This is a bootloader for the Palawan joystick project. It can update Palawan boards over USB or wireless.
Joyboot runs on Palawan hardware, both on the Tx board and on the Rx USB board. As such, it includes a bit-banged USB stack.
The source for the hardware may be downloaded at https://github.com/xobs/palawan-hw
The software is still in flux. It will have an accompanying PC program to control the hardware, however this program is still being written.