This is the script I used to upload to an ATmega328p, 3.3V, 8Mhz on
UART4:
https://github.com/jbdatko/BBB_ATmega328P_flasher/blob/master/upload.sh

In the avrdude line I specify 57600, which works well for me. The
OpenROV cape uses an attached ATmega like this and so does the
CryptoCape: https://www.sparkfun.com/products/12773

Josh

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