Added xyControl Page

input/projects/xycontrol.md

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

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+<div class="github-fork-ribbon"><a href="
+https://github.com/xythobuz/xyControl
+">Fork me on GitHub</a></div></div>
+    <div id="header">
+        <h1>xythobuz.de</h1>
+        <h2>xyControl</h2>
+    </div>
+    
+    <div class="colmask leftmenu"><div class="colleft">
+        <div class="content">
+
+            <p><img alt="Logo" src="http://www.xythobuz.de/xycontrol/logo.png" /></p>
+<p><a href="https://www.github.com/xythobuz/xyControl/">xyControl</a> is a Quadrocopter Flight Controller based on Atmels Atmega2560 microcontroller.
+It features 512KB SRAM on-board, using the external memory interface of this processor.
+Also included is a switched power supply as well as a USB connection to communicate with and program the target.
+All I/O pins, including 3 additional UARTs, SPI, I2C (TWI) and 16 ADC Channels, are accessible via standard 2.54mm connectors.
+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>
+<p><a href="/img/xyCopterOsci.png"><img alt="Screenshot" src="/img/xyCopterOsci_small.png" /></a>
+<a href="/img/xycontrol1.jpg"><img alt="Photo 1" src="/img/xycontrol1_small.jpg" /></a>
+<a href="/img/xycontrol2.jpg"><img alt="Photo 2" src="/img/xycontrol2_small.jpg" /></a></p>
+<h2>Flight Control Software Flow</h2>
+<p>Three tasks are controlling the Quadrocopter Orientation in Space.</p>
+<ul>
+<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>
+<li>The PID Task is then feeding these angles into two PID controllers. Their output is then used by...</li>
+<li>The Set Task, which calculates the motor speeds and gives them to...</li>
+<li>The motor task, which sends the new values via TWI to the motor controllers.</li>
+</ul>
+<h1>Supported Hardware</h1>
+<ul>
+<li>Gyroscope L3GD20, code based on the <a href="https://github.com/adafruit/Adafruit_L3GD20">Adafruit Example</a>.</li>
+<li>Accelerometer and Magnetometer LSM303DLHC, code based on the <a href="https://github.com/pololu/LSM303">Pololu Example</a>.</li>
+<li>I got both of these Sensors on the <a href="http://www.pololu.com/catalog/product/1268">MinIMU-9 v2</a>.</li>
+<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>
+<li>BTM-222 Bluetooth UART Bridge (<a href="http://xythobuz.org/index.php?p=bt">PCB</a>)</li>
+</ul>
+<h2>External Memory (xmem.h)</h2>
+<p>The external memory consists of a 512Kx8 SRAM, bank-switched onto the 16bit avr address space.
+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.
+This gives us 8 banks with 56KB each, resulting in 448KB external RAM.</p>
+<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>
+<h2>Orientation Calculation (orientation.h)</h2>
+<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>
+<h1>PC and Android Tools</h1>
+<p>You can find some PC Software in the 'tools' directory. Each one should be accompanied by it's own Readme file.</p>
+<h2>UART-Flight Status Packet Format</h2>
+<pre><code>printf("t%.2f %.2f %.2f\n", kp, ki, kd);
+printf("u%.2f %.2f\n", pid_output[1], pid_output[0]); // Pitch, Roll
+printf("v%i %i %i %i\n", motorSpeed[0], ..., motorSpeed[3]);
+printf("w%.2f\n", orientation.pitch);
+printf("x%.2f\n", orientation.roll);
+printf("y%.2f\n", orientation.yaw);
+printf("z%.2f\n", getVoltage());
+</code></pre>
+<h1>Software used</h1>
+<ul>
+<li><a href="http://homepage.hispeed.ch/peterfleury/avr-software.html">Peter Fleurys TWI Library</a></li>
+</ul>
+<h1>License</h1>
+<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>
+<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>
+
+            <span id="flattr">
+<a class="FlattrButton" href="http://www.xythobuz.de/xycontrol.html" title="xyControl">AVR base Quadrocopter Flight Controller</a>
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+<a href="https://github.com/xythobuz/xyControl" class="gitforked-button gitforked-forks gitforked-watchers">Fork</a>
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+            <h3>Thomas Buck</h3>
+
+            <div id="logo"><img id="logoImg" src="http://www.gravatar.com/avatar/8d18fec40a74782052fb4c007d212475?s=180" alt="Avatar"></div>
+
+            <p id="bio">
+                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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+<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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