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Added xyControl Page

Thomas Buck 11 lat temu
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70 zmienionych plików z 353 dodań i 2 usunięć
  1. 95
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      input/projects/xycontrol.md
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      output/xycontrol.html
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  67. BIN
      static/img/xycontrol1.jpg
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      static/img/xycontrol1_small.jpg
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input/projects/xycontrol.md Wyświetl plik

@@ -0,0 +1,95 @@
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+title: xyControl
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+title_de: xyControl
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+description: AVR base Quadrocopter Flight Controller
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+menu-position: 23
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+comments: true
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+flattr: true
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+github: https://github.com/xythobuz/xyControl
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+twitter: xythobuz
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+reddit: true
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+print: true
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+---
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+
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+![Logo][logo]
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+
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+[xyControl][gh] is a Quadrocopter Flight Controller based on Atmels Atmega2560 microcontroller.
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+It features 512KB SRAM on-board, using the external memory interface of this processor.
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+Also included is a switched power supply as well as a USB connection to communicate with and program the target.
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+All I/O pins, including 3 additional UARTs, SPI, I2C (TWI) and 16 ADC Channels, are accessible via standard 2.54mm connectors.
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+The Board can be powered from an external stable 5V supply, USB or 7V or more, via the on-board switched power supply. All voltage sources can be selected via jumpers.
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+
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+[![Screenshot][sss]][ss]
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+[![Photo 1][xy1s]][xy1]
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+[![Photo 2][xy2s]][xy2]
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+
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+## Flight Control Software Flow
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+
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+Three tasks are controlling the Quadrocopter Orientation in Space.
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+
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++ The Orientation Task reads the Gyroscope and Accelerometer and calculates the current Roll and Pitch angles. They are stored in the global struct "orientation".
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++ The PID Task is then feeding these angles into two PID controllers. Their output is then used by...
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++ The Set Task, which calculates the motor speeds and gives them to...
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++ The motor task, which sends the new values via TWI to the motor controllers.
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+
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+# Supported Hardware
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+
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++ Gyroscope L3GD20, code based on the [Adafruit Example][adafruit].
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++ Accelerometer and Magnetometer LSM303DLHC, code based on the [Pololu Example][pololucode].
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++ I got both of these Sensors on the [MinIMU-9 v2][pololu].
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++ Brushless Motor Driver [BL-Ctrl V1.2][ctrl] with eg. the [Robbe Roxxy Outrunner 2824-34][mot] Brushless Motor.
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++ BTM-222 Bluetooth UART Bridge ([PCB][bt])
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+
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+## External Memory (xmem.h)
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+
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+The external memory consists of a 512Kx8 SRAM, bank-switched onto the 16bit avr address space.
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+This gives us 8 memory banks, consisting of 56KB. All memory from 0x0000 to 0x21FF is the AVRs internal memory. The memory banks are switched into 0x2200 to 0xFFFF.
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+This gives us 8 banks with 56KB each, resulting in 448KB external RAM.
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+
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+The data and bss memory sections, as well as the Stack are located in the internal RAM. The external RAM is used only for dynamically allocated memory.
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+
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+## Orientation Calculation (orientation.h)
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+
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+Calculates the current angles of the platform, using Gyroscope and Accelerometer Data with a Kalman Filter. It is using this slightly modified [Kalman Filter Implementation][kalman] by Linus Helgesson.
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+
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+# PC and Android Tools
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+
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+You can find some PC Software in the 'tools' directory. Each one should be accompanied by it's own Readme file.
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+
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+## UART-Flight Status Packet Format
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+
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+    printf("t%.2f %.2f %.2f\n", kp, ki, kd);
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+    printf("u%.2f %.2f\n", pid_output[1], pid_output[0]); // Pitch, Roll
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+    printf("v%i %i %i %i\n", motorSpeed[0], ..., motorSpeed[3]);
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+    printf("w%.2f\n", orientation.pitch);
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+    printf("x%.2f\n", orientation.roll);
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+    printf("y%.2f\n", orientation.yaw);
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+    printf("z%.2f\n", getVoltage());
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+
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+# Software used
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+
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+ + [Peter Fleurys TWI Library][fleury]
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+
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+# License
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+
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+Peter Fleurys TWI Library (twi.c & twi.h) is released under the [GNU GPL license][gpl].
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+
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+Everything else is released under a BSD-Style license. See the [accompanying COPYING file][bsd].
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+
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+ [sss]: img/xyCopterOsci_small.png
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+ [ss]: img/xyCopterOsci.png
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+ [xy1s]: img/xycontrol1_small.jpg
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+ [xy1]: img/xycontrol1.jpg
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+ [xy2s]: img/xycontrol2_small.jpg
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+ [xy2]: img/xycontrol2.jpg
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+ [gh]: https://www.github.com/xythobuz/xyControl/
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+ [logo]: http://www.xythobuz.de/xycontrol/logo.png
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+ [adafruit]: https://github.com/adafruit/Adafruit_L3GD20
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+ [pololucode]: https://github.com/pololu/LSM303
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+ [pololu]: http://www.pololu.com/catalog/product/1268
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+ [ctrl]: http://www.mikrokopter.de/ucwiki/en/BL-Ctrl_V1.2
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+ [mot]: http://www.conrad.de/ce/de/product/231867
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+ [bt]: http://xythobuz.org/index.php?p=bt
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+ [kalman]: http://www.linushelgesson.se/2012/04/pitch-and-roll-estimating-kalman-filter-for-stabilizing-quadrocopters/
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+ [fleury]: http://homepage.hispeed.ch/peterfleury/avr-software.html
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+ [gpl]: http://www.gnu.org/licenses/gpl.html
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+ [bsd]: https://github.com/xythobuz/xyControl/blob/master/COPYING

