Merge branch 'dev_blackpill' into 'main'

Dev blackpill See merge request imia/dji-gimbal-foc!1
2022-11-08 14:32:56 +00:00 · 2022-11-08 14:32:56 +00:00 · c2faec0432
commit c2faec0432
parent 0fc0ac9215 0d7631cfd8
39 changed files with 21323 additions and 116818 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,4 +1,3 @@
-.pio
-.vscode
+/.*/
 /Kicad/Breakout_board/Breakout_DJI_Gimbal-backups
 /Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal-backups
--- a/Kicad/STM32_DJI_Gimbal/DCDC
+++ b/Kicad/STM32_DJI_Gimbal/DCDC
--- a/Kicad/STM32_DJI_Gimbal/DGI_Gimbal.pretty/TPS61088.kicad_mod
+++ b/Kicad/STM32_DJI_Gimbal/DGI_Gimbal.pretty/TPS61088.kicad_mod
@ -0,0 +1,63 @@
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--- a/Kicad/STM32_DJI_Gimbal/DJI_Gimbal.kicad_sym
+++ b/Kicad/STM32_DJI_Gimbal/DJI_Gimbal.kicad_sym
@ -588,6 +588,140 @@
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--- a/Kicad/STM32_DJI_Gimbal/DJI_Gimbal_PCB_TransmiterVideo.DXF
+++ b/Kicad/STM32_DJI_Gimbal/DJI_Gimbal_PCB_TransmiterVideo.DXF
--- a/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-B_Cu.gbr
+++ b/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-B_Cu.gbr
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-%TD*%
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--- a/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-B_Paste.gbr
+++ b/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-B_Paste.gbr
@ -1,59 +0,0 @@
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--- a/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-B_Silkscreen.gbr
+++ b/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-B_Silkscreen.gbr
@ -1,66 +0,0 @@
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--- a/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-Edge_Cuts.gbr
+++ b/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-Edge_Cuts.gbr
@ -1,154 +0,0 @@
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--- a/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-F_Cu.gbr
+++ b/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-F_Cu.gbr
--- a/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-F_Mask.gbr
+++ b/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-F_Mask.gbr
@ -1,333 +0,0 @@
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-{
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-      "TrackToRegion": 0.25,
-      "RegionToRegion": 0.25
-    }
-  ],
-  "FilesAttributes": [
-    {
-      "Path": "STM32_DJI_Gimbal-F_Cu.gbr",
-      "FileFunction": "Copper,L1,Top",
-      "FilePolarity": "Positive"
-    },
-    {
-      "Path": "STM32_DJI_Gimbal-B_Cu.gbr",
-      "FileFunction": "Copper,L2,Bot",
-      "FilePolarity": "Positive"
-    },
-    {
-      "Path": "STM32_DJI_Gimbal-F_Paste.gbr",
-      "FileFunction": "SolderPaste,Top",
-      "FilePolarity": "Positive"
-    },
-    {
-      "Path": "STM32_DJI_Gimbal-B_Paste.gbr",
-      "FileFunction": "SolderPaste,Bot",
-      "FilePolarity": "Positive"
-    },
-    {
-      "Path": "STM32_DJI_Gimbal-F_Silkscreen.gbr",
-      "FileFunction": "Legend,Top",
-      "FilePolarity": "Positive"
-    },
-    {
-      "Path": "STM32_DJI_Gimbal-B_Silkscreen.gbr",
-      "FileFunction": "Legend,Bot",
-      "FilePolarity": "Positive"
-    },
-    {
-      "Path": "STM32_DJI_Gimbal-F_Mask.gbr",
-      "FileFunction": "SolderMask,Top",
-      "FilePolarity": "Negative"
-    },
-    {
-      "Path": "STM32_DJI_Gimbal-B_Mask.gbr",
-      "FileFunction": "SolderMask,Bot",
-      "FilePolarity": "Negative"
-    },
-    {
-      "Path": "STM32_DJI_Gimbal-Edge_Cuts.gbr",
-      "FileFunction": "Profile",
-      "FilePolarity": "Positive"
-    }
-  ],
-  "MaterialStackup": [
-    {
-      "Type": "Legend",
-      "Name": "Top Silk Screen"
-    },
-    {
-      "Type": "SolderPaste",
-      "Name": "Top Solder Paste"
-    },
-    {
-      "Type": "SolderMask",
-      "Thickness": 0.01,
-      "Name": "Top Solder Mask"
-    },
-    {
-      "Type": "Copper",
-      "Thickness": 0.035,
-      "Name": "F.Cu"
-    },
-    {
-      "Type": "Dielectric",
-      "Thickness": 1.51,
-      "Material": "FR4",
-      "Name": "F.Cu/B.Cu",
-      "Notes": "Type: dielectric layer 1 (from F.Cu to B.Cu)"
-    },
-    {
-      "Type": "Copper",
-      "Thickness": 0.035,
-      "Name": "B.Cu"
-    },
-    {
-      "Type": "SolderMask",
-      "Thickness": 0.01,
-      "Name": "Bottom Solder Mask"
-    },
-    {
-      "Type": "SolderPaste",
-      "Name": "Bottom Solder Paste"
-    },
-    {
-      "Type": "Legend",
-      "Name": "Bottom Silk Screen"
-    }
-  ]
-}
--- a/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal_Transmitter.zip
+++ b/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal_Transmitter.zip
--- a/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal_V2.0.zip
+++ b/Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal_V2.0.zip
--- a/Kicad/STM32_DJI_Gimbal/PCB_outline.DXF
+++ b/Kicad/STM32_DJI_Gimbal/PCB_outline.DXF
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  1

