2-axis Gimbal Stabilizer

This project is an 2-axis gimbal stabilizer for Raspberry Pi 4B using custom MPU6050 Linux kernel driver and SG90 controller.

DEMO: https://youtu.be/aVimZLmbsr4

Cross-compile

1. Clone linux repo for rpi

   git clone https://github.com/raspberrypi/linux

2. Copy the arch and driver folder to linux repo

3. Start cross compile

   make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- bcm2711_defconfig
   make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- LOCALVERSION="-[customname]-raspi-" Image modules dtbs

4. Copy files to RPi

   You may need to insert RPi's SD card to your x86 computer and mount it.

   sudo cp arch/arm64/boot/Image /media/[username]/bootfs/kernel-[custom_name].img
   sudo cp arch/arm64/boot/dts/broadcom/*.dtb /media/[username]/bootfs/
   sudo cp arch/arm64/boot/dts/overlays/*.dtb* /media/[username]/bootfs/overlays
   sudo env PATH=$PATH make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- M=drivers/char/ml-mpu6050 INSTALL_MOD_PATH=/media/[username]/rootfs modules_install

Run

1. Circuit

   

2. Run the main code

   gcc -o gimbal gimbal.c -lpigpio -lrt -lm