Flight software for the Phoenix Drone project, running on an ATmega328p.
→ See PhysicsAndCommunication.pdf document to better understand the software that implements the mechanics of flight control software**
In theory, you can use any operating system to build. However, we are using mainly OS X (10.10 and 10.11) and Ubuntu 14.04. Windows should work with no issues using cygwin
and winavr
.
The following steps are required to configure the board:
- Install the required packages/software
- Configure the environment
- Configure the AVRISP mkII (Optional)
After configuring the board, you can then proceed with building the project and programming the board.
To build the software and program the microcontroller, you must have the avrdude
and avr-gcc
packages installed (in addition to standard tools like make
).
NOTE: On any of the operating systems, an install of the Arduino IDE (https://www.arduino.cc/en/main/software) will include all of the command line tools necessary, but they may be in strange locations. You can always just make symbolic links to your desired directories, though.
On Ubuntu (or any Debian-based version of Linux):
sudo apt-get install avr-gcc
sudo apt-get install avrdude
On Windows install WinAVR
(winavr.sourceforge.net/) and use cygwin
to emulate a Terminal (www.cygwin.com/).
Install Homebrew (http://brew.sh/) and then:
brew install avrdude
Caveat: To use a non-AVR programmer, such as the Olimex version of the AVRISP mkII, you will need to use version 5.11.1 or lower of
avrdude
, which is not obtainable via Homebrew. Either manually build it from source, or you can fool Homebrew into using the 5.11.1 source tarball instead of its own by changing the SHA256 checksum in theavrdude.rb
formula.
Install the Arduino IDE either via Homebrew Cask:
brew cask install arduino
Or manually download it from the Arduino website: https://www.arduino.cc/download_handler.php?f=/arduino-1.6.7-macosx.zip
Include Arduino's binaries in your PATH
:
In your ~/.bashrc
:
export PATH="/Applications/Arduino.app/Contents/Java/hardware/tools/avr/bin/:$PATH"
Or if using fish
, in your ~/.config/fish/config.fish
:
set -g -x PATH '/Applications/Arduino.app/Contents/Java/hardware/tools/avr/bin/' $PATH
Next you need to set up a few environmental variables:
In bash
:
export PHOENIX_PROGRAMMER=avrispmkII
export PHOENIX_PORT=usb
In fish
:
set -g -x PHOENIX_PROGRAMMER 'avrispmkII'
set -g -x PHOENIX_PORT 'usb'
-
PHOENIX_PROGRAMMER
is eitheravrispmkII
for the AVRISP mkII (including the Olimex version),usbtiny
for the Sparkfun AVR Pocket Programmer, orarduino
if you are using the USB port of an Arduino Uno.PHOENIX_PROGRAMMER
defaults toavrispmkII
if not set. -
PHOENIX_PORT
is the/dev/...
file for your configuration. If no/dev/ttyXXX
file exists, tryusb
if you are using the AVRISP mkII. If you are using the Arduino, it may show up as something like/dev/ttyACM0
on OS X and Linux, orcom5
, or another COM port on Windows.PHOENIX_PORT
defaults tousb
if not set.
There are two make commands: make setup_1MHz
and make setup_8MHz
that will set the microcontroller's internal oscillator to either 1MHz or 8MHz. With a fresh batch of chips from the factory, the default is to use the divide-by-eight clock divider, which will therefore use the 1MHz clock. The default fuses corresponding to the 1MHz clock are (H:07, E:D9, L:62)
.
Running the 8MHz setup (make setup_8MHz
) only changes the low fuse to remove the default divide-by-eight clock divider. This allow us to run at the higher speed, if needed.
This is semi-optional because we don't really need to run at 8MHz. During testing we have been using 8MHz, but there is no reason we couldn't run at 1MHz or lower.
If you decide not to run any make setup_...
or run make setup_1MHz
, which will then use the 1MHz clock, remember to modify the F_CPU
macro in phoenix.h to reflect the correct clock speed.
This applies if you are using the AVRISP mkII on Ubuntu. You may try to use the programmer without first configuring it, but if you run into issues then the steps below need to be followed.
The steps are also outlined here.
cd /etc/udev/
sudo touch avrisp.rules
The file should contain the following:
SUBSYSTEM!="usb_device", ACTION!="add", GOTO="avrisp_end"
# Atmel Corp. JTAG ICE mkII
ATTR{idVendor}=="03eb", ATTR{idProduct}=="2103", MODE="660", GROUP="dialout"
# Atmel Corp. AVRISP mkII
ATTR{idVendor}=="03eb", ATTR{idProduct}=="2104", MODE="660", GROUP="dialout"
# Atmel Corp. Dragon
ATTR{idVendor}=="03eb", ATTR{idProduct}=="2107", MODE="660", GROUP="dialout"
LABEL="avrisp_end"
Next, create a hard link for the file:
cd /etc/udev/rules.d/
ln ../avrisp.rules 60-avrisp.rules
usermod -a -G dialout $USER
sudo service udev restart
sudo udevadm control --reload-rules; udevadm trigger
And finally restart the computer
sudo reboot
There are a number of different ways to gain information about the device:
To see the device vendor ID and device ID after plugging it in:
dmesg | tail
Very detailed information about the device (vendorID:deviceID):
lsusb -v -d 03eb:2104
03eb
is the vendor ID for Atmel2104
is the device ID for the AVRISP mkII