BioloidCControl - Alternative firmware for CM-510

[MOHIT JINDAL]

When you release version 0.6 ? Can you make it easy to use. Make it like software install.
Thanks. I hope some other guy make it setup application.

[longjohnny]

Hi there!

I 've the same problem like 'e0ne199'.

I configured the transfer by serial cable and use the A - Bioloid Type with standard motions.

When I transmit the .hex file to my robot I got my lines of the following...


Seams to be there are many errors^^ and after upload no prompt appears...

Do I have to configurate any builder/linker settings or include the Robotis EmbC files in AVR Studio 5?

Thanks a lot,
kons

[planius]

You have to hold down Shift-# whilst pressing the Robot power button to start the bootloader before you can download the .hex file. In addition RoboPlus Terminal needs to be configured as 57,600bps.

This is what you should see:
https://picasaweb.google.com/113467168077040931309/Bioloid#5758631141379291138

Further, before you upload the .hex file, make sure you have changed the following code in serial.h:

Code: Select all

// Define which mode of transport is used
// Use SERIAL_CABLE for Rs-232 cable from USB2Dynamixel to CM-510
// Use ZIG_2_SERIAL for Zig-110 to Zig2Serial attached to USB2Dynamixel
// #define SERIAL_CABLE
#define   ZIG_2_SERIAL


You need to uncomment the #define SERIAL_CABLE and put '//' in front of the #define ZIG_2_SERIAL since you are using the serial cable interface. Then build the project and upload the new .hex file.

[planius]

I have updated the Users Guide with more detailed instructions for getting started. Check it out at:
http://code.google.com/p/bioloidccontrol/downloads/list

[longjohnny]

Hi Peter, thanks for your quick reply!

I resolved the upload problem with your updated userguide.
I simply forget the 'ld' before transmit the .hex file

Now the upload suceeded.
After typing 'go' programm jumps to addr: 0x0000000 and ALL_LEDs went ON but now then the program seams to halt.... I got no welcome screen...
and terminal window doesn't react on any input....


Do you have any further solutions?
thanks,
-kons

[planius]

Here is what should be happening after you type 'go':
1. All 6 LED's should switch on
2. 0.2 seconds wait
3. All 6 LED's switch off again
4. Welcome message is printed
5. Play LED is flashing until you press the START Button
6. Robot stands up and Command Prompt '>' is displayed

Did you change the code in serial.h as per my previous post? By default V0.5 is using ZIG_2_SERIAL, but you are using serial cable, so you need to change the #define and recompile.

[longjohnny]

Did you change the code in serial.h as per my previous post? By default V0.5 is using ZIG_2_SERIAL, but you are using serial cable, so you need to change the #define and recompile.

Yes I changed and recompiled it!

I simply import your AVR-project and also changed the

Code: Select all

adc_sensor_enable[ADC_CHANNELS] =

to

Code: Select all

{0, 0, 1, 1, 1, 0}

because I only use the Gyro and DMS and the serial_cable setting in serial.h


Do you have still more solutions? Because I really want to use and test your firmware.

thx,
-kons

[planius]

Which version of AVR Studio do you use?
Did it get to step 3 and the LED's switched off again?
You can insert a

Code: Select all

   printf("\nPassed serial init.\n");


statement after serial_init in this code block in BioloidCControl.c

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   // Initialization Routines
   led_init();            // switches all 6 LEDs on
   serial_init(57600);      // serial port at 57600 baud
   buzzer_init();         // enable buzzer melodies
   button_init();         // enable push buttons on CM-510
   delay_ms(200);         // wait 0.2s
   led_off(ALL_LED);      // and switch them back off


so that you can verify that printing works at all.

[longjohnny]

hello again

I use Atmel AVR Studio 5 (Version: 5.1.208) downloaded here: http://www.mikrocontroller.net/articles/AVR-Studio --> as5installer-stable-5.1.208-full.exe

I modified the BioloidCControl.c with some printf(".."); command but none appeared... I think that something strange is with the build, maybe the compiler doesn't include some libaries or sth.?

thanks, nice weekend
-kons

[planius]

The best way to check if the build is working properly is for you to do a Build -> Rebuild Solution and post the whole Output in reply. Then I can have a look through and see if there are any obvious issues...

