Features• Up to three-axis Gimbal controller.• Compact (50 x 50 mm) design, suitable for mounting on:

– drones– handheld cameras

• Three STSPIN233 low voltage three phase and three sense motor drivers.• STM32F303RE microcontroller with ARM® Cortex®-M4 core able to

simultaneously drive three PMSM motors:– MCU runs a high efficiency field oriented control (FOC) algorithm

compatible with the most common position sensors on Gimbal motors(PWM or analogic inputs)

– compatible with open loop sensorless algorithm• Operating voltage from 6.0 V to 8.4 V (2 LiPo batteries).

– maximum output current 1.3 ARMS.• Protection mechanisms:

– triple single shunt current sensing network– non-dissipative overcurrent protection– short-circuit protection– thermal shutdown– hardware overvoltage and polarity inversion protection

• Measurement units:– on-board inertial measurement unit LSM6DSL (frame IMU)– compatible with external SPI/I2C inertial measurement units (camera IMU)

• Interfaces:– STEVAL-UKI001V1 Serial Wire Debug (SWD) board with cable– USB connector for real-time data communication– three connectors for Pitch, Roll and Tilt axis target angle inputs (PWM

mode)– one channel DAC output and one GPIO test point for debugging purpose

• 2 Kbit serial I²C bus EEPROM for data storage• WEEE and RoHS compliant

DescriptionThe STEVAL-GMBL02V1 reference design kit is a complete triple motor field-oriented control (FOC) demonstration and evaluation platform as well as an integrated environment for three axis Gimbal controller applications in the 6.0 V to 8.4 VDC bus voltage range (2 LiPo batteries), which you can increase up to 11 V with a maximum output current of 1.3 A for each motor drive.

The design features the STM32F303RE microcontroller with ARM® Cortex®-M4 32-bit core and the STSPIN233 low voltage three phase and three sense motor driver.

The kit is equipped with a USB interface for real-time data exchange and includes an STEVAL-UKI001V1 ST-LINK adapter for serial wire debug (SWD) and corresponding cable. If you mount the STEVAL-UKI001V1 on the ST-LINK/V2-1 debugging section

Product summary

Reference design kitfor Gimbal controller

STEVAL-GMBL02V1

Mixed signal MCUARM Cortex-M4 corewith DSP and FPU

STM32F303RE

Low voltage threephase and threesense motor driver

STSPIN233

Reference design kit for Gimbal controller for drones and handheld applications

STEVAL-GMBL02V1

Data brief

DB3710 - Rev 2 - October 2018For further information contact your local STMicroelectronics sales office.

www.st.com

of an STM32 Nucleo-64 board, you can program and debug the STM32F303REmicrocontroller with a compatible toolset via USB.

1.1 STEVAL-GMBL01V1 controller board schematic diagrams

Figure 1. STEVAL-GMBL01V1 schematic - interfaces

VOUT

PB13

PA2

PB9

PA14

EXT_IMU_SPI3

100K

R22K2

R13

U5V

BATT_MINUS

PC3

100nF

PA13

PC12

PB6

PC10

5

PA8

10K_1206

Vout

CN8

PC8

PC6

100nF

C1

D2_

26

D2_

1

Remote Controller Inputs

47K

PB7

PA[0..15]

123

PB15

Vin3

47K

PA3SMAJ8.5CA

R11

PC10

+3V3

U5V

PB13

3 PA14

+3V3PB5

S23

PC5

C4

NRST

PB15

STS8DN3LLH5_SO8

NRST

DM

10uF 25V

R8

1uF X5R 0603

9

CN9

PC7

STPS2L30A

R121

21

100nF

R9

PA7

CN3

PB[0..15]

5075BMR-05-SM

PA12

10uF 16V

C7

PB3

123

+3V3

NRST

G2

4

+5V

4

PB8

PA6

GN

D2

C6

PA13

+3V3

2

4

U3

2GND

USBLC6-4SC6

123

TP2

PB8

22E

PC4

USBDM 3

CN14

PC9

PA4

LD1

PC4

6VIN

+3V3

PA11

PA8

VBATT

+3V3

D1_

28

D1_

1

C2

+3V3

PC11

PC14

7

BS170F_SOT23

D3

PC2

CN5

PG3

USB_VCC 2DP

123

U1

5001

2

PB0

1234567

+

-

Motor Sensors

PC1

D1 LD39050PU33R

EN1C3

PB7

R1

PB10

DM

PC0

+

PD2

8

I/O4

3

BATT1uF X5R

S11

+3V3

22E

CN13

G1

2

1

R10

LED_RED_0603

PA11

PC12

1

PA0

10K_1206

TP1

CN1

1

PA15

PC5

PA10

+

PB2

123

PC4

Q1

PB4

PA5

PA5

Q2

STPS2L30A

50 mils 10-pin Header

6

I/O1

PC15

C5

PB14

I/O24

I/O3

PB1

R3

PA12

PC[0..15]

