This is my 4-layer PCB Motor with an integrated ESC!
The PCB was hand soldered. It took me a little while to get it to work because I had some soldering flux residue on one of the motor driver chip that was acting as impedance. This was triggering the driver's on-board protection circuit. But after removing the chip and clean its pads, it was up and running.
I have managed to fit the ESC in such a small area by soldering parts on both sides of the PCB and using the smallest footprints I could find! Both the MCU and motor driver have a 3x3mm QFN package and most of the other discrete components are 0201s!
This video shows how I designed my PCB Motor's ESC and what where the challenges involved in getting my speed controller to work.
This is its schematics:
It has a PIC16F1503 as the main controller and a triple half bridge driver STSPIN230, to control the three phases of the motor. These are both powered from the same supply, to avoid having an extra power wire or on-board regulator, reducing the cost even further. I filtered the digital circuitry supply from an LC filter to attenuate any noise the motor can generate. It can operate from a 5V to 2.6V supply and draws around 220mA in total.The back emf generated from my pcb motor was too weak to implemented a sensorless speed controller. So I decided to use a hall sensor to provide feedback to the microcontroller and then implemented a speed closed loop speed controller. The open source gerber files and schematics for this PCB are available for download.