This is what I get:

Code: Select all

------ Rebuild All started: Project: BioloidCControl, Configuration: Debug AVR ------
Build started.
Project "BioloidCControl.cproj" (ReBuild target(s)):
Target "PreBuildEvent" skipped, due to false condition; ('$(PreBuildEvent)'!='') was evaluated as (''!='').
Target "CoreRebuild" in file "C:\Program Files (x86)\Atmel\AVR Studio 5.1\Vs\Compiler.targets" from project "C:\Users\Public\Documents\Robotics\Bioloid\BioloidCControl\Release 0.5\BioloidCControl.cproj" (target "ReBuild" depends on it):
   Task "RunCompilerTask"
      C:\Program Files (x86)\Atmel\AVR Studio 5.1\make\make.exe clean all
      rm -rf  adc.o BioloidCControl.o button.o buzzer.o clock.o dxl_hal.o dynamixel.o led.o motion.o pose.o serial.o walk.o adc.d BioloidCControl.d button.d buzzer.d clock.d dxl_hal.d dynamixel.d led.d motion.d pose.d serial.d walk.d 
      rm -rf "BioloidCControl.hex" "BioloidCControl.lss" "BioloidCControl.eep" "BioloidCControl.map"
adc.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "adc.d" -MT"adc.d"  -mmcu=atmega2561  -o"adc.o" ".././adc.c"
      Finished building: .././adc.c
BioloidCControl.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "BioloidCControl.d" -MT"BioloidCControl.d"  -mmcu=atmega2561  -o"BioloidCControl.o" ".././BioloidCControl.c"
      Finished building: .././BioloidCControl.c
button.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "button.d" -MT"button.d"  -mmcu=atmega2561  -o"button.o" ".././button.c"
      Finished building: .././button.c
buzzer.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "buzzer.d" -MT"buzzer.d"  -mmcu=atmega2561  -o"buzzer.o" ".././buzzer.c"
      Finished building: .././buzzer.c
clock.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "clock.d" -MT"clock.d"  -mmcu=atmega2561  -o"clock.o" ".././clock.c"
      Finished building: .././clock.c
dxl_hal.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "dxl_hal.d" -MT"dxl_hal.d"  -mmcu=atmega2561  -o"dxl_hal.o" ".././dxl_hal.c"
      Finished building: .././dxl_hal.c
dynamixel.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "dynamixel.d" -MT"dynamixel.d"  -mmcu=atmega2561  -o"dynamixel.o" ".././dynamixel.c"
      Finished building: .././dynamixel.c
led.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "led.d" -MT"led.d"  -mmcu=atmega2561  -o"led.o" ".././led.c"
      Finished building: .././led.c
motion.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "motion.d" -MT"motion.d"  -mmcu=atmega2561  -o"motion.o" ".././motion.c"
      Finished building: .././motion.c
pose.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "pose.d" -MT"pose.d"  -mmcu=atmega2561  -o"pose.o" ".././pose.c"
      .././pose.c: In function 'moveToDefaultPose':
C:\Users\Public\Documents\Robotics\Bioloid\BioloidCControl\Release 0.5\pose.c(209,2): passing argument 2 of 'moveToGoalPose' discards qualifiers from pointer target type
C:\Users\Public\Documents\Robotics\Bioloid\BioloidCControl\Release 0.5\pose.c(160,5): expected 'uint16 *' but argument is of type 'const uint16 *'
      Finished building: .././pose.c
serial.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "serial.d" -MT"serial.d"  -mmcu=atmega2561  -o"serial.o" ".././serial.c"
      Finished building: .././serial.c
walk.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "walk.d" -MT"walk.d"  -mmcu=atmega2561  -o"walk.o" ".././walk.c"
      Finished building: .././walk.c
      Building target: BioloidCControl.elf
      Invoking: AVR/GNU C Linker
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe" -o BioloidCControl.elf  adc.o BioloidCControl.o button.o buzzer.o clock.o dxl_hal.o dynamixel.o led.o motion.o pose.o serial.o walk.o   -Wl,-Map="BioloidCControl.map" -Wl,-lm  -Wl,--defsym=__stack=0xfe00  -mmcu=atmega2561 
      Finished building target: BioloidCControl.elf
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-objcopy.exe" -O ihex -R .eeprom -R .fuse -R .lock -R .signature  "BioloidCControl.elf" "BioloidCControl.hex"
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-objcopy.exe" -j .eeprom  --set-section-flags=.eeprom=alloc,load --change-section-lma .eeprom=0  --no-change-warnings -O ihex "BioloidCControl.elf" "BioloidCControl.eep" || exit 0
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-objdump.exe" -h -S "BioloidCControl.elf" > "BioloidCControl.lss"
      "C:\Program Files (x86)\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-size.exe" -C --mcu=atmega2561  "BioloidCControl.elf"
      AVR Memory Usage
      ----------------
      Device: atmega2561
      Program:   68650 bytes (26.2% Full)
      (.text + .data + .bootloader)
      Data:       3425 bytes (41.8% Full)
      (.data + .bss + .noinit)
   Done executing task "RunCompilerTask".
Done building target "CoreRebuild" in project "BioloidCControl.cproj".
Target "PostBuildEvent" skipped, due to false condition; ('$(PostBuildEvent)' != '') was evaluated as ('' != '').
Target "ReBuild" in file "C:\Program Files (x86)\Atmel\AVR Studio 5.1\Vs\Avr.common.targets" from project "C:\Users\Public\Documents\Robotics\Bioloid\BioloidCControl\Release 0.5\BioloidCControl.cproj" (entry point):
Done building target "ReBuild" in project "BioloidCControl.cproj".
Done building project "BioloidCControl.cproj".

