Open Island

 I have had few boards for BLDC gimbal on hand. As time goes by, I don't really remember what version they are. board1: Martinez V3 http://itsqv.com/QVM/index.php?title=How_To_-_Martinez_Brushless_Gimbal_Controller_Set-Up#Board_Identification There are dicussion on RC group: https://www.rcgroups.com/forums/showthread.php?1901828-Martinez-board-Open-source-brushless-gimbal-HELP-THREAD And the document is store here: https://code.google.com/archive/p/brushless-gimbal/downloads and migrated to :  https://sourceforge.net/projects/brushless-gimbal-brugi check out the schematic This board has a 4A on board SMD fuse, and 2 L6234, 3 half bridges, peak 5A Both T1 and T2 are always enabled(enable pins are tied to 5V) T1_in_1 connect to PWM1(digital3 of 328p) T1_in_2 connect to PWM2(digital5 of 328p) T1_in_3 connect to PWM3(digital6 of 328p) T2_in_1 connect to PWM4(digita9 of 328p) T2_in_2 connect to PWM5(digital10 of 328p) T2_in_3 connect to PWM6(digital11 of 328p) on T1, the motor wire are

 Here is the thing I purchased in Taobao it's a modified version of simple FOC with esp32,It comes with info on git: https://github.com/ToanTech/Deng-s-foc-controller and a chinese colone of git:  https://gitee.com/ream_d/Deng-s-foc-controller the programing is based on: Arduino IDE 1.8.13 SimpleFOC Library 2.1.1 ESP32 Arduino Libiary 1.0.4   Dong also provide a zip file for the set: https://github.com/ToanTech/Deng-s-foc-controller/tree/master/Arduino%20IDE%20for%20Deng%20FOC but I think it's better to install yourself. Dong also provided schematic, but in Json format, it's a format supported by easyEDA The schematic: U2 is a esp32:  ESP32开发板 lolin32 lite base on the schematic IIC pins for encoder: SCL0:18 SDA_0: 19                                            SCL1:5   SDA_1: 23 Pins for motor drive L6234: motor0: M0_EN        :22      M0_IN1       :32 M0_IN2       :33 M0_IN3       :25 motor1: M1_EN       :12 M1_IN1      :26 M1_IN2      :27 M1_IN3      :14 pins for current s

From a ebike forum: This one adding hall sensors to outrunner Turnigy C8085-170 from out side. https://endless-sphere.com/forums/viewtopic.php?f=30&t=15686 But for big motors, put sensor inside is better. placing hall sensors between slots: https://endless-sphere.com/forums/viewtopic.php?f=28&t=12768&start=60#p225084 calculation http://mitrocketscience.blogspot.com/2011/08/hall-effect-sensor-placement-for.html Legend: edeg : electrical degrees erot: electrical rotation. 1 erot = 360 edeg mdeg : mechanical degrees mrot: mechanical rotation. 1 mrot = 360 mdeg pp : number of magnet pole  pairs .  1 pp = 2 magnets (1 north, 1 south)  s : number of slots (in the stator) Equation 1:       (360 mdeg /  pp ) =  n  mdeg per erot = n  mdeg per 360 edeg  a motor controller that requires  120  edeg  hall effect sensor placement . You need to find the number of mdeg per 120 edeg. So you just divide the above equation by 3. equation 2:     (360 mdeg / 3* pp ) =  m  mdeg per 120 edeg. For