Avem/README.md

# Avem :bird:
[![Build Status](https://travis-ci.org/but0n/Avem.png)](https://travis-ci.org/but0n/Avem)

![](rm_img/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)

# GPIO List
MPU6050 			| BLDC 			| Wi-Fi | GPS
:----:				|:----:			|:----: |:---:
**`SCL`** PB15	|**`CH1`** PA6	|**`USART3_TX`** PB10|*TBD*
**`SDA`** PB14	|**`CH2`** PA7	|**`USART3_RX`** PB11|*TBD*
					|**`CH3`** PB0
					|**`CH4`** PB1
# Todolist
 - [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 on YouTube](https://youtu.be/iHYVgTmxoSw)
 - [x] **Wi-Fi**(`ESP8266`)
 - [x] [PID](https://github.com/but0n/Avem/blob/master/pid.md)
 - [x] FreeRTOS
 - [ ] TCP/IP Socket connect with host
 - [ ] PID debug
 - [ ] **GPS**
 - [ ] 3D print or CNC cut
 - [ ] ... ...

----

# Hardware
> Old Version

![](rm_img/PCB/old_pic.jpg)

> New Version

![](rm_img/FinalVersion.JPG)


## 3D Moudle

![](rm_img/PCB/demoV2.png)

## PCB Layout
Front

![](rm_img/PCB/layoutF.png)

Back

![](rm_img/PCB/layoutB.png)

## Schematic

![](rm_img/pcb.png)
:boom:update README 2016-08-11 11:49:46 +08:00			`# Avem :bird:`
Update README.md 2016-08-14 16:29:24 +08:00			`[![Build Status](https://travis-ci.org/but0n/Avem.png)](https://travis-ci.org/but0n/Avem)`
Test Travis 2016-08-14 16:01:44 +08:00
MOD: Add image of project framework 2016-09-08 19:31:17 +08:00			`![](rm_img/PF.png)`

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
MOD:Rename Title 2016-09-07 21:42:24 +08:00			`# GPIO List`
[MOD]: Update 2016-09-26 18:09:12 +08:00			`MPU6050 \| BLDC \| Wi-Fi \| GPS`
			`:----: \|:----: \|:----: \|:---:`
			`SCL` PB15 \|`CH1` PA6 \|`USART3_TX` PB10\|TBD
			`SDA` PB14 \|`CH2` PA7 \|`USART3_RX` PB11\|TBD
			\|`CH3` PB0
			\|`CH4` PB1
Add todolist:smirk: 2016-08-15 00:57:32 +08:00			`# Todolist`
[MOD]: Update 2016-11-23 13:04:11 +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`
			`- [x] Brushless DC motor-[Video on YouTube](https://youtu.be/iHYVgTmxoSw)`
			- [x] Wi-Fi(`ESP8266`)
[MOD]: PID link 2016-11-23 13:07:30 +08:00			`- [x] [PID](https://github.com/but0n/Avem/blob/master/pid.md)`
[MOD]: Update 2016-11-23 13:04:11 +08:00			`- [x] FreeRTOS`
			`- [ ] TCP/IP Socket connect with host`
			`- [ ] PID debug`
			`- [ ] GPS`
			`- [ ] 3D print or CNC cut`
			`- [ ] ... ...`
Add todolist:smirk: 2016-08-15 00:57:32 +08:00
			`----`

[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			`# Hardware`
[ADD&MOD]: Pin Changed and New Image of PCB 2016-09-24 21:43:57 +08:00			`> Old Version`
[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			`![](rm_img/PCB/old_pic.jpg)`

[ADD&MOD]: Pin Changed and New Image of PCB 2016-09-24 21:43:57 +08:00			`> New Version`

[MOD] 2016-09-24 21:48:24 +08:00			`![](rm_img/FinalVersion.JPG)`
[ADD&MOD]: Pin Changed and New Image of PCB 2016-09-24 21:43:57 +08:00
:boom:update README 2016-08-11 11:45:51 +08:00
PCB Layout done:v: 2016-08-12 00:50:20 +08:00			`## 3D Moudle`

[RM+MOD+ADD]: Redesigned The PCB 2016-09-17 17:49:23 +08:00			`![](rm_img/PCB/demoV2.png)`
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]: 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_img/PCB/layoutF.png)`
[MOD]: Update 2016-09-26 18:09:12 +08:00
			`Back`
[MOD] 2016-09-27 13:28:19 +08:00
[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_img/PCB/layoutB.png)`
PCB Layout done:v: 2016-08-12 00:50:20 +08:00
			`## Schematic`

[RM+MOD+ADD]: Redesigned The PCB 2016-09-17 17:49:23 +08:00			`![](rm_img/pcb.png)`