3x3mm_P0.5mm			SOIC/SOP	Footprint	1	10	U5
Subtotal: 2 components, 19 pins
Presence check (manual verification)
Connector_AMASS
AMASS_XT30U-F_1x02_P5.0mm_Vertical			Connector	Designator	1	2	J1
Connector_JST
JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical			Connector	Designator	4	24	J5, J6, J7, J8
Connector_USB
USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal			Connector	Designator	1	17	J3
Subtotal: 6 components, 43 pins

14.5.2 AXI

Assumed Classification (Non-IPC Footprints)
Hidden-joint classification inferred from Pkg Type property or designator prefix. Footprint names are not IPC-7351B or IPC-7251.
Footprint	Size (mil)	Pkg Type	Classification	Method	Count	Pins	Refdes
Package_LGA
LGA-28_5.2x3.8mm_P0.5mm			LGA (Land Grid Array)	Footprint	1	28	U9
Subtotal: 1 components, 28 pins

14.5.3 Unclassified Components

Footprint	Classification	Method	Count	Pins	Refdes
These components could not be classified for inspection. The library model lacks a Pkg Type property and the footprint name is not IPC-7351B or IPC-7251.
Button_Switch_SMD
SW_MSK12C02	Unclassified	Unknown	1	3	SW2
SW_TS-1088-AR02016	Unclassified	Unknown	2	4	SW1, SW3
Subtotal: 3 components, 7 pins

14.6 Pin Fault Coverage

Predicted status of each pin for shorts and opens based on DFx options selected in section 13.1.

14.6.1 Fault Coverage Summary

Fault Coverage Summary (449 pins)
Test Method	Opens	Shorts
X-ray (AXI)	0 (0.0%)	0 (0.0%)
Optical (AOI)	64 (14.3%)	0 (0.0%)
Electrical
Powered-off Testing	-	-
Boundary Scan	0 (0.0%)	0 (0.0%)
LSSI	14 (3.1%)	14 (3.1%)
Total	104 (23.2%)	207 (46.1%)
Total Fault Coverage	148 (33.0%)	207 (46.1%)
No coverage	301 (67.0%)	242 (53.9%)

14.6.2 Uncovered Pins (198)

Pin ⇅	Net ⇅
These pins have no electrical, optical, or X-ray test coverage even with all available test techniques applied.
U5_10	Net-(U5-Vin+)
U5_9	Net-(U5-Vin-)
U5_2	Net-(JP1-C)
U5_8	Net-(U5-Vbus)
U5_3	Net-(U5-Alert)
C24_1	Net-(U5-Vbus)
C17_1	Net-(U4-SW)
C17_2	Net-(U4-BOOT)
JP1_2	Net-(JP1-C)
U4_7	Net-(U4-BOOT)
U4_8	Net-(U4-SW)
U4_6	Net-(U4-VCC)
U4_5	Net-(U4-FB)
U4_4	power/PG
R14_1	Net-(U5-Vbus)
R14_2	Net-(U5-Vin-)
R13_2	Net-(U5-Vin+)
R11_2	Net-(U4-FB)
C22_1	Net-(U4-VCC)
R15_2	Net-(U5-Alert)
R10_1	power/PG
R10_2	Net-(U4-VCC)
R12_2	Net-(U5-Vbus)
R9_1	Net-(U4-FB)
L1_1	Net-(U4-SW)
U2_58	mcu/M2_ENC_A
U2_59	mcu/M2_ENC_B
U2_33	mcu/IMU_INT
U2_34	mcu/IMU_RESET
U2_35	mcu/BUZZER
U2_36	mcu/MOTORS_SLEEP
U2_11	mcu/M2_IPROPI
U2_60	mcu/BOOT0
U2_5	mcu/HSE_IN
U2_10	mcu/M1_DIR
U2_9	mcu/M1_FAULT
U2_8	mcu/M1_IPROPI
U2_54	mcu/LED_ROS
U2_6	mcu/HSE_OUT
U2_14	mcu/M1_ENC_A
U2_15	mcu/M1_ENC_B
U2_16
U2_17	mcu/M2_FAULT
U2_20	mcu/M2_DIR
U2_21	mcu/MOTOR_VREF
U2_22	mcu/M3_IPROPI
U2_23	mcu/M3_FAULT
U2_41	mcu/M4_ENC_B
U2_42	mcu/M4_ENC_A
U2_43
U2_44	mcu/USB_D-
U2_45	mcu/USB_D+
U2_50	mcu/LED_BATT_LOW
U2_26	mcu/M4_FAULT
U2_27	mcu/M4_DIR
U2_28	mcu/BOOT1
U2_55	mcu/LED_HB
U2_56	mcu/M3_ENC_A
U2_57	mcu/M3_ENC_B
U2_25	mcu/M4_IPROPI
U2_37	mcu/M1_PWM
U2_38	mcu/M2_PWM
U2_39	mcu/M3_PWM
U2_40	mcu/M4_PWM
U2_51	mcu/LED_BATT_HIGH
U2_52	mcu/LED_DBG
U2_53	mcu/LED_ERR
U2_47	mcu/VCAP_2
U2_31	mcu/VCAP_1
U2_4
U2_3
U2_2	mcu/MENU
U2_24	mcu/M3_DIR
D6_2	Net-(D6-A)
D6_1	indicators/LED_BAT_HIGH
D4_2	Net-(D4-A)
D4_1	indicators/LED_ERR
D9_2	Net-(D9-A)
R19_2	Net-(D5-A)
R21_2	Net-(D7-A)
R20_2	Net-(D6-A)
D7_2	Net-(D7-A)
D7_1	indicators/LED_BAT_LOW
R18_2	Net-(D4-A)
R16_2	Net-(D2-A)
D3_2	Net-(D3-A)
D3_1	indicators/LED_ROS
JP2_1	Net-(JP2-A)
JP2_2	Net-(D9-A)
JP2_3	Net-(JP2-B)
D2_2	Net-(D2-A)
D2_1	indicators/LED_HB
R23_2	Net-(JP2-A)
R23_1	VIN
R24_2	Net-(JP2-B)
R24_1	VIN
R22_2	Net-(D8-A)
D5_2	Net-(D5-A)
D5_1	indicators/LED_DBG
D8_2	Net-(D8-A)
R17_2	Net-(D3-A)
R37_1	peripherals/M3_FAULT
C27_2	Net-(U9-CAP)
C38_2	Net-(U13-VCP)
C36_2	Net-(U13-CPH)
C36_1	Net-(U13-CPL)
JP3_1	Net-(JP3-A)
U9_17	Net-(JP3-A)
U9_1
U9_7
U9_10
U9_11	peripherals/IMU_RESET
U9_14	peripherals/IMU_INT
U9_9	Net-(U9-CAP)
U9_5	Net-(U9-PS1)
U9_8
U9_13
U9_12
U9_16
U9_15
U9_24
U9_23
U9_22
U9_21
U9_6	Net-(U9-PS0)
U9_27	Net-(U9-XIN32)
U9_26	Net-(U9-XOUT32)
C31_2	Net-(U12-VCP)
R34_1	peripherals/M2_FAULT
C25_2	Net-(U9-XOUT32)
Q1_2	Net-(Q1-B)
Q1_1	Net-(B1--)
R36_1	peripherals/M4_IPROPI
C39_2	Net-(U14-VCP)
R33_1	peripherals/M1_FAULT
R38_1	peripherals/M4_FAULT
R28_2	Net-(U9-PS1)
C28_2	Net-(U11-CPH)
C28_1	Net-(U11-CPL)
R27_1	Net-(U9-PS0)
D10_2	Net-(B1--)
R32_1	peripherals/M2_IPROPI
C26_2	Net-(U9-XIN32)
C29_2	Net-(U12-CPH)
C29_1	Net-(U12-CPL)
R35_1	peripherals/M3_IPROPI
Y2_2	Net-(U9-XOUT32)
Y2_1	Net-(U9-XIN32)
C37_2	Net-(U14-CPH)
C37_1	Net-(U14-CPL)
R30_1	Net-(JP3-A)
R29_2	peripherals/BUZZER
R29_1	Net-(Q1-B)
C30_2	Net-(U11-VCP)
R31_1	peripherals/M1_IPROPI
J3_A5	Net-(J3-CC1)
J3_B5	Net-(J3-CC2)
J3_B7	connectors/USBC_D-
J3_A8
J3_B6	connectors/USBC_D+
J3_B8
J3_A7	connectors/USBC_D-
J3_A6	connectors/USBC_D+
J6_4	connectors/M2_ENC_B
J6_3	connectors/M2_ENC_A
J6_5	connectors/M2_OUT1
J6_6	connectors/M2_OUT2
J8_4	connectors/M4_ENC_B
J8_3	connectors/M4_ENC_A
J8_5	connectors/M4_OUT1
J8_6	connectors/M4_OUT2
R26_2	Net-(J3-CC1)
J5_4	connectors/M1_ENC_B
J5_3	connectors/M1_ENC_A
J5_5	connectors/M1_OUT1
J5_6	connectors/M1_OUT2
J7_4	connectors/M3_ENC_B
J7_3	connectors/M3_ENC_A
J7_5	connectors/M3_OUT1
J7_6	connectors/M3_OUT2
R25_2	Net-(J3-CC2)
U7_4	connectors/USB_D+
U7_6	connectors/USB_D-
U7_3	connectors/USBC_D+
U7_1	connectors/USBC_D-
C12_1	mcu_support/VCAP_2
R8_2	Net-(R8-Pad2)
R6_2	Net-(SW2-A)
SW2_1	Net-(SW2-A)
SW2_2	mcu_support/BOOT0
R7_1	mcu_support/BOOT1
Y1_1	mcu_support/HSE_IN
Y1_2	mcu_support/HSE_OUT
SW3_1	Net-(R8-Pad2)
SW3_2	mcu_support/MENU
C3_1	mcu_support/HSE_OUT
C13_1	mcu_support/VCAP_1
C2_1	mcu_support/HSE_IN

14.6.3 Per-Pin Coverage Matrix

● = Detected ◐ = Partially detected - = Not tested | E = Electrical (ICT/flying probe) O = Optical (AOI) X = X-ray (AXI)

