TB6612 Four-channel Encoding Driver

First version link:
https://oshwhub.com/fourteenzzh37/tb6612-four-way-coding-driver-bo
Project Introduction
Concept:
The TB6612FNG is a driver IC for DC motors, featuring a low on-resistance LD MOS structure output transistor. Through two input signals IN1 and IN2, one of four modes can be selected: clockwise (CW), counter-clockwise (CCW), short brake, and stop mode.
Characteristics
: Supply voltage: VM = 15V (maximum)
Output current: IOUT = 1.2A (average) / 3.2A (peak)
Low on-resistance output: 0.5Ω
Standby (power saving) System • Clockwise/Counter-clockwise/Short brake/Stop function modes
Built-in overheat shutdown circuit and low voltage detection circuit
Driver Circuit:
The TB6612 is a dual driver, capable of driving two motors; two onboard drivers allow for driving four motors, with additional power supply available. Truth table for
driving
PWM1A (connected to the microcontroller's PWM port)
:
AIN1 0 0 1
AIN2 0 1 0
Stop forward/reverse
A01
AO2 connects to two pins of motor 1. Truth table for
driving
PWM2B (connected to the microcontroller's PWM port)
:
BIN1 0 0 1
BIN2 0 1 0
Stop forward/reverse
B01
BO2 connects to two pins of motor 2.

The other two paths are similar.
The logic truth table
is as follows: When the STBY port is connected to the microcontroller's I/O port, clearing it stops all motors.
Project parameters and
usage functions: Timer output comparison, output PWM

. 1. Find the corresponding I/O pins according to the schematic diagram
. 2. Find the corresponding (timer and timer channel) in the chip datasheet (PWMA, B pins).
3. Enable the corresponding clock for the I/O port and the timer clock
. 4. Configure timer initialization: TIM_TimeBaseInit()
5. Configure the corresponding channel: TIM_OC3Init() / TIM_OC4Init()
6. Enable CRR preload channel register.
7. Enable ARR preload channel register.
8. Enable timer.
9. Set duty cycle (pass parameter value).
10. Control the motor according to the truth table.
11. Pass positive or negative parameters to control true reverse rotation of the motor.