 90
--- a/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.csv
+++ b/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.csv
@ -1,56 +1,25 @@
-"Source:","D:\lulu\Documents\Inria\DJI Gimbal\Kicad\STM32_DJI_Gimbal\STM32_DJI_Gimbal.kicad_sch"
-"Date:","11/08/2022 17:08:12"
-"Tool:","Eeschema (6.0.4)"
-"Generator:","C:\Program Files\KiCad\6.0\bin\scripting\plugins/bom_csv_grouped_by_value.py"
-"Component Count:","23"
-
-"Individual Components:"
-
-"Item","Qty","Reference(s)","Value","LibPart","Footprint","Datasheet","Description","Height","MFR","MPN","Manufacturer_Name","Manufacturer_Part_Number","Mouser Part Number","Mouser Price/Stock"
-"","","C1","220n","Device:C","Capacitor_SMD:C_0603_1608Metric","~","","","Yageo","CC0603KRX7R6BB224","","","",""
-"","","C2","1u","Device:C","Capacitor_SMD:C_0603_1608Metric","~","","","Yageo","CC0603ZRY5V7BB105","","","",""
-"","","C3","47u","Device:C_Polarized","Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C","~","","","AVX","TPSC476K010T0350 ","","","",""
-"","","C4","220u","Device:C_Polarized","Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C","~","","","AVX","TPSC227M006R0125","","","",""
-"","","C5","220n","Device:C","Capacitor_SMD:C_0603_1608Metric","~","","","Yageo","CC0603KRX7R6BB224","","","",""
-"","","D1","MBR0520","Diode:MBR0520","Diode_SMD:D_SOD-523","http://www.mccsemi.com/up_pdf/MBR0520~MBR0580(SOD123).pdf","","","Onsemi","NSR05T30XV2T5G ","","","",""
-"","","H1","M3","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_Pad_Via","~","","","","","","","",""
-"","","H2","M3","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_Pad_Via","~","","","","","","","",""
-"","","H3","CAM_M2","Mechanical:MountingHole","MountingHole:MountingHole_2.2mm_M2_Pad_Via","~","","","","","","","",""
-"","","H4","CAM_M2","Mechanical:MountingHole","MountingHole:MountingHole_2.2mm_M2_Pad_Via","~","","","","","","","",""
-"","","H5","M3","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_Pad_Via","~","","","","","","","",""
-"","","H6","M3","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_Pad_Via","~","","","","","","","",""
-"","","IC1","DS28E05R+T","DJI_Gimbal:DS28E05R+T","Package_TO_SOT_SMD:SOT-23","","","","","","","","",""
-"","","J1","BM20B_0.8_-34DS-0.4V_53_","DJI_Gimbal:BM20B_0.8_-34DS-0.4V_53_","DGI_Gimbal:BM20B0834DS04V53","https://www.hirose.com/en/product/document?clcode=CL0684-9020-0-53&productname=BM20B(0.8)-34DS-0.4V(53)&series=BM20&documenttype=2DDrawing&lang=en&documentid=0001372404","Board to Board & Mezzanine Connectors 34P DR RCP B2B/B2FPC 0.8mm H 0.4mm P VSMT","0.9","","","Hirose","BM20B(0.8)-34DS-0.4V(53)","798-BM20B0834DS04V53","https://www.mouser.co.uk/ProductDetail/Hirose-Connector/BM20B08-34DS-04V53?qs=AAveGqk956HKBDZ2sUIWMg%3D%3D"
-"","","J2","Conn_01x02","Connector_Generic:Conn_01x02","Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical","~","","","","","","","",""
-"","","L1","1.5uH","Device:L","Inductor_SMD:L_Taiyo-Yuden_NR-30xx","~","","","Taiyo\ Yuden","NR3015T1R5N ","","","",""
-"","","P1","CF_EXP_LEFT","DJI_Gimbal:CF_EXP_LEFT","DGI_Gimbal:BF090-10-X-B2","","","","","","","","",""
-"","","P2","CF_EXP_RIGHT","DJI_Gimbal:CF_EXP_RIGHT","DGI_Gimbal:BF090-10-X-B2","","","","","","","","",""
-"","","R1","4.7","Device:R","Resistor_SMD:R_0402_1005Metric","~","","","Yageo","AC0402FR-074R7L","","","",""
-"","","R2","82k","Device:R","Resistor_SMD:R_0402_1005Metric","~","","","Yageo","AC0402FR-0782KL ","","","",""
-"","","R3","27k","Device:R","Resistor_SMD:R_0402_1005Metric","~","","","Yageo","AC0402FR-0727KL ","","","",""
-"","","U1","WeAct_BlackPill_Part_Like","DJI_Gimbal:WeAct_BlackPill_Part_Like","DGI_Gimbal:YAAJ_WeAct_BlackPill_2","","","","","","","","",""
-"","","U2","MAX1763","DJI_Gimbal:MAX1763","Package_SO:QSOP-16_3.9x4.9mm_P0.635mm","https://datasheets.maximintegrated.com/en/ds/MAX1763.pdf","","","","","","","",""
-
-
-
-"Collated Components:"
-
-"Item","Qty","Reference(s)","Value","LibPart","Footprint","Datasheet","Description","Height","MFR","MPN","Manufacturer_Name","Manufacturer_Part_Number","Mouser Part Number","Mouser Price/Stock"
-"1","2","C1, C5","220n","Device:C","Capacitor_SMD:C_0603_1608Metric","~","","","Yageo","CC0603KRX7R6BB224","","","",""
-"2","1","C2","1u","Device:C","Capacitor_SMD:C_0603_1608Metric","~","","","Yageo","CC0603ZRY5V7BB105","","","",""
-"3","1","C3","47u","Device:C_Polarized","Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C","~","","","AVX","TPSC476K010T0350 ","","","",""
-"4","1","C4","220u","Device:C_Polarized","Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C","~","","","AVX","TPSC227M006R0125","","","",""
-"5","1","D1","MBR0520","Diode:MBR0520","Diode_SMD:D_SOD-523","http://www.mccsemi.com/up_pdf/MBR0520~MBR0580(SOD123).pdf","","","Onsemi","NSR05T30XV2T5G ","","","",""
-"6","4","H1, H2, H5, H6","M3","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_Pad_Via","~","","","","","","","",""
-"7","2","H3, H4","CAM_M2","Mechanical:MountingHole","MountingHole:MountingHole_2.2mm_M2_Pad_Via","~","","","","","","","",""
-"8","1","IC1","DS28E05R+T","DJI_Gimbal:DS28E05R+T","Package_TO_SOT_SMD:SOT-23","","","","","","","","",""