Pin ⇅	Net ⇅	E Opens ⇅	E Shorts ⇅	O Opens ⇅	O Shorts ⇅	X Opens ⇅	X Shorts ⇅
C20_1	GND	-	●	-	-	-	-
C20_2	+3V3	-	●	-	-	-	-
C23_1	+3V3	-	●	-	-	-	-
C23_2	GND	-	●	-	-	-	-
U5_10	Net-(U5-Vin+)	-	-	-	-	-	-
U5_6	+3V3	●	●	-	-	-	-
U5_9	Net-(U5-Vin-)	-	-	-	-	-	-
U5_4	power/SDA_INA	●	◐	-	-	-	-
U5_7	GND	●	●	-	-	-	-
U5_5	power/SCL_INA	●	◐	-	-	-	-
U5_2	Net-(JP1-C)	-	-	-	-	-	-
U5_1	GND	●	●	-	-	-	-
U5_8	Net-(U5-Vbus)	-	-	-	-	-	-
U5_3	Net-(U5-Alert)	-	-	-	-	-	-
C24_1	Net-(U5-Vbus)	-	-	-	-	-	-
C24_2	GND	●	●	-	-	-	-
C17_1	Net-(U4-SW)	-	-	-	-	-	-
C17_2	Net-(U4-BOOT)	-	-	-	-	-	-
D1_1	GND	-	●	-	-	-	-
D1_2	VIN	-	●	-	-	-	-
JP1_1	GND	-	●	-	-	-	-
JP1_2	Net-(JP1-C)	-	-	-	-	-	-
JP1_3	+3V3	-	●	-	-	-	-
U4_7	Net-(U4-BOOT)	-	-	-	-	-	-
U4_3	VIN	-	●	-	-	-	-
U4_9	GND	●	●	-	-	-	-
U4_8	Net-(U4-SW)	-	-	-	-	-	-
U4_1	GND	●	●	-	-	-	-
U4_6	Net-(U4-VCC)	-	-	-	-	-	-
U4_2	VIN	-	●	-	-	-	-
U4_5	Net-(U4-FB)	-	-	-	-	-	-
U4_4	power/PG	-	-	-	-	-	-
F1_2	VIN	-	●	-	-	-	-
F1_1	VBATT	-	●	-	-	-	-
R14_1	Net-(U5-Vbus)	-	-	-	-	-	-
R14_2	Net-(U5-Vin-)	-	-	-	-	-	-
C18_1	VIN	-	●	-	-	-	-
C18_2	GND	-	●	-	-	-	-
R13_1	VIN	●	●	-	-	-	-
R13_2	Net-(U5-Vin+)	-	-	-	-	-	-
R11_1	GND	●	●	-	-	-	-
R11_2	Net-(U4-FB)	-	-	-	-	-	-
C22_1	Net-(U4-VCC)	-	-	-	-	-	-
C22_2	GND	●	●	-	-	-	-
C21_1	GND	-	●	-	-	-	-
C21_2	+3V3	-	●	-	-	-	-
R15_1	+3V3	●	●	-	-	-	-
R15_2	Net-(U5-Alert)	-	-	-	-	-	-
R10_1	power/PG	-	-	-	-	-	-
R10_2	Net-(U4-VCC)	-	-	-	-	-	-
C19_1	VIN	-	●	-	-	-	-
C19_2	GND	-	●	-	-	-	-
J1_2	VBATT	-	●	-	-	-	-
J1_1	GND	-	●	-	-	-	-
R12_1	VIN	●	●	-	-	-	-
R12_2	Net-(U5-Vbus)	-	-	-	-	-	-
R9_1	Net-(U4-FB)	-	-	-	-	-	-
R9_2	+3V3	●	●	-	-	-	-
L1_1	Net-(U4-SW)	-	-	-	-	-	-
L1_2	+3V3	●	●	-	-	-	-
U2_58	mcu/M2_ENC_A	-	-	-	-	-	-
U2_59	mcu/M2_ENC_B	-	-	-	-	-	-
U2_61	mcu/SCL_SENS	●	◐	-	-	-	-
U2_62	mcu/SDA_SENS	●	◐	-	-	-	-
U2_29	mcu/SCL_OLED	●	◐	-	-	-	-
U2_30	mcu/SDA_OLED	●	◐	-	-	-	-
U2_33	mcu/IMU_INT	-	-	-	-	-	-
U2_34	mcu/IMU_RESET	-	-	-	-	-	-
U2_35	mcu/BUZZER	-	-	-	-	-	-
U2_36	mcu/MOTORS_SLEEP	-	-	-	-	-	-
U2_11	mcu/M2_IPROPI	-	-	-	-	-	-
U2_7	mcu/RESET	●	◐	-	-	-	-
U2_60	mcu/BOOT0	-	-	-	-	-	-
U2_5	mcu/HSE_IN	-	-	-	-	-	-
U2_10	mcu/M1_DIR	-	-	-	-	-	-
U2_9	mcu/M1_FAULT	-	-	-	-	-	-
U2_8	mcu/M1_IPROPI	-	-	-	-	-	-
U2_54	mcu/LED_ROS	-	-	-	-	-	-
U2_6	mcu/HSE_OUT	-	-	-	-	-	-
U2_12	mcu/VSSA	●	●	-	-	-	-
U2_64	+3V3	●	●	-	-	-	-
U2_13	+3.3VA	-	●	-	-	-	-
U2_14	mcu/M1_ENC_A	-	-	-	-	-	-
U2_15	mcu/M1_ENC_B	-	-	-	-	-	-
U2_16		-	-	-	-	-	-
U2_17	mcu/M2_FAULT	-	-	-	-	-	-
U2_20	mcu/M2_DIR	-	-	-	-	-	-
U2_21	mcu/MOTOR_VREF	-	-	-	-	-	-
U2_22	mcu/M3_IPROPI	-	-	-	-	-	-
U2_23	mcu/M3_FAULT	-	-	-	-	-	-
U2_41	mcu/M4_ENC_B	-	-	-	-	-	-
U2_42	mcu/M4_ENC_A	-	-	-	-	-	-
U2_43		-	-	-	-	-	-
U2_44	mcu/USB_D-	-	-	-	-	-	-
U2_45	mcu/USB_D+	-	-	-	-	-	-
U2_46	mcu/SWDIO	●	◐	-	-	-	-
U2_49	mcu/SWCLK	●	◐	-	-	-	-
U2_50	mcu/LED_BATT_LOW	-	-	-	-	-	-
U2_26	mcu/M4_FAULT	-	-	-	-	-	-
U2_27	mcu/M4_DIR	-	-	-	-	-	-
U2_28	mcu/BOOT1	-	-	-	-	-	-
U2_55	mcu/LED_HB	-	-	-	-	-	-
U2_56	mcu/M3_ENC_A	-	-	-	-	-	-
U2_57	mcu/M3_ENC_B	-	-	-	-	-	-
U2_25	mcu/M4_IPROPI	-	-	-	-	-	-
U2_37	mcu/M1_PWM	-	-	-	-	-	-
U2_38	mcu/M2_PWM	-	-	-	-	-	-
U2_39	mcu/M3_PWM	-	-	-	-	-	-
U2_40	mcu/M4_PWM	-	-	-	-	-	-
U2_51	mcu/LED_BATT_HIGH	-	-	-	-	-	-
U2_52	mcu/LED_DBG	-	-	-	-	-	-
U2_53	mcu/LED_ERR	-	-	-	-	-	-
U2_48	+3V3	●	●	-	-	-	-
U2_63	Net-(U2-VSS)	●	●	-	-	-	-
U2_18	Net-(U2-VSS)	●	●	-	-	-	-
U2_32	+3V3	●	●	-	-	-	-
U2_19	+3V3	●	●	-	-	-	-
U2_1	+3V3	●	●	-	-	-	-
U2_47	mcu/VCAP_2	-	-	-	-	-	-
U2_31	mcu/VCAP_1	-	-	-	-	-	-
U2_4		-	-	-	-	-	-
U2_3		-	-	-	-	-	-
U2_2	mcu/MENU	-	-	-	-	-	-
U2_24	mcu/M3_DIR	-	-	-	-	-	-
D6_2	Net-(D6-A)	-	-	-	-	-	-
D6_1	indicators/LED_BAT_HIGH	-	-	-	-	-	-
D4_2	Net-(D4-A)	-	-	-	-	-	-
D4_1	indicators/LED_ERR	-	-	-	-	-	-
D9_2	Net-(D9-A)	-	-	-	-	-	-
D9_1	GND	-	●	-	-	-	-
R19_2	Net-(D5-A)	-	-	-	-	-	-
R19_1	+3V3	-	●	-	-	-	-
R21_2	Net-(D7-A)	-	-	-	-	-	-
R21_1	+3V3	-	●	-	-	-	-
R20_2	Net-(D6-A)	-	-	-	-	-	-
R20_1	+3V3	-	●	-	-	-	-
D7_2	Net-(D7-A)	-	-	-	-	-	-
D7_1	indicators/LED_BAT_LOW	-	-	-	-	-	-
R18_2	Net-(D4-A)	-	-	-	-	-	-
R18_1	+3V3	-	●	-	-	-	-
R16_2	Net-(D2-A)	-	-	-	-	-	-
R16_1	+3V3	-	●	-	-	-	-
D3_2	Net-(D3-A)	-	-	-	-	-	-
D3_1	indicators/LED_ROS	-	-	-	-	-	-
JP2_1	Net-(JP2-A)	-	-	-	-	-	-
JP2_2	Net-(D9-A)	-	-	-	-	-	-
JP2_3	Net-(JP2-B)	-	-	-	-	-	-
D2_2	Net-(D2-A)	-	-	-	-	-	-
D2_1	indicators/LED_HB	-	-	-	-	-	-
R23_2	Net-(JP2-A)	-	-	-	-	-	-
R23_1	VIN	-	-	-	-	-	-
R24_2	Net-(JP2-B)	-	-	-	-	-	-
R24_1	VIN	-	-	-	-	-	-
R22_2	Net-(D8-A)	-	-	-	-	-	-
R22_1	+3V3	-	●	-	-	-	-
D5_2	Net-(D5-A)	-	-	-	-	-	-
D5_1	indicators/LED_DBG	-	-	-	-	-	-
D8_2	Net-(D8-A)	-	-	-	-	-	-
D8_1	GND	-	●	-	-	-	-
R17_2	Net-(D3-A)	-	-	-	-	-	-
R17_1	+3V3	-	●	-	-	-	-
U14_6	peripherals/M4_IPROPI	-	-	●	-	-	-
U14_8	peripherals/M4_OUT1	-	-	●	-	-	-
U14_10	peripherals/M4_OUT2	-	-	●	-	-	-
U14_15	GND	●	●	●	-	-	-
U14_9	GND	●	●	●	-	-	-
U14_4	peripherals/M4_FAULT	-	-	●	-	-	-
U14_5	mcu/MOTOR_VREF	-	-	●	-	-	-
U14_1	peripherals/M4_PWM	-	-	●	-	-	-
U14_14	Net-(U14-CPL)	-	-	●	-	-	-
U14_16	GND	●	●	●	-	-	-
U14_2	peripherals/M4_DIR	-	-	●	-	-	-
U14_7	GND	●	●	●	-	-	-
U14_3	peripherals/MOTORS_SLEEP	-	-	●	-	-	-
U14_11	VIN	●	●	●	-	-	-
U14_12	Net-(U14-VCP)	-	-	●	-	-	-
U14_13	Net-(U14-CPH)	-	-	●	-	-	-
R37_2	+3V3	●	●	-	-	-	-
R37_1	peripherals/M3_FAULT	-	-	-	-	-	-
C27_2	Net-(U9-CAP)	-	-	-	-	-	-
C27_1	GND	●	●	-	-	-	-
C41_2	VIN	-	●	-	-	-	-
C41_1	GND	-	●	-	-	-	-
C38_2	Net-(U13-VCP)	-	-	-	-	-	-
C38_1	VIN	●	●	-	-	-	-
C36_2	Net-(U13-CPH)	-	-	-	-	-	-
C36_1	Net-(U13-CPL)	-	-	-	-	-	-
JP3_2	+3V3	-	●	-	-	-	-
JP3_1	Net-(JP3-A)	-	-	-	-	-	-
U9_18	GND	●	●	-	-	-	-
U9_17	Net-(JP3-A)	-	-	-	-	-	-
U9_1		-	-	-	-	-	-
U9_7		-	-	-	-	-	-
U9_19	peripherals/IMU_SCL	●	◐	-	-	-	-
U9_20	peripherals/IMU_SDA	●	◐	-	-	-	-
U9_10		-	-	-	-	-	-
U9_4	+3V3	●	●	-	-	-	-
U9_11	peripherals/IMU_RESET	-	-	-	-	-	-
U9_14	peripherals/IMU_INT	-	-	-	-	-	-
U9_9	Net-(U9-CAP)	-	-	-	-	-	-
U9_5	Net-(U9-PS1)	-	-	-	-	-	-
U9_8		-	-	-	-	-	-
U9_3	+3V3	●	●	-	-	-	-
U9_2	GND	●	●	-	-	-	-
U9_25	GND	●	●	-	-	-	-
U9_28	+3V3	●	●	-	-	-	-
U9_13		-	-	-	-	-	-
U9_12		-	-	-	-	-	-
U9_16		-	-	-	-	-	-
U9_15		-	-	-	-	-	-
U9_24		-	-	-	-	-	-
U9_23		-	-	-	-	-	-
U9_22		-	-	-	-	-	-
U9_21		-	-	-	-	-	-
U9_6	Net-(U9-PS0)	-	-	-	-	-	-
U9_27	Net-(U9-XIN32)	-	-	-	-	-	-
U9_26	Net-(U9-XOUT32)	-	-	-	-	-	-
U10_2	+3V3	●	●	-	-	-	-
U10_3	peripherals/SCL_OLED	●	◐	-	-	-	-
U10_4	peripherals/SDA_OLED	●	◐	-	-	-	-
U10_1	GND	-	●	-	-	-	-
C40_2	VIN	-	●	-	-	-	-
C40_1	GND	-	●	-	-	-	-
C31_2	Net-(U12-VCP)	-	-	-	-	-	-
C31_1	VIN	●	●	-	-	-	-
R34_2	+3V3	●	●	-	-	-	-
R34_1	peripherals/M2_FAULT	-	-	-	-	-	-
C25_1	GND	●	●	-	-	-	-
C25_2	Net-(U9-XOUT32)	-	-	-	-	-	-
