RoboSavvy Forum

error: libavr/flash.h: No such file or directory?

2009-06-23T20:57:41+01:00

buhochileno wrote:
Yeap, but I really newbee in that, any example about proper use of 'w' and so?

no... just experiment - you cannot ever break anything (*).

For example - the AX12 pdf says that memory location 25 is for the LED.

so try the 'w' command to write a value of 0 to location 25 of servo 1.
and then try writing a value of 1 to location 25 of servo 1.

if you use the 'm' command inbetween the above - you should be able to see what going on.

The moral is... just try things out, the worst that can happen is very minor (**).

--

* apart form the motor - if you ask the servo to go past its end stop.
** in the most extreme case - say a baud rate change - you'll have to use the bridge command to talk to AX12 bootloader to reset it... but even that is easy.

Statistics: Posted by RandomMatt — Tue Jun 23, 2009 8:57 pm

error: libavr/flash.h: No such file or directory?

2009-06-23T14:22:56+01:00

buhochileno wrote:
So, if the bioloid_ver115.hex is just another programm it can be converted to a .bin and transfered to the cm-5 using the programmer right? (still trying to understend how the makefile file can do the transformation...

avr-objcopy -I ihex -O binary bob.hex bob.bin

also... look in common.mk for the magic in the makefile.

Ok, thanks it work perfect..

buhochileno wrote:
So, the "supervisor" is just other program that is run it by the bootloader right?, where can I find info about the commands/parameters of the supervisor?

It gives you help when it runs - just press 'h' to get it back again.
the most useful commands are 'g', 'm' and 'w'.

Yeap, but I really newbee in that, any example about proper use of 'w' and so?

Mauricio

Statistics: Posted by buhochileno — Tue Jun 23, 2009 2:22 pm

error: libavr/flash.h: No such file or directory?

2009-06-22T16:50:23+01:00

buhochileno wrote:
So, when I use the libbioloid and I have some program at the CM-5 like example.bin and I connect the charger, the batteries are not going to charge?, how do you do that? (external charger removing batteries?)
Mauricio

read this: http://robosavvy.com/forum/viewtopic.php?p=20167

buhochileno wrote:
So, if the bioloid_ver115.hex is just another programm it can be converted to a .bin and transfered to the cm-5 using the programmer right? (still trying to understend how the makefile file can do the transformation...

avr-objcopy -I ihex -O binary bob.hex bob.bin

also... look in common.mk for the magic in the makefile.

buhochileno wrote:
So, the "supervisor" is just other program that is run it by the bootloader right?, where can I find info about the commands/parameters of the supervisor?

It gives you help when it runs - just press 'h' to get it back again.
the most useful commands are 'g', 'm' and 'w'.

Statistics: Posted by RandomMatt — Mon Jun 22, 2009 4:50 pm

error: libavr/flash.h: No such file or directory?

2009-06-22T16:19:30+01:00

StuartL wrote:
buhochileno wrote:Any chance to convert a .bgp to hex or bin to transfer the "humanoid" demo or other included demo files with the programmer?

No, not really. You could probably do it by hacking around but it's beyond anything we've done. You would need to hack the Bioloid firmware (e.g. v115) and the BCP into a combined ROM file at the correct offsets (which I have no idea of) and then use the programmer to get them into the application ROM. For all this hackery you may as well use the BCP.

Please explain me, the bootloader is then a program that reside in the atmel rom?..where can I find info about that bootloader program?, what is the diference with the "supervisor" and by the way, waht IS the "supervisor", where do you find info to use the supervisor command?..

Ok, inside the ATmega128 (the microcontroller the CM-5 is based on) you have two 'sections' of the ROM. The way Robotis configure the chip is to use the top section as a non-reprogrammable bootloader. This is the bit which talks over the serial port (or zigbee) and allows you to program the remainder of the flash (the application section) using Robot Terminal or Matt's programmer. The BCP also uses this same bootloader to put the Bioloid firmware into the application section (at the start) and the BCP instructions (a highly tokenised instruction set) into the application section (near the end). The motions are also stored near the end.

