Embedded assembler programming
Embedded assembler programming
by Fritzoid
Wed Sep 29, 2010 12:14 pm
The BioCode archive has just been updated!
The new archive includes a complete assembler language translation of the Robotis demonstration program HumanoidTypeA.
That's right, now your embedded programs can have direct access to the world famous "Walking Machine".
With the addition of the new sample program Humanoid_A.asm, BioCode becomes the first fully functional out-of-the-box embedded programming solution for Bioloid development. Now you can move beyond the limitations of RoboPlus Task without having to sacrifice the functionality RoboPlus Manage or RoboPlus Motion.
If you are serious about controlling humanoid robots and you don't have time write a whole bunch of supporting code then you really should take a look at BioCode.
You can pickup a copy of BioCode.zip at:
http://robosavvy.com/Builders/Fritzoid/
The new archive includes a complete assembler language translation of the Robotis demonstration program HumanoidTypeA.
That's right, now your embedded programs can have direct access to the world famous "Walking Machine".
With the addition of the new sample program Humanoid_A.asm, BioCode becomes the first fully functional out-of-the-box embedded programming solution for Bioloid development. Now you can move beyond the limitations of RoboPlus Task without having to sacrifice the functionality RoboPlus Manage or RoboPlus Motion.
If you are serious about controlling humanoid robots and you don't have time write a whole bunch of supporting code then you really should take a look at BioCode.
You can pickup a copy of BioCode.zip at:
http://robosavvy.com/Builders/Fritzoid/
by limor
Wed Sep 29, 2010 11:01 pm
I had a look at the files and realized that when you said Assembler you really meant it. Assembler not for everybody. it would be great if you can take the output assembler from gcc compiled C code and then run a shell script that will massage that auto-generated assembler to fit your framework..
by Fritzoid
Thu Sep 30, 2010 12:54 pm
limor wrote:
It would be nicer still to just compile to a useable HEX file. The problem I have is with the GCC compiler. The Robotis firmware was created (I assume) using a compiler with different calling conventions than those used by GCC. In a nutshell, the Bioloid firmware allocates registers in a call sequence from r16 upwards while GCC allocates registers from r26 (or something) downward. Maybe someone around here knows how to get around this, I haven't been successful yet.
UncleBob wrote:
Take a look at BioCode.faq that should help. I'm interested in making the process as easy a possible so user feedback is welcome.
it would be great if you can take the output assembler from gcc compiled C code and then run a shell script that will massage that auto-generated assembler to fit your framework..
It would be nicer still to just compile to a useable HEX file. The problem I have is with the GCC compiler. The Robotis firmware was created (I assume) using a compiler with different calling conventions than those used by GCC. In a nutshell, the Bioloid firmware allocates registers in a call sequence from r16 upwards while GCC allocates registers from r26 (or something) downward. Maybe someone around here knows how to get around this, I haven't been successful yet.
UncleBob wrote:
any readme.txt
Take a look at BioCode.faq that should help. I'm interested in making the process as easy a possible so user feedback is welcome.