Q1_3	GND	-	●	-	-	-	-
Q1_2	Net-(Q1-B)	-	-	-	-	-	-
Q1_1	Net-(B1--)	-	-	-	-	-	-
C35_2	VIN	-	●	-	-	-	-
C35_1	GND	-	●	-	-	-	-
C33_2	VIN	-	●	-	-	-	-
C33_1	GND	-	●	-	-	-	-
R36_2	GND	●	●	-	-	-	-
R36_1	peripherals/M4_IPROPI	-	-	-	-	-	-
C39_2	Net-(U14-VCP)	-	-	-	-	-	-
C39_1	VIN	●	●	-	-	-	-
U11_6	peripherals/M1_IPROPI	-	-	●	-	-	-
U11_8	peripherals/M1_OUT1	-	-	●	-	-	-
U11_10	peripherals/M1_OUT2	-	-	●	-	-	-
U11_15	GND	●	●	●	-	-	-
U11_9	GND	●	●	●	-	-	-
U11_4	peripherals/M1_FAULT	-	-	●	-	-	-
U11_5	mcu/MOTOR_VREF	-	-	●	-	-	-
U11_1	peripherals/M1_PWM	-	-	●	-	-	-
U11_14	Net-(U11-CPL)	-	-	●	-	-	-
U11_16	GND	●	●	●	-	-	-
U11_2	peripherals/M1_DIR	-	-	●	-	-	-
U11_7	GND	●	●	●	-	-	-
U11_3	peripherals/MOTORS_SLEEP	-	-	●	-	-	-
U11_11	VIN	●	●	●	-	-	-
U11_12	Net-(U11-VCP)	-	-	●	-	-	-
U11_13	Net-(U11-CPH)	-	-	●	-	-	-
R33_2	+3V3	●	●	-	-	-	-
R33_1	peripherals/M1_FAULT	-	-	-	-	-	-
U13_6	peripherals/M3_IPROPI	-	-	●	-	-	-
U13_8	peripherals/M3_OUT1	-	-	●	-	-	-
U13_10	peripherals/M3_OUT2	-	-	●	-	-	-
U13_15	GND	●	●	●	-	-	-
U13_9	GND	●	●	●	-	-	-
U13_4	peripherals/M3_FAULT	-	-	●	-	-	-
U13_5	mcu/MOTOR_VREF	-	-	●	-	-	-
U13_1	peripherals/M3_PWM	-	-	●	-	-	-
U13_14	Net-(U13-CPL)	-	-	●	-	-	-
U13_16	GND	●	●	●	-	-	-
U13_2	peripherals/M3_DIR	-	-	●	-	-	-
U13_7	GND	●	●	●	-	-	-
U13_3	peripherals/MOTORS_SLEEP	-	-	●	-	-	-
U13_11	VIN	●	●	●	-	-	-
U13_12	Net-(U13-VCP)	-	-	●	-	-	-
U13_13	Net-(U13-CPH)	-	-	●	-	-	-
R38_2	+3V3	●	●	-	-	-	-
R38_1	peripherals/M4_FAULT	-	-	-	-	-	-
C32_2	VIN	-	●	-	-	-	-
C32_1	GND	-	●	-	-	-	-
R28_2	Net-(U9-PS1)	-	-	-	-	-	-
R28_1	GND	●	●	-	-	-	-
C34_2	VIN	-	●	-	-	-	-
C34_1	GND	-	●	-	-	-	-
C28_2	Net-(U11-CPH)	-	-	-	-	-	-
C28_1	Net-(U11-CPL)	-	-	-	-	-	-
R27_2	GND	●	●	-	-	-	-
R27_1	Net-(U9-PS0)	-	-	-	-	-	-
D10_1	+3V3	-	●	-	-	-	-
D10_2	Net-(B1--)	-	-	-	-	-	-
R32_2	GND	●	●	-	-	-	-
R32_1	peripherals/M2_IPROPI	-	-	-	-	-	-
C26_1	GND	●	●	-	-	-	-
C26_2	Net-(U9-XIN32)	-	-	-	-	-	-
C29_2	Net-(U12-CPH)	-	-	-	-	-	-
C29_1	Net-(U12-CPL)	-	-	-	-	-	-
R35_2	GND	●	●	-	-	-	-
R35_1	peripherals/M3_IPROPI	-	-	-	-	-	-
Y2_2	Net-(U9-XOUT32)	-	-	-	-	-	-
Y2_1	Net-(U9-XIN32)	-	-	-	-	-	-
C43_2	VIN	-	●	-	-	-	-
C43_1	GND	-	●	-	-	-	-
U12_6	peripherals/M2_IPROPI	-	-	●	-	-	-
U12_8	peripherals/M2_OUT1	-	-	●	-	-	-
U12_10	peripherals/M2_OUT2	-	-	●	-	-	-
U12_15	GND	●	●	●	-	-	-
U12_9	GND	●	●	●	-	-	-
U12_4	peripherals/M2_FAULT	-	-	●	-	-	-
U12_5	peripherals/VREF	-	-	●	-	-	-
U12_1	peripherals/M2_PWM	-	-	●	-	-	-
U12_14	Net-(U12-CPL)	-	-	●	-	-	-
U12_16	GND	●	●	●	-	-	-
U12_2	peripherals/M2_DIR	-	-	●	-	-	-
U12_7	GND	●	●	●	-	-	-
U12_3	peripherals/MOTORS_SLEEP	-	-	●	-	-	-
U12_11	VIN	●	●	●	-	-	-
U12_12	Net-(U12-VCP)	-	-	●	-	-	-
U12_13	Net-(U12-CPH)	-	-	●	-	-	-
C37_2	Net-(U14-CPH)	-	-	-	-	-	-
C37_1	Net-(U14-CPL)	-	-	-	-	-	-
R30_2	GND	●	●	-	-	-	-
R30_1	Net-(JP3-A)	-	-	-	-	-	-
R29_2	peripherals/BUZZER	-	-	-	-	-	-
R29_1	Net-(Q1-B)	-	-	-	-	-	-
C30_2	Net-(U11-VCP)	-	-	-	-	-	-
C30_1	VIN	●	●	-	-	-	-
R31_2	GND	●	●	-	-	-	-
R31_1	peripherals/M1_IPROPI	-	-	-	-	-	-
C42_2	VIN	-	●	-	-	-	-
C42_1	GND	-	●	-	-	-	-
J3_A5	Net-(J3-CC1)	-	-	-	-	-	-
J3_B5	Net-(J3-CC2)	-	-	-	-	-	-
J3_A9	VBUS	-	●	-	-	-	-
J3_B7	connectors/USBC_D-	-	-	-	-	-	-
J3_B4	VBUS	-	●	-	-	-	-
J3_A8		-	-	-	-	-	-
J3_B6	connectors/USBC_D+	-	-	-	-	-	-
J3_B8		-	-	-	-	-	-
J3_A7	connectors/USBC_D-	-	-	-	-	-	-
J3_A6	connectors/USBC_D+	-	-	-	-	-	-
J3_B9	VBUS	-	●	-	-	-	-
J3_A1	GND	-	●	-	-	-	-
J3_B12	GND	-	●	-	-	-	-
J3_A12	GND	-	●	-	-	-	-
J3_B1	GND	-	●	-	-	-	-
J3_A4	VBUS	-	●	-	-	-	-
J3_S1	GND	-	●	-	-	-	-
J6_4	connectors/M2_ENC_B	-	-	-	-	-	-
J6_3	connectors/M2_ENC_A	-	-	-	-	-	-
J6_2	GND	-	●	-	-	-	-
J6_1	+3V3	-	●	-	-	-	-
J6_5	connectors/M2_OUT1	-	-	-	-	-	-
J6_6	connectors/M2_OUT2	-	-	-	-	-	-
J4_5	connectors/RESET	●	◐	-	-	-	-
J4_4	connectors/SWCLK	●	◐	-	-	-	-
J4_3	connectors/SWDIO	●	◐	-	-	-	-
J4_2	GND	-	●	-	-	-	-
J4_1	+3V3	-	●	-	-	-	-
J8_4	connectors/M4_ENC_B	-	-	-	-	-	-
J8_3	connectors/M4_ENC_A	-	-	-	-	-	-
J8_2	GND	-	●	-	-	-	-
J8_1	+3V3	-	●	-	-	-	-
J8_5	connectors/M4_OUT1	-	-	-	-	-	-
J8_6	connectors/M4_OUT2	-	-	-	-	-	-
J2_6	GND	-	●	-	-	-	-
J2_4	connectors/SCL_SENS	●	◐	-	-	-	-
J2_2	connectors/SCL_OLED	●	◐	-	-	-	-
J2_3	connectors/SDA_OLED	●	◐	-	-	-	-
J2_5	connectors/SDA_SENS	●	◐	-	-	-	-
J2_1	+3V3	-	●	-	-	-	-
R26_2	Net-(J3-CC1)	-	-	-	-	-	-
R26_1	GND	-	●	-	-	-	-
J5_4	connectors/M1_ENC_B	-	-	-	-	-	-
J5_3	connectors/M1_ENC_A	-	-	-	-	-	-
J5_2	GND	-	●	-	-	-	-
J5_1	+3V3	-	●	-	-	-	-
J5_5	connectors/M1_OUT1	-	-	-	-	-	-
J5_6	connectors/M1_OUT2	-	-	-	-	-	-
J7_4	connectors/M3_ENC_B	-	-	-	-	-	-
J7_3	connectors/M3_ENC_A	-	-	-	-	-	-
J7_2	GND	-	●	-	-	-	-
J7_1	+3V3	-	●	-	-	-	-
J7_5	connectors/M3_OUT1	-	-	-	-	-	-
J7_6	connectors/M3_OUT2	-	-	-	-	-	-
R25_2	Net-(J3-CC2)	-	-	-	-	-	-
R25_1	GND	-	●	-	-	-	-
U7_4	connectors/USB_D+	-	-	-	-	-	-
U7_6	connectors/USB_D-	-	-	-	-	-	-
U7_2	GND	-	●	-	-	-	-
U7_5	VBUS	-	●	-	-	-	-
U7_3	connectors/USBC_D+	-	-	-	-	-	-
U7_1	connectors/USBC_D-	-	-	-	-	-	-
FB1_1	+3.3VA	-	●	-	-	-	-
FB1_2	+3V3	-	●	-	-	-	-
C12_1	mcu_support/VCAP_2	-	-	-	-	-	-
C12_2	GND	●	●	-	-	-	-
R8_2	Net-(R8-Pad2)	-	-	-	-	-	-
R8_1	+3V3	-	●	-	-	-	-
C10_2	+3V3	-	●	-	-	-	-
C10_1	GND	-	●	-	-	-	-
C5_2	+3V3	-	●	-	-	-	-
C5_1	GND	-	●	-	-	-	-
C7_2	+3V3	-	●	-	-	-	-
C7_1	GND	-	●	-	-	-	-
C15_2	+3.3VA	-	●	-	-	-	-
C15_1	GND	-	●	-	-	-	-
R6_2	Net-(SW2-A)	-	-	-	-	-	-
R6_1	GND	-	●	-	-	-	-
C4_2	+3V3	-	●	-	-	-	-
C4_1	GND	-	●	-	-	-	-
SW2_3	+3V3	-	●	-	-	-	-
SW2_1	Net-(SW2-A)	-	-	-	-	-	-
SW2_2	mcu_support/BOOT0	-	-	-	-	-	-
C8_2	+3V3	-	●	-	-	-	-
C8_1	GND	-	●	-	-	-	-
R4_2	mcu_support/SDA_SENS	●	◐	-	-	-	-
R4_1	+3V3	●	●	-	-	-	-
C1_2	GND	●	●	-	-	-	-
C1_1	connectors/RESET	●	◐	-	-	-	-
R7_2	GND	●	●	-	-	-	-
R7_1	mcu_support/BOOT1	-	-	-	-	-	-
Y1_1	mcu_support/HSE_IN	-	-	-	-	-	-
Y1_2	mcu_support/HSE_OUT	-	-	-	-	-	-
C16_2	+3V3	-	●	-	-	-	-
C16_1	GND	-	●	-	-	-	-
R5_2	mcu_support/SDA_OLED	●	◐	-	-	-	-
R5_1	+3V3	●	●	-	-	-	-
SW3_1	Net-(R8-Pad2)	-	-	-	-	-	-
SW3_2	mcu_support/MENU	-	-	-	-	-	-
C11_2	+3V3	-	●	-	-	-	-
C11_1	GND	-	●	-	-	-	-
C9_2	+3V3	-	●	-	-	-	-
C9_1	GND	-	●	-	-	-	-
R2_2	mcu_support/SCL_OLED	●	◐	-	-	-	-
R2_1	+3V3	●	●	-	-	-	-
C14_2	+3.3VA	-	●	-	-	-	-
C14_1	GND	-	●	-	-	-	-
C3_1	mcu_support/HSE_OUT	-	-	-	-	-	-
C3_2	GND	●	●	-	-	-	-
SW1_1	connectors/RESET	●	◐	-	-	-	-
SW1_2	GND	-	●	-	-	-	-
C13_1	mcu_support/VCAP_1	-	-	-	-	-	-
C13_2	GND	●	●	-	-	-	-
C2_1	mcu_support/HSE_IN	-	-	-	-	-	-
C2_2	GND	●	●	-	-	-	-
R1_2	mcu_support/SCL_SENS	●	◐	-	-	-	-
R1_1	+3V3	●	●	-	-	-	-
R3_2	connectors/RESET	●	◐	-	-	-	-
R3_1	+3V3	●	●	-	-	-	-
C6_2	+3V3	-	●	-	-	-	-
C6_1	GND	-	●	-	-	-	-

