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Merge branch 'dev_blackpill' into 'main'

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Dev blackpill

See merge request imia/dji-gimbal-foc!1
This commit is contained in:
RENAUD Lucien 2022-11-08 14:32:56 +00:00
commit c2faec0432
39 changed files with 21323 additions and 116818 deletions
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3
.gitignore vendored
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%MOMM*%
%LPD*%
G01*
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%MOMM*%
%LPD*%
G01*
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%MOMM*%
%LPD*%
G01*
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%TA.AperFunction,Profile*%
%ADD10C,0.250000*%
%TD*%
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Kicad/STM32_DJI_Gimbal/Gerber/STM32_DJI_Gimbal-F_Cu.gbr
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%MOMM*%
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G01*
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G04 Aperture macros list*
%AMRoundRect*
0 Rectangle with rounded corners*
0 $1 Rounding radius*
0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners*
0 Add a 4 corners polygon primitive as box body*
4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
0 Add four circle primitives for the rounded corners*
1,1,$1+$1,$2,$3*
1,1,$1+$1,$4,$5*
1,1,$1+$1,$6,$7*
1,1,$1+$1,$8,$9*
0 Add four rect primitives between the rounded corners*
20,1,$1+$1,$2,$3,$4,$5,0*
20,1,$1+$1,$4,$5,$6,$7,0*
20,1,$1+$1,$6,$7,$8,$9,0*
20,1,$1+$1,$8,$9,$2,$3,0*%
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Continuous
62
7
370
25
100
AcDbLine
10
16.0
20
-31.3038475773
30
0.0
11
16.0
21
-20.5591901454
31
0.0
0
LINE
5
A8
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbLine
10
20.0717967697
20
-35.9641016151
30
0.0
11
18.0
21
-34.7679491924
31
0.0
0
LINE
5
A9
330
1F
@ -2261,15 +2201,15 @@ Continuous
100
AcDbLine
10
24.0
16.0
20
-36.5
-29.5717967697
30
0.0
11
22.0717967697
16.0
21
-36.5
-20.5591901454
31
0.0
0
@ -2289,6 +2229,36 @@ Continuous
370
25
100
AcDbLine
10
23.3305466007
20
-36.1134908997
30
0.0
11
18.0
21
-33.0358983849
31
0.0
0
LINE
5
AB
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbLine
10
26.0
@ -2305,36 +2275,6 @@ AcDbLine
0
LINE
5
AB
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbLine
10
19.5
20
-46.0
30
0.0
11
19.5
21
-40.0
31
0.0
0
LINE
5
AC
330
1F
@ -2351,15 +2291,15 @@ Continuous
100
AcDbLine
10
17.5
19.5
20
-40.0
-45.5
30
0.0
11
17.5
19.5
21
-46.0
-40.5
31
0.0
0
@ -2381,15 +2321,15 @@ Continuous
100
AcDbLine
10
-1.5
17.5
20
-40.5
30
0.0
11
-11.5
17.5
21
-40.5
-45.5
31
0.0
0
@ -2411,15 +2351,15 @@ Continuous
100
AcDbLine
10
-11.5
2.5
20
-40.5
-46.5
30
0.0
11
-11.5
2.5
21
-43.0
-41.5
31
0.0
0
@ -2441,15 +2381,15 @@ Continuous
100
AcDbLine
10
-11.5
0.5
20
-43.0
-41.5
30
0.0
11
-1.5
0.5
21
-43.0
-46.5
31
0.0
0
@ -2471,13 +2411,103 @@ Continuous
100
AcDbLine
10
-1.5
15.0
20
-40.5
30
0.0
11
5.0
21
-40.5
31
0.0
0
LINE
5
B1
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbLine
10
5.0
20
-40.5
30
0.0
11
5.0
21
-43.0
31
0.0
0
LINE
5
B2
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbLine
10
5.0
20
-43.0
30
0.0
11
-1.5
15.0
21
-43.0
31
0.0
0
LINE
5
B3
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbLine
10
15.0
20
-43.0
30
0.0
11
15.0
21
-40.5
31
@ -2485,7 +2515,7 @@ AcDbLine
0
ARC
5
B1
B4
330
1F
100
@ -2517,39 +2547,7 @@ AcDbArc
0
ARC
5
B2
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbCircle
10
-6.3205080757
20
-39.5
30
0.0
40
9.999999999999883
100
AcDbArc
50
241.0602926965
51
270.0
0
ARC
5
B3
B5
330
1F
100
@ -2567,21 +2565,21 @@ AcDbCircle
10
-6.0
20
-39.6850454238
-39.5
30
0.0
40
10.0
9.999999999999972
100
AcDbArc
50
180.0
51
238.9397073035
270.0
0
ARC
5
B4
B6
330
1F
100
@ -2613,7 +2611,7 @@ AcDbArc
0
ARC
5
B5
B7
330
1F
100
@ -2645,7 +2643,7 @@ AcDbArc
0
ARC
5
B6
B8
330
1F
100
@ -2677,7 +2675,7 @@ AcDbArc
0
ARC
5
B7
B9
330
1F
100
@ -2709,7 +2707,7 @@ AcDbArc
0
ARC
5
B8
BA
330
1F
100
@ -2741,7 +2739,7 @@ AcDbArc
0
ARC
5
B9
BB
330
1F
100
@ -2763,7 +2761,7 @@ AcDbCircle
30
0.0
40
2.999999999999979
2.999999999999986
100
AcDbArc
50
@ -2773,7 +2771,7 @@ AcDbArc
0
ARC
5
BA
BC
330
1F
100
@ -2795,7 +2793,7 @@ AcDbCircle
30
0.0
40
3.000000000000005
3.0
100
AcDbArc
50
@ -2805,7 +2803,7 @@ AcDbArc
0
ARC
5
BB
BD
330
1F
100
@ -2827,7 +2825,7 @@ AcDbCircle
30
0.0
40
3.000000000000007
2.999999999999996
100
AcDbArc
50
@ -2837,7 +2835,7 @@ AcDbArc
0
ARC
5
BC
BE
330
1F
100
@ -2859,7 +2857,7 @@ AcDbCircle
30
0.0
40
2.999999999999986
2.999999999999982
100
AcDbArc
50
@ -2869,7 +2867,7 @@ AcDbArc
0
ARC
5
BD
BF
330
1F
100
@ -2901,7 +2899,7 @@ AcDbArc
0
ARC
5
BE
C0
330
1F
100
@ -2933,7 +2931,7 @@ AcDbArc
0
ARC
5
BF
C1
330
1F
100
@ -2965,7 +2963,7 @@ AcDbArc
0
ARC
5
C0
C2
330
1F
100
@ -2997,7 +2995,7 @@ AcDbArc
0
ARC
5
C1
C3
330
1F
100
@ -3029,7 +3027,7 @@ AcDbArc
0
ARC
5
C2
C4
330
1F
100
@ -3047,11 +3045,11 @@ AcDbCircle
10
20.0
20
-31.3038475773
-29.5717967697
30
0.0
40
4.000000000000004
3.999999999999989
100
AcDbArc
50
@ -3061,7 +3059,7 @@ AcDbArc
0
ARC
5
C3
C5
330
1F
100
@ -3077,23 +3075,23 @@ Continuous
100
AcDbCircle
10
22.0717967697
25.3305466007
20
-32.5
-32.6493892846
30
0.0
40
3.999999999999886
3.999999999999445
100
AcDbArc
50
240.0
51
270.0
257.1877039013
0
ARC
5
C4
C6
330
1F
100
@ -3115,17 +3113,17 @@ AcDbCircle
30
0.0
40
2.000000000000004
2.000000000000007
100
AcDbArc
50
0.0
51
90.0
77.1877039013
0
ARC
5
C5
C7
330
1F
100
@ -3143,7 +3141,7 @@ AcDbCircle
10
18.5
20
-40.0
-40.5
30
0.0
40
@ -3157,7 +3155,7 @@ AcDbArc
0
ARC
5
C6
C8
330
1F
100
@ -3175,12 +3173,76 @@ AcDbCircle
10
18.5
20
-46.0
-45.5
30
0.0
40
1.0
100
AcDbArc
50
180.0
51
0.0
0
ARC
5
C9
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbCircle
10
1.5
20
-41.5
30
0.0
40
1.000000000000001
100
AcDbArc
50
0.0
51
180.0
0
ARC
5
CA
330
1F
100
AcDbEntity
8
0
6
Continuous
62
7
370
25
100
AcDbCircle
10
1.5
20
-46.5
30
0.0
40
1.000000000000002
100
AcDbArc
50
180.0
@ -3229,7 +3291,7 @@ ACAD_SCALELIST
3
DWGPROPS
350
C7
CB
0
DICTIONARY
5
@ -3485,7 +3547,7 @@ D2
0
XRECORD
5
C7
CB
102
{ACAD_REACTORS
330
@ -3537,9 +3599,9 @@ lurenaud
40
0.0
41
2459786.606055359
2459860.637997477
42
2459786.60609397
2459860.638054873
1
90

