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Apr 13, 2013, 03:22 PM
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evvaldis's Avatar
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Build Log

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

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 ) FREE Altium Designer Viewer

Update Apr 29, 2013
Added 3axis altium files. (EvvGC )
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


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
Last edited by evvaldis; Jul 21, 2013 at 03:18 AM.
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Apr 14, 2013, 07:58 AM
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evvaldis's Avatar
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EvvGC v1.2 PCB connection diagram

Firmware Loading over USART1.
1.Install "Flash Loader Demonstrator"
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)
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!!

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.
Last edited by evvaldis; Jul 20, 2013 at 07:27 AM.
Apr 14, 2013, 09:16 AM
Registered User
that looks really nice
Apr 14, 2013, 10:32 AM
Registered User
Uzsisakau is anksto
Apr 14, 2013, 12:37 PM
Registered User
Ir aš užsisakau įmanoma jį kaipm nors gražiai prilipdyti prie TBS discovery?
Apr 14, 2013, 02:02 PM
FPV from Lithuania
vipix's Avatar
Originally Posted by Senkone
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...
Apr 14, 2013, 02:13 PM
Registered User
Būtų gerai daugiau informacijos, kokie ten tie varikliai ir kaip juos sujungti, visa kita manau padaroma
Apr 14, 2013, 02:47 PM
Registered User
I like the idea of using mosfets instead of the L6234, I also like the idea of using a faster processor.
Apr 14, 2013, 03:13 PM
Registered User
Su varikliai kaip nors savom jegom. Svarbu controlleris. Vis dar uzsisakau

(Sorry for a non-english conversation )
Apr 14, 2013, 03:19 PM
FPV from Lithuania
vipix's Avatar
This project is for do-it-yourself. There is no commercional purpose and stuff to buy.
Make yours by hand and go to fly
Apr 15, 2013, 11:04 AM
Registered User
So how are you doing the fusion of accelerometer and gyro? Are you using Kalman filtering?
Apr 18, 2013, 01:16 PM
g0t rabb1t?
ABLomas's Avatar
Any news? When we could see source code? ;-)
Apr 19, 2013, 02:32 AM
Plane and multirotor's - FPV
DrEvil's Avatar
interesting :-)
Apr 22, 2013, 10:33 PM
Registered User
Any updates?
Apr 23, 2013, 01:06 AM
Registered User
evvaldis: if you have some code to share i would love to take a look.

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