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        Build Log EvvGC 3/2axis Brushless Gimbal Controller (Open Source)

#1 evvaldis Apr 13, 2013 03:22 PM

EvvGC 3/2axis Brushless Gimbal Controller (Open Source)
6 Attachment(s)
Hello All!
I started experimenting with brushless motors for gimbals few month ago, before that I was testing steppers and dc motors(you can find some videos in my YouTube channel), and now would like to share my experience by making open source controller.

EvvGC is simple 3/2axis, open source brushless gimbal controller based on STM32 and MPU6050. All components are widely available on eBay, Farnell and other stores. STM32F103RC was chosen because it is cheap, has enough processing power even for complex algorithms, and enough timers and other peripheral for 3axis control. Controller uses mosfets instead of L6234. This allows to use small, light weight mosfets(sot23, sot363) for gopro controllers, and bigger mosfets(so8, D2PAK) for DSLR's, RED's and other big cameras. Source code is written with KEIL, which has demo version with 32kB of code limitation. Now ~20kB is used, so there is some space left for improvements. ST's Standard peripheral drivers uses most of the space, therefore low level coding for i2c, timers, uart should reduce code size if needed. Other software could be used, but KEIL is simple to use, and I would like to keep this project as simple as possible. I am not software developer, so code is quite ugly, it is more like draft for further development, also STM32 is quite new for me, but code works and performs quite well;)
My goal is to create simple, but flexible, high performance 2/3axis gimbal controller for cameras from gopro to dslr and bigger.
Here is some test videos of 2 and 3 axis stabilization:
STM32 Based 2 axis Brushless Gopro Gimbal (0 min 19 sec)

evvgc AutoPan test (1 min 18 sec)

Update Apr 28, 2013
Added 3axis altium files. (EvvGC v1.1.zip ) FREE Altium Designer Viewer

Update Apr 29, 2013
Added 3axis altium files. (EvvGC v1.2.zip )
AUX1 port is connected to PC3 and PC12 (it makes AUX1 port more flexible)
AUX2 port is connected to PC2 and PD2 (it makes AUX2 port more flexible)

Update May 03, 2013
Added EvvGC v1.2 Gerber files for iteadstudio

Update May 06, 2013
Added GUI v0.1 and FW_0.2 :)

Update June 21, 2013
Added GUI v0.3B

YOU CAN BUY COMPLETE PCB FROM http://shop.myairbot.com/index.php/e...troller-5.html

Currently, AirBot and J&K Group is the only manufacture and store that carries authorized EvvGC controller.

EvvGC software and schematic is free to use, but developing requires many hours of work. So if you like this project, don't be shy to support further development;) https://www.paypal.com/en_US/i/btn/btn_donate_SM.gif

#2 evvaldis Apr 14, 2013 07:58 AM

EvvGC v1.2 PCB connection diagram

Firmware Loading over USART1.
1.Install "Flash Loader Demonstrator" http://www.st.com/web/en/catalog/tools/PF257525
2.Disconnect all motors and power supply(battery) from controller.
3.Put Jumper on BOOT0 and NRST
4.Connect "USB To COM" converter to USART1 port(CP2102 board has 3,3v output, and it is cheap) http://www.ebay.com/itm/170946368201...84.m1497.l2649
5.Connect converter to USB and open "Flash Loader Demonstrator"
6.Remove NRST jumper.
7.Select your COM port and BR=9600>Next>Next>Next>Select HEX file from project directory>Next
8.If successful, disconnect USART1, connect motors and supply.

Use FW03preB or newer!! http://www.rcgroups.com/forums/showa...5&d=1371285319

Yaw AutoPan Potentiometer

MPU6050 Orientation

About MOSFETs burning problem on PCB v1.2.
Looks like mosfets sometimes burns even if GPIO is configured immediately after power on.
Current solution for this is to add 1-3,3K resistors on BSS123.

#3 edge0xc Apr 14, 2013 09:16 AM

that looks really nice :)

#4 JustasM Apr 14, 2013 10:32 AM

Uzsisakau is anksto :)

#5 Senkone Apr 14, 2013 12:37 PM

Ir aš užsisakau :) įmanoma jį kaipm nors gražiai prilipdyti prie TBS discovery?

#6 vipix Apr 14, 2013 02:02 PM


Originally Posted by Senkone (Post 24719146)
Ir aš užsisakau :) įmanoma jį kaipm nors gražiai prilipdyti prie TBS discovery?

Čia tik nuo tavęs priklauso.
Čia parodyta tik kontrolerio plokštė, iki gimbalo dar daug ko trūksta...

#7 Senkone Apr 14, 2013 02:13 PM

Būtų gerai daugiau informacijos, kokie ten tie varikliai ir kaip juos sujungti, visa kita manau padaroma

#8 Tom Frisch Apr 14, 2013 02:47 PM

I like the idea of using mosfets instead of the L6234, I also like the idea of using a faster processor.

#9 JustasM Apr 14, 2013 03:13 PM

Su varikliai kaip nors savom jegom. Svarbu controlleris. Vis dar uzsisakau :)

(Sorry for a non-english conversation:) )

#10 vipix Apr 14, 2013 03:19 PM

This project is for do-it-yourself. There is no commercional purpose and stuff to buy.
Make yours by hand and go to fly :)

#11 Tom Frisch Apr 15, 2013 11:04 AM

So how are you doing the fusion of accelerometer and gyro? Are you using Kalman filtering?

#12 ABLomas Apr 18, 2013 01:16 PM

Any news? When we could see source code? ;-)

#13 DrEvil Apr 19, 2013 02:32 AM

interesting :-)

#14 natious Apr 22, 2013 10:33 PM

Any updates?

#15 nicodh Apr 23, 2013 01:06 AM

evvaldis: if you have some code to share i would love to take a look.

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