I supose then that the CM-5 console (the one that let you do: go 100 1000 and thing like that) is a program that is run by the cm-5 bootloader or the supervisor?, if it is so, how the CM-5 console allow you to have that console and "play" another programm changing to the "play" mode?, really confuse about all that..any good reading?

Forgetting libbioloid and Matt's programmer this is what normally happens when the CM-5 starts up:

- The chip self-initialises and starts the bootloader.
- The bootloader initialises the serial port and waits for 60ms for any '#' characters to arrive. If any do arrive it switches into 'bootloader' mode and allows you to erase and program the flash/eeprom.
- If the bootloader doesn't detect any input it jumps to the start of flash which is where the application software is placed.
- The default application software is the Bioloid firmware, the BCP 'master application' which is contained in the .ROM file.
- The Robotis application initialises the serial ports, zigbee and LEDs/buttons and it's THIS firmware which does the battery charging, button interaction and reads the BCP instructions placed higher up the flash by the BCP.

When you use libbioloid you replace the contents of the flash with your program. You have to develop your own LEDs, button interaction, charging algorithm (see other threads, I do not think it safe to use the charging circuit on the CM-5) and motion methods. In our cases we don't have any precoded motion sequences and all of the motion is dynamically calculated. This means we don't have any equivalent for the Robotis BCP/Motion Editor.

Ok, so the CM-5 console provided by robotis is just a "program" run it by the bootloader and is able to understend things like "mode play + start = run the tokenized instructions at xxx address..." or "powerOn + D_Button = charge the battery and make the LED blink...", witch by the way give me a question: So, when I use the libbioloid and I have some program at the CM-5 like example.bin and I connect the charger, the batteries are not going to charge?, how do you do that? (external charger removing batteries?)
So, if the bioloid_ver115.hex is just another programm it can be converted to a .bin and transfered to the cm-5 using the programmer right? (still trying to understend how the makefile file can do the transformation...

So, the "supervisor" is just other program that is run it by the bootloader right?, where can I find info about the commands/parameters of the supervisor?

Thanks.

Mauricio

Statistics: Posted by buhochileno — Mon Jun 22, 2009 4:19 pm

error: libavr/flash.h: No such file or directory?

2009-06-21T07:51:31+01:00

buhochileno wrote:
Any chance to convert a .bgp to hex or bin to transfer the "humanoid" demo or other included demo files with the programmer?

No, not really. You could probably do it by hacking around but it's beyond anything we've done. You would need to hack the Bioloid firmware (e.g. v115) and the BCP into a combined ROM file at the correct offsets (which I have no idea of) and then use the programmer to get them into the application ROM. For all this hackery you may as well use the BCP.

Please explain me, the bootloader is then a program that reside in the atmel rom?..where can I find info about that bootloader program?, what is the diference with the "supervisor" and by the way, waht IS the "supervisor", where do you find info to use the supervisor command?..

Ok, inside the ATmega128 (the microcontroller the CM-5 is based on) you have two 'sections' of the ROM. The way Robotis configure the chip is to use the top section as a non-reprogrammable bootloader. This is the bit which talks over the serial port (or zigbee) and allows you to program the remainder of the flash (the application section) using Robot Terminal or Matt's programmer. The BCP also uses this same bootloader to put the Bioloid firmware into the application section (at the start) and the BCP instructions (a highly tokenised instruction set) into the application section (near the end). The motions are also stored near the end.

I supose then that the CM-5 console (the one that let you do: go 100 1000 and thing like that) is a program that is run by the cm-5 bootloader or the supervisor?, if it is so, how the CM-5 console allow you to have that console and "play" another programm changing to the "play" mode?, really confuse about all that..any good reading?

Forgetting libbioloid and Matt's programmer this is what normally happens when the CM-5 starts up:

- The chip self-initialises and starts the bootloader.
- The bootloader initialises the serial port and waits for 60ms for any '#' characters to arrive. If any do arrive it switches into 'bootloader' mode and allows you to erase and program the flash/eeprom.
- If the bootloader doesn't detect any input it jumps to the start of flash which is where the application software is placed.
- The default application software is the Bioloid firmware, the BCP 'master application' which is contained in the .ROM file.
- The Robotis application initialises the serial ports, zigbee and LEDs/buttons and it's THIS firmware which does the battery charging, button interaction and reads the BCP instructions placed higher up the flash by the BCP.

