To compile the firmware run:
cmake -B build
cmake --build build --target FlightController.hexThis assumes that an AVRISP mk2 is used, if you use a different programmer
change the -c flag.
avrdude -p m2560 -c avrisp2 -U flash:w:FlightController.hex:iThe fuses select the "Ext. Crystal Osc.; Frequency 8.0- MHz; Start-up time: 16K CK + 4.1 ms; [CKSEL=1111 SUT=10]" clock, disables the clock divider, enables the preserve eeprom flag, enables the watchdog timer, enables SPI and disables JTAG and OCD. The brownout detection level is set to 1.8V.
| Fusebyte | Value |
|---|---|
| Low | 0xEF |
| High | 0xC1 |
| Extended | 0xFE |
avrdude -p m2560 -B 10 -c avrisp2 -U lfuse:w:0xef:m -U hfuse:w:0xc1:m -U efuse:w:0xfe:mThe LEDs are controlled by the error handler. The lower 4 LEDs signal the component which triggered the error handler. The upper 4 LEDs signal the exception ID.
The error IDs are:
| Component | Exception | LED configuration |
|---|---|---|
| Application | - | xxxx ◯◯◯🔴 |
| System | Watchdog | ◯◯◯🔴 ◯◯🔴◯ |
| Brownout | ◯◯🔴◯ ◯◯🔴◯ | |
| Low-Prio Timer Runtime | ◯◯🔴🔴 ◯◯🔴◯ | |
| High-Prio Timer Runtime | ◯🔴◯◯ ◯◯🔴◯ | |
| IMU | Init timeout error | ◯◯◯🔴 ◯◯🔴🔴 |
| Init self test error | ◯◯🔴◯ ◯◯🔴🔴 | |
| Status error | ◯◯🔴🔴 ◯◯🔴🔴 | |
| Read timeout | ◯🔴◯◯ ◯◯🔴🔴 | |
| Flightcomputer | - | xxxx ◯🔴◯◯ |
| Remote | - | xxxx ◯🔴◯🔴 |
| Mode Handler | No IMU Data | ◯◯◯🔴 ◯🔴🔴◯ |
| No FCP Data | ◯◯🔴◯ ◯🔴🔴◯ | |
| No Remote Data | ◯◯🔴🔴 ◯🔴🔴◯ | |
| BNO055 | Unexpected read success | ◯◯◯🔴 ◯🔴🔴🔴 |
| Unexpected write success | ◯◯🔴◯ ◯🔴🔴🔴 | |
| Read fail | ◯◯🔴🔴 ◯🔴🔴🔴 | |
| Write fail | ◯🔴◯◯ ◯🔴🔴🔴 | |
| Invalid address | ◯🔴◯🔴 ◯🔴🔴🔴 | |
| Write disabled | ◯🔴🔴◯ ◯🔴🔴🔴 | |
| Wrong start byte | ◯🔴🔴🔴 ◯🔴🔴🔴 | |
| Bus overrun | 🔴◯◯◯ ◯🔴🔴🔴 | |
| Max length | 🔴◯◯🔴 ◯🔴🔴🔴 | |
| Min length | 🔴◯🔴◯ ◯🔴🔴🔴 | |
| Receive char timeout | 🔴◯🔴🔴 ◯🔴🔴🔴 | |
| Callback buffer invalid | 🔴🔴◯◯ ◯🔴🔴🔴 | |
| Invalid sync | 🔴🔴◯🔴 ◯🔴🔴🔴 |