Four-way push rod motor driver board

During my internship at Bi She and the company, I suddenly received a request for help from the laboratory teacher. I thought that the teacher I knew would not trick me, but I didn’t expect that I would be dragged into the trap. I have been busy for more than two months, drawing four or five boards (this is one of the boards). The program has been revised several times with additional requirements. After the thing was finished, I was suddenly asked to hand-weld a dozen sets in batches. (When he approached me for the job, he said he would only do one set). Then I was dragged to the construction site every Saturday or Sunday for wiring and debugging (I am a senior electrician). As a result, I did not get enough rest for two months, and I was only given 1,000 yuan. Unexpectedly, the first time I took out an outsourcing job in my life, I encountered a waterloo. I lost energy and time. But in the end I got an excellent thesis and an honorary degree in my graduation defense (my thesis will be open sourced later).
 
The main control is based on ST's STM32G030F6P6 enhanced microcontroller, and the motor driver chip uses Toshiba's TB67H450 (MAX: 45V 3.5A ), the buck chip uses JW5026 (MAX: 40V 1A), and outputs any multiple PWM waves to drive the motor through timer PWM NOT OUPUT comparison. The RS485 direction is set to receive by default. Later, it can be changed to an RS485 chip with automatic transceiver function, or data reporting can be completed by reading AT commands (send read command → switch RS485 data direction → send device or motor information → switch back to receiving state)
 
Okay, without further ado, let’s just post the finished product pictures, videos and source code!