When you use libbioloid you replace the contents of the flash with your program. You have to develop your own LEDs, button interaction, charging algorithm (see other threads, I do not think it safe to use the charging circuit on the CM-5) and motion methods. In our cases we don't have any precoded motion sequences and all of the motion is dynamically calculated. This means we don't have any equivalent for the Robotis BCP/Motion Editor.

Statistics: Posted by StuartL — Sun Jun 21, 2009 7:51 am

error: libavr/flash.h: No such file or directory?

2009-06-21T02:24:24+01:00

StuartL wrote:
The libbioloid standard make file should give you a .bin and a .hex for your example.c. The .hex and .bin contain the same data, just in different formats. BGP files are tokenised instructions to the Robotis ROM file (their equivalent of .hex or .bin).

Ok, I going to try to figure out how to convert the "Bioloid_Ver115.hex" to a .bin file to be able to restore that file with the programmer to have the original CM-5 typical console and not to have to go to windows to do that...
Any chance to convert a .bgp to hex or bin to transfer the "humanoid" demo or other included demo files with the programmer?

The .hex file is just an Intel format .bin file. There are many utilities to convert between the two. BCP provided with the Robotis kit converts the .rom file (which is very crudely encrypted) into the binary as it sends it to the robot through the bootloader.

Robot Terminal converts the .hex file into binary as it sends it to the robot through the bootloader. We didn't bother with the conversion and instead just use the binary format directly.

Please explain me, the bootloader is then a program that reside in the atmel rom?..where can I find info about that bootloader program?, what is the diference with the "supervisor" and by the way, waht IS the "supervisor", where do you find info to use the supervisor command?..I supose then that the CM-5 console (the one that let you do: go 100 1000 and thing like that) is a program that is run by the cm-5 bootloader or the supervisor?, if it is so, how the CM-5 console allow you to have that console and "play" another programm changing to the "play" mode?, really confuse about all that..any good reading?

This means that if you download a converter from .hex (or ihex) to binary you can convert the .hex files into binary and vice versa. You may even notice one in the makefile which we use to do exactly that

Ok trying to understand the makefile file :-S
[quote]Other question: the libbioloid is able to use the zegbee modules in any way?[

Yes, I currently use the zigbee module as a direct replacement for the serial port. You get packet loss on the zigbee which you don't get on the serial port and you need to be aware of that. libbioloid will automatically transmit the console output on both the zigbee and serial port and will switch to receive from the zigbee instead of the serial port if there's no serial cable plugged in.
/quote]
That's great...

Thanks for your kind help...

Mauricio

Statistics: Posted by buhochileno — Sun Jun 21, 2009 2:24 am

error: libavr/flash.h: No such file or directory?

2009-06-20T09:04:05+01:00

buhochileno wrote:
ohhh ok, at least I was not doing something wrong again , so what is the "correct" way to restore a software like that one?, restore the CM-5 firmware with the included behaviour program? (no problems in doing that to many times?), or any chance to transfer a .bgp or .hex file like the included one in the bioloid CD's?.

The libbioloid standard make file should give you a .bin and a .hex for your example.c. The .hex and .bin contain the same data, just in different formats. BGP files are tokenised instructions to the Robotis ROM file (their equivalent of .hex or .bin).

By the way, I kind of confuse about the .bin and .hex files used by bioloid, any good reading about that? (also confuse about the .bgp ones, but I supose that the behaviour program compile that ones before be transfered...right?)

The .hex file is just an Intel format .bin file. There are many utilities to convert between the two. BCP provided with the Robotis kit converts the .rom file (which is very crudely encrypted) into the binary as it sends it to the robot through the bootloader. Robot Terminal converts the .hex file into binary as it sends it to the robot through the bootloader. We didn't bother with the conversion and instead just use the binary format directly.

