Replacing BCP with machine code
Replacing BCP with machine code
by Fritzoid
Fri Jun 11, 2010 2:00 pm
I've been working on a way to replace the BCP program created by RoboPlus Task with something more useful. What I've come up with allows me to write a program in assembler and download it in place of the standard BCP token stream. After that the machine code routine runs instead of the interpreter whenever you go into Play mode. The assembler program can do everything that a RoboPlus task can do and a whole lot more, plus it's really fast.
I call the product RoboCode and I've already written and tested a couple of programs with it. Now I'm looking for Bioloid users with some assembler knowledge who would like to try it out for themselves. I have gathered everything I think you will need into an archive and uploaded it to my files area. You can look at it or download the package at the following URL:
http://robosavvy.com/Builders/Fritzoid/BioCode.zip
To use BioCode you will need to replace your current CM-510 firmware with the .hex file included in the archive. The hex file is just a patched version of the current CM-510 firmware (CM-510:1.1963). You will loose no functionality when installing this firmware since all the Robotis code is still there. What you gain is the ability to run BioCode programs.
You will need a copy of AVR Studio 4 (or equivalent) in order to assemble your own programs. I provide the hex file for two sample programs in the archive if you just want to try it out without an assembler. The source code for both sample programs and an assembler header file needed to build the hex files is also included in the package.
Finally I include all the necessary documentation to get you started writing programs in BioCode. Also included is a detailed listing of the control table entries for the CM-510 and the AX-12+. This document alone is an invaluable resource and it identifies a few table entries that you won't find anywhere else.
Using BioCode will take your Bioloid experience to a whole new level.
I call the product RoboCode and I've already written and tested a couple of programs with it. Now I'm looking for Bioloid users with some assembler knowledge who would like to try it out for themselves. I have gathered everything I think you will need into an archive and uploaded it to my files area. You can look at it or download the package at the following URL:
http://robosavvy.com/Builders/Fritzoid/BioCode.zip
To use BioCode you will need to replace your current CM-510 firmware with the .hex file included in the archive. The hex file is just a patched version of the current CM-510 firmware (CM-510:1.1963). You will loose no functionality when installing this firmware since all the Robotis code is still there. What you gain is the ability to run BioCode programs.
You will need a copy of AVR Studio 4 (or equivalent) in order to assemble your own programs. I provide the hex file for two sample programs in the archive if you just want to try it out without an assembler. The source code for both sample programs and an assembler header file needed to build the hex files is also included in the package.
Finally I include all the necessary documentation to get you started writing programs in BioCode. Also included is a detailed listing of the control table entries for the CM-510 and the AX-12+. This document alone is an invaluable resource and it identifies a few table entries that you won't find anywhere else.
Using BioCode will take your Bioloid experience to a whole new level.
by Fritzoid
Mon Jul 12, 2010 1:25 pm
BioCode.zip has been updated for the 1.1964 release of the CM-510 firmware. The new patched version of the firmware is included as a hex file in the achive. The BioCode.inc definitions have been updated to reflect the changes. I also improved the useability and error checking of the BioLoad program loader. The updated package is available at the same link given in my original post above.