U5V NC5

22E

1K5

PB12

PA1D2

PC5

CN2

PB10

U2

2K2

PC13

PA9

123

PB6

CN10

PB2

7

+3V3

USB_GND 6

R4

GN

D1

DP

7

10

R5

PB11

PB25001

PB9

PA15

GN

D

5VB

US

CN11

PC11

+3V3

USBDP5

6

PD2

LD1117S50TR2

0603

5

SHELL

ID4

STEVAL-GMBL02V1STEVAL-GMBL01V1 controller board schematic diagrams

DB3710 - Rev 2 page 2/7

Figure 2. STEVAL-GMBL01V1 schematic – MCU, IMU sensor, EEPROM

NRST

PA2

5SDA

9INT2SCx

3

PC1

PA7

100nF

STM32F303RET6 LD2

PC3

1VB

AT

+3V3

PA12

PD2PD2

PC0

PC4

PB5

24

PC525

PA15

100K

47VS

S_2

16

PA317

PB10

PA1346

7

PF1_OSC_OUT

nRST

11

100nF

R15

C11

PA356PB355

PC[0..15]

4INT1

PB4

100nF 100nF

R18

U4

+3V3

PA4

GN

D1

7G

ND

2

PB12

NRST

62PB8

X1

42 PA8

22

PA7

PB1334

PA8

PB15

VDD

A13

PC7

20pF

PD2

PB026

PF0_OSC_IN

6

10NC2

18VS

S_4

4K7

PA9

PA4

5

C13

C17

560E

PC15

PB7

PA0

2

41

PC9

PB2

14

8VDD

PB3

U6R16

53 PC11

M24C02-RMN6TP_SO8VSS

4

PC6

32 48VD

D_2

PA13

VDD

IO6

PA521

VSSA

12

SW1

PA[0..15]

100nF

R21

PA1043

8MHz+3V3

PB6

PA9

PA1550

C18

C15

VDD

_3

+3V3

60BO

OT0

CS

E01

L1

54

PC12

PB1536

WC

PB5

PC9

45 PA1144

VDD

_419

22E

100nF

U5

PA420

PC12PC11

PB[0..15]

PB127

PC14_OSC32_IN4

PA14

PA9

PB9

LED_BLUE_0603

4K7

PC8

PA5

PA1449

PB7 61

10K

52 PC1051

12SC

L

SCL6

VSS_

1

VDD

_1

LSM6DSL

1SDO

RESET

R17100nF

PA11

PC13

PC10

PB1130

PB8

PB13

PC13_ANTI_TAMP3

PB0

PB1435

20pF

PA6 58PB5

PC15_OSC32_OUT

5

PD2

E12

PB433

+3V3

PC210

28

PB1029

PA12

PA0_WKUPPA1

PC08

C9

PA10

15

PA2

PC14

31

PB3

R14

100nF

R19

PB1

C14

59PB6

C12

13SD

I14

57PB4

PC637

7

PC311

NRST

PB12

BEAD

4K7

PA1

+3V3

E23

C16

39 PC738

NC1

9PC1

PA7

8VCC

PB2

100nF

PB14

40 PC8

PA6

PC5

PC2

C8

2SDx

C10

64

VSS_

363

PB9

PA10

23

PC4

PB11

STEVAL-GMBL02V1STEVAL-GMBL01V1 controller board schematic diagrams

DB3710 - Rev 2 page 3/7

Figure 3. STEVAL-GMBL01V1 schematic – motor control

SEN

SEW

C22

PC[0..15]

3

PA9

OUTW

PA3

PA2

+3V3

PC15

PC11YAW

+3V3

R35

C25

13

7OUTV

22µF 20V

R25

PC15

ROLL

PB13

PC4

10K

PA[0..15]

