Building and flashing

Build

To compile the firmware run:

cmake -B build

cmake --build build --target FlightController.hex

How to flash to firmware

This 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:i

Fuses

The 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

How to flash the fuses

avrdude -p m2560 -B 10 -c avrisp2 -U lfuse:w:0xef:m -U hfuse:w:0xc1:m -U efuse:w:0xfe:m

LEDs

The 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	🔴🔴◯🔴 ◯🔴🔴🔴