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output/2012_12_05_xycontrol.html Wyświetl plik

@@ -78,6 +78,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
79 79
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
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 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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output/2012_12_16_mun.html Wyświetl plik

@@ -79,6 +79,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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80 80
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
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 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
83 84
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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output/2012_12_22_docking.html Wyświetl plik

@@ -79,6 +79,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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80 80
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
81 81
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
83 84
 <li><a href="/serialdebug.html">Serial Debug</a></li>
84 85
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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@@ -80,6 +80,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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81 81
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
82 82
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
84 85
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
83 83
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
85 86
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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output/2013_01_20_quadrocopter.html Wyświetl plik

@@ -87,6 +87,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
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 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
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 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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output/2013_02_11_motor_test.html Wyświetl plik

@@ -81,6 +81,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
82 82
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
83 83
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
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 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
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 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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@@ -78,6 +78,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
79 79
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
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 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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80 80
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
81 81
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
81 81
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
82 82
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
83 84
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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81 81
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
82 82
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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79 79
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80 80
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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82 82
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
83 83
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
84 85
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
85 86
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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@@ -78,6 +78,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
79 79
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
80 80
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
81
+<li><a href="/xycontrol.html">xyControl</a></li>
81 82
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
82 83
 <li><a href="/serialdebug.html">Serial Debug</a></li>
83 84
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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@@ -78,6 +78,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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79 79
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
80 80
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
81
+<li><a href="/xycontrol.html">xyControl</a></li>
81 82
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
82 83
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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63 63
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64 64
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+<li><a href="/xycontrol.html">xyControl</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
67 68
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92
+<li><a href="/xycontrol.html">xyControl</a></li>
92 93
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
93 94
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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113 113
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
114 114
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
115 116
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
116 117
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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113 113
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
114 114
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
115 116
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
116 117
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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 </url>
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 <url>
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+    <loc>http://www.xythobuz.de/xycontrol.html</loc>
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+    <lastmod>2013-05-05</lastmod>
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+    <changefreq>monthly</changefreq>
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+    <priority>0.5</priority>
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+</url>
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+
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+<url>
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     <loc>http://www.xythobuz.de/yasab.de.html</loc>
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     <lastmod>2013-05-05</lastmod>
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     <changefreq>monthly</changefreq>