This means that if you download a converter from .hex (or ihex) to binary you can convert the .hex files into binary and vice versa. You may even notice one in the makefile which we use to do exactly that

Other question: the libbioloid is able to use the zegbee modules in any way?

Yes, I currently use the zigbee module as a direct replacement for the serial port. You get packet loss on the zigbee which you don't get on the serial port and you need to be aware of that. libbioloid will automatically transmit the console output on both the zigbee and serial port and will switch to receive from the zigbee instead of the serial port if there's no serial cable plugged in.

We're using the PS2 controller for remote control and the zigbee for console output. In hindsight the reliable data transfer of bluetooth would be preferred but I bought the zigbee modules so that's what we use

Statistics: Posted by StuartL — Sat Jun 20, 2009 9:04 am

error: libavr/flash.h: No such file or directory?

2009-06-19T22:02:25+01:00

The example.bin completely replaces that software, you have to write what you want it to do

ohhh ok, at least I was not doing something wrong again , so what is the "correct" way to restore a software like that one?, restore the CM-5 firmware with the included behaviour program? (no problems in doing that to many times?), or any chance to transfer a .bgp or .hex file like the included one in the bioloid CD's?.
By the way, I kind of confuse about the .bin and .hex files used by bioloid, any good reading about that? (also confuse about the .bgp ones, but I supose that the behaviour program compile that ones before be transfered...right?)

Other question: the libbioloid is able to use the zegbee modules in any way?

Thanks for your kind help...

Statistics: Posted by buhochileno — Fri Jun 19, 2009 10:02 pm

error: libavr/flash.h: No such file or directory?

2009-06-19T21:06:39+01:00

buhochileno wrote:
no luck, Still not clear to me, yes when I press "#" its rebot the software and with "~" get into the supervisor, but then how I return to the typical CM-5 terminal?, (like the one you enter when no example.bin program was transfered, the one that let you do "go 100 1000", "scan" and all that?)...

The example.bin completely replaces that software, you have to write what you want it to do

So, if a CM-5 running program is executing "lastchar" I can send a char from any programm to the serial port and is goin gto be readed right?, also the lastchar is a syncronous call right?, I mean that it block the executiong until something is readed from the UART1..?

lastchar() itself is asynchronous but I believe Matt implemented a getchar() or getch() for blocking calls.

You probably, though, don't want a blocking call. There are few occasions where you want to pause your software completely. You probably at least want to monitor the servo positions for stalls etc.

Statistics: Posted by StuartL — Fri Jun 19, 2009 9:06 pm

error: libavr/flash.h: No such file or directory?

2009-06-19T18:40:30+01:00

From the console you can use '#' to put yourself back in the bootloader. This is part of libbioloid and effectively hooks every byte coming in the console port. If one of those bytes is '#' it reboots the software (through the bootloader) and if one of those bytes is '~' it reboots the software (through the bootloader) into the supervisor.

no luck, Still not clear to me, yes when I press "#" its rebot the software and with "~" get into the supervisor, but then how I return to the typical CM-5 terminal?, (like the one you enter when no example.bin program was transfered, the one that let you do "go 100 1000", "scan" and all that?)...

My second one is about the "lastchar();" instruction in example.c, that instruction running on the CM-5 reads from the UART1 right?, without making any UART1 connection command at the CM-5?, if that is the case, is much more easy to programm than windows...

Yes, that checks to see if a character has been received over the console UART. There are a few similar functions too if you browse the libbioloid source.

So, if a CM-5 running program is executing "lastchar" I can send a char from any programm to the serial port and is goin gto be readed right?, also the lastchar is a syncronous call right?, I mean that it block the executiong until something is readed from the UART1..?

Thanks

Statistics: Posted by buhochileno — Fri Jun 19, 2009 6:40 pm

error: libavr/flash.h: No such file or directory?

