Hazarding a guess here so...

It appears as if you are switching the direction signals at pwm frequency. This 
would switch the high side fets and those are slow and do have high switching 
losses. The intended design is for the low side fets (controlled by the PWM 
input) to be off until the switching is complete, and only then to resume 
current. Why did they choose those transistors for that application? Who 
knows.. maybe to eliminate the need for external bootstrap circuitry...



>>> But the switching losses in the olimex board, even at only
>>> a 1 kilohertz pwm are killers, getting it hot enough to
>>> burn a finger in just 2 or 3 seconds.


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