EmbedCore BLDC Motor Controller

A high-power brushless (BLDC) motor controller designed around an STM32G474, intended to sit inside the wheel actuators of an autonomous mobile robot while staying general enough for other high-current drives.
The board takes a 12–44 V input and delivers up to 100 A peak phase current, switching at 15–60 kHz with a 15–30 kHz control loop. Two onboard 14-bit magnetic encoders provide closed-loop position feedback, and the controller talks over 5 Mbps CAN-FD as well as RS485, with a dedicated 12 V fan channel for cooling. The whole design fits in 67 × 76.5 mm.
The hardware is a KiCad HDI design carried through to production: a full PDF schematic and PCB documentation, gate-resistor and power-stage calculations, and a complete manufacturing package — Gerbers, drill files, bill of materials, and component positions for assembly. The firmware lives in its own repository, developed separately on GitLab. Released under Apache 2.0.