14.7 PCOLA/SOQ Fault Coverage

PCOLA/SOQ scores how well the configured test methods cover each component and each connection. PCOLA evaluates five device-level properties: Presence, Correctness, Orientation, Live (functional), and Alignment. SOQ evaluates three connection-level properties: Shorts detection, Opens detection, and solder joint Quality. Scores are on a 0–100,000 scale where 100,000 means every property is fully covered. The Combined score is the average of PCOLA and SOQ.

14.7.1 Coverage by Test Method

P=Presence C=Correctness O=Orientation L=Live A=Alignment | S=Shorts O(pins)=Opens Q=Quality

Test Method	P	C	O	L	A	S	Opens	Solder Quality
PCOLA/SOQ coverage scores by test method. Scores: 0 (None), 0.5 (Partial), 1.0 (Full).
Electrical Test	41.7%	0.0%	0.0%	6.0%	0.0%	22.2%	22.1%	0.0%
Optical Inspection (AOI)	3.5%	3.5%	3.5%	0.0%	1.7%	0.0%	7.5%	7.5%
X-Ray Inspection (AXI)	0.0%	0.0%	0.0%	0.0%	0.0%	0.0%	0.0%	0.0%
Combined	43.5%	3.5%	3.5%	6.0%	1.7%	22.2%	27.2%	7.5%

14.7.2 PCB Device/Pin Count

Devices (PCOLA): 115
Pins (SOQ): 426

14.7.3 Board-Level Scores

Board-Level Coverage (0 – 100,000 scale)
Dimension	Score	Coverage
PCOLA	11635 / 100,000	11.6%
SOQ	18975 / 100,000	19.0%
Combined	15305 / 100,000	15.3%

Electrical vs Inspection
Source	PCOLA Score	SOQ Score
Electrical Test	9548 / 100,000	14750 / 100,000
Optical/X-ray Inspection	2435 / 100,000	5008 / 100,000
Combined (max)	11635 / 100,000	18975 / 100,000

14.7.4 PCOLA (115 devices)

● = Full (1.0) ◐ = Partial (0.5) ○ = None (0) — = N/A (excluded)
* Footprint not IPC-7351B/7251 compliant — no inspection coverage scored

