RoboSavvy Forum

replace chip avr new atmega128

2010-06-13T16:28:24+01:00

is there any special settings when downloading from J5 CM-5. I replace the chip microcontroller with a new ATMega128. and I have to download bioloid1.15.hex.

Statistics: Posted by amin3vdc — Sun Jun 13, 2010 4:28 pm

Ax-12 firmware update gone wrong

2010-06-13T16:24:10+01:00

that's not what I meant. I use the motion editor, cm-5 was not problematic.
I can control the ax-12 using the add poses. and I control the software robot terminal telecommand fine no problem. exampleid = setting the ID and dynamixel search and control, such as "WR 25 1" nothing is wrong.
problems:
1. with robotic terminal, I can not access the boot loader, even though I've followed the instructions. like=cm-5 off>open robotis terminal >press shift+3(#)> turn on cm-5. but no response
2. with behavior control programming, I can not download all the files. BPG. if i have to download the cm-5 will be disconnected. and I have to connect again

I download via J5 ATMega128 using pc parallel port ISP. bioloid1.15.hex
I compile via USBASP YukiLab / AVR prog / avrosp. and no problems.

Statistics: Posted by amin3vdc — Sun Jun 13, 2010 4:24 pm

Id

2010-06-13T07:12:21+01:00

Check to see if some servos are sharing same ID.

Pull some servos and check with device manager.

Statistics: Posted by UncleBob — Sun Jun 13, 2010 7:12 am

Ax-12 firmware update gone wrong

2010-06-12T23:13:49+01:00

Check the wires, one or more may be damage.
i had a problem with some wires and some of the AX12 were out of order.
one had the led always on.
When trying to run a program with wires damaged (short circuit between vcc ans data wire) i had some error code in the console as such as you have.

Check this thread :
http://robosavvy.com/forum/viewtopic.php?t=5842

Hope it will help you.

Cheers.
FabinovX

Statistics: Posted by FabinovX — Sat Jun 12, 2010 11:13 pm

Ax-12 firmware update gone wrong

2010-06-12T14:41:34+01:00

after I upgrade the firmware bioloid 1.15.hex. . I can not transfer or download data via the control behavior of the robot programming and the terminal.
but with the motion editor can be downloaded. when I use the "play" button, in the robot terminal "error:0010".WHAT THE PROBLEM...

Statistics: Posted by amin3vdc — Sat Jun 12, 2010 2:41 pm

Ax-12 firmware update gone wrong

2009-07-27T14:33:45+01:00

One more clue for this riddle.
All motion poses from robotis firmware are... well, corrupted I guess. They make no sense, they only move the arms. I' gonna try getting a different motion file a see where it goes from there.
Maybe that is also messing up the PLAY sequence.

EDIT: yeah, the problem was that the motion files were corrupted. I downloaded the DemoExample from Robotis to the Cm-5 and now everything runs smoothly.
Thank you all for the help.

Statistics: Posted by clusher — Mon Jul 27, 2009 2:33 pm

Ax-12 firmware update gone wrong

2009-07-23T14:51:04+01:00

Great minds think alike, I suppose...
I had already checked that, all the servos are listed on the scan (including AXS1 and the IMU), and I was able to get replies from each of them using Python. So... no identities are doubled.

Any more guesses?

Statistics: Posted by clusher — Thu Jul 23, 2009 2:51 pm

Ax-12 firmware update gone wrong

2009-07-23T13:13:49+01:00

Ahhh.... the chances are that libbioloid is confused by two devices on the same ID. This may explain the problem with the robotis firmware.

Try attaching one device at a time and checking its ID - my guess is that you'll find to devices with the same ID.

Statistics: Posted by RandomMatt — Thu Jul 23, 2009 1:13 pm

Ax-12 firmware update gone wrong

2009-07-23T11:21:23+01:00

Everything went fine with the v24 Dynamixel firmware. They seem to be responsive, at least concerning my C programs and Python interface.

In the libbioloid, the x-scan detects everything, although sometimes it gets a little confused (but my instinct tells me it's the IMU... something isn't very right there...), and detects around 100 servos

Since my C programs and my Python interface with the USB2Dynamixel works fine, it has to be a problem with CM-5. I just can't be sure it's the Robotis Firmware, even though my C programs work, because I don't have a clue what this error comes from...

Statistics: Posted by clusher — Thu Jul 23, 2009 11:21 am

Ax-12 firmware update gone wrong

2009-07-22T19:06:57+01:00

Out of interest, which servo firmware did you use? (it'd be nice to know if v24 works!).

Also... what does libbioloids supervisor say when you ask it to scan x for devices? (i.e. is the problem with the robotis firmware? or the servos?)

Finally... I haven't ever(*) used the robotis CM5 firmware - so I cannot help with diagnosing the problem from the cryptic error messages.

* I have looked over StuartLs shoulder while he tested the PSX-B board with it - but that is all!

