For the PCB traces, I used automatic routing and only thickened the power traces. As a result, the traces appear messy and unreasonable. However, it does not affect normal operation. You can also route the traces as needed by yourself.

The reference document for this project, written by an expert: SimpleFOC (7) - Application of STM32 (Bluepill) - loop222's blog - CSDN - bluepill

The board only provides serial port download. Each time you download the program, you need to toggle the switch to pull up BOOT0, then press the reset button. After the download is completed, you need to pull down BOOT0 to run the program normally.