Score ⇅	RefDes ⇅	Type / Footprint ⇅	Class ⇅	P ⇅	C ⇅	O ⇅	L ⇅	A ⇅	Method ⇅
70%	U13	DRV8874PWPR / SOP65P640X120-17N	IC	●	●	●	○	◐	AOI, Powered_Off
70%	U12	DRV8874PWPR / SOP65P640X120-17N	IC	●	●	●	○	◐	AOI, Powered_Off
70%	U11	DRV8874PWPR / SOP65P640X120-17N	IC	●	●	●	○	◐	AOI, Powered_Off
70%	U14	DRV8874PWPR / SOP65P640X120-17N	IC	●	●	●	○	◐	AOI, Powered_Off
20%	U5	INA226 / VSSOP-10_3x3mm_P0.5mm *	IC	◐	○	○	◐	○	LSSI, Powered_Off
20%	U2	STM32F415RGT6 / LQFP-64_10x10mm_P0.5mm *	IC	◐	○	○	◐	○	LSSI, Powered_Off
20%	U9	BNO055 / LGA-28_5.2x3.8mm_P0.5mm *	IC	◐	○	○	◐	○	LSSI, Powered_Off
10%	C20	22u / C_1210_3225Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C23	100n / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C24	100n / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C16	1u / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	D1	SMBJ24A / D_SMB *	Diode	◐	○	○	○	○	Powered_Off
10%	U4	LMR33630BDDA / Texas_HSOP-8-1EP_3.9x4.9mm_P1.27mm_ThermalVias *	IC	◐	○	○	○	○	Powered_Off
10%	F1	S1206-FA-15.0A / Fuse_1206_3216Metric *	Fuse	◐	○	○	—	○	Powered_Off
10%	R5	4.7k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C18	10u / C_1210_3225Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R13	10R / R_0603_1608Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R11	43k / R_0805_2012Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C22	1u / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C21	22u / C_1210_3225Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C11	1u / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C19	220n / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	J1	BATT / AMASS_XT30U-F_1x02_P5.0mm_Vertical *	Connector	◐	○	○	—	○	Powered_Off
10%	R12	5m / R_2512_6332Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R9	100k / R_0805_2012Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	L1	2.2u / L_Sunlord_MWSA0518S *	Inductor	◐	○	○	—	○	Powered_Off
10%	C9	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R2	4.7k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	D9	VIN / LED_0603_1608Metric *	Diode	◐	○	○	○	○	Powered_Off
10%	R19	220R / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R21	330R / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R20	270R / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C14	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R18	330R / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R16	100R / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C3	27p / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	SW1	SW_Push / SW_TS-1088-AR02016 *	Switch	◐	○	○	○	○	Powered_Off
10%	C13	2.2u / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C2	27p / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R22	220R / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R1	4.7k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	D8	3V3 / LED_0603_1608Metric *	Diode	◐	○	○	○	○	Powered_Off
10%	R17	270R / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R37	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C27	0.1u / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C41	22u / C_1206_3216Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R3	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C40	0.1u / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C31	0.1u / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R34	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C25	15p / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	Q1	S8050 / SOT-23 *	Transistor	◐	○	○	○	○	Powered_Off
10%	C35	22u / C_1206_3216Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C33	22u / C_1206_3216Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R36	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C39	0.1u / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R33	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R15	10k / R_0805_2012Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	R38	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C32	0.1u / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R28	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C34	0.1u / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R27	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	D10	1N4148 / D_SOD-123 *	Diode	◐	○	○	○	○	Powered_Off
10%	R32	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C26	15p / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R35	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C43	22u / C_1206_3216Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C38	0.1u / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R30	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C30	0.1u / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R31	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C42	0.1u / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	J3	USB_C / USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal *	Connector	◐	○	○	—	○	Powered_Off
10%	J6	MOTOR2 / JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical *	Connector	◐	○	○	—	○	Powered_Off
10%	J8	MOTOR4 / JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical *	Connector	◐	○	○	—	○	Powered_Off
10%	R26	5k1 / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	J5	MOTOR1 / JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical *	Connector	◐	○	○	—	○	Powered_Off
10%	J7	MOTOR3 / JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical *	Connector	◐	○	○	—	○	Powered_Off
10%	R25	5k1 / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	U7	USBLC6-2SC6 / SOT-23-6 *	IC	◐	○	○	○	○	Powered_Off
10%	FB1	1k / L_0402_1005Metric *	Ferrite	◐	○	○	—	○	Powered_Off
10%	C12	2.2u / C_0603_1608Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R8	330R / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C10	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C5	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C7	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	C15	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R6	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C4	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	SW2	SW_SPDT / SW_MSK12C02 *	Switch	◐	○	○	○	○	Powered_Off
10%	C8	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R4	4.7k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C1	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
10%	R7	10k / R_0402_1005Metric *	Resistor	◐	○	○	—	○	Powered_Off
10%	C6	100n / C_0402_1005Metric *	Capacitor	◐	○	○	—	○	Powered_Off
0%	C17	0.1u / C_0603_1608Metric *	Capacitor	○	○	○	—	○
0%	R14	10R / R_0603_1608Metric *	Resistor	○	○	○	—	○
0%	R10	100k / R_0603_1608Metric *	Resistor	○	○	○	—	○
0%	D6	BAT_HI / LED_0603_1608Metric *	Diode	○	○	○	○	○
0%	D4	ERR / LED_0603_1608Metric *	Diode	○	○	○	○	○
0%	D7	BAT_LOW / LED_0603_1608Metric *	Diode	○	○	○	○	○
0%	D3	ROS / LED_0603_1608Metric *	Diode	○	○	○	○	○
0%	D2	HB / LED_0603_1608Metric *	Diode	○	○	○	○	○
0%	R23	1k / R_0402_1005Metric *	Resistor	○	○	○	—	○
0%	R24	1.8k / R_0402_1005Metric *	Resistor	○	○	○	—	○
0%	D5	DBG / LED_0603_1608Metric *	Diode	○	○	○	○	○
0%	C36	22n / C_0402_1005Metric *	Capacitor	○	○	○	—	○
0%	C37	22n / C_0402_1005Metric *	Capacitor	○	○	○	—	○
0%	SW3	MENU / SW_TS-1088-AR02016 *	Switch	○	○	○	○	○
0%	Y2	32.768k / Crystal_SMD_2012-2Pin_2.0x1.2mm *	Other	○	○	○	○	○
0%	R29	470R / R_0402_1005Metric *	Resistor	○	○	○	—	○
0%	C29	22n / C_0402_1005Metric *	Capacitor	○	○	○	—	○
0%	C28	22n / C_0402_1005Metric *	Capacitor	○	○	○	—	○
0%	Y1	8MHz / Crystal_SMD_5032-2Pin_5.0x3.2mm *	Other	○	○	○	○	○

14.7.5 SOQ (426 pins)

● = Full (1.0) ◐ = Partial (0.5) ○ = None (0)