Build succeeded.
========== Rebuild All: 1 succeeded, 0 failed, 0 skipped ==========


[longjohnny]

Hi again!
Here is my output!

Code: Select all

------ Rebuild All started: Project: BioloidCControl, Configuration: Debug AVR ------
Build started.
Project "BioloidCControl.cproj" (ReBuild target(s)):
Target "PreBuildEvent" skipped, due to false condition; ('$(PreBuildEvent)'!='') was evaluated as (''!='').
Target "CoreRebuild" in file "C:\Program Files\Atmel\AVR Studio 5.1\Vs\Compiler.targets" from project "C:\Users\BioloidVM\Desktop\BioloidCControlv05\BioloidCControl.cproj" (target "ReBuild" depends on it):
   Task "RunCompilerTask"
      C:\Program Files\Atmel\AVR Studio 5.1\make\make.exe clean all
      rm -rf  adc.o BioloidCControl.o button.o buzzer.o clock.o dxl_hal.o dynamixel.o led.o motion.o pose.o serial.o walk.o adc.d BioloidCControl.d button.d buzzer.d clock.d dxl_hal.d dynamixel.d led.d motion.d pose.d serial.d walk.d 
      rm -rf "BioloidCControl.hex" "BioloidCControl.lss" "BioloidCControl.eep" "BioloidCControl.map"
adc.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "adc.d" -MT"adc.d"  -mmcu=atmega2561  -o"adc.o" ".././adc.c"
      Finished building: .././adc.c
BioloidCControl.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "BioloidCControl.d" -MT"BioloidCControl.d"  -mmcu=atmega2561  -o"BioloidCControl.o" ".././BioloidCControl.c"
      Finished building: .././BioloidCControl.c
button.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "button.d" -MT"button.d"  -mmcu=atmega2561  -o"button.o" ".././button.c"
      Finished building: .././button.c
buzzer.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "buzzer.d" -MT"buzzer.d"  -mmcu=atmega2561  -o"buzzer.o" ".././buzzer.c"
      Finished building: .././buzzer.c
clock.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "clock.d" -MT"clock.d"  -mmcu=atmega2561  -o"clock.o" ".././clock.c"
      Finished building: .././clock.c
dxl_hal.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "dxl_hal.d" -MT"dxl_hal.d"  -mmcu=atmega2561  -o"dxl_hal.o" ".././dxl_hal.c"
      Finished building: .././dxl_hal.c
dynamixel.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "dynamixel.d" -MT"dynamixel.d"  -mmcu=atmega2561  -o"dynamixel.o" ".././dynamixel.c"
      Finished building: .././dynamixel.c
led.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "led.d" -MT"led.d"  -mmcu=atmega2561  -o"led.o" ".././led.c"
      Finished building: .././led.c
motion.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "motion.d" -MT"motion.d"  -mmcu=atmega2561  -o"motion.o" ".././motion.c"
      Finished building: .././motion.c
pose.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "pose.d" -MT"pose.d"  -mmcu=atmega2561  -o"pose.o" ".././pose.c"
      .././pose.c: In function 'moveToDefaultPose':
C:\Users\BioloidVM\Desktop\BioloidCControlv05\pose.c(209,2): passing argument 2 of 'moveToGoalPose' discards qualifiers from pointer target type
C:\Users\BioloidVM\Desktop\BioloidCControlv05\pose.c(160,5): expected 'uint16 *' but argument is of type 'const uint16 *'
      Finished building: .././pose.c
serial.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "serial.d" -MT"serial.d"  -mmcu=atmega2561  -o"serial.o" ".././serial.c"
      Finished building: .././serial.c
walk.c
      Invoking: AVR/GNU C Compiler
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe"  -funsigned-char -funsigned-bitfields -DF_CPU=16000000UL  -Os -fpack-struct -fshort-enums -Wall -c -std=gnu99 -MD -MP -MF "walk.d" -MT"walk.d"  -mmcu=atmega2561  -o"walk.o" ".././walk.c"
      Finished building: .././walk.c
      Building target: BioloidCControl.elf
      Invoking: AVR/GNU C Linker
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-gcc.exe" -o BioloidCControl.elf  adc.o BioloidCControl.o button.o buzzer.o clock.o dxl_hal.o dynamixel.o led.o motion.o pose.o serial.o walk.o   -Wl,-Map="BioloidCControl.map" -Wl,-lm  -Wl,--defsym=__stack=0xfe00  -mmcu=atmega2561 
      Finished building target: BioloidCControl.elf
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-objcopy.exe" -O ihex -R .eeprom -R .fuse -R .lock -R .signature  "BioloidCControl.elf" "BioloidCControl.hex"
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-objcopy.exe" -j .eeprom  --set-section-flags=.eeprom=alloc,load --change-section-lma .eeprom=0  --no-change-warnings -O ihex "BioloidCControl.elf" "BioloidCControl.eep" || exit 0
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-objdump.exe" -h -S "BioloidCControl.elf" > "BioloidCControl.lss"
      "C:\Program Files\Atmel\AVR Studio 5.1\extensions\Atmel\AVRGCC\3.3.1.27\AVRToolchain\bin\avr-size.exe" -C --mcu=atmega2561  "BioloidCControl.elf"
      AVR Memory Usage
      ----------------
      Device: atmega2561
      Program:   68774 bytes (26.2% Full)
      (.text + .data + .bootloader)
      Data:       3393 bytes (41.4% Full)
      (.data + .bss + .noinit)
   Done executing task "RunCompilerTask".
Done building target "CoreRebuild" in project "BioloidCControl.cproj".
Target "PostBuildEvent" skipped, due to false condition; ('$(PostBuildEvent)' != '') was evaluated as ('' != '').
Target "ReBuild" in file "C:\Program Files\Atmel\AVR Studio 5.1\Vs\Avr.common.targets" from project "C:\Users\BioloidVM\Desktop\BioloidCControlv05\BioloidCControl.cproj" (entry point):
Done building target "ReBuild" in project "BioloidCControl.cproj".
Done building project "BioloidCControl.cproj".