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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
85 85
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
86 86
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
87
+<li><a href="/xycontrol.html">xyControl</a></li>
87 88
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
88 89
 <li><a href="/serialdebug.html">Serial Debug</a></li>
89 90
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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85 85
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
86 86
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
87
+<li><a href="/xycontrol.html">xyControl</a></li>
87 88
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
88 89
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
178 178
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
179 179
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
180 181
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
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 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
180 180
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
181 181
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
182
+<li><a href="/xycontrol.html">xyControl</a></li>
182 183
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
183 184
 <li><a href="/serialdebug.html">Serial Debug</a></li>
184 185
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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+<!DOCTYPE html>
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+<html>
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+<head>
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+    <meta charset="utf-8" />
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+    <title>xyControl - xythobuz.de</title>
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+    <meta name="description" content="AVR base Quadrocopter Flight Controller" />
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+    <meta name="keywords" content="xythobuz" />
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+    <link rel="author" href="/xythobuz@xythobuz.de">
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+    <link rel="shortcut icon" href="/img/favicon.ico">
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+    <script type="text/javascript" src="/js/sh_main.js"></script>
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+    <link type="text/css" rel="stylesheet" href="/css/sh_bright.min.css" />
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+    <link rel="stylesheet" href="/css/style.css" type="text/css" media="screen" />
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+    <link rel="alternate" type="application/rss+xml" title="Blog" href="/rss.xml">
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+    <link rel="stylesheet" href="/css/gh-fork-ribbon.css" />
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+    <link href='http://fonts.googleapis.com/css?family=Droid+Sans:400,700' rel='stylesheet' type='text/css'>
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+    <script type='text/javascript'>
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+/* <![CDATA[ */
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+(function() {
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+var s = document.createElement('script');
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+var t = document.getElementsByTagName('script')[0];
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+s.type = 'text/javascript';
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+s.async = true;
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+s.src = '//api.flattr.com/js/0.6/load.js?mode=auto&uid=xythobuz&category=text';
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+t.parentNode.insertBefore(s, t);
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+})();
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+/* ]]> */
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+</script>
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+</head>
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+<body onload="sh_highlightDocument('/js/sh/', '.min.js');">
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+    <div class="github-fork-ribbon-wrapper right">
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+<div class="github-fork-ribbon"><a href="
32
+https://github.com/xythobuz/xyControl
33
+">Fork me on GitHub</a></div></div>
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+    <div id="header">
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+        <h1>xythobuz.de</h1>
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+        <h2>xyControl</h2>
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+    </div>
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+    
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+    <div class="colmask leftmenu"><div class="colleft">
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+        <div class="content">
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+
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+            <p><img alt="Logo" src="http://www.xythobuz.de/xycontrol/logo.png" /></p>
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+<p><a href="https://www.github.com/xythobuz/xyControl/">xyControl</a> is a Quadrocopter Flight Controller based on Atmels Atmega2560 microcontroller.
44
+It features 512KB SRAM on-board, using the external memory interface of this processor.
45
+Also included is a switched power supply as well as a USB connection to communicate with and program the target.
46
+All I/O pins, including 3 additional UARTs, SPI, I2C (TWI) and 16 ADC Channels, are accessible via standard 2.54mm connectors.
47
+The Board can be powered from an external stable 5V supply, USB or 7V or more, via the on-board switched power supply. All voltage sources can be selected via jumpers.</p>
48
+<p><a href="/img/xyCopterOsci.png"><img alt="Screenshot" src="/img/xyCopterOsci_small.png" /></a>
49
+<a href="/img/xycontrol1.jpg"><img alt="Photo 1" src="/img/xycontrol1_small.jpg" /></a>
50
+<a href="/img/xycontrol2.jpg"><img alt="Photo 2" src="/img/xycontrol2_small.jpg" /></a></p>
51
+<h2>Flight Control Software Flow</h2>
52
+<p>Three tasks are controlling the Quadrocopter Orientation in Space.</p>
53
+<ul>
54
+<li>The Orientation Task reads the Gyroscope and Accelerometer and calculates the current Roll and Pitch angles. They are stored in the global struct "orientation".</li>
55
+<li>The PID Task is then feeding these angles into two PID controllers. Their output is then used by...</li>
56
+<li>The Set Task, which calculates the motor speeds and gives them to...</li>
57
+<li>The motor task, which sends the new values via TWI to the motor controllers.</li>
58
+</ul>
59
+<h1>Supported Hardware</h1>
60
+<ul>
61
+<li>Gyroscope L3GD20, code based on the <a href="https://github.com/adafruit/Adafruit_L3GD20">Adafruit Example</a>.</li>
62
+<li>Accelerometer and Magnetometer LSM303DLHC, code based on the <a href="https://github.com/pololu/LSM303">Pololu Example</a>.</li>
63
+<li>I got both of these Sensors on the <a href="http://www.pololu.com/catalog/product/1268">MinIMU-9 v2</a>.</li>
64
+<li>Brushless Motor Driver <a href="http://www.mikrokopter.de/ucwiki/en/BL-Ctrl_V1.2">BL-Ctrl V1.2</a> with eg. the <a href="http://www.conrad.de/ce/de/product/231867">Robbe Roxxy Outrunner 2824-34</a> Brushless Motor.</li>
65
+<li>BTM-222 Bluetooth UART Bridge (<a href="http://xythobuz.org/index.php?p=bt">PCB</a>)</li>
66
+</ul>
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+<h2>External Memory (xmem.h)</h2>
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+<p>The external memory consists of a 512Kx8 SRAM, bank-switched onto the 16bit avr address space.
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+This gives us 8 memory banks, consisting of 56KB. All memory from 0x0000 to 0x21FF is the AVRs internal memory. The memory banks are switched into 0x2200 to 0xFFFF.
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+This gives us 8 banks with 56KB each, resulting in 448KB external RAM.</p>
71
+<p>The data and bss memory sections, as well as the Stack are located in the internal RAM. The external RAM is used only for dynamically allocated memory.</p>
72
+<h2>Orientation Calculation (orientation.h)</h2>
73
+<p>Calculates the current angles of the platform, using Gyroscope and Accelerometer Data with a Kalman Filter. It is using this slightly modified <a href="http://www.linushelgesson.se/2012/04/pitch-and-roll-estimating-kalman-filter-for-stabilizing-quadrocopters/">Kalman Filter Implementation</a> by Linus Helgesson.</p>
74
+<h1>PC and Android Tools</h1>
75
+<p>You can find some PC Software in the 'tools' directory. Each one should be accompanied by it's own Readme file.</p>
76
+<h2>UART-Flight Status Packet Format</h2>
77
+<pre><code>printf("t%.2f %.2f %.2f\n", kp, ki, kd);
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+printf("u%.2f %.2f\n", pid_output[1], pid_output[0]); // Pitch, Roll
79
+printf("v%i %i %i %i\n", motorSpeed[0], ..., motorSpeed[3]);
80