-"9","1","J1","BM20B_0.8_-34DS-0.4V_53_","DJI_Gimbal:BM20B_0.8_-34DS-0.4V_53_","DGI_Gimbal:BM20B0834DS04V53","https://www.hirose.com/en/product/document?clcode=CL0684-9020-0-53&productname=BM20B(0.8)-34DS-0.4V(53)&series=BM20&documenttype=2DDrawing&lang=en&documentid=0001372404","Board to Board & Mezzanine Connectors 34P DR RCP B2B/B2FPC 0.8mm H 0.4mm P VSMT","0.9","","","Hirose","BM20B(0.8)-34DS-0.4V(53)","798-BM20B0834DS04V53","https://www.mouser.co.uk/ProductDetail/Hirose-Connector/BM20B08-34DS-04V53?qs=AAveGqk956HKBDZ2sUIWMg%3D%3D"
-"10","1","J2","Conn_01x02","Connector_Generic:Conn_01x02","Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical","~","","","","","","","",""
-"11","1","L1","1.5uH","Device:L","Inductor_SMD:L_Taiyo-Yuden_NR-30xx","~","","","Taiyo\ Yuden","NR3015T1R5N ","","","",""
-"12","1","P1","CF_EXP_LEFT","DJI_Gimbal:CF_EXP_LEFT","DGI_Gimbal:BF090-10-X-B2","","","","","","","","",""
-"13","1","P2","CF_EXP_RIGHT","DJI_Gimbal:CF_EXP_RIGHT","DGI_Gimbal:BF090-10-X-B2","","","","","","","","",""
-"14","1","R1","4.7","Device:R","Resistor_SMD:R_0402_1005Metric","~","","","Yageo","AC0402FR-074R7L","","","",""
-"15","1","R2","82k","Device:R","Resistor_SMD:R_0402_1005Metric","~","","","Yageo","AC0402FR-0782KL ","","","",""
-"16","1","R3","27k","Device:R","Resistor_SMD:R_0402_1005Metric","~","","","Yageo","AC0402FR-0727KL ","","","",""
-"17","1","U1","WeAct_BlackPill_Part_Like","DJI_Gimbal:WeAct_BlackPill_Part_Like","DGI_Gimbal:YAAJ_WeAct_BlackPill_2","","","","","","","","",""
-"18","1","U2","MAX1763","DJI_Gimbal:MAX1763","Package_SO:QSOP-16_3.9x4.9mm_P0.635mm","https://datasheets.maximintegrated.com/en/ds/MAX1763.pdf","","","","","","","",""
+Reference(s),Value,Footprint,DNP,MFR,MPN,Qty
+C1,47u,Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C,,AVX,TPSC476K010T0350 ,1
+"C2, C5",100n,Capacitor_SMD:C_0402_1005Metric,,Murata,GRM155R71A104KA01J,2
+"C3, C10",220n,Capacitor_SMD:C_0603_1608Metric,,Yageo,CC0603KRX7R6BB224,2
+C4,1u,Capacitor_SMD:C_0603_1608Metric,,Yageo,CC0603ZRY5V7BB105,1
+C6,8.2n,Capacitor_SMD:C_0402_1005Metric,,Murata,GRM155R71C822KA01D,1
+C7,27p,Capacitor_SMD:C_0402_1005Metric,,Murata,GRM1555C1H270JA01D,1
+C8,560p,Capacitor_SMD:C_0402_1005Metric,,Murata,GRM155R71H561KA01D,1
+C9,220u,Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C,,AVX,TPSC227M006R0125,1
+"H1, H2, H5, H6",M3,MountingHole:MountingHole_3.2mm_M3_Pad_Via,DNP,,,4
+"H3, H4",CAM_M2,MountingHole:MountingHole_2.2mm_M2_Pad_Via,DNP,,,2
+IC1,DS28E05R+T,Package_TO_SOT_SMD:SOT-23,,Maxim,DS28E05R+T ,1
+IC2,TPS61088RHLT,DGI_Gimbal:TPS61088,,Texas Instruments,TPS61088RHLT,1
+J1,BM20B_0.8_-34DS-0.4V_53_,DGI_Gimbal:BM20B0834DS04V53,,Hirose,BM20B(0.8)-34DS-0.4V(53),1
+J2,Conn_01x02,Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical,,Amphenol,10129378-910002BLF,1
+JP1,Jumper,Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm,DNP,,,1
+L1,1u,Inductor_SMD:L_Coilcraft_XxL4020,,Coilcraft,XAL4020-102MEC,1
+P1,CF_EXP_LEFT,DGI_Gimbal:BF090-10-X-B2,,,,1
+P2,CF_EXP_RIGHT,DGI_Gimbal:BF090-10-X-B2,,,,1
+R1,255k,Resistor_SMD:R_0402_1005Metric,,Vishay,CRCW0402255KFKED,1
+R2,133k,Resistor_SMD:R_0402_1005Metric,,Yageo,RC0402FR-07133KL,1
+R3,36.5k,Resistor_SMD:R_0402_1005Metric,,Yageo,AC0402FR-0736K5L,1
+R4,470k,Resistor_SMD:R_0402_1005Metric,,Yageo,RC0402FR-07470KL,1
+R5,97.6k,Resistor_SMD:R_0402_1005Metric,,Vishay,CRCW040297K6FKED,1
+U1,WeAct_BlackPill_Part_Like,DGI_Gimbal:YAAJ_WeAct_BlackPill_2,,,,1
--- a/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_pcb
+++ b/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_pcb
--- a/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_prl
+++ b/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_prl
@ -10,7 +10,7 @@
      "pads": 1.0,
      "tracks": 1.0,
      "vias": 1.0,
-      "zones": 0.6
+      "zones": 1.0
    },
    "ratsnest_display_mode": 0,
    "selection_filter": {
@ -18,7 +18,7 @@
      "footprints": true,
      "graphics": true,
      "keepouts": true,
-      "lockedItems": true,
+      "lockedItems": false,
      "otherItems": true,
      "pads": true,
      "text": true,
@ -63,7 +63,7 @@
      36
    ],
    "visible_layers": "fffffff_ffffffff",
-    "zone_display_mode": 0
+    "zone_display_mode": 1
  },
  "meta": {
    "filename": "STM32_DJI_Gimbal.kicad_prl",
--- a/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_pro
+++ b/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_pro
@ -381,7 +381,6 @@
        "microvia_drill": 0.1,
        "name": "Power",
        "nets": [
-          "+3V3",
          "+5V"
        ],
        "pcb_color": "rgba(0, 0, 0, 0.000)",
--- a/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_sch
+++ b/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_sch
--- a/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.xml
+++ b/Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.xml
--- a/Kicad/STM32_DJI_Gimbal/bom/ibom.html
+++ b/Kicad/STM32_DJI_Gimbal/bom/ibom.html
--- a/Kicad/STM32_DJI_Gimbal/fp-info-cache
+++ b/Kicad/STM32_DJI_Gimbal/fp-info-cache
--- a/Kicad/STM32_DJI_Gimbal/fp-lib-table
+++ b/Kicad/STM32_DJI_Gimbal/fp-lib-table
@ -1,4 +1,3 @@
 (fp_lib_table
  (lib (name "DGI_Gimbal")(type "KiCad")(uri "${KIPRJMOD}/DGI_Gimbal.pretty")(options "")(descr ""))
-  (lib (name "SamacSys_Parts")(type "KiCad")(uri "D:/lulu/Documents/Kicad/SamacSys_Parts.pretty")(options "")(descr ""))
 )
--- a/README.md
+++ b/README.md
@ -29,11 +29,11 @@ Connected directly to a MCU (here a STM32 Nucleo F401RE) and with the Simple FOC
 ## Position estimation with the integrated linear hall sensors

