Segway Hoverboard with GD32F103

[freedomlives]

I have searched all over the web and can't find anyone having used an alternative firmware on this board. MCU is under the green stickers (photo taken before their removal). Is there a tutorial how to find my way around the firmware, and I've used PlatformIO for ESP32/Arduino stuff, can I use it for this firmware, or do I need to use Keil (which I'm not familiar with)? Thanks!

[RoboDurden]

These are two boards for two Segwaysy, yes ?
If it indeed has a gd32f103 on board, the EFeru FOC firmware should fit on it.
This Gen2.x here only controls one motor.

You should be able to trace the 2x 6 mosfet outputs manualy (multimeter diode tester beeping when a mcu pin is found) easily with the 2x three dual-mosfet sot8 driver chips.
Same for the 2x three hall input pins.

If you have the set of 6 mosfet outputs, you could also install my autodetect f103 binary (watch my rtt tutorial on youtube) and autodetect the hall pins (plus current_dc plus vbatt).
See defines_2-ad.h, where you would have to update the 6 mosfet pins.

For EFeru FOC, you will need 2x 2-3 phase currents. These are analog inputs coming from an OP chip operational amplifier.
Maybe these sot14 chips:

Mosfet output pins are very limited due to the advanced timer 0/1. So you likey will get the same mosfet pins as EFeru firmware.

And as always, always only test with a 2A constant current power supply (or the 1.5A charger).

EFeru and my Gen2.x support PlatformIO.

[RoboDurden]

But if you have a full Segway miniPro, switching to a non-balancing firmware is a waste of good hardware.

[freedomlives]

But if you have a full Segway miniPro, switching to a non-balancing firmware is a waste of good hardware.

Before my friend (whose project it actually is) took them apart, I didn't see the upright part. And they are now all taken apart and motors mounted onto the frame he made.

Thanks for the advice on how to go about checking the board and where in the firmware I need to change things. If I get it to work, I'll write it up here.