Avem/README.md

# Avem :bird:
[![Build Status](https://travis-ci.org/but0n/Avem.png)](https://travis-ci.org/but0n/Avem)  [![License](https://img.shields.io/github/license/but0n/Avem.svg)](#)  [![Releases](https://img.shields.io/github/release/but0n/Avem.svg)](https://github.com/but0n/Avem/releases)  [![platform](https://img.shields.io/badge/platform-MacOS%20%7C%20Linux-orange.svg)](#)


![](docs/images/PF.png)

[UAV] - [STM32F103] - 6 Axes sensor MPU6050 - Quaternion &amp; Euler Angles Compute - PID Controller

[Detials & Videos](http://bbs.5imx.com/forum.php?mod=viewthread&tid=1227960&extra=page%3D1)

Terminal demo
![](docs/images/HUD.PNG)

# GPIO List

MPU6050 			| BLDC 				| Wi-Fi 				| GPS
:----:				|:----:				|:----: 				|:---:
**`SCL`** PB15		|**`Channel 1`** PA6|**`USART3_TX`** PB10	|*TBD*
**`SDA`** PB14		|**`Channel 2`** PA7|**`USART3_RX`** PB11	|*TBD*
					|**`Channel 3`** PB0| | |
					|**`Channel 4`** PB1| | |


# To-do list

- [x] Software **I2C**
- [x] Init **MPU6050**
- [x] Get 3 axes `Gryo` and 3 axes `Accel` data from MPU6050
- [x] Cumpute Quaternion and **Euler** Angles
- [x] **PWM** output
- [x] Driving motors with **L9110S**
- [x] **PID** Control
- [x] Schematic
- [x] PCB Layout
- [x] Brushless DC motor-[Video via YouTube](https://youtu.be/iHYVgTmxoSw)
- [ ] **Wi-Fi**(`ESP8266`)
- [x] [Cascade PID control](https://github.com/but0n/Avem/blob/master/docs/README.md)
- [x] FreeRTOS
- [ ] TCP/IP Socket connect with host
- [ ] PID debug
- [ ] **GPS**
- [ ] 3D print or CNC cut

----

# Hardware

## PCB Layout
Front

![](docs/images/PCB/layoutF.png)

Back

![](docs/images/PCB/layoutB.png)

## 3D Moudle

![](docs/images/PCB/demoV2.png)

## Schematic

![](docs/images/pcb.png)

[More details](docs/)
:boom:update README 2016-08-11 11:49:46 +08:00			`# Avem :bird:`
fix: (shields) 2017-03-19 11:59:23 +08:00			`[![Build Status](https://travis-ci.org/but0n/Avem.png)](https://travis-ci.org/but0n/Avem) [![License](https://img.shields.io/github/license/but0n/Avem.svg)](#) [![Releases](https://img.shields.io/github/release/but0n/Avem.svg)](https://github.com/but0n/Avem/releases) [![platform](https://img.shields.io/badge/platform-MacOS%20%7C%20Linux-orange.svg)](#)`
doc: Add shields and images 2017-02-15 11:52:44 +08:00
Test Travis 2016-08-14 16:01:44 +08:00
[MOD]: Make it Simpler 2016-12-10 15:53:08 +08:00			`![](docs/images/PF.png)`
MOD: Add image of project framework 2016-09-08 19:31:17 +08:00
Initial commit 2016-08-10 23:31:28 +08:00			`[UAV] - [STM32F103] - 6 Axes sensor MPU6050 - Quaternion & Euler Angles Compute - PID Controller`
:boom:update README 2016-08-11 11:45:51 +08:00
[MOD]: Add 'Details & Videos' Label 2016-10-05 22:11:48 +08:00			`[Detials & Videos](http://bbs.5imx.com/forum.php?mod=viewthread&tid=1227960&extra=page%3D1)`
[MOD]: 4 Channels PWM 2016-09-30 23:31:15 +08:00
doc: Add shields and images 2017-02-15 11:52:44 +08:00			`Terminal demo`
			`![](docs/images/HUD.PNG)`