 ### 1. Setup
-Each motor is composed of two ratiometric linear hall sensors. (Texas Instrument DRV5053 Analog-Bipolar Hall Effect Sensor) They are placed at around 120º from each other (eyes measured) and measure the magnetic field of the rotor. 
+Each motor is composed of two linear hall sensors. (Texas Instrument DRV5053 Analog-Bipolar Hall Effect Sensor) They are placed at around 120º from each other (eyes measured) and measure the magnetic field of the rotor. 

 <img src="docs/Hallmotor.jpg" height=300> 

-Ratiometric means that the output signal is proportional to the voltage supply to the sensor. In this setup, with 5V supply, the output measured is between 520mV and 1.5V, so a 1V amplitude signal. 
+They are linear sensor, the output voltage correspond to a magnetic fields, regardless of the voltage supplied. In our case the output signal is between 1V and 1.65V.

 ### 2. Measures

--- a/docs/LinearHallEncoder.md
+++ b/docs/LinearHallEncoder.md
@ -1,98 +0,0 @@
-# DJI Gimbal Retro-Engineering
-
-The aim of this project is to be able to use the 3-axis DJI gimbal with a custom open source controller. This high quality gimbal is very tiny and easy to find as replacement part which makes it very suitable for DIY projects. 
-
-## Description
-
-todo
-
-## Pinout identification
-The Gimbal is composed of a flex PCB with a main connector and 3 smaller for each motor. The main end connector is a 40-pin mezzanine board to board connectors. In order to work easily I have designed a breakout board which open to a 2.54" header. 
-Here is the strategy I followed to find the pinout:
-1. Find all equipotential pins:
-With a multimeter set to continuity tests, and test all the combinations
-2. Group remaining pins by motor
-With the multimeter find all the pins connected to the motor connector. (Reapeat 3 times)
-3. 
-
-### Open-loop control
-
-Each motor has its own drivers a MP6536. Which makes it easy as no additional hardware is necessary to drive the motors. 
-There are 4 pins from the MP6536:
-1. PWM1 
-2. PWM2 
-3. PWM3 
-4. Fault : Output. When low, indicates overtemperature, over-current, or under-voltage.
-
-Connected directly to a MCU and with the Simple FOC Library, open-loop control works quite well. However due to open-loop control, it cannot know when a "step" is missed so misalignment can occur. Also, the motor tends to become quite hot due to the continuous current sent to the coils.
-
-## Position estimation with the integrated linear hall sensors
-
-### 1. Setup
-Each motor is composed of two ratiometric linear hall sensors. (Texas Instrument DRV5053 Analog-Bipolar Hall Effect Sensor) They are placed at around 120º from each other (eyes measured) and measure the magnetic field of the rotor. 
-
-![Photo of the stator](Hallmotor.jpg)
-
-Ratiometric means that the output signal is proportional to the voltage supply to the sensor. In this setup, with 5V supply, the output measured is between 520mV and 1.5V, so a 1V amplitude. 
-
-### 2. Measures
-
-These oscilloscope traces are the sensor output when rotating the rotor forth and back. (a bit less than 180º on the 3rd motor)
-The channel 0 (Yellow) is the Hall 1 and the Channel 1 (Green) is the Hall 2
-![hall sensors traces](courbes.png)
-
-We can see that in the first movement (positive rotation), the green is out of phase of π/2.`
-
-![Sinwave figure](cosSinEncoderDiagram.png)
-### 3. Encoding the position 
-1. Get the absolute angle within a period
-
-Since the 2 signals correspond to a cos and sin signals, it is possible to compute the angle inside the period using arctan2 function. However, we have more than one period, it is so necessary to increment a position.
-$$\theta= atan2(a,b)$$
-
-2. Incremental position
-
-To increment the position, it is necessary to start from 0 at a known postion. For that the motor is moved in open loop to one end and the position is set to 0.
-Then we need to sum all the delta of movement at each measure sample.
-$$\phi_t=\phi_{t-1} + (\theta_t - \theta_{t-1})mod(-\pi;\pi)$$
-
-## Coding the solution
-1. Get the angle in the perdiod
-
-In order to compute the angle from the cos and sin with atan, it is necessary to remap the values of the analog readings from -1 to 1. 
-Beforehand, the maximum and minimum peak of the signals need to be found. It can be done by swiping the motor on startup in open-loop mode.
-Then the arctan function can be applied. It is preferable to use arctan2 as it will give an angle within the 4 quadrants (-π,π). Whereas arctan give an angle between (-π/2,π/2). [Wikipedia](https://en.wikipedia.org/wiki/Atan2)
-
-```C++
-
-float LinearHallSensor::Callback()  // Return the estimated position of the sensor
-{
-    A = norm(analogRead(CH1),minCh1, maxCh1);   //read analog values and normalise between [-1;1]
-    B = norm(analogRead(CH2),minCh2, maxCh2);
-
-    theta = atan2(A,B); // Compute the absolute angle in the period
-
-    phi = phi + dist_angle(theta, theta_prev);  // increment the difference
-
-    theta_prev = theta; // save fot nex time
-
-    return phi;
-}
-
-float norm(float x, float in_min, float in_max) //return the input value normalised between [-1;1]
-{
-    return (float)(x + 1.0) * (2.0) / (float)(in_max - in_min) -1.0;
-}
-
-float dist_angle(float newAngle, float prevAngle) // return the difference modulo [-pi;pi]
-{
-    float diff = newAngle - prevAngle;
-    while (diff < (-M_PI))
-        diff += 2 * M_PI;
-    while (diff > M_PI)
-        diff -= 2 * M_PI;
-    return diff;
-}
-
-``` 
-
--- a/platformio.ini
+++ b/platformio.ini
@ -16,3 +16,21 @@ monitor_port = COM3
 monitor_speed = 115200
 lib_archive = no
 lib_deps = askuric/Simple FOC@^2.2.2
+
+[env:Blackpill]
+platform = ststm32
+board = blackpill_f401cc
+upload_protocol = dfu
+framework = arduino
+lib_archive = no
+lib_deps = 
+    askuric/Simple FOC@^2.2.2
+    Wire
+    SPI
+monitor_port = COM5
+monitor_speed = 115200
+build_flags =
+    -D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC
+    -D USBCON
+    ; -D SIMPLEFOC_STM32_DEBUG
+monitor_dtr = 1
--- a/pythonGUI/gimbal_gui.py
+++ b/pythonGUI/gimbal_gui.py
@ -0,0 +1,43 @@
+import pygame
+import serial
+import time 
+
+ser = serial.Serial('COM5',115200, timeout=0.01)
+print(ser.name)
+
+pygame.init()
+pygame.joystick.init()
+pad = pygame.joystick.Joystick(0)
+pad.init()
+print(pad.get_name())
+
+def remap(x, in_min, in_max, out_min, out_max):