Score ⇅	Pin ⇅	Net ⇅	S ⇅	O ⇅	Q ⇅
67%	U13_16	GND	◐	●	◐
67%	U11_15	GND	◐	●	◐
67%	U11_7	GND	◐	●	◐
67%	U14_7	GND	◐	●	◐
67%	U11_9	GND	◐	●	◐
67%	U12_16	GND	◐	●	◐
67%	U14_11	VIN	◐	●	◐
67%	U12_15	GND	◐	●	◐
67%	U13_15	GND	◐	●	◐
67%	U14_15	GND	◐	●	◐
67%	U13_11	VIN	◐	●	◐
67%	U14_9	GND	◐	●	◐
67%	U12_9	GND	◐	●	◐
67%	U13_7	GND	◐	●	◐
67%	U12_11	VIN	◐	●	◐
67%	U12_7	GND	◐	●	◐
67%	U13_9	GND	◐	●	◐
67%	U14_16	GND	◐	●	◐
67%	U11_16	GND	◐	●	◐
67%	U11_11	VIN	◐	●	◐
50%	R27_2	GND	◐	●	○
50%	R28_1	GND	◐	●	○
50%	R38_2	+3V3	◐	●	○
50%	R4_1	+3V3	◐	●	○
50%	U5_6	+3V3	◐	●	○
50%	C12_2	GND	◐	●	○
50%	U5_4	power/SDA_INA	◐	●	○
50%	U5_7	GND	◐	●	○
50%	U5_5	power/SCL_INA	◐	●	○
50%	U5_1	GND	◐	●	○
50%	R31_2	GND	◐	●	○
50%	C30_1	VIN	◐	●	○
50%	C24_2	GND	◐	●	○
50%	R30_2	GND	◐	●	○
50%	U2_48	+3V3	◐	●	○
50%	U2_63	Net-(U2-VSS)	◐	●	○
50%	C39_1	VIN	◐	●	○
50%	U2_18	Net-(U2-VSS)	◐	●	○
50%	U4_9	GND	◐	●	○
50%	R36_2	GND	◐	●	○
50%	U4_1	GND	◐	●	○
50%	U2_32	+3V3	◐	●	○
50%	U2_19	+3V3	◐	●	○
50%	U2_1	+3V3	◐	●	○
50%	R34_2	+3V3	◐	●	○
50%	R4_2	mcu_support/SDA_SENS	◐	●	○
50%	R35_2	GND	◐	●	○
50%	C26_1	GND	◐	●	○
50%	R32_2	GND	◐	●	○
50%	R13_1	VIN	◐	●	○
50%	R11_1	GND	◐	●	○
50%	C22_2	GND	◐	●	○
50%	R15_1	+3V3	◐	●	○
50%	R37_2	+3V3	◐	●	○
50%	C27_1	GND	◐	●	○
50%	C25_1	GND	◐	●	○
50%	C31_1	VIN	◐	●	○
50%	R12_1	VIN	◐	●	○
50%	R9_2	+3V3	◐	●	○
50%	C38_1	VIN	◐	●	○
50%	L1_2	+3V3	◐	●	○
50%	U2_61	mcu/SCL_SENS	◐	●	○
50%	U2_62	mcu/SDA_SENS	◐	●	○
50%	U2_29	mcu/SCL_OLED	◐	●	○
50%	U2_30	mcu/SDA_OLED	◐	●	○
50%	U9_18	GND	◐	●	○
50%	R33_2	+3V3	◐	●	○
50%	U9_19	peripherals/IMU_SCL	◐	●	○
50%	U2_7	mcu/RESET	◐	●	○
50%	U9_20	peripherals/IMU_SDA	◐	●	○
50%	U9_4	+3V3	◐	●	○
50%	U2_12	mcu/VSSA	◐	●	○
50%	U2_64	+3V3	◐	●	○
50%	U9_3	+3V3	◐	●	○
50%	U9_2	GND	◐	●	○
50%	U9_25	GND	◐	●	○
50%	U9_28	+3V3	◐	●	○
50%	R3_1	+3V3	◐	●	○
50%	R3_2	connectors/RESET	◐	●	○
50%	R1_1	+3V3	◐	●	○
50%	R1_2	mcu_support/SCL_SENS	◐	●	○
50%	C2_2	GND	◐	●	○
50%	C13_2	GND	◐	●	○
50%	SW1_1	connectors/RESET	◐	●	○
50%	U2_46	mcu/SWDIO	◐	●	○
50%	U2_49	mcu/SWCLK	◐	●	○
50%	C3_2	GND	◐	●	○
50%	R2_1	+3V3	◐	●	○
50%	R2_2	mcu_support/SCL_OLED	◐	●	○
50%	R5_1	+3V3	◐	●	○
50%	R5_2	mcu_support/SDA_OLED	◐	●	○
50%	R7_2	GND	◐	●	○
50%	C1_1	connectors/RESET	◐	●	○
50%	C1_2	GND	◐	●	○
33%	U13_13	Net-(U13-CPH)	○	◐	◐
33%	U13_12	Net-(U13-VCP)	○	◐	◐
33%	U13_3	peripherals/MOTORS_SLEEP	○	◐	◐
33%	U13_2	peripherals/M3_DIR	○	◐	◐
33%	U11_6	peripherals/M1_IPROPI	○	◐	◐
33%	U13_14	Net-(U13-CPL)	○	◐	◐
33%	U13_1	peripherals/M3_PWM	○	◐	◐
33%	U13_5	mcu/MOTOR_VREF	○	◐	◐
33%	U14_6	peripherals/M4_IPROPI	○	◐	◐
33%	U14_8	peripherals/M4_OUT1	○	◐	◐
33%	U14_10	peripherals/M4_OUT2	○	◐	◐
33%	U14_5	mcu/MOTOR_VREF	○	◐	◐
33%	U14_1	peripherals/M4_PWM	○	◐	◐
33%	U14_14	Net-(U14-CPL)	○	◐	◐
33%	U11_8	peripherals/M1_OUT1	○	◐	◐
33%	U11_14	Net-(U11-CPL)	○	◐	◐
33%	U11_1	peripherals/M1_PWM	○	◐	◐
33%	U11_13	Net-(U11-CPH)	○	◐	◐
33%	U13_8	peripherals/M3_OUT1	○	◐	◐
33%	U13_10	peripherals/M3_OUT2	○	◐	◐
33%	U11_3	peripherals/MOTORS_SLEEP	○	◐	◐
33%	U12_12	Net-(U12-VCP)	○	◐	◐
33%	U14_4	peripherals/M4_FAULT	○	◐	◐
33%	U12_3	peripherals/MOTORS_SLEEP	○	◐	◐
33%	U13_4	peripherals/M3_FAULT	○	◐	◐
33%	U12_2	peripherals/M2_DIR	○	◐	◐
33%	U13_6	peripherals/M3_IPROPI	○	◐	◐
33%	U12_14	Net-(U12-CPL)	○	◐	◐
33%	U12_1	peripherals/M2_PWM	○	◐	◐
33%	U12_5	peripherals/VREF	○	◐	◐
33%	U12_4	peripherals/M2_FAULT	○	◐	◐
33%	U14_13	Net-(U14-CPH)	○	◐	◐
33%	U11_5	mcu/MOTOR_VREF	○	◐	◐
33%	U14_12	Net-(U14-VCP)	○	◐	◐
33%	U11_4	peripherals/M1_FAULT	○	◐	◐
33%	U12_10	peripherals/M2_OUT2	○	◐	◐
33%	U14_3	peripherals/MOTORS_SLEEP	○	◐	◐
33%	U12_8	peripherals/M2_OUT1	○	◐	◐
33%	U14_2	peripherals/M4_DIR	○	◐	◐
33%	U12_6	peripherals/M2_IPROPI	○	◐	◐
33%	U11_2	peripherals/M1_DIR	○	◐	◐
33%	U11_12	Net-(U11-VCP)	○	◐	◐
33%	U11_10	peripherals/M1_OUT2	○	◐	◐
33%	U12_13	Net-(U12-CPH)	○	◐	◐
17%	C20_1	GND	◐	○	○
17%	C20_2	+3V3	◐	○	○
17%	C23_1	+3V3	◐	○	○
17%	C23_2	GND	◐	○	○
17%	J3_B12	GND	◐	○	○
17%	J3_A12	GND	◐	○	○
17%	J3_B1	GND	◐	○	○
17%	J3_A4	VBUS	◐	○	○
17%	J3_S1	GND	◐	○	○
17%	J6_2	GND	◐	○	○
17%	J6_1	+3V3	◐	○	○
17%	J8_2	GND	◐	○	○
17%	D1_1	GND	◐	○	○
17%	D1_2	VIN	◐	○	○
17%	J8_1	+3V3	◐	○	○
17%	U4_3	VIN	◐	○	○
17%	R26_1	GND	◐	○	○
17%	J5_2	GND	◐	○	○
17%	U4_2	VIN	◐	○	○
17%	J5_1	+3V3	◐	○	○
17%	J7_2	GND	◐	○	○
17%	F1_2	VIN	◐	○	○
17%	F1_1	VBATT	◐	○	○
17%	J7_1	+3V3	◐	○	○
17%	R25_1	GND	◐	○	○
17%	C18_1	VIN	◐	○	○
17%	C18_2	GND	◐	○	○
17%	U7_2	GND	◐	○	○
17%	U7_5	VBUS	◐	○	○
17%	FB1_1	+3.3VA	◐	○	○
17%	C21_1	GND	◐	○	○
17%	C21_2	+3V3	◐	○	○
17%	FB1_2	+3V3	◐	○	○
17%	C10_2	+3V3	◐	○	○
17%	C10_1	GND	◐	○	○
17%	C19_1	VIN	◐	○	○
17%	C19_2	GND	◐	○	○
17%	J1_2	VBATT	◐	○	○
17%	J1_1	GND	◐	○	○
17%	C5_2	+3V3	◐	○	○
17%	C5_1	GND	◐	○	○
17%	C7_2	+3V3	◐	○	○
17%	C7_1	GND	◐	○	○
17%	C15_2	+3.3VA	◐	○	○
17%	C15_1	GND	◐	○	○
17%	R6_1	GND	◐	○	○
17%	C4_2	+3V3	◐	○	○
17%	C4_1	GND	◐	○	○
17%	SW2_3	+3V3	◐	○	○
17%	C8_2	+3V3	◐	○	○
17%	C8_1	GND	◐	○	○
17%	C16_2	+3V3	◐	○	○
17%	C16_1	GND	◐	○	○
17%	C11_2	+3V3	◐	○	○
17%	C11_1	GND	◐	○	○
17%	U2_13	+3.3VA	◐	○	○
17%	C9_2	+3V3	◐	○	○
17%	C9_1	GND	◐	○	○
17%	C14_2	+3.3VA	◐	○	○
17%	C14_1	GND	◐	○	○
17%	SW1_2	GND	◐	○	○
17%	C6_2	+3V3	◐	○	○
17%	D9_1	GND	◐	○	○
17%	R19_1	+3V3	◐	○	○
17%	R21_1	+3V3	◐	○	○
17%	R20_1	+3V3	◐	○	○
17%	R18_1	+3V3	◐	○	○
17%	R16_1	+3V3	◐	○	○
17%	R22_1	+3V3	◐	○	○
17%	D8_1	GND	◐	○	○
17%	R17_1	+3V3	◐	○	○
17%	C41_2	VIN	◐	○	○
17%	C41_1	GND	◐	○	○
17%	C40_2	VIN	◐	○	○
17%	C40_1	GND	◐	○	○
17%	C6_1	GND	◐	○	○
17%	Q1_3	GND	◐	○	○
17%	C35_2	VIN	◐	○	○
17%	C35_1	GND	◐	○	○
17%	C33_2	VIN	◐	○	○
17%	C33_1	GND	◐	○	○
17%	C32_2	VIN	◐	○	○
17%	C32_1	GND	◐	○	○
17%	C34_2	VIN	◐	○	○
17%	C34_1	GND	◐	○	○
17%	D10_1	+3V3	◐	○	○
17%	C43_2	VIN	◐	○	○
17%	C43_1	GND	◐	○	○
17%	C42_2	VIN	◐	○	○
17%	C42_1	GND	◐	○	○
17%	J3_A9	VBUS	◐	○	○
17%	R8_1	+3V3	◐	○	○
17%	J3_B4	VBUS	◐	○	○
17%	J3_B9	VBUS	◐	○	○
17%	J3_A1	GND	◐	○	○
0%	U5_10	Net-(U5-Vin+)	○	○	○
0%	U5_9	Net-(U5-Vin-)	○	○	○
0%	U5_2	Net-(JP1-C)	○	○	○
0%	U5_8	Net-(U5-Vbus)	○	○	○
0%	U5_3	Net-(U5-Alert)	○	○	○
0%	C24_1	Net-(U5-Vbus)	○	○	○
0%	C17_1	Net-(U4-SW)	○	○	○
0%	C17_2	Net-(U4-BOOT)	○	○	○
0%	U4_7	Net-(U4-BOOT)	○	○	○
0%	U4_8	Net-(U4-SW)	○	○	○
0%	U4_6	Net-(U4-VCC)	○	○	○
0%	U4_5	Net-(U4-FB)	○	○	○
0%	U4_4	power/PG	○	○	○
0%	R14_1	Net-(U5-Vbus)	○	○	○
0%	R14_2	Net-(U5-Vin-)	○	○	○
0%	R13_2	Net-(U5-Vin+)	○	○	○
0%	R11_2	Net-(U4-FB)	○	○	○
0%	C22_1	Net-(U4-VCC)	○	○	○
0%	R15_2	Net-(U5-Alert)	○	○	○
0%	R10_1	power/PG	○	○	○
0%	R10_2	Net-(U4-VCC)	○	○	○
0%	R12_2	Net-(U5-Vbus)	○	○	○
0%	L1_1	Net-(U4-SW)	○	○	○
0%	U2_58	mcu/M2_ENC_A	○	○	○
0%	U2_59	mcu/M2_ENC_B	○	○	○
0%	U2_33	mcu/IMU_INT	○	○	○
0%	U2_34	mcu/IMU_RESET	○	○	○
0%	U2_35	mcu/BUZZER	○	○	○
0%	U2_36	mcu/MOTORS_SLEEP	○	○	○
0%	U2_11	mcu/M2_IPROPI	○	○	○
0%	U2_60	mcu/BOOT0	○	○	○
0%	U2_5	mcu/HSE_IN	○	○	○
0%	U2_10	mcu/M1_DIR	○	○	○
0%	U2_9	mcu/M1_FAULT	○	○	○
0%	U2_8	mcu/M1_IPROPI	○	○	○
0%	U2_54	mcu/LED_ROS	○	○	○
0%	U2_6	mcu/HSE_OUT	○	○	○
0%	U2_14	mcu/M1_ENC_A	○	○	○
0%	U2_15	mcu/M1_ENC_B	○	○	○
0%	U2_16		○	○	○
0%	U2_17	mcu/M2_FAULT	○	○	○
0%	U2_20	mcu/M2_DIR	○	○	○
0%	U2_21	mcu/MOTOR_VREF	○	○	○
0%	R16_2	Net-(D2-A)	○	○	○
0%	R32_1	peripherals/M2_IPROPI	○	○	○
0%	R18_2	Net-(D4-A)	○	○	○
0%	C26_2	Net-(U9-XIN32)	○	○	○
0%	C29_2	Net-(U12-CPH)	○	○	○
0%	C29_1	Net-(U12-CPL)	○	○	○
0%	D7_1	indicators/LED_BAT_LOW	○	○	○
0%	R35_1	peripherals/M3_IPROPI	○	○	○
0%	Y2_2	Net-(U9-XOUT32)	○	○	○
0%	Y2_1	Net-(U9-XIN32)	○	○	○
0%	U9_26	Net-(U9-XOUT32)	○	○	○
0%	R36_1	peripherals/M4_IPROPI	○	○	○
0%	D7_2	Net-(D7-A)	○	○	○
0%	R20_2	Net-(D6-A)	○	○	○
0%	R21_2	Net-(D7-A)	○	○	○
0%	R19_2	Net-(D5-A)	○	○	○
0%	D9_2	Net-(D9-A)	○	○	○
0%	D4_1	indicators/LED_ERR	○	○	○
0%	D4_2	Net-(D4-A)	○	○	○
0%	D6_1	indicators/LED_BAT_HIGH	○	○	○
0%	D6_2	Net-(D6-A)	○	○	○
0%	U2_24	mcu/M3_DIR	○	○	○
0%	U2_2	mcu/MENU	○	○	○
0%	U2_3		○	○	○
0%	U2_4		○	○	○
0%	U2_31	mcu/VCAP_1	○	○	○
0%	U2_47	mcu/VCAP_2	○	○	○
0%	U2_53	mcu/LED_ERR	○	○	○
0%	C37_2	Net-(U14-CPH)	○	○	○
0%	C37_1	Net-(U14-CPL)	○	○	○
0%	U2_52	mcu/LED_DBG	○	○	○
0%	R30_1	Net-(JP3-A)	○	○	○
0%	R29_2	peripherals/BUZZER	○	○	○
0%	R29_1	Net-(Q1-B)	○	○	○
0%	C30_2	Net-(U11-VCP)	○	○	○
0%	U2_51	mcu/LED_BATT_HIGH	○	○	○
0%	U2_40	mcu/M4_PWM	○	○	○
0%	R31_1	peripherals/M1_IPROPI	○	○	○
0%	C39_2	Net-(U14-VCP)	○	○	○
0%	U9_27	Net-(U9-XIN32)	○	○	○
0%	J3_A5	Net-(J3-CC1)	○	○	○
0%	J3_B5	Net-(J3-CC2)	○	○	○
0%	U9_6	Net-(U9-PS0)	○	○	○
0%	U9_21		○	○	○
0%	U9_22		○	○	○
0%	J3_A8		○	○	○
0%	J3_B6	connectors/USBC_D+	○	○	○
0%	J3_B8		○	○	○
0%	J3_A7	connectors/USBC_D-	○	○	○
0%	J3_A6	connectors/USBC_D+	○	○	○
0%	U9_23		○	○	○
0%	U9_24		○	○	○
0%	U9_15		○	○	○
0%	U9_16		○	○	○
0%	U9_12		○	○	○
0%	U9_13		○	○	○
0%	U9_8		○	○	○
0%	J6_4	connectors/M2_ENC_B	○	○	○
0%	J6_3	connectors/M2_ENC_A	○	○	○
0%	U9_5	Net-(U9-PS1)	○	○	○
0%	U9_9	Net-(U9-CAP)	○	○	○
0%	J6_5	connectors/M2_OUT1	○	○	○
0%	J6_6	connectors/M2_OUT2	○	○	○
0%	J8_4	connectors/M4_ENC_B	○	○	○
0%	J8_3	connectors/M4_ENC_A	○	○	○
0%	U9_14	peripherals/IMU_INT	○	○	○
0%	U9_11	peripherals/IMU_RESET	○	○	○
0%	J8_5	connectors/M4_OUT1	○	○	○
0%	J8_6	connectors/M4_OUT2	○	○	○
0%	R26_2	Net-(J3-CC1)	○	○	○
0%	U9_10		○	○	○
0%	J5_4	connectors/M1_ENC_B	○	○	○
0%	J5_3	connectors/M1_ENC_A	○	○	○
0%	U9_7		○	○	○
0%	U9_1		○	○	○
0%	J5_5	connectors/M1_OUT1	○	○	○
0%	J5_6	connectors/M1_OUT2	○	○	○
0%	J7_4	connectors/M3_ENC_B	○	○	○
0%	J7_3	connectors/M3_ENC_A	○	○	○
0%	R33_1	peripherals/M1_FAULT	○	○	○
0%	U9_17	Net-(JP3-A)	○	○	○
0%	J7_5	connectors/M3_OUT1	○	○	○
0%	J7_6	connectors/M3_OUT2	○	○	○
0%	R25_2	Net-(J3-CC2)	○	○	○
0%	C36_1	Net-(U13-CPL)	○	○	○
0%	U7_4	connectors/USB_D+	○	○	○
0%	U7_6	connectors/USB_D-	○	○	○
0%	C36_2	Net-(U13-CPH)	○	○	○
0%	C38_2	Net-(U13-VCP)	○	○	○
0%	U7_3	connectors/USBC_D+	○	○	○
0%	U7_1	connectors/USBC_D-	○	○	○
0%	C27_2	Net-(U9-CAP)	○	○	○
0%	R37_1	peripherals/M3_FAULT	○	○	○
0%	C12_1	mcu_support/VCAP_2	○	○	○
0%	U2_39	mcu/M3_PWM	○	○	○
0%	R8_2	Net-(R8-Pad2)	○	○	○
0%	R9_1	Net-(U4-FB)	○	○	○
0%	R17_2	Net-(D3-A)	○	○	○
0%	D8_2	Net-(D8-A)	○	○	○
0%	D5_1	indicators/LED_DBG	○	○	○
0%	D5_2	Net-(D5-A)	○	○	○
0%	R22_2	Net-(D8-A)	○	○	○
0%	R24_1	VIN	○	○	○
0%	R24_2	Net-(JP2-B)	○	○	○
0%	R23_1	VIN	○	○	○
0%	R6_2	Net-(SW2-A)	○	○	○
0%	R23_2	Net-(JP2-A)	○	○	○
0%	D2_1	indicators/LED_HB	○	○	○
0%	D2_2	Net-(D2-A)	○	○	○
0%	R38_1	peripherals/M4_FAULT	○	○	○
0%	SW2_1	Net-(SW2-A)	○	○	○
0%	SW2_2	mcu_support/BOOT0	○	○	○
0%	Q1_1	Net-(B1--)	○	○	○
0%	C31_2	Net-(U12-VCP)	○	○	○
0%	U2_38	mcu/M2_PWM	○	○	○
0%	U2_37	mcu/M1_PWM	○	○	○
0%	U2_25	mcu/M4_IPROPI	○	○	○
0%	U2_57	mcu/M3_ENC_B	○	○	○
0%	U2_56	mcu/M3_ENC_A	○	○	○
0%	R7_1	mcu_support/BOOT1	○	○	○
0%	Y1_1	mcu_support/HSE_IN	○	○	○
0%	Y1_2	mcu_support/HSE_OUT	○	○	○
0%	R28_2	Net-(U9-PS1)	○	○	○
0%	D3_1	indicators/LED_ROS	○	○	○
0%	U2_55	mcu/LED_HB	○	○	○
0%	U2_28	mcu/BOOT1	○	○	○
0%	SW3_1	Net-(R8-Pad2)	○	○	○
0%	SW3_2	mcu_support/MENU	○	○	○
0%	C25_2	Net-(U9-XOUT32)	○	○	○
0%	R34_1	peripherals/M2_FAULT	○	○	○
0%	C28_2	Net-(U11-CPH)	○	○	○
0%	C28_1	Net-(U11-CPL)	○	○	○
0%	U2_27	mcu/M4_DIR	○	○	○
0%	U2_26	mcu/M4_FAULT	○	○	○
0%	D3_2	Net-(D3-A)	○	○	○
0%	R27_1	Net-(U9-PS0)	○	○	○
0%	C3_1	mcu_support/HSE_OUT	○	○	○
0%	U2_50	mcu/LED_BATT_LOW	○	○	○
0%	U2_45	mcu/USB_D+	○	○	○
0%	Q1_2	Net-(Q1-B)	○	○	○
0%	C13_1	mcu_support/VCAP_1	○	○	○
0%	U2_44	mcu/USB_D-	○	○	○
0%	C2_1	mcu_support/HSE_IN	○	○	○
0%	U2_43		○	○	○
0%	U2_42	mcu/M4_ENC_A	○	○	○
0%	U2_41	mcu/M4_ENC_B	○	○	○
0%	U2_23	mcu/M3_FAULT	○	○	○
0%	U2_22	mcu/M3_IPROPI	○	○	○
0%	D10_2	Net-(B1--)	○	○	○
0%	J3_B7	connectors/USBC_D-	○	○	○

