Mainboard

The mainboards with a STM32F103RCT6/STM32F103RET6 or a GD32F103RCT6 should be supported by this firmware. For the reverse-engineered schematics of the mainboard, see 20150722_hoverboard_sch.pdf.

Some boards have 6 wires on the hall sensors cable, with an additional white wire. For those you can use the alternate mapping by changing parameter BOARD_VARIANT in config.h ⚠️ The sideboard on the right hand side is powered with battery voltage on those boards⚠️

It could be that your mainboard was designed differently, please check if the pin mapping is matching with the one in this section.

:toolbox: Troubleshooting

• Motors are cogging/not running in a smooth way - please try to swap the phases. Usually, color-correct mapping (blue to blue, green to green, yellow to yellow) works fine. However, some hoverboards have a different layout then others, and this might be the reason your motor isn't spinning well. It could also be that a defective mosfet is not turning ON
• In speed mode, wheels are running at maximum speed - find the right mapping for hall sensors, firmware probably measures a speed with opposite sign
• With hovercar variant in torque mode, braking actually accelerates - find the right mapping for hall sensors, firmware probably measures a speed with opposite sign
• If you have a problem on a single motor, try to swap the motors to understand if the problem is coming from the board or the wheel. Some boards have a different phase mapping or current sensing on one the wheels (discussed here )

In general, if you have doubts about you mainboard's compatibility:

• Try sinusoidal control type with ADC variant first for your tests, this will prove phases/halls are mapped to the right pins
• Then try FOC control type and voltage mode with ADC variant, this will prove phase current sensing is also working fine, this is mandatory for FOC
• Then you can try FOC control type and Speed control mode with ADC variant, this will prove the phases/hall sensor sequence is correct and speed/direction measurement is accurate

Pin Mapping

This is the pin mapping this firmware is using, you might have to adapt it to your board variant in defines.h file

Name	PinBoard Variant 0	Alternate MappingBoard Variant 1	Comment
SWCLK	PA14		Used for programming
SWDIO	PA13		Used for programming
TX/ADC1/PWM	PA2		Left sensor cable
RX/ADC2/PWM/PPM/IBUS	PA3		Left sensor cable
TX/SCL/PWM	PB10		Right sensor cable
RX/SDA/PWM/PPM/IBUS	PB11		Right sensor cable
LED	PB2		Missing on some of the boards
BUZZER	PA4	PC13	Used for diagnostic beepsMissing on some of the boards
HALL LEFT U	PB5
HALL LEFT V	PB6
HALL LEFT W	PB7
HALL RIGHT U	PC10
HALL RIGHT V	PC11
HALL RIGHT W	PC12
PHASE LEFT U HIGH	PC6
PHASE LEFT U LOW	PA7
PHASE LEFT V HIGH	PC7
PHASE LEFT V LOW	PB0
PHASE LEFT W HIGH	PC8
PHASE LEFT W LOW	PB1
PHASE RIGHT U HIGH	PA8
PHASE RIGHT U LOW	PB13
PHASE RIGHT V HIGH	PA9
PHASE RIGHT V LOW	PB14
PHASE RIGHT W HIGH	PA10
PHASE RIGHT W LOW	PB15
LEFT_DC_CUR	PC0		Used to measure Left motor DC current with a 3.5mΩ or 2x7mΩ shuntsMissing on some of the boards, so no dc current limitation
LEFT_U_CUR	PA0		Used to measure phase current for FOC through low-side Mosfet RDSon as shunt resistor
LEFT_V_CUR	PC3		Used to measure phase current for FOC through low-side Mosfet RDSon as shunt resistor
RIGHT_DC_CUR	PC1		Used to measure Right motor DC current with a 3.5mΩ or 2x7mΩ shuntsMissing on some of the boards, so no dc current limitation
RIGHT_U_CUR	PC4		Used to measure phase current for FOC through low-side Mosfet RDSon as shunt resistor
RIGHT_V_CUR	PC5		Used to measure phase current for FOC through low-side Mosfet RDSon as shunt resistor
DCLINK	PC2	PA1	Used to measure Battery voltage with adc through a voltage divider
OFF	PA5	PC15	Used to maintain the latch on, released to power off
BUTTON	PA1	PB9	To power on/offTo trigger auto-calibrationTo set current and speed limits on the goTo change cable length on transpotter
CHARGER	PA12	PA11	Not used in the firmware at the moment

Other boards

Artery boards

Those boards are the cheapest and more common ones available on Aliexpress now, it has a AT32F403RCT6 or AT32F413RCT7 chip, but is not compatible with FOC firmware. Please check following firmware for AT32F403RCT6 and AT32F413RCT7.

Splitboards

For split boards with a STM32F130C8T6, GD32F130C8T6 or GD32F130C6T6 chip, please check following Firmware.

For split boards with a GD32F103C8T6, please check following Firmware

For split boards with a MM32SPIN05/06/25, please check following Firmware

For split boards with a GD32F130K6 chip, please check the progress on following repository.