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
+
+
+while(True):
+    pygame.event.pump()
+
+    X_axis = round(pad.get_axis(2),4)
+    Y_axis = round(pad.get_axis(3),4)
+    Z_axis = round(pad.get_axis(0),4)
+
+    # print(f'Axis 2: {X_axis}\tAxis 3: {Y_axis} \tAxis 0: {Z_axis}')    
+
+    X_axis = round(remap(X_axis,-1,1,0,1000))
+    Y_axis = round(remap(Y_axis,-1,1,0,1000))
+    Z_axis = round(remap(Z_axis,-1,1,0,1000))
+
+    # print(f'Axis X: {X_axis}\tAxis Y: {Y_axis} \tAxis Z: {Z_axis}')    
+
+
+
+    ser.write(('X'+str(X_axis)+'\n').encode())
+    ser.write(('Y'+str(Y_axis)+'\n').encode())
+    ser.write(('Z'+str(Z_axis)+'\n').encode())
+
+    income = ser.readline()
+    if (len(income)>0):
+        print(income)
+
+    # time.sleep(0.1)
--- a/pythonGUI/joystickTest.py
+++ b/pythonGUI/joystickTest.py
@ -0,0 +1,149 @@
+import pygame
+
+pygame.init()
+# This is a simple class that will help us print to the screen.
+# It has nothing to do with the joysticks, just outputting the
+# information.
+class TextPrint:
+    def __init__(self):
+        self.reset()
+        self.font = pygame.font.Font(None, 25)
+
+    def tprint(self, screen, text):
+        text_bitmap = self.font.render(text, True, (0, 0, 0))
+        screen.blit(text_bitmap, (self.x, self.y))
+        self.y += self.line_height
+
+    def reset(self):
+        self.x = 10
+        self.y = 10
+        self.line_height = 15
+
+    def indent(self):
+        self.x += 10
+
+    def unindent(self):
+        self.x -= 10
+
+
+def main():
+    # Set the width and height of the screen (width, height), and name the window.
+    screen = pygame.display.set_mode((500, 700))
+    pygame.display.set_caption("Joystick example")
+
+    # Used to manage how fast the screen updates.
+    clock = pygame.time.Clock()
+
+    # Get ready to print.
+    text_print = TextPrint()
+
+    # This dict can be left as-is, since pygame will generate a
+    # pygame.JOYDEVICEADDED event for every joystick connected
+    # at the start of the program.
+    joysticks = {}
+
+    done = False
+    while not done:
+        # Event processing step.
+        # Possible joystick events: JOYAXISMOTION, JOYBALLMOTION, JOYBUTTONDOWN,
+        # JOYBUTTONUP, JOYHATMOTION, JOYDEVICEADDED, JOYDEVICEREMOVED
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                done = True  # Flag that we are done so we exit this loop.
+
+            if event.type == pygame.JOYBUTTONDOWN:
+                print("Joystick button pressed.")
+                if event.button == 0:
+                    joystick = joysticks[event.instance_id]
+                    if joystick.rumble(0, 0.7, 500):
+                        print(f"Rumble effect played on joystick {event.instance_id}")
+
+            if event.type == pygame.JOYBUTTONUP:
+                print("Joystick button released.")
+
+            # Handle hotplugging
+            if event.type == pygame.JOYDEVICEADDED:
+                # This event will be generated when the program starts for every
+                # joystick, filling up the list without needing to create them manually.
+                joy = pygame.joystick.Joystick(event.device_index)
+                joysticks[joy.get_instance_id()] = joy
+                print(f"Joystick {joy.get_instance_id()} connencted")
+
+            if event.type == pygame.JOYDEVICEREMOVED:
+                del joysticks[event.instance_id]
+                print(f"Joystick {event.instance_id} disconnected")
+
+        # Drawing step
+        # First, clear the screen to white. Don't put other drawing commands
+        # above this, or they will be erased with this command.
+        screen.fill((255, 255, 255))
+        text_print.reset()
+
+        # Get count of joysticks.
+        joystick_count = pygame.joystick.get_count()
+
+        text_print.tprint(screen, f"Number of joysticks: {joystick_count}")
+        text_print.indent()
+
+        # For each joystick:
+        for joystick in joysticks.values():
+            jid = joystick.get_instance_id()
+
+            text_print.tprint(screen, f"Joystick {jid}")
+            text_print.indent()
+
+            # Get the name from the OS for the controller/joystick.
+            name = joystick.get_name()
+            text_print.tprint(screen, f"Joystick name: {name}")
+
+            guid = joystick.get_guid()
+            text_print.tprint(screen, f"GUID: {guid}")
+
+            power_level = joystick.get_power_level()
+            text_print.tprint(screen, f"Joystick's power level: {power_level}")
+
+            # Usually axis run in pairs, up/down for one, and left/right for
+            # the other. Triggers count as axes.
+            axes = joystick.get_numaxes()
+            text_print.tprint(screen, f"Number of axes: {axes}")
+            text_print.indent()
+
+            for i in range(axes):
+                axis = joystick.get_axis(i)
+                text_print.tprint(screen, f"Axis {i} value: {axis:>6.3f}")
+            text_print.unindent()
+
+            buttons = joystick.get_numbuttons()
+            text_print.tprint(screen, f"Number of buttons: {buttons}")
+            text_print.indent()
+
+            for i in range(buttons):
+                button = joystick.get_button(i)
+                text_print.tprint(screen, f"Button {i:>2} value: {button}")
+            text_print.unindent()
+
+            hats = joystick.get_numhats()
+            text_print.tprint(screen, f"Number of hats: {hats}")
+            text_print.indent()
+
+            # Hat position. All or nothing for direction, not a float like
+            # get_axis(). Position is a tuple of int values (x, y).
+            for i in range(hats):
+                hat = joystick.get_hat(i)
+                text_print.tprint(screen, f"Hat {i} value: {str(hat)}")
+            text_print.unindent()
+
+            text_print.unindent()
+
+        # Go ahead and update the screen with what we've drawn.
+        pygame.display.flip()
+
+        # Limit to 30 frames per second.
+        clock.tick(30)
+
+
+if __name__ == "__main__":
+    main()
+    # If you forget this line, the program will 'hang'
+    # on exit if running from IDLE.
+    pygame.quit()
--- a/requirements.txt
+++ b/requirements.txt
--- a/src/linearHallSensor.cpp
+++ b/src/linearHallSensor.cpp
@ -1,16 +1,65 @@
 #include "linearHallSensor.h"