14.7.6 Scoring Matrix

PCOLA/SOQ scoring premises used for this analysis. Each cell shows the score assigned when a test method applies to a component or pin.

Method	P	C	O	L	A	S	Opens	Q
AOI	Full	Full	Full	—	Partial	Partial	Partial	Partial
AXI	—	—	—	—	Partial	Partial	Partial	Partial
JTAG/BSCAN	Full	Full	Full	Partial	—	Full	Full	—
BSCAN_Passives	Full	Full	Full	Full	—	Full	Full	—
I2C	Partial	Partial	—	Partial	—	Partial	Partial	—
SPI	Partial	Partial	—	Partial	—	Partial	Partial	—
UART	—	—	—	Partial	—	—	—	—
Passive_Meas	Full	Full	Full	Full	—	Full	Full	—
Powered_Off	Partial	—	—	—	—	Partial	Full	—

15 Component Properties

Schematic symbol and library model quality analysis.

15.1 Library Model Grades

Grading schematic library model quality based on pin electrical type definitions:

Grade Definitions
Grade	Rating	Description
A	Excellent	Has Power pins AND properly typed I/O pins (>=90% typed)
B	Good	>=70% typed OR (>=50% typed AND has Power)
C	Fair	Mix of typed and Passive pins (>=40% typed)
D	Poor	Mostly Passive with few typed pins (>=10% typed)
F	Fail	All pins Passive/Unknown (<10% typed, no ERC)

IC Library Model Grades (sorted worst to best)
RefDes	Grd	Pins	Pwr	In	Out	IO	OC	OE	HiZ	Pas	Part Number	Creator
U1	-	0	0	0	0	0	0	0	0	0	~
U3	-	0	0	0	0	0	0	0	0	0	~
U6	-	0	0	0	0	0	0	0	0	0	~
U7	F	6	0	0	0	0	0	0	0	6	USBLC6-2SC6
U8	-	0	0	0	0	0	0	0	0	0	~
U4	C	9	3	3	1	0	1	0	0	1	LMR33630BDDA
U10	B	4	2	1	0	1	0	0	0	0	SSD1306_128x32
U11	B	16	6	6	3	1	0	0	0	0	DRV8874PWPR
U12	B	16	6	6	3	1	0	0	0	0	DRV8874PWPR
U13	B	16	6	6	3	1	0	0	0	0	DRV8874PWPR
U14	B	16	6	6	3	1	0	0	0	0	DRV8874PWPR
U2	B	64	10	2	0	51	0	0	0	1	STM32F415RGT6
U5	B	10	2	6	0	1	1	0	0	0	INA226
U9	B	28	4	17	3	2	0	0	0	2	BNO055

15.1.1 Library Quality Summary

Total ICs evaluated	14
Grade A (excellent)	0 (0.0%)
Grade B (good)	8 (57.1%)
Grade C (fair)	1 (7.1%)
Grade D (poor)	0 (0.0%)
Grade F (fail)	1 (7.1%)
OVERALL LIBRARY QUALITY	C (2.44/4.00)

15.2 Component Library Validation

Checking for generic/incomplete library models using statistical patterns.