PITCH

U8

STSPIN233

INU1

OUTU

PB14

PC1

4ST

BY/R

ST

+

INV

C30

M1

PA12

C32

PB3

PC7

PC9

INV15

PC3

SEN

SEV

9

PB11

18K

EN/OC

RSH2

PC13

OUTW10

PB1

C33

SEN

SEW

SEN

SEU

VS5

PB7

ENU2

10nF

PB15

14PC2

3OUTU

C24PB10

PC14

C31

1E 0.5W

R39

3K

OUTW

C21

PC7

PC12

PB12

+

22µF 20V

R37

R24 100E

3K

123

SEN

SEV

9

PB2

C29

10nF

16

U7

STSPIN233

INU1

RSH3PB14

PC1

Place close to MCU

Place close to MCU

SEN

SEV

9

VBATT

OUTU

INW

4

PA6

R341K

VBATT

PC6PC8

1E 0.5W

STBY

/RST

10nF

M3

10nF

PA10

6G

ND

R33

10

INW

PB5

ENV

PC0

C28

N.M.

N.M.

R32

C27

15

ENV

8

10K

PA4

SEN

SEU

VS5

+3V3

10nF

PB4

PC6

PA11

+3V3

PC13

R38

18K

R30 100E

TAB

17

U9

STSPIN233

INU1

11

ENW12

PC0

18K

PB0

11

ENW12

PA13PA14

PC3

N.M.

R29

2ENU

PB64

10K

PC10

PC14

M2

PA0

18K

C26

PB0

PB9

6G

ND

PA15

R36100E

RSH1

8

10

INW

PC2

1E 0.5W

13EN/OC

PA3

PC8

3K

C34

INV

3

PA1

123

R2615

ENV

123

+3V3

22µF 20V

R31

C23

SEN

SEW

R23

14ST

BY/R

ST

+3V3

+3V3

11

ENW12

R401K

PC5

18KC20

7OUTV

ENU2

PA7

PB[0..15]

7OUTV

14

GN

D6

PC9

PA2

SEN

SEU

VS5

16

10nF

R2710nF

PA5

TAB

17

EN/OC13

PA1

18K

16

10nF

PB11

VBATT

TAB

17

R28 1K

8PB8

+3V3

PA0

+

PA8

10nF

+3V3

STEVAL-GMBL02V1STEVAL-GMBL01V1 controller board schematic diagrams

DB3710 - Rev 2 page 4/7

1.2 STEVAL-UKI001V1 adapter board schematic diagram

Figure 4. STEVAL-UKI001V1 schematic

VDD_TARGET

SWCLK

3

USR_BTN

VDD_TARGETSWCLK

CN13

4

SWOSWO_RS232_RX

SWDIO

4-pin Male Header

5

100 mils 20-pin Header

CN2_1

8

miniswitch-KMR211GLFSUSR_BTN

NRST

590

Not Mounted

JP1

2

3-pin Male Header

6 SWO_RS232_RX

4

2

GND

C1 1-pin Male Header

6SWCLK

CN2_2

Fit on STM32 Nucleo board

GN

D

RST

SWO

3

1

SW1

2

18

RS232_TX

5

7

C2

2-pin Female Header

ST_LINK_RX

GND

SWO

1

USR_LED

1

14

miniswitch-KMR211GLFS

4-pi

n Fe

mal

e H

eade

r

20

mounted on TOP

mounted on TOP

mounted on BOTTOM

SW2

10 to 20 pin Serial Wire Debug (SWD) adapter

J22

31

17

1

8

GNDVDD_TARGET

CN14

11

CN2_4

10

100nF

CN2

2

CN2_3

SWDIO

1

J3

CN3

LED (Yellow)

6-pin Female Header

NRST

3

CN2_3

9

USR_BTN

1

ST_LINK_3V3

ST_LINK_RX

2-pin Male Header

NRST

4

6

CN4

2

2-pi

n Fe

mal

e H

eade

r

2-pi

n Fe

mal

e H

eade

r

ST_LINK_TX

3

9

CN15

USR_LED

NRST

CN2_2

2

16

SWDIO

ST_LINK_3V3

CN2_1

D1

1

3

100nF

10

2-pin Male Header

R1

CN2_4

1

CN12

1213

ST_LINK_TX

45

1

15

JP2

GND2

50 mils 10-pin Header

2

closed 2-3

J1

Not Mounted

closed

VDD_TARGET

GND

4

RS232_TX

7

19

STEVAL-GMBL02V1STEVAL-UKI001V1 adapter board schematic diagram

DB3710 - Rev 2 page 5/7

Revision history

Table 1. Document revision history

Date Version Changes

20-Aug-2018 1 Initial release.

18-Oct-2018 2 Updated cover image.

STEVAL-GMBL02V1

DB3710 - Rev 2 page 6/7

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STEVAL-GMBL02V1

DB3710 - Rev 2 page 7/7