- CAN bus provides more reliable and error free connection compared to the I2C, not limited in length. CAN bus is supported in "Extended" and "Pro" versions of SBGC32 controller.
- I2C port compatible with the regular SBGC32 IMU cable and all SBGC32 controllers.
- EEPROM to store calibration data.
- New 6-axis sensor ICM20608 from InveSense has better performance compared to the old MPU-6050.
- Additional I2C and UART interfaces for the external device connectivity (to be used in future versions of firmware).
- Compact size. Mounting holes are compatible with the old SBGC32 IMU. Optional box.
For proper functionality of CAN IMU, you need the firmware version 2.61b2 or above.
|Size of the board||25×25 mm|
|Distance between the mounting holes||14.2 mm|
|Diameter of the mounting holes||3 mm|
- Here you can
specify the type
of external device
Reserved for future use.
- Here you can set the type of IMU sensor:
main by default or frame if soldered.
- CAN-bus terminator.
Solder this contact
pads if IMU is
the last connected
device on a bus.
Do not solder it for
- EEPROM write
pads. Solder them
- Here you can connect external device or sensor.
Reserved for future use.
CAN IMU Firmware v.1.21 (22Kb 5.07.2018)
- Add a support of ICM-20602 sensor
- Minor bugfixes
CAN IMU Firmware v.1.1 (21Kb 26.11.2016)
- Fixed the critical issue with the accidental spin of all motors at startup 1
How to upgrade firmware
To upgrade a firmware in the CAN module, connect module by CAN interface to the board, connect the board to a PC and run SimpleBGC32 GUI. It's better to not connect a battery.
- Go to "Upgrade" tab, open "Connected modules" tab. Press the "Refresh" button to load information about modules.
- Select a required module from the list. GUI will show current hardware, firmware and bootloader versions for each module (excepting GUI prior to 2.62: it shows hardware and bootloader version only).
- Browse for the file containing new firmware. Be careful, flashing improper file will make the device "bricked" and it will be hard to make it alive.
- Press "Flash" button to write firmware.
- Reconnect USB to restart gimbal controller and let him see changes.
- Connect GUI and repeat steps 2, 3 to check that new firmware is working and whole system operates normally.
Information regarding upgrading firmware over I2C interface will be available later.
1 If sensor is connected by the I2C interface, for 100% compatibility it is required to upgrade firmware in the main controller to version 2.61b9 and above.
The first revision of this module has a problem: when it is connected by the long cable (about 1m or longer) there is a risk to burn out internal 3.3V voltage regulator when connector is plugged into powered board, or when the main power is turning ON/OFF. The reason is transient voltage on the +5V line. To fix this problem, a Zenner diode BZT52C5V6T should be installed (replacing a capacitor C8 or in parallel to it) as shown on pictures below: