RoboSavvy Forum Robosavvy Forum: The largest online community of Humanoid Robot Builders 2008-05-31T09:32:28+01:00 http://forum.robosavvy.com/feed.php?f=5&t=2594 2008-05-31T09:32:28+01:00 2008-05-31T09:32:28+01:00 http://forum.robosavvy.com/viewtopic.php?t=2594&p=16089#p16089 <![CDATA[Working without Robot Terminal]]>

Statistics: Posted by bergere — Sat May 31, 2008 9:32 am

]]> 2008-05-31T07:54:07+01:00 2008-05-31T07:54:07+01:00 http://forum.robosavvy.com/viewtopic.php?t=2594&p=16088#p16088 <![CDATA[Working without Robot Terminal]]>
The 16-bit logic I remembered is from the ATMega128 reference manual in relation to the timers.

As the CPU internally uses a temporary register per timer you have to do the read/writes in a specific order, and frustratingly it's not even the same order :D

I quote from the reference guide:

To do a 16-bit write, the high byte must be written before the low byte. For a 16-bit read, the low byte must be read before the high byte.

In all cases I strongly recommend 16-bit operations for 16-bit registers when using C, that way the compiler has to get it right for the context you're setting the register in.

So apologies for the mis-guidance earlier, and yes you're right in that it hardly matters if the serial interface isn't running, but it is a bad habit to get into.

Statistics: Posted by StuartL — Sat May 31, 2008 7:54 am

]]> 2008-05-30T17:33:12+01:00 2008-05-30T17:33:12+01:00 http://forum.robosavvy.com/viewtopic.php?t=2594&p=16077#p16077 <![CDATA[Working without Robot Terminal]]>
bergere wrote:
Are you sure that i have to change first the Low Register?
Because in Bioloid User Guide on Page 133 is used:

Code:
UBRR0H = 0; UBRR0L = bBaudrate;


I have only 125 pages in "my" Bioloid User Guide :?

But I had no problem doing that way... chance ?

I'm not sure it's important while Rx & Tx are not yet enabled.
And, as default value of high register is always 0, you change nothing in fact when you write there.

Statistics: Posted by le fatumbi — Fri May 30, 2008 5:33 pm

]]> 2008-05-30T11:43:00+01:00 2008-05-30T11:43:00+01:00 http://forum.robosavvy.com/viewtopic.php?t=2594&p=16073#p16073 <![CDATA[Working without Robot Terminal]]> Because in Bioloid User Guide on Page 133 is used:

Code:
UBRR0H = 0; UBRR0L = bBaudrate;

Statistics: Posted by bergere — Fri May 30, 2008 11:43 am

]]> 2008-05-30T07:44:12+01:00 2008-05-30T07:44:12+01:00 http://forum.robosavvy.com/viewtopic.php?t=2594&p=16071#p16071 <![CDATA[Working without Robot Terminal]]> before the high (H) register. The register locking is done in hardware so that works. Incidentally if you do a 16-bit assignment the compiler knows to change them (or read them) in the right order to avoid problems.

Statistics: Posted by StuartL — Fri May 30, 2008 7:44 am

]]> 2008-05-25T19:36:39+01:00 2008-05-25T19:36:39+01:00 http://forum.robosavvy.com/viewtopic.php?t=2594&p=16025#p16025 <![CDATA[Working without Robot Terminal]]>

Code:
#include <avr>

typedef unsigned char byte;


void printHex(byte bSentData);
void printHex2(byte bSentData);
void TxD80(byte bTxdData);
void TxD81(byte bTxdData);


void printHex(byte bSentData)//UDR1
{
  byte bTmp;

  bTmp =((byte)(bSentData>>4)&0x0f) + (byte)'0';
  if(bTmp > '9') bTmp += 7;
  TxD81(bTmp);
  bTmp =(byte)(bSentData & 0x0f) + (byte)'0';
  if(bTmp > '9') bTmp += 7;
  TxD81(bTmp);
}

void printHex2(byte bSentData)//UDR0
{
  byte bTmp;

  bTmp =((byte)(bSentData>>4)&0x0f) + (byte)'0';
  if(bTmp > '9') bTmp += 7;
  TxD80(bTmp);
  bTmp =(byte)(bSentData & 0x0f) + (byte)'0';
  if(bTmp > '9') bTmp += 7;
  TxD80(bTmp);
}

void TxD80(byte bTxdData)
{
  while(!(bit_is_set(UCSR0A,5)));
  UDR0 = bTxdData;
}


void TxD81(byte bTxdData)
{
  while(!(bit_is_set(UCSR1A,5)));
  UDR1 = bTxdData;
}



I was a little bit surprised that my UDR1 function works without any initialise. For my UDR0 function I wrote a little initialisation function:

Code:
#define FOSC 16000000// Clock Speed
#define BAUD 57600
#define MYUBRR FOSC/16/BAUD-1

void USART_Init( unsigned int ubrr )
{
/* Set baud rate */
UBRR0H = (unsigned char)(ubrr>>8);
UBRR0L = (unsigned char)ubrr;
/* Enable receiver and transmitter */
UCSR0A = (1<<RXEN)|(1<<TXEN);
/* Set frame format: 8data, 2stop bit */
UCSR0C = (1<<USBS)|(3<<UCSZ0);


This function change nothing. After that i looked in the iom128.h because of my Atmega128(L).

Code:
/* USART1 I/O Data Register */
#define UDR1      _SFR_MEM8(0x9C)


/* USART0 I/O Data Register */
#define UDR0      _SFR_IO8(0x0C)


But i couldn´t say what this means. I just see that they are different :-)

I hope U can help me :-)
(Maybe its just a mistake to send data on UDR0).

Statistics: Posted by bergere — Sun May 25, 2008 7:36 pm

]]> 2008-05-25T16:34:32+01:00 2008-05-25T16:34:32+01:00 http://forum.robosavvy.com/viewtopic.php?t=2594&p=16022#p16022 <![CDATA[Working without Robot Terminal]]> http://robosavvy.com/forum/viewtopic.php?t=2424

Statistics: Posted by AlphA — Sun May 25, 2008 4:34 pm

]]> 2008-05-25T16:04:20+01:00 2008-05-25T16:04:20+01:00 http://forum.robosavvy.com/viewtopic.php?t=2594&p=16021#p16021 <![CDATA[Working without Robot Terminal]]> Do somebody wrote such a software which i can use?

Statistics: Posted by bergere — Sun May 25, 2008 4:04 pm

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