Change pins

src/main.cpp

@@ -1,11 +1,12 @@
 #include <Arduino.h>
 #include <SimpleFOC.h>
 #include <linearHallSensor.h>
+#include <pinout.h>
 
 BLDCMotor motor = BLDCMotor(4);
-BLDCDriver3PWM driver = BLDCDriver3PWM(7, 8, 9);
+BLDCDriver3PWM driver = BLDCDriver3PWM(M2_PWM1, M2_PWM2, M2_PWM3);
 
-LinearHallSensor linearSensor = LinearHallSensor(A0, A1, -0.75, 2.35);
+LinearHallSensor linearSensor = LinearHallSensor(M2_Hall1, M2_Hall2, -0.75, 2.35);
 
 void initSensor()
 {
@@ -48,17 +49,36 @@ float mapfloat(float x, float in_min, float in_max, float out_min, float out_max
 
 void setup()
 {
-  Serial.begin(115200);
-  _delay(100);
-  Serial.println("INIT");
-  pinMode(3, OUTPUT);
-  pinMode(5, OUTPUT);
-  pinMode(6, OUTPUT);
-  digitalWrite(3, LOW);
-  digitalWrite(5, LOW);
-  digitalWrite(6, LOW);
 
-  driver.voltage_power_supply = 6.0;
+    Serial.begin(115200);
+    delay(2000);
+    Serial.println("INIT");
+
+    // pinMode(M1_PWM1, OUTPUT);
+    // pinMode(M1_PWM2, OUTPUT);
+    // pinMode(M1_PWM3, OUTPUT);
+    // digitalWrite(M1_PWM1, LOW);
+    // digitalWrite(M1_PWM2, LOW);
+    // digitalWrite(M1_PWM3, LOW);
+
+    // pinMode(M2_PWM1, OUTPUT);
+    // pinMode(M2_PWM2, OUTPUT);
+    // pinMode(M2_PWM3, OUTPUT);
+    // digitalWrite(M2_PWM1, LOW);
+    // digitalWrite(M2_PWM2, LOW);
+    // digitalWrite(M2_PWM3, LOW);
+
+    // pinMode(M3_PWM1, OUTPUT);
+    // pinMode(M3_PWM2, OUTPUT);
+    // pinMode(M3_PWM3, OUTPUT);
+    // digitalWrite(M3_PWM1, LOW);
+    // digitalWrite(M3_PWM2, LOW);
+    // digitalWrite(M3_PWM3, LOW);
+
+    pinMode(LED_BUILTIN, OUTPUT);       // Lightup LED
+    digitalWrite(LED_BUILTIN, HIGH);
+
+    driver.voltage_power_supply = 5.0;
     driver.init();
     motor.linkDriver(&driver);
     motor.useMonitoring(Serial);

src/pinout.h

@@ -0,0 +1,29 @@
+#ifndef pinout_h
+#define pinout_h
+
+#include "Arduino.h"
+
+// PCB board : STM32 DJI Gimbal V1.0
+
+#define M1_PWM1 PB13
+#define M1_PWM2 PB14
+#define M1_PWM3 PB15
+#define M1_Fault PB12
+#define M1_Hall1 PB1
+#define M1_Hall2 PB0
+
+#define M2_PWM1 PB9
+#define M2_PWM2 PB8
+#define M2_PWM3 PB5
+#define M2_Fault PB10
+#define M2_Hall1 PA4
+#define M2_Hall2 PA3
+
+#define M3_PWM1 PA5
+#define M3_PWM2 PA6
+#define M3_PWM3 PA7
+#define M3_Fault PA0
+#define M3_Hall1 PA2
+#define M3_Hall2 PA1
+
+#endif