is there any PCB model for DRV8843 or any equivalent symbols that has same size and pin space so I can design a pcb for the driver?
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We do not have PCB footprint files available for this part; there are several formats available for these files depending on the design tools that you are using. However, the DRV8843 datasheet does include the suggested board layout (p. 18), which makes it relatively easy to make your own.
Matt