+#include <math.h>
+
 float norm(float x, float in_min, float in_max, float out_min = -1.0, float out_max = 1.0)
 {
    return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
 }

-LinearHallSensor::LinearHallSensor(uint8_t ch1, uint8_t ch2, float minPos, float maxPos)
+LinearHallSensor::LinearHallSensor(uint8_t ch1, uint8_t ch2)
 {
    _analogPin1 = ch1;
    _analogPin2 = ch2;
-    _minPositionEndValue = minPos;
-    _maxPositionEndValue = maxPos;
+}
+
+inline uint32_t min(uint32_t arr[], int n)
+{
+    uint32_t m = 0;
+    for (int i = 0; i < n; i++)
+        m = arr[i] < m ? arr[i] : m;
+    return m;
+}
+
+inline uint32_t max(uint32_t *arr, int n)
+{
+    uint32_t m = 0;
+    for (int i = 0; i < n; i++)
+        m = arr[i] > m ? arr[i] : m;
+    return m;
+}
+
+inline uint32_t mean(uint32_t *arr, int n)
+{
+    uint32_t m = 0;
+    for (int i = 0; i < n; i++)
+        m += arr[i];
+    return m / n;
+}
+
+inline uint32_t std_var(uint32_t *arr, int n)
+{
+    uint32_t s = 0;
+    uint32_t m = mean(arr, n);
+    for (int i = 0; i < n; i++)
+        s += (arr[i] - m) * (arr[i] - m);
+    s /= (uint32_t)n;
+    s = sqrt(s);
+    return s;
+}
+
+void init_arr(uint32_t *arr, int n, uint32_t val)
+{
+    for (int i = 0; i < n; i++)
+        arr[i] = val;
+}
+
+void print_arr(uint32_t *arr, int n)
+{
+    Serial.printf("[");
+    for (int i = 0; i < n; i++)
+        Serial.printf("%lu,", arr[i]);
+    Serial.printf("]");
 }

 void LinearHallSensor::init(BLDCMotor motor)
@ -18,81 +67,131 @@ void LinearHallSensor::init(BLDCMotor motor)
    MotionControlType prevController = motor.controller;
    motor.controller = MotionControlType::angle_openloop;
    float prevVoltageLimit = motor.voltage_limit;
-    motor.voltage_limit = 0.8;
+    motor.voltage_limit = 2.0;

-    uint32_t senseA = analogRead(_analogPin1);
-    uint32_t senseB = analogRead(_analogPin2);
+    // Swipe motor to search hard end and find max analog values of sensors
+    bool endFound = false;
+    const float step = 0.005;
+    const uint8_t epsilon = 3;
+    float currentPosition = 0.0;

-    _minCh1 = senseA;
-    _maxCh1 = senseA;
-    _minCh2 = senseB;
-    _maxCh2 = senseB;
+    const uint8_t N = 20;
+    uint32_t senseA[N];
+    uint32_t senseB[N];

-    // Swipe motor
-    for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.005)
+    int ptr = 0;
+
+    init_arr(senseA, N, 0);
+    init_arr(senseB, N, 0);
+
+    senseA[ptr] = analogRead(_analogPin1);
+    senseB[ptr] = analogRead(_analogPin2);
+
+    _minCh1 = senseA[ptr];
+    _minCh2 = senseB[ptr];
+    _maxCh1 = _minCh1;
+    _maxCh2 = _minCh2;
+
+    Serial.println("\t- Finding end stops");
+    while (!endFound)
    {
-        motor.move(i);
-        delay(1);
-        senseA = analogRead(_analogPin1);
-        senseB = analogRead(_analogPin2);
-        if (senseA > _maxCh1)
-            _maxCh1 = senseA;
-        else if (senseA < _minCh1)
-            _minCh1 = senseA;
-        if (senseB > _maxCh1)
-            _maxCh1 = senseB;
-        else if (senseB < _minCh2)
-            _minCh2 = senseB;
+        senseA[ptr] = analogRead(_analogPin1);
+        senseB[ptr] = analogRead(_analogPin2);
+
+        // Check if new extremes sensor values
+        if (senseA[ptr] > _maxCh1)
+            _maxCh1 = senseA[ptr];
+        else if (senseA[ptr] < _minCh1)
+            _minCh1 = senseA[ptr];
+
+        if (senseB[ptr] > _maxCh2)
+            _maxCh2 = senseB[ptr];
+        else if (senseB[ptr] < _minCh2)
+            _minCh2 = senseB[ptr];
+
+        if (std_var(senseA, N) < epsilon && std_var(senseB, N) < epsilon)
+            endFound = true;
+
+        ptr = (ptr + 1) % N;
+
+        // Move to new position
+        currentPosition += step;
+        motor.move(currentPosition);
+        delay(3);
    }
+    _maxPositionEndValue = currentPosition - (step * (ptr > N ? N : ptr));
+    currentPosition = _maxPositionEndValue - M_PI / 16;
+    delay(100);
+    motor.move(currentPosition);
+    Serial.println("\t- Found first end stop : Max position = " + String(_maxPositionEndValue));
    delay(100);
-    for (float i = _maxPositionEndValue; i >= _minPositionEndValue; i = i - 0.005)
-    {
-        motor.move(i);
-        delay(1);
-        senseA = analogRead(_analogPin1);
-        senseB = analogRead(_analogPin2);
-        if (senseA > _maxCh1)
-            _maxCh1 = senseA;
-        else if (senseA < _minCh1)
-            _minCh1 = senseA;
-        if (senseB > _maxCh1)
-            _maxCh1 = senseB;
-        else if (senseB < _minCh2)
-            _minCh2 = senseB;
-    }