Statistics: Posted by RandomMatt — Wed Jul 22, 2009 7:06 pm

Ax-12 firmware update gone wrong

2009-07-22T16:50:08+01:00

This is getting kind of a one-sided thread with all the things I'm trying, I hope it helps anyone in the future.

In order to solve the 2M baudrate, I was here with my teacher and we decided to explore the bootloader and we cleared the EEPROM, set on Application mode and Go. We uploaded the Robotis Firmware to the Cm5, and when we ran it, it automatically changed the baudrate to 1M. So one problem is cleared.

Now the new problem. When we try to enter PLAY mode, it recognizes the servos, the IMU and the AxS1, but it starts coughing out:

Code:: ERROR:0013[0001:50] ERROR:0013[0002:00] ... ERROR:0013[00FF:00] ERROR:0013[0101:00]

and sometimes a ERROR:0010... Any ideas what these are?

Good news are: my C programs seem to be working ok... The servos move and go to predefined stances of mine (standing, sitting, things like that).

Is there something that needs to be changed when we clear the EEPROM of CM-5? Or what are those errors from? The servos or the CM-5?
Damn, I'm needing a brake today!

Statistics: Posted by clusher — Wed Jul 22, 2009 4:50 pm

Ax-12 firmware update gone wrong

2009-07-22T14:24:24+01:00

Success.
Every servo is responding to status packets, even the IMU seems to have recovered, so I'm going to re-assemble the human Bioloid.
However... I put back the Robotis firmware on the CM5 (the Bioloid is shared between 2 or 3 projects, and the others use the original firmware), but when I run the Manage mode on Terminal, it says

Code:: <->PC:57142BPS <->Dynamixel:2000000BPS

So... 2M? If I do "search" it finds all the servos (I suppose it tries with all baudrates available), but when I turn it on it detects none, and if I try to send messages by using "cid" command it returns "NoData". Any idea about what's happening?
From the AtMega128 (page 197) I see that 2M is the maximum baudrate available (I thought it was 1M)... but why is it enabled? And how to disable?

Statistics: Posted by clusher — Wed Jul 22, 2009 2:24 pm

Ax-12 firmware update gone wrong

2009-07-22T11:03:34+01:00

clusher wrote:
EDIT: Nevermind, it worked. However, it seems that CM5 is now working at 2M baudrate to the servos. And this time, with the Robotis Firmware. I'll deal with that when all my servos are working again. Thanks for all the help!

I guess the running in application mode must have worked the second time around... Actually, the first time, I just turned the CM5 off, and it was connected to a plug. Is it possible that it kept feeding the servo and it didn't power cycle it? Just a wild guess. Anyway... now I'll do the same for the other malfunctioning servos. Keep your fingers crossed!

Statistics: Posted by clusher — Wed Jul 22, 2009 11:03 am

Ax-12 firmware update gone wrong

2009-07-22T10:53:47+01:00

don't worry... you're so close to having it done.

I can thing of two things that may be causing a problem. The first is much more likely to be the issue (and much easier to do)

1) Explanation: When the servo is in the bootloader the LED is on. The first thing the firmware does is switch off the LED. As with the CM5 it is possible to get the servo to boot into the bootloader rather than the firmware - which isn't what you want, but it is the default.

Fix: get to the bootloader prompt and make sure that you have set Application mode... and then Go. The LED should go off. (If it does... i think you're fine, if not see below).

2) I'll confess that I haven't tried to flash one of my AX12s with that image. Download this file http://www.braincell.cx/~stuart/ax12-rev16-binaryfiles.zip. That image has been tested and is known to be good.

Statistics: Posted by RandomMatt — Wed Jul 22, 2009 10:53 am

Ax-12 firmware update gone wrong

2009-07-22T10:37:30+01:00

I must be doing something wrong...
In order to feed voltage to the servos I have to keep the CM5 connected to it. So, as it is said in programmer, I connected the Cm5 do the not working servo alone, sent the exemple.hex to the CM5 and turned the bridge mode on.
Afterwards, I ran programmer from a Command Prompt and said to flash DX_AX12(v24).bin through COM4 (connected to the CM5 through the serial cable). The first time it failed. I tried again and the result was:

Code:: * Loading Ready..Sucess Rewriting:0x0000 Size:0x17c2 Checksum: 7f-7f

I turned power off and back on, and not only the red light of the servo is still on, but the CM5 is unable to find it. So... what's wrong here?

I have another question though. The bridge mode says that it bridges 1M/57600... so it communicates to the AX12 at a 1M baudrate? Shouldn't I be using a 57600 baudrate? If so, how?

I also tried flashing through the USB2Dynamixel, but the answer came from the CM-5 even in bridge mode...

Getting desperate here
BTW, great work with the library, seems solid and I read the whole thread about it, people really liked working with it.

EDIT: Nevermind, it worked. However, it seems that CM5 is now working at 2M baudrate to the servos. And this time, with the Robotis Firmware. I'll deal with that when all my servos are working again. Thanks for all the help!

Statistics: Posted by clusher — Wed Jul 22, 2009 10:37 am