81
Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.csv
View File

@ -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

Can't render this file because it has a wrong number of fields in line 7.

22757
Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_pcb
View File

File diff suppressed because it is too large Load Diff

6
Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_prl
View File

@ -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",

1
Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_pro
View File

@ -381,7 +381,6 @@
"microvia_drill": 0.1,
"name": "Power",
"nets": [
"+3V3",
"+5V"
],
"pcb_color": "rgba(0, 0, 0, 0.000)",

1944
Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.kicad_sch
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668
Kicad/STM32_DJI_Gimbal/STM32_DJI_Gimbal.xml
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Kicad/STM32_DJI_Gimbal/bom/ibom.html
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Kicad/STM32_DJI_Gimbal/fp-info-cache
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1
Kicad/STM32_DJI_Gimbal/fp-lib-table
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@ -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 ""))
)

4
README.md
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@ -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

98
docs/LinearHallEncoder.md
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@ -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;
}
```

18
platformio.ini
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@ -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

43
pythonGUI/gimbal_gui.py Normal file
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@ -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)

149
pythonGUI/joystickTest.py Normal file
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@ -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()

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requirements.txt Normal file
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212
src/linearHallSensor.cpp
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@ -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;
}

14
src/linearHallSensor.h
View File

@ -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);
/**
@ -37,6 +35,14 @@ class LinearHallSensor
float readSensorCallback();
/**
* @brief retrun the max angle of the motor
*
* @return max angle in rad
*/
float getMaxAngle();
private:
uint32_t _analogPin1;
uint32_t _analogPin2;
@ -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;

206
src/main.cpp
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@ -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();
}
}

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src/pinout.h Normal file
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#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