-    // Min offset with 50 values average
+    // Swipe motor to search other hard end, and find eventually new max analog values of sensors
+    endFound = false;
+
+    init_arr(senseA, N, 0);
+    init_arr(senseB, N, 0);
+    ptr = 0;
+
+    while (!endFound)
+    {
+        senseA[ptr] = analogRead(_analogPin1);
+        senseB[ptr] = analogRead(_analogPin2);
+
+        // Check if new extremes sensor values
+        if (senseA[ptr] > _maxCh1)
+            _maxCh1 = senseA[ptr];
+        else if (senseA[ptr] < _minCh1)
+            _minCh1 = senseA[ptr];
+
+        if (senseB[ptr] > _maxCh2)
+            _maxCh2 = senseB[ptr];
+        else if (senseB[ptr] < _minCh2)
+            _minCh2 = senseB[ptr];
+
+        if (std_var(senseA, N) < epsilon && std_var(senseB, N) < epsilon)
+            endFound = true;
+
+        ptr = (ptr + 1) % N;
+
+        // Move to new position
+        currentPosition -= step;
+        motor.move(currentPosition);
+        delay(3);
+    }
+    _minPositionEndValue = currentPosition + (step * (ptr > N ? N : ptr));
+    Serial.println("\t- Found second end stop : Min position = " + String(_minPositionEndValue));
+    delay(100);
+
+    // Set min offset with 50 values average
    float sum = 0.0;
+    _offset = 0.0;
    for (uint8_t i = 0; i <= 49; i++)
-    {
-        _offset = 0.0;
        sum += readSensorCallback();
-    }
-    _offset = -sum / 50.0;
+    _offset = sum / 50.0;

-    Serial.println("\n\rmaxA: " + String(_maxCh1) + "\tminA: " + String(_minCh1) + "\tmaxB: " + String(_maxCh2) + "\tminB: " + String(_minCh2));
-    Serial.println("Offset: " + String(_offset));
+    Serial.println("\t- maxA: " + String(_maxCh1) + "\tminA: " + String(_minCh1) + "\tmaxB: " + String(_maxCh2) + "\tminB: " + String(_minCh2));
+    Serial.println("\t- Offset: " + String(_offset));

-    // Detect max angle
-    for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.01)
+    // Read max angle
+    for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.0025)
    {
        motor.move(i);
        delay(1);
        _maxSensor = readSensorCallback();
    }
-    Serial.println("current motor angle: " + String(motor.electricalAngle()));
    delay(250);

-    // take average value of 50 values
+    // Set max take average value of 50 values
    sum = 0.0;
    for (uint8_t i = 0; i <= 49; i++)
        sum += readSensorCallback();
    _maxSensor = sum / 50.0;

-    Serial.println("Max sensor: " + String(_maxSensor));
+    Serial.println("\t- Max angle: " + String(_maxSensor));

-    // Recovering previous controller type and go in the middle
-    for (float i = _maxPositionEndValue; i >= _minPositionEndValue / 2.0; i = i - 0.01)
+    // Recovering previous controller type and go to 0
+    for (float i = _maxPositionEndValue; i >= (0); i = i - 0.005)
    {
        motor.move(i);
        delay(1);
@ -126,5 +225,10 @@ float LinearHallSensor::readSensorCallback()
    _estimatePosition += dist_angle(_currentPosition, _prevPosition);

    _prevPosition = _currentPosition;
-    return (_estimatePosition + _offset) / 4.0;
+    return (_estimatePosition / 4.0 - _offset);
 }
+
+float LinearHallSensor::getMaxAngle()
+{
+    return _maxSensor;
+}
--- a/src/linearHallSensor.h
+++ b/src/linearHallSensor.h
@ -15,10 +15,8 @@ class LinearHallSensor
         Linear Hall Sensor class constructor
        @param ch1 Analog pin for channel 1
        @param ch2 Analog pin for channel 2
-        @param minPos Minimum position in Openloop
-        @param maxPos Maximum position in Openloop
        */ 
-        LinearHallSensor(uint8_t ch1, uint8_t ch2, float minPos, float maxPos);
+        LinearHallSensor(uint8_t ch1, uint8_t ch2);


        /**
@ -36,6 +34,14 @@ class LinearHallSensor
        float readSensorCallbackStateMachine();

        float readSensorCallback();
+        
+        /**
+         * @brief retrun the max angle of the motor
+         * 
+         * @return max angle in rad  
+         */
+        float getMaxAngle();
+

    private:
        uint32_t _analogPin1; 
@ -51,7 +57,7 @@ class LinearHallSensor
        float _currentPosition;
        float _estimatePosition;    // current position + offset
        float _offset;              // offset angle measured at init
-        float _maxSensor;           // Max angle value measured (so command from 0 to that value)
+        float _maxSensor;           // Max range angle value measured (so command from 0 to that value)

        float _minPositionEndValue; // min pos in open loop mode
        float _maxPositionEndValue;
--- a/src/main.cpp
+++ b/src/main.cpp
@ -1,98 +1,176 @@
 #include <Arduino.h>
 #include <SimpleFOC.h>
 #include <linearHallSensor.h>
+#include <pinout.h>

-BLDCMotor motor = BLDCMotor(4);
-BLDCDriver3PWM driver = BLDCDriver3PWM(7, 8, 9);
+BLDCMotor motor[3] =
+    {
+        BLDCMotor(4),
+        BLDCMotor(4),
+        BLDCMotor(4)};

-LinearHallSensor linearSensor = LinearHallSensor(A0, A1, -0.75, 2.35);
+BLDCDriver3PWM driver[3] =
+    {
+        BLDCDriver3PWM(M1_PWM1, M1_PWM2, M1_PWM3),
+        BLDCDriver3PWM(M2_PWM1, M2_PWM2, M2_PWM3),
+        BLDCDriver3PWM(M3_PWM1, M3_PWM2, M3_PWM3)};

-void initSensor()
+LinearHallSensor linearSensor[3] =
+    {
+        LinearHallSensor(M1_Hall1, M1_Hall2),
+        LinearHallSensor(M2_Hall1, M2_Hall2),
+        LinearHallSensor(M3_Hall1, M3_Hall2)};
+
+void initSensor0()
 {
-  linearSensor.init(motor);
+    linearSensor[0].init(motor[0]);
+}
+float callback0()
+{
+    return linearSensor[0].readSensorCallback();
 }

-float callback()
+void initSensor1()
 {
-  return linearSensor.readSensorCallback();
+    linearSensor[1].init(motor[1]);
+}
+float callback1()
+{
+    return linearSensor[1].readSensorCallback();
 }

-GenericSensor sensor = GenericSensor(callback, initSensor);
+void initSensor2()
+{
+    linearSensor[2].init(motor[2]);
+}
+float callback2()
+{
+    return linearSensor[2].readSensorCallback();
+}