2009-06-19T06:49:48+01:00

buhochileno wrote:
Now I have more specific questions:

when I run something like this:
./programm -t /dev/ttyUSB0 example.bin

As you say the program is transfered to the CM-5 and then keep interactive, when I end the console the "exmple.bin" it seems to not let me do nothing more in the CM-5 like change to manage or program modes and manage and play led's stay still as when the example.bin was runnit..How to reset thing?

From the console you can use '#' to put yourself back in the bootloader. This is part of libbioloid and effectively hooks every byte coming in the console port. If one of those bytes is '#' it reboots the software (through the bootloader) and if one of those bytes is '~' it reboots the software (through the bootloader) into the supervisor.

My second one is about the "lastchar();" instruction in example.c, that instruction running on the CM-5 reads from the UART1 right?, without making any UART1 connection command at the CM-5?, if that is the case, is much more easy to programm than windows...

Yes, that checks to see if a character has been received over the console UART. There are a few similar functions too if you browse the libbioloid source.

My last question is more like a sugestion from you:
I want to make some basic programms to be at the CM-5 like: move forward, left, right, etc..(like a cerebellum) and put more advanced analisys programs in a more powerfull brain (like my laptop). 1 option is to set the CM-5 in toss mode, in witch I can control the dynamixel bus directly from my C# program in mono/linux...but that option force me to put all the control logic in the laptop right?, I mean I can't mix toss mode instructions and a running program at the CM-5?
Second option is to put the basic movements program at the CM-5 and make a simple serial connection from C or C# to send the control data, to do that I can use something like the programmer.c?

The CM-5 is just about powerful enough for full inverse kinematics (google it ) but not a lot more. If all you want to do is predefine motions and get the CM-5 to execute them on instruction from the laptop that's also fine.

RandomMatt and I are trying to put all of the intelligence in the CM-5 with the only inputs being a Playstation wireless controller. This is VERY slowly coming together, with all of the progress being made by RandomMatt

Statistics: Posted by StuartL — Fri Jun 19, 2009 6:49 am

error: libavr/flash.h: No such file or directory?

2009-06-18T21:47:35+01:00

StuartL wrote:
Can you work on the quoting? Use the preview if you have to but it's really hard to spot which parts are questions and which parts are quotes...

ok sure, sorry it was my mistake I press "submit" until a preview...

StuartL wrote:
It sounds like the file transfer isn't working properly. Try using the '-t' without the filename first and prove that you get a robot console up.

If you now press and hold '#' and press reset/mode on the CM-5 you should get to the bootloader. Try typing 'help' for example.

Yeap, I was doing all wrong, now I get the CM-5 console, to start with I was trying to use my second CM-5 with a servo with a bad ID..fix that I thing start to get better..the example.bit also begin to work on my primary CM-5 witch it have the 1 and 2 servos...

StuartL wrote:
If this works then all you need to do is restart the programmer with '-t' and a .bin filename. It'll sit there waiting for the CM-5 to respond, if it doesn't seem to then press 'reset' on the CM-5 and the programmer should detect that you're now in the bootloader.

RandomMatt: Have I missed anything?

Now I have more specific questions:

when I run something like this:
./programm -t /dev/ttyUSB0 example.bin

As you say the program is transfered to the CM-5 and then keep interactive, when I end the console the "exmple.bin" it seems to not let me do nothing more in the CM-5 like change to manage or program modes and manage and play led's stay still as when the example.bin was runnit..How to reset thing?

My second one is about the "lastchar();" instruction in example.c, that instruction running on the CM-5 reads from the UART1 right?, without making any UART1 connection command at the CM-5?, if that is the case, is much more easy to programm than windows...

My last question is more like a sugestion from you:
I want to make some basic programms to be at the CM-5 like: move forward, left, right, etc..(like a cerebellum) and put more advanced analisys programs in a more powerfull brain (like my laptop). 1 option is to set the CM-5 in toss mode, in witch I can control the dynamixel bus directly from my C# program in mono/linux...but that option force me to put all the control logic in the laptop right?, I mean I can't mix toss mode instructions and a running program at the CM-5?
Second option is to put the basic movements program at the CM-5 and make a simple serial connection from C or C# to send the control data, to do that I can use something like the programmer.c?

