changing the code in the MR-C3024

[pio]

You can just modify the asm file to skip the test and it will work then OK.

Do modify the scode.asm ? How to do that ?It looks difficulty?

If you want the bootloader, you will have to program it to the boot block and also set the correct fuse bits so it jumps there at power on. Once the bootloader is present, you can use Roboflash.

What is the bootloader ? The cboot.asm file or others ??

How to program it to the boot block ?? Can use ISP with ponyprog ??

"Set the correct fuse bits" seems the point.

How stupid am I,

[NewBreedWarrior]

I'm still scratching my head as to what language you use to control servo movement after doing all of this. C++ ? Opic ? what?

[i-Bot]

For more complex programs C is still my language of choice, giving a good balance of high level language and low level hardware control. An Atmega is obviously stretched to support 24 channels of bidirectional servo channels at the same time as supporting the other I/O options and point to point. Even programming in C with a motion library based on that of the RoboBasic has performance limits and needs a good understanding of operation of the C3024.

Much of my progamming has been as patches to the C3024 code, and so in assembler. The advantage here is that one can still use robobasic to access the additional patches in code. This enables new instructions to be written and accessed from Robobasic, Robobasic goes through byte code instructions in EEPROM about one per millisec. By coding larger assembler routines behind one or two new instructions, a speed increase of about 100 times is possible for commonly used chunks of code.

[pio]

Hi,all

Test report,

In c3024.pdf ,pin63 should GND,I burned one.

Again,used the ISP programmer with PonyProg to program,its failed.



MISO to pin 3,

MOSI to pin 2,

SCK to pin 11,

RESET to pin 20

GND to ground.

then tried http://www.lancos.com/prog.html

AVR ISP with SI-Prog pinout



and the connection



failed,too.

That's all I tried

[i-Bot]

Sorry about the error and the chip

I have used both an SPI Duo and the JTAG ICE2 with this pinout like the Olimex board.

http://www.olimex.com/dev/images/AVR-H128-sch.gif

This seems to agree with your pins on the processor, though the connectors are obviously different.

I assume the processor is powered up, and you have a Xtal connected.

[pio]

I have used both an SPI Duo and the JTAG ICE2 with this pinout like the Olimex board.

http://www.olimex.com/dev/images/AVR-H128-sch.gif

I assume the processor is powered up, and you have a Xtal connected.

Thanks the reply I'll try again, If try the SCH. Both the Q1,Q2 should be connected ??

ICSP's setup used the ponyprog's Interface setup



should be the same as the pic or others??

The JTAG interface,I don't know how to used??

Yes,I had powered up and Xtal in 4 and 7.3728Mhz all tried.

Thanks a lot.

[Voelker]

I have just changed the Atmega128 on my C3024 and its easier than it seems. I cutted all the pin of the atmega with a cutter, then removed the atmega, and removed the soldered pins with a soldering iron. I put some glue under the new chip then placed it on the board and soldered it without adding any solder. I checked all the connection and everything seems to be ok (no short-circiut). I ll soon try to load some code on it with my ISP. Does anyone know if there is any multi-task OS that can run on the atmega128 ?

[pio]

I have just changed the Atmega128 on my C3024 and its easier than it seems.

Hi,Voelker

That's wonderful,amazing to me. I afraid to do that,only I can do the same one,I admired your boldness in doing that.

[Voelker]

In fact i broke my C3024 tow months ago (continuous reset) and bought a new one, so i didn't want to waste the broken C3024 just because the controller was dead.

[pio]

Hi all,

Programming the scode to the ATmega128 successfully,connect the crystal,24C512 and RS-232 level change to the chip.

Run the roboBASIC, appear the message





That's all I try.

[i-Bot]

Some things to check
1) what fuse bits do you set
2) is the oscillator running after programming
3) There may be an error in the serial interface circuit. This can be either mine or yours. I did not build this level converter myself, since I used a ttl level serial cable. Use hyperterm or similar to send characters at 9600 bps and check if they get to the ATmega. running controller information should make the ATmega send characters.

[pio]

Some things to check
1) what fuse bits do you set
2) is the oscillator running after programming
3) There may be an error in the serial interface circuit. This can be either mine or yours. I did not build this level converter myself, since I used a ttl level serial cable. Use hyperterm or similar to send characters at 9600 bps and check if they get to the ATmega. running controller information should make the ATmega send characters.

1) I burned the scode.hex to the chip and read the code then as the pic below in ponyporg.



I don't know what that pic as you mean?? Thanks.


2) Yes.

3) My circuit is below:



I had tried the interface circuit,it seem ok to communication with another like this test(mean the serial communication).

Deeply thanks.

[pio]

If want to understand the two programs,I'll try the AVR Studio.

Can you helpe me,Thanks a lot.

Regards,
pio

[ayu]

Hi all,

Thaks i-Bot to share the resources,and iRobot(H.K.)'s help,I used ATMEGA128,AVR Studio 4, PonyProg and parallel ISP to copy the board successfully.

[ayu]

Sorry,

Only can real-time control,but *.bas burn to the eeprom ,it cann't work like MR-C3024

Code: Select all

GETMOTORSET G24,1,1,1,1,1,0,1,1,1,0,0,0,1,1,1,0,0,0,1,1,1,1,1,0
SPEED 8
MOTOR G24



MOVE G6A,100,  76, 184,  93, 100, 100
MOVE G6A,100,  76,  17,  93, 100, 100
MOVE G6A,100,  76, 100,  93, 100, 100
MOVE G6A,100,  76,  20,  93, 100, 100
MOVE G6A,100,  76, 183,  93, 100, 100