Library Model Issues (7 models)
Library Name	Industry Name	Part Number	RefDes	Pins	Distribution	Issues
BNO055	BNO055	-	U9	28	P:2 Pwr:4 Bi:2 I:6 O:3 ?:11	39% of pins are Unknown type; No Industry Name property - BOM and procurement tools require this field
DRV8874PWPR	DRV8874PWPR	-	U11, U12, U13, U14	16	Pwr:6 Bi:1 I:6 O:3	Power-named pins not typed as Power - library pin types incomplete; No Industry Name property - BOM and procurement tools require this field [VREF=Input]
INA226	INA226	-	U5	10	Pwr:2 Bi:1 I:6 OC:1	Power-named pins not typed as Power - library pin types incomplete; No Industry Name property - BOM and procurement tools require this field [Vin-=Input, Vbus=Input]
LMR33630BDDA	LMR33630BDDA	-	U4	9	P:1 Pwr:3 I:3 O:1 OC:1	Pin 9 (GND) at same location as pin 1 (GND); Power-named pins not typed as Power - library pin types incomplete; No Industry Name property - BOM and procurement tools require this field [GND=Passive, SW=Output]
SSD1306_128x32	SSD1306_128x32	-	U10	4	Pwr:2 Bi:1 I:1	No Industry Name property - BOM and procurement tools require this field
STM32F415RGT6	STM32F415RGT6	-	U2	64	P:1 Pwr:10 Bi:51 I:2	Pin 63 (VSS) at same location as pin 18 (VSS); Power-named pins not typed as Power - library pin types incomplete; No Industry Name property - BOM and procurement tools require this field [VSS=Passive]
USBLC6-2SC6	USBLC6-2SC6	-	U7	6	P:6	All pins marked as Passive - likely generic library model; No Power pins - may use separate power symbol; Only 1 pin type used - no electrical differentiation; Power-named pins not typed as Power - library pin types incomplete; No Industry Name property - BOM and procurement tools require this field [GND=Passive, VBUS=Passive]

15.2.1 Validation Heuristics

All pins same type: Generic library with no electrical rules

High % passive pins on IC: Incomplete type information

No power pins: May indicate separate power symbol

Low type diversity: Very underspecified library model

Power-named pins not typed as Power: Library pin types incomplete

15.3 Shielded Connector Model Quality

Shielded connectors with missing pin names

All shielded connectors have proper pin names for EMC analysis.

15.4 Footprints and Other Models

Components with model data

Component Model Assignments
RefDes	Industry Name	Pins	Model Type	Model
J2	I2C	6	Footprint	Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical
J3	USB_C	17	Footprint	Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal
J4	SW-DBG	5	Footprint	Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical
J5	MOTOR1	6	Footprint	Connector_JST:JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical
J6	MOTOR2	6	Footprint	Connector_JST:JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical
J7	MOTOR3	6	Footprint	Connector_JST:JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical
J8	MOTOR4	6	Footprint	Connector_JST:JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical
JP1	2S/3S Select	3	Footprint	Jumper:SolderJumper-3_P1.3mm_Open_Pad1.0x1.5mm_NumberLabels
JP2	2S/3S Select	3	Footprint	Jumper:SolderJumper-3_P1.3mm_Open_Pad1.0x1.5mm_NumberLabels
Q1	S8050	3	Footprint	Package_TO_SOT_SMD:SOT-23
SW2	SW_SPDT	3	Footprint	Button_Switch_SMD:SW_MSK12C02
U2	STM32F415RGT6	64	Footprint	Package_QFP:LQFP-64_10x10mm_P0.5mm
U4	LMR33630BDDA	9	Footprint	Package_SO:Texas_HSOP-8-1EP_3.9x4.9mm_P1.27mm_ThermalVias
U5	INA226	10	Footprint	Package_SO:VSSOP-10_3x3mm_P0.5mm
U7	USBLC6-2SC6	6	Footprint	Package_TO_SOT_SMD:SOT-23-6
U9	BNO055	28	Footprint	Package_LGA:LGA-28_5.2x3.8mm_P0.5mm
U10	SSD1306_128x32	4	Footprint	Display:OLED_SSD1306_128x32_Module_38x12mm
U11	DRV8874PWPR	16	Footprint	Package_SO:SOP65P640X120-17N
			(IPC-7351B)	Small Outline Package, 65 pins, 6.40mm pitch
U12	DRV8874PWPR	16	Footprint	Package_SO:SOP65P640X120-17N
			(IPC-7351B)	Small Outline Package, 65 pins, 6.40mm pitch
U13	DRV8874PWPR	16	Footprint	Package_SO:SOP65P640X120-17N
			(IPC-7351B)	Small Outline Package, 65 pins, 6.40mm pitch
U14	DRV8874PWPR	16	Footprint	Package_SO:SOP65P640X120-17N
			(IPC-7351B)	Small Outline Package, 65 pins, 6.40mm pitch

15.5 IC Pin Electrical Properties

Unique IC models	7
Total IC instances	10

IC Library Models
Industry Name	Library Name	RefDes	Notes
BNO055	BNO055	U9
DRV8874PWPR	DRV8874PWPR	U11, U12, U13, U14
INA226	INA226	U5
LMR33630BDDA	LMR33630BDDA	U4
SSD1306_128x32	SSD1306_128x32	U10
STM32F415RGT6	STM32F415RGT6	U2
USBLC6-2SC6	USBLC6-2SC6	U7

15.5.1 BNO055 (BNO055)

Pin	Pin Name	Electrical
1	PIN1	Unknown
2	GND	Power In
3	VDD	Power In
4	BOOT_LOAD_PIN	Input
5	PS1	Input
6	PS0	Input
7	PIN7	Unknown
8	PIN8	Unknown
9	CAP	Passive
10	BL_IND	Output
11	RESET	Input
12	PIN12	Unknown
13	PIN13	Unknown
14	INT	Output
15	PIN15	Unknown
16	PIN16	Unknown
17	COM3	Input
18	COM2	Passive
19	COM1	Bidirectional
20	COM0	Bidirectional
21	PIN21	Unknown
22	PIN22	Unknown
23	PIN23	Unknown
24	PIN24	Unknown
25	GNDIO	Power In
26	XOUT32	Output
27	XIN32	Input
28	VDDIO	Power In

15.5.2 DRV8874PWPR (DRV8874PWPR)

Pin	Pin Name	Electrical
1	EN/IN1	Input
2	PH/IN2	Input
3	NSLEEP	Input
4	NFAULT	Bidirectional
5	VREF	Input
6	IPROPI	Output
7	IMODE	Input
8	OUT1	Output
9	PGND	Power In
10	OUT2	Output
11	VM	Power In
12	VCP	Power In
13	CPH	Power In
14	CPL	Power In
15	GND	Power In
16	PMODE	Input

15.5.3 INA226 (INA226)

Pin	Pin Name	Electrical
1	A1	Input
2	A0	Input
3	Alert	Open Collector
4	SDA	Bidirectional
5	SCL	Input
6	VS	Power In
7	GND	Power In
8	Vbus	Input
9	Vin-	Input
10	Vin+	Input

15.5.4 LMR33630BDDA (LMR33630BDDA)

Pin	Pin Name	Electrical
1	GND	Power In
2	VIN	Power In
3	EN	Input
4	PG	Open Collector
5	FB	Input
6	VCC	Power Out
7	BOOT	Input
8	SW	Output
9	GND	Passive

15.5.5 SSD1306_128x32 (SSD1306_128x32)

Pin	Pin Name	Electrical
1	GND	Power In
2	VCC	Power In
3	SCL	Input
4	SDA	Bidirectional

15.5.6 STM32F415RGT6 (STM32F415RGT6)

Pin	Pin Name	Electrical
1	VBAT	Power In
2	PC13	Bidirectional
3	PC14	Bidirectional
4	PC15	Bidirectional
5	PH0	Bidirectional
6	PH1	Bidirectional
7	NRST	Input
8	PC0	Bidirectional
9	PC1	Bidirectional
10	PC2	Bidirectional
11	PC3	Bidirectional
12	VSSA	Power In
13	VDDA	Power In
14	PA0	Bidirectional
15	PA1	Bidirectional
16	PA2	Bidirectional
17	PA3	Bidirectional
18	VSS	Power In
19	VDD	Power In
20	PA4	Bidirectional
21	PA5	Bidirectional
22	PA6	Bidirectional
23	PA7	Bidirectional
24	PC4	Bidirectional
25	PC5	Bidirectional
26	PB0	Bidirectional
27	PB1	Bidirectional
28	PB2	Bidirectional
29	PB10	Bidirectional
30	PB11	Bidirectional
31	VCAP_1	Power Out
32	VDD	Power In
33	PB12	Bidirectional
34	PB13	Bidirectional
35	PB14	Bidirectional
36	PB15	Bidirectional
37	PC6	Bidirectional
38	PC7	Bidirectional
39	PC8	Bidirectional
40	PC9	Bidirectional
41	PA8	Bidirectional
42	PA9	Bidirectional
43	PA10	Bidirectional
44	PA11	Bidirectional
45	PA12	Bidirectional
46	PA13	Bidirectional
47	VCAP_2	Power Out
48	VDD	Power In
49	PA14	Bidirectional
50	PA15	Bidirectional
51	PC10	Bidirectional
52	PC11	Bidirectional
53	PC12	Bidirectional
54	PD2	Bidirectional
55	PB3	Bidirectional
56	PB4	Bidirectional
57	PB5	Bidirectional
58	PB6	Bidirectional
59	PB7	Bidirectional
60	BOOT0	Input
61	PB8	Bidirectional
62	PB9	Bidirectional
63	VSS	Passive
64	VDD	Power In

15.5.7 USBLC6-2SC6 (USBLC6-2SC6)

Pin	Pin Name	Electrical
1	I/O1	Passive
2	GND	Passive
3	I/O2	Passive
4	I/O2	Passive
5	VBUS	Passive
6	I/O1	Passive