-float targetX = 0.0;
-float targetY = 0.0;
+GenericSensor sensor[3] =
+    {
+        GenericSensor(callback0, initSensor0),
+        GenericSensor(callback1, initSensor1),
+        GenericSensor(callback2, initSensor2)};

-float target = 0.0;
+float target[3] = {0.5, 0.5, 0.5};
+
+String str;

 void serialLoop()
 {
-  static String received_chars;
-  while (Serial.available())
-  {
-    char inChar = (char)Serial.read();
-    received_chars += inChar;
-    if (inChar == '\n')
+    static String received_chars;
+    while (Serial.available())
    {
-      target = received_chars.toFloat();
-      Serial.print("Target = ");
-      Serial.print(target);
-      received_chars = "";
+        char inChar = (char)Serial.read();
+        received_chars += inChar;
+        if (inChar == '\n')
+        {
+            target[0] = received_chars.toFloat();
+            Serial.print("Target = ");
+            Serial.print(target[0]);
+            received_chars = "";
+        }
    }
-  }
 }

 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
 {
-  return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
+    return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
+}
+
+void initMotor(u_int8_t m)
+{
+    Serial.printf("\n\t\t### MOTOR %d ###\n\n", m + 1);
+    driver[m].voltage_power_supply = 7.0;
+    driver[m].pwm_frequency = 50000;
+    Serial.printf("Driver%d init: %d\n", m + 1, driver[m].init());
+    motor[m].linkDriver(&driver[m]);
+    motor[m].useMonitoring(Serial);
+    motor[m].controller = MotionControlType::angle;
+    motor[m].foc_modulation = FOCModulationType::SinePWM;
+    motor[m].voltage_limit = 2.0;
+    motor[m].voltage_sensor_align = 2.0;
+    motor[m].PID_velocity.P = 0.05f;
+    motor[m].PID_velocity.I = 0.008;
+    motor[m].PID_velocity.D = 0.0;
+    motor[m].LPF_velocity.Tf = 0.02f;
+    motor[m].P_angle.P = 150.0;
+    motor[m].P_angle.I = 5.0;
+    motor[m].velocity_limit = 20;
+
+    // Init sensor
+    motor[m].init();
+    Serial.println("calibrating sensor in open loop...");
+    sensor[m].init();
+    Serial.printf("Sensor %d done\n", m + 1);
+
+    motor[m].linkSensor(&sensor[m]);
+    motor[m].init();
+    if (m == 2)
+        motor[m].initFOC(3.0, CW);
+    else if (m == 1)
+        motor[m].initFOC(3.79, CW);
+        // motor[m].initFOC();
+    else
+        motor[m].initFOC(0.18, CW);
+    Serial.printf("Motor %d Done\n", m + 1);
 }

 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);
+    Serial.begin(115200);
+    delay(3000);
+    Serial.println("INIT");

-  driver.voltage_power_supply = 6.0;
-  driver.init();
-  motor.linkDriver(&driver);
-  motor.useMonitoring(Serial);
-  motor.controller = MotionControlType::angle;
-  motor.foc_modulation = FOCModulationType::SinePWM;
-  motor.voltage_limit = 1.5;
-  motor.voltage_sensor_align = 0.8;
-  motor.PID_velocity.P = 0.075f;
-  motor.PID_velocity.I = 0.01;
-  motor.PID_velocity.D = 0.0;
-  motor.LPF_velocity.Tf = 0.01f;
-  motor.P_angle.P = 120.0;
-  motor.P_angle.I = 10.0;
-  motor.velocity_limit = 50;
+    pinMode(LED_BUILTIN, OUTPUT); // Lightup LED
+    digitalWrite(LED_BUILTIN, LOW);

-  motor.useMonitoring(Serial);
-
-  // Init sensor
-  motor.init();
-  Serial.println("calibrating sensor in open loop...");
-  sensor.init();
-  Serial.println("Done");
-  delay(1000);
-
-  motor.linkSensor(&sensor);
-  motor.init();
-  // motor.initFOC(5.48, CCW);
-  motor.initFOC();
+    motor[1].useMonitoring(Serial);
+    initMotor(2);
+    initMotor(1);
+    initMotor(0);
 }

 void loop()
 {
-  serialLoop();
-  motor.move(target);
-  motor.loopFOC();
-  motor.monitor();
+    int len = Serial.available();
+    if (len > 0)
+    {
+        str = Serial.readStringUntil('\n'); // get new targets from serial (target are from 0 to 1000)
+        char axis = str[0];
+        str.remove(0, 1);
+        str.remove(len,1);
+        switch (axis)
+        {
+        case 'X':
+            target[1] = str.toFloat();
+            // Serial.println("Target X: " + String(target[1]));
+            target[1] = mapfloat(target[1], 0.0, 1000.0, 0.0, linearSensor[1].getMaxAngle());   // remap targets to motor angles
+            break;
+        case 'Y':
+            target[0] = str.toFloat();
+            // Serial.println("Target Y: " + String(target[0]));
+            target[0] = mapfloat(target[0], 0.0, 1000.0, 0.0, linearSensor[0].getMaxAngle());   // remap targets to motor angles
+            break;
+        case 'Z':
+            target[2] = str.toFloat();
+            // Serial.println("Target Z: " + String(target[2]));
+            target[2] = mapfloat(target[2], 0.0, 1000.0, 0.0, linearSensor[2].getMaxAngle());   // remap targets to motor angles
+            break;
+        default:
+            break;
+        }
+    }
+
+    for (u_int8_t i = 0; i < 3; i++) // update motor target and Run FOC
+    {
+        
+        // serialLoop();
+        // Serial.println("Target" + String(i) + ": " + String(target[i]));
+        motor[i].move(target[i]);
+        motor[i].loopFOC();
+        // motor[i].monitor();
+    }
 }
--- a/src/pinout.h
+++ b/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 PA10
+#define M1_PWM2 PA9
+#define M1_PWM3 PA8
+#define M1_Fault PB12
+#define M1_Hall1 PB1
+#define M1_Hall2 PA5
+
+#define M2_PWM1 PB9
+#define M2_PWM2 PB8
+#define M2_PWM3 PB7
+#define M2_Fault PB10
+#define M2_Hall1 PA4
+#define M2_Hall2 PA3
+
+#define M3_PWM1 PB0
+#define M3_PWM2 PA7
+#define M3_PWM3 PA6
+#define M3_Fault PA0
+#define M3_Hall1 PA2
+#define M3_Hall2 PA1
+
+#endif