Any other sugestions?

Thanks and I apreciate your patience..

Mauricio

Statistics: Posted by buhochileno — Thu Jun 18, 2009 9:47 pm

error: libavr/flash.h: No such file or directory?

2009-06-18T20:56:40+01:00

Can you work on the quoting? Use the preview if you have to but it's really hard to spot which parts are questions and which parts are quotes...

buhochileno wrote:
ok is working, but I'm kind of lost again, with that last command the example.bin is transfered to the cm-5 right? and then I get console like the "robot terminal"?, if that is the case the cm-5 have to be in "managed mode" right?...anyway testing I press "start" when the managed mode was blinking and I get the booting message as the "robot terminal" app, after that I can't write anithing on my keyboard..also none of the "a,s,w,q.." keys seems to work even if the console says to me that the CID of the selected servo is correct...
what is the correct procedure to work with this lib/program?, where can I find more info about it?, I read and read the example.c programm but it miss this procedures...

It sounds like the file transfer isn't working properly. Try using the '-t' without the filename first and prove that you get a robot console up.

If you now press and hold '#' and press reset/mode on the CM-5 you should get to the bootloader. Try typing 'help' for example.

If this works then all you need to do is restart the programmer with '-t' and a .bin filename. It'll sit there waiting for the CM-5 to respond, if it doesn't seem to then press 'reset' on the CM-5 and the programmer should detect that you're now in the bootloader.

RandomMatt: Have I missed anything?

Statistics: Posted by StuartL — Thu Jun 18, 2009 8:56 pm

error: libavr/flash.h: No such file or directory?

2009-06-18T20:51:33+01:00

buhochileno wrote:
P.S: by the way, it seems that I subscrbe to the mailing list, but what is the mail to make a post?, suing the same as the one that I subscribe only retirn me a "not valid command.." mail..

It's maillist list name at braincell dot cx. In this case the mailing list name is 'robots'.

Enjoy!

Statistics: Posted by StuartL — Thu Jun 18, 2009 8:51 pm

error: libavr/flash.h: No such file or directory?

2009-06-17T21:37:33+01:00

RandomMatt wrote:
programming the CM5

download libcompat as well, and make tools/programmer

it is quite simple to use:

Code:
$ ../tools/programmer /dev/ttyUSB0 example.bin

programs the CM5.

Code:
$ ../tools/programmer -t /dev/ttyUSB0

allows you to talk to CM5 - press # to reboot it, ~ to enter the supervisor, etc...

Code:
../tools/programmer -t /dev/ttyUSB0 example.bin

programs it, and then stays running.
ok is working, but I'm kind of lost again, with that last command the example.bin is transfered to the cm-5 right? and then I get console like the "robot terminal"?, if that is the case the cm-5 have to be in "managed mode" right?...anyway testing I press "start" when the managed mode was blinking and I get the booting message as the "robot terminal" app, after that I can't write anithing on my keyboard..also none of the "a,s,w,q.." keys seems to work even if the console says to me that the CID of the selected servo is correct...
what is the correct procedure to work with this lib/program?, where can I find more info about it?, I read and read the example.c programm but it miss this procedures...

Other thing that I don't understend is the way in witch this libs/progs work, specially the libbioloid, the program writed and compiled with avr-gcc then is transfered and it run in the cm-5 right? I ask this becouse after I run the above commads I still able to run the previously loaded program like the humanoid behaviour one...may be that mean that the example.bin was not properly transfer?

example
to move the servos press q, a, w or s.
use , and . to switch servos on and off.
use g to get the servo positions.

the buttons on the CM5 don't do anything useful... but if you press them you'll be able to see on the PC which ones you've pressed.

ok
---

To be honest, you just need to read example.c - but i understand that you need it to pass the "don't waste my time" test first!

trust me, I read that code over and over but still don't find all the "setting up" needed steps..

Thanks and sorry for all the newbe questions,..

Mauricio

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I cannot help you - StuartL is your man.

Statistics: Posted by buhochileno — Wed Jun 17, 2009 9:37 pm