help in boot loader and firmware for cm5

[alasi89]

hello :

1- where I can find the update for the CM5 Boot loader because I have (v1.15) but I need (v1.31) or above.

2- where I can find the CM5 firmware , they said in the expert manual that you can find it in (Examples\ROM file\bioloid.hex) on the basic CD, but I didn't find such a file.

3- why libraries are just .h ..... every library must have tow files .h and .c

what I saw is

cm5.h
cm5.a (what is .a files????)

I need CM5.c because I have to make some changes in the code to upload it to my own atmega2560 controller.

plz I need your help this is my graduation project ... and I have to finish it ASAP.

[i-Bot]

The first thing to understand is that the CM5 bootloader, the CM5 firmware, and the bioloid library sources are not released in the public domain and not published by Robotis as source code.

You may find it easier to use an alternative open source bootloader for the 2560.

A CM5 .hex file is not much use for you if you have a different processor.

Libraries do not have to contain a .c file if the source is not released. The .a file contains the pre compiled object files of the library and is picked up by the linker. You only need the .h file to show the prototypes of the functions.
http://www.network-theory.co.uk/docs/gc ... ro_17.html

While I understand your tight timescales, and your enthusiasm, do be careful that your graduation submission is complies with licenses and copyright of the code you use.

[alasi89]

thanx for your reply.

what I have discoverd that it is better for me to use cm510 library because it uses the atmega2561 controller which is more closer to atmega2560 structure.

[alasi89]

problem solved

atmega 2561 library (cm510) with .c , .h and .a files

http://support.robotis.com/en/software/ ... _cm700.htm

[i-Bot]

If you want an alternative bootloader, you can use the Arduino Mega bootloader and AVRdude.

The CM510 libraries contain only low level dynamixel drivers, there is no motion engine in the library. If this is sufficient, then you are OK.

If you want a more complete firmware, then you might look at Arbotix code. The Robotis motion engine is released in open source as part of the DARWin project, though you will have to translate back to ATMega.

[alasi89]

to be clear :

I have an 3axis accelerometer + bioloid robot kit (with cm5) + arduino mega 2560 .

I want to make what is so called "balancing robot" .... the main problem is to get the accelerometer signal to control the dynamixel according to its signal.

so I have 2 choices :

1- connect the sensor directly to the ADC channels of the arduino board but the bioloid libraries were designed for atmega 128 or atmega 2561 .
in this way I don't have to use the CM5 .

2- connect the sensor to th half duplex Bus. I found this discussion between you and "sdeba" useful

http://robosavvy.com/forum/viewtopic.ph ... 259e9a3ab2

I downloaded the Huv Code but I didn't know how to get use of it.

[alasi89]

If you want an alternative bootloader, you can use the Arduino Mega bootloader and AVRdude.

I have AVRdude an I know how to upload hex files to Arduino ... but I didn't understand what you mean by "alternative bootloader" ... where I can find it ??