Supervisor

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An ATmega16L AVR microcontroller is used in a supervisory role, to monitor system status and operation, and force the system into manual override mode if there is a problem.

The supervisor communicates with the main CPU, on Snapper, over a I2C bus. This bus was chosen as both devices support this in hardware.

The supervisor monitors a number of analogue inputs (see Power Supply):

  • +5V
  • +5VLDO
  • +5VLDOPRESS
  • +3V3
  • +3V3LDO
  • Receiver/servos battery pack voltage
  • Battery voltage

and can notify snapper over the I2C link if these voltages fall out of their safe operating range.

The supervisor also monitors the communications link with the ground station, waiting for a predefined escape sequence, where following, it takes control of the radio (by actuating a signal switch IC), which allows the supervisor serial port to transmit, and disconnects the Snapper serial port transmission pin. Once the supervisor controls the communications link it can only perform a few simple tasks such as:

  • Resetting the SBC (Snapper)
  • Switching the system to manual mode control
  • Powering down the periphials
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