BLDC gimbal and FOC controller

 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 crossed on out1 and out2.Not sure why, could be for motor diection.

The IIC port has level shifter, to connect to 3V IIC device.6050 is most case.


Board2: HMBGC_V1.01 (This is what I found on the back of PCB)

or known as Alexmos gimbal. what I have on hand is very similar to the one posted here: https://www.rcgroups.com/forums/showthread.php?2061960-HMBGC-Micro-Brushless-Gimbal-Controller

in some pic on net, it's also marked as 2.2


This site still provide firmware for 328P: 
https://www.basecamelectronics.com/downloads/8bit/
it seems there were few firmware options: 
Alexmos2.2 
German BruGi_050
Russian2.2
There is no schematic found, to most seems to take10A peak, so 4A is still ok.
the recommend motor:Brushless Gimbal Motor BGM 2208 70T KV90



Board 3:
it looks like thi sone, with BGC V3.15 on the back.
I think this one is the same as board2, in the category of basecom 8 bytes board.

simpleFOC has examples these boards.

the trick is to connect a encoder on it.
Here is an example with these gimbal board.
https://docs.simplefoc.com/gimbal_velocity_example










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