+printf("w%.2f\n", orientation.pitch);
81
+printf("x%.2f\n", orientation.roll);
82
+printf("y%.2f\n", orientation.yaw);
83
+printf("z%.2f\n", getVoltage());
84
+</code></pre>
85
+<h1>Software used</h1>
86
+<ul>
87
+<li><a href="http://homepage.hispeed.ch/peterfleury/avr-software.html">Peter Fleurys TWI Library</a></li>
88
+</ul>
89
+<h1>License</h1>
90
+<p>Peter Fleurys TWI Library (twi.c &amp; twi.h) is released under the <a href="http://www.gnu.org/licenses/gpl.html">GNU GPL license</a>.</p>
91
+<p>Everything else is released under a BSD-Style license. See the <a href="https://github.com/xythobuz/xyControl/blob/master/COPYING">accompanying COPYING file</a>.</p>
92
+
93
+            <span id="flattr">
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+<a class="FlattrButton" href="http://www.xythobuz.de/xycontrol.html" title="xyControl">AVR base Quadrocopter Flight Controller</a>
95
+</span>
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+<span id="twitter">
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+<a href="https://twitter.com/share" class="twitter-share-button" data-via="xythobuz" data-dnt="true" data-related="xythobuz" data-count="vertical">Tweet</a><script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0];if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src="//platform.twitter.com/widgets.js";fjs.parentNode.insertBefore(js,fjs);}}(document,"script","twitter-wjs");</script>
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+</span>
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+<span id="reddit">
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+<script type="text/javascript">reddit_url = "http://www.xythobuz.de/xycontrol.html";</script>
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+<script type="text/javascript" src="http://www.reddit.com/static/button/button2.js"></script>
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+</span>
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+<span id="github">
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+<a href="https://github.com/xythobuz/xyControl" class="gitforked-button gitforked-forks gitforked-watchers">Fork</a>
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+</span>
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+
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+        <div id="print"><script>var pfHeaderImgUrl = '';var pfHeaderTagline = '';var pfdisableClickToDel = 0;var pfHideImages = 0;var pfImageDisplayStyle = 'right';var pfDisablePDF = 0;var pfDisableEmail = 0;var pfDisablePrint = 0;var pfCustomCSS = '';var pfBtVersion='1';(function(){var js, pf;pf = document.createElement('script');pf.type = 'text/javascript';if('https:' == document.location.protocol){js='https://pf-cdn.printfriendly.com/ssl/main.js'}else{js='http://cdn.printfriendly.com/printfriendly.js'}pf.src=js;document.getElementsByTagName('head')[0].appendChild(pf)})();</script><a href="http://www.printfriendly.com" style="color:#6D9F00;text-decoration:none;" class="printfriendly" onclick="window.print();return false;" title="Printer Friendly and PDF"><img style="border:none;margin:0 6px"  src="https://pf-cdn.printfriendly.com/images/icons/pf-print-icon.gif" width="16" height="15" alt="Print Friendly Version of this page" />Print <img style="border:none;margin:0 6px"  src="https://pf-cdn.printfriendly.com/images/icons/pf-pdf-icon.gif" width="12" height="12" alt="Get a PDF version of this webpage" />PDF</a></div>
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+<div id="disqus_thread"></div>
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+<script type="text/javascript">
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+var disqus_shortname = "xythobuz";
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+(function() {
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+        </div>
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+        <div class="nav">
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+            <h3>Thomas Buck</h3>
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+
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+            <div id="logo"><img id="logoImg" src="http://www.gravatar.com/avatar/8d18fec40a74782052fb4c007d212475?s=180" alt="Avatar"></div>
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+
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+            <p id="bio">
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+                I'm a 19 year old Information Engineering student from Germany, mostly building cool stuff with AVR microcontrollers. All of my projects are released as <a href="http://www.gnu.org/philosophy/free-sw.html">Free Software</a> on my <a href="https://github.com/xythobuz">GitHub Profile</a>.
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+            </p>
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+            <ul id="menuList">
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+            <li><a href="/index.html">Home</a></li>
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+<li><a href="/blog.html">Blog</a></li>
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+<li>&nbsp;</li>
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+<li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
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+<li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
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+<li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
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+<li><a href="/avrserial.html">AVR Serial Library</a></li>
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+<li><a href="/serialdebug.html">Serial Debug</a></li>
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+<li><a href="/ledmatrix.html">LED Matrix</a></li>
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+<li><a href="/ssop28.html">SSOP28 - DIL Adapter</a></li>
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+<li><a href="/xyrobot.html">xyRobot</a></li>
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+<li><a href="/bluetooth.html">Bluetooth UART (BTM-222)</a></li>
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+<li><a href="/k6x4008.html">K6x4008 SRAM</a></li>
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+<li>&nbsp;</li>
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+<li><a href="/ultimatenotifier.html">Ultimate Notifier Script</a></li>
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+            <div id="recent">
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+                Recent blog posts:
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+                <ul id="recentList">
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+                <li class="recentList"><a href="/2013_05_05_debian.html">Debian Update</a></li><li class="recentDate">2013-05-05</li>
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+<li class="recentList"><a href="/2013_04_26_iphone_lens.html">iPhone Linse</a></li><li class="recentDate">2013-04-26</li>
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+<li class="recentList"><a href="/2013_04_24_bitrot.html">Softwareverrottung</a></li><li class="recentDate">2013-04-24</li>
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+<li class="recentList"><a href="/2013_04_23_pad.html">PCB Pads suck</a></li><li class="recentDate">2013-04-23</li>
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+<li class="recentList"><a href="/2013_04_19_ekstasie.html">Just Dance</a></li><li class="recentDate">2013-04-19</li>
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+                </ul>
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+    <img id="dude" alt="The Dude abides..." src="/img/dude.png">
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+        Built with <a href="http://bitbucket.org/obensonne/poole">Poole</a>
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@@ -104,6 +104,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
105 105
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
106 106
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
107
+<li><a href="/xycontrol.html">xyControl</a></li>
107 108
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
108 109
 <li><a href="/serialdebug.html">Serial Debug</a></li>
109 110
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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105 105
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
106 106
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
107
+<li><a href="/xycontrol.html">xyControl</a></li>
107 108
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
108 109
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
97 97
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
98 98
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
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+<li><a href="/xycontrol.html">xyControl</a></li>
99 100
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
100 101
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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 <li><a href="/ledmatrix.html">LED Matrix</a></li>