MOD:Rename Title 2016-09-07 21:42:24 +08:00			`# GPIO List`
Add todolist:smirk: 2016-08-15 00:57:32 +08:00
[MOD]: Make it Simpler 2016-12-10 15:53:08 +08:00			`MPU6050 \| BLDC \| Wi-Fi \| GPS`
			`:----: \|:----: \|:----: \|:---:`
			`SCL` PB15 \|`Channel 1` PA6\|`USART3_TX` PB10 \|TBD
[STYLE]: GPIO map 2016-12-13 14:54:50 +08:00			`SDA` PB14 \|`Channel 2` PA7\|`USART3_RX` PB11 \|TBD
style: (readme) Try to fix weird layout error 2017-03-29 19:18:52 +08:00			\|`Channel 3` PB0\| \| \|
			\|`Channel 4` PB1\| \| \|
[MOD]: I realized I had an erro on my PCB(BLDC Power Track Width), besides, The Gap Of Ground Zone is Not Short Enough 2016-09-18 23:15:04 +08:00
[RM+MOD+ADD]: Redesigned The PCB 2016-09-17 17:49:23 +08:00
[DOCS]: Modified To-do List 2016-12-13 15:06:31 +08:00			`# To-do list`
[ADD&MOD]: Pin Changed and New Image of PCB 2016-09-24 21:43:57 +08:00
[MOD]: Fixed Todolist 2016-12-10 15:57:20 +08:00			`- [x] Software I2C`
			`- [x] Init MPU6050`
			- [x] Get 3 axes `Gryo` and 3 axes `Accel` data from MPU6050
			`- [x] Cumpute Quaternion and Euler Angles`
			`- [x] PWM output`
			`- [x] Driving motors with L9110S`
			`- [x] PID Control`
			`- [x] Schematic`
			`- [x] PCB Layout`
[DOCS]: Modified To-do List 2016-12-13 15:06:31 +08:00			`- [x] Brushless DC motor-[Video via YouTube](https://youtu.be/iHYVgTmxoSw)`
			- [ ] Wi-Fi(`ESP8266`)
			`- [x] [Cascade PID control](https://github.com/but0n/Avem/blob/master/docs/README.md)`
[MOD]: Fixed Todolist 2016-12-10 15:57:20 +08:00			`- [x] FreeRTOS`
			`- [ ] TCP/IP Socket connect with host`
			`- [ ] PID debug`
			`- [ ] GPS`
			`- [ ] 3D print or CNC cut`
:boom:update README 2016-08-11 11:45:51 +08:00
[MOD]: Make it Simpler 2016-12-10 15:53:08 +08:00			`----`
PCB Layout done:v: 2016-08-12 00:50:20 +08:00
[MOD]: Make it Simpler 2016-12-10 15:53:08 +08:00			`# Hardware`
Add pcb img 2016-08-15 01:09:49 +08:00
PCB Layout done:v: 2016-08-12 00:50:20 +08:00			`## PCB Layout`
[MOD]: Update 2016-09-26 18:09:12 +08:00			`Front`
[MOD]: Fixed Layout of Markdown 2016-09-18 23:19:34 +08:00
[MOD]: Make it Simpler 2016-12-10 15:53:08 +08:00			`![](docs/images/PCB/layoutF.png)`
[MOD]: Update 2016-09-26 18:09:12 +08:00
			`Back`
[MOD] 2016-09-27 13:28:19 +08:00
[MOD]: Make it Simpler 2016-12-10 15:53:08 +08:00			`![](docs/images/PCB/layoutB.png)`

			`## 3D Moudle`

			`![](docs/images/PCB/demoV2.png)`
PCB Layout done:v: 2016-08-12 00:50:20 +08:00
			`## Schematic`

[MOD]: Make it Simpler 2016-12-10 15:53:08 +08:00			`![](docs/images/pcb.png)`

			`[More details](docs/)`