Phoenix Drone Flight Software

Flight software for the Phoenix Drone project, running on an ATmega328p.

Setup

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:

1. Install the required packages/software
2. Configure the environment
3. Configure the AVRISP mkII (Optional)

After configuring the board, you can then proceed with building the project and programming the board.

Required Packages

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.

Ubuntu

On Ubuntu (or any Debian-based version of Linux):

sudo apt-get install avr-gcc

sudo apt-get install avrdude

Windows

On Windows install WinAVR (winavr.sourceforge.net/) and use cygwin to emulate a Terminal (www.cygwin.com/).

OS X

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 the avrdude.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

Configure the Environment

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'

1. PHOENIX_PROGRAMMER is either avrispmkII for the AVRISP mkII (including the Olimex version), usbtiny for the Sparkfun AVR Pocket Programmer, or arduino if you are using the USB port of an Arduino Uno. PHOENIX_PROGRAMMER defaults to avrispmkII if not set.

2. PHOENIX_PORT is the /dev/... file for your configuration. If no /dev/ttyXXX file exists, try usb 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, or com5, or another COM port on Windows. PHOENIX_PORT defaults to usb if not set.

Oscillator Setup

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.

AVRISP mkII Setup

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.

Create a new udev rules file:

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

Add yourself to the dialout group

usermod -a -G dialout $USER

Restart the udev service

sudo service udev restart
sudo udevadm control --reload-rules; udevadm trigger

And finally restart the computer

sudo reboot

Getting information about the device

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 Atmel
• 2104 is the device ID for the AVRISP mkII