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97 97
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
98 98
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
99
+<li><a href="/xycontrol.html">xyControl</a></li>
99 100
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
100 101
 <li><a href="/serialdebug.html">Serial Debug</a></li>
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@@ -108,6 +108,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
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 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
109 109
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
110 110
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
111
+<li><a href="/xycontrol.html">xyControl</a></li>
111 112
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
112 113
 <li><a href="/serialdebug.html">Serial Debug</a></li>
113 114
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

+ 1
- 0
output/yasab.html Wyświetl plik

@@ -108,6 +108,7 @@ dsq.src = "http://" + disqus_shortname + ".disqus.com/embed.js";
108 108
 <li><a href="/ledcube.html">8x8x8 LED Cube</a></li>
109 109
 <li><a href="/yasab.html">YASAB AVR Bootloader</a></li>
110 110
 <li><a href="/avrnetstack.html">avrNetStack</a></li>
111
+<li><a href="/xycontrol.html">xyControl</a></li>
111 112
 <li><a href="/avrserial.html">AVR Serial Library</a></li>
112 113
 <li><a href="/serialdebug.html">Serial Debug</a></li>
113 114
 <li><a href="/ledmatrix.html">LED Matrix</a></li>

BIN
static/img/xycontrol1.jpg Wyświetl plik


BIN
static/img/xycontrol1_small.jpg Wyświetl plik


BIN
static/img/xycontrol2.jpg Wyświetl plik


BIN
static/img/xycontrol2_small.jpg Wyświetl plik


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