B3RB Status Lighting and Sounds

Status Lights

The tailights on the B3RB are used for showing the current system status and breathe to show the system is alive.

My status lights are not breathing, what's wrong?

If the status lights are not breathing and there is a startup sound check your board for:
- LED connection to SPI2 port on MR CANHUBK3.
- cerebri/app/b3rb/prj.conf setting for CONFIG_CEREBRI_B3RB_LIGHTING=y
- cerebri/app/b3rb/prj.conf setting for CONFIG_CEREBRI_ACTUATE_LED_ARRAY=y
- cerebri/app/b3rb/boards/mr_canhubk3.conf setting for CONFIG_LED_STRIP=y CONFIG_APA102_STRIP=y
If the status lights are not breathing and there is no startup sound it can be a sign there was a potential power event that occurred and the PMIC triggered the FS26 watchdog. Steps to fix watchdog timeout:
1. Check all wiring is plugged in correctly.
2. Power off the board.
3. Remove the jumper JP1 (pins 1-2 open), which is connected by default.
4. Power on the board.
5. Reconnect the jumper JP1 (pins 1-2 shorted).

[ ] [ ] Startup breathing light pattern [Safety On, Disarm, Mode Unknown].

[ ] [ ] The outer set of lights are green when the Safety is On.

[ ] [ ] The outer set of lights are red when the Safety is Off.

[ ] [ ] The middle set of lights are green when Disarmed.

[ ] [ ] The middle set of lights are red when Armed.

[ ] [ ] The middle set of lights are yellow when Fuel is Critical.

[ ] [ ] The inner set of lights are white when Mode Unknown.

[ ] [ ] The inner set of lights are green when Mode Manual.

[ ] [ ] The inner set of lights are blue when Mode CMD_VEL.

[ ] [ ] The inner set of lights are yellow when Mode Calibration.

These sounds allow for audio based system diagnosis.

Flight of the Alicanto startup sound signifies the system has booted.

I plugged power in but didn't hear the sound, what's wrong?

If the status lights are breathing but there is no sound check your board setup for:
- Proper ADAP board revision (Rev C).
- Buzzer connection to GPS port on ADAP.
- prj.conf setting for CONFIG_CEREBRI_ACTUATE_SOUND=y
If there is no startup sound when powered on and the status lights are not breathing there is a potential that a power event occurred and the PMIC triggered the FS26 watchdog. Steps to fix watchdog timeout:
1. Check all wiring is plugged in correctly.
2. Power off the board.
3. Remove the jumper JP1 (pins 1-2 open), which is connected by default.
4. Power on the board.
5. Reconnect the jumper JP1 (pins 1-2 shorted).

Low tone followed by mid-high-low-mid-high sinusoid.

I keep hearing this rejection sound, what is causing it?

The rejection sound comes from the Finite State Machine (FSM) rejecting a transition request by the request not passing the transition guards.
More information about the request rejection can be seen in with:
- ros2 topic echo /cerebri/out/status
- Electrode below the fuel gauge in the Foxglove layout.