Devlog #1 — PCB Layout Complete

The layout is finished.

What’s on the board

The Yoke runs on an STM32G491VE (LQFP100) — enough pins for the touch display, the button matrix, and FDCAN without fighting over alternate functions. The wheel talks to the base over CAN, using the TCAN332G transceiver.

Stackup

Signal / PWR/ GND/ Signal. Nothing exotic, but the ground plane sits directly over the bottom signal layer, which gives every fast signal a clean return path right beneath it.

That mattered most for two things:

• CANH/CANL — routed as a differential pair, tight and short, transceiver right at the connector.
• USB — the two datalines D+, D- are routed as a differential pair, so they need a clean path to ground.

What’s next

Fabrication. Gerbers are generated, BOM is assembled, and the whole project is under Git now. Then assembly, then the part where I find out what I got wrong.