The STSW-GMBL02V1 firmware for the STEVAL-GMBL02V1 reference kit runs in the on-board STM32 microcontroller and is able to drive three motors in field-oriented control, to decode the three position sensor signals coming from the motors and implement an accurate position control algorithm regulating the camera orientation.
The firmware decodes simultaneously two different inertial measurement unit (Camera IMU and Frame IMU) to get the current orientation of the camera and of the frame where the board is mounted, respectively.
The STSW-GMBL02V1 GUI is able to communicate with the board via USB sending commands and getting feedbacks from the firmware. The GUI also reads the Camera and Frame IMU angle information, starts or stops the Gimbal control and changes the PID regulators for pitch, roll and yaw axes.
Any setting modified in the GUI can be then stored in the board EEPROM non-volatile memory. The GUI can program the auto-start feature to control the Gimbal, when the board is no more connected with the GUI, and restore the factory settings.