Build succeeded.
========== Rebuild All: 1 succeeded, 0 failed, 0 skipped ==========


Now I have to sleep, it half past three in the morning...
Thanks,
-kons

[planius]

Hi kons, I can now replicate this problem. I created a new, clean install of AVR Studio 5.1 and BioloidCControl 0.5 and then I get the same problem. Something has obviously been changed in the AVR Toolchain so that the code no longer works. I believe I have narrowed the issue to PROGMEM, it might be that the fix for code exceeding 64KB that is at the end of BioloidCControl.c no longer works. I will continue to investigate and post an updated version once I have a fix.

[e0ne199]

sorry, my bad :p
after modifying several things in the source code, finally i can make it work well
btw, i hope the next updates for this code will be better than before, and thx, that code really helps me program the robot motion in C code more easily

[planius]

Wow, that problem wasn't easy to resolve! Thank god somebody else had figured it out already, see http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&t=119262 for more information.

AVR Studio 5.1/6.0 set the initial stack size wrong when converting projects from version 5.0. Go to Project -> BioloidCControl Properties and then click on Toolchain - AVR/GNU Linker - Memory Settings
You should see a setting 'Initial stack address: 0xfe00'
Delete that setting, save and rebuild the whole solution. Fixed it for me.
Let me know if it works.

[longjohnny]

ha, great! Now it works for me too! Thanks for you efforts - its time to play with your firmware

Do you any experience with Eclipse IDE (Version: C/C++ Development Tools (CDT)) + AVR Eclipse Plugin, which settings I have to take to compile a project for bioloid?

thx