BioloidCControl - Alternative firmware for CM-510

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
57 postsPage 2 of 41, 2, 3, 4
57 postsPage 2 of 41, 2, 3, 4

Post by MOHIT JINDAL » Mon Jun 25, 2012 3:39 am

Post by MOHIT JINDAL
Mon Jun 25, 2012 3:39 am

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.
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.
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Post by longjohnny » Tue Jun 26, 2012 4:17 pm

Post by longjohnny
Tue Jun 26, 2012 4:17 pm

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...
Image

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
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...
Image

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
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Post by planius » Wed Jun 27, 2012 9:42 am

Post by planius
Wed Jun 27, 2012 9:42 am

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.
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.
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Post by planius » Wed Jun 27, 2012 10:15 am

Post by planius
Wed Jun 27, 2012 10:15 am

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
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
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Post by longjohnny » Wed Jun 27, 2012 3:32 pm

Post by longjohnny
Wed Jun 27, 2012 3:32 pm

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
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
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Post by planius » Thu Jun 28, 2012 7:34 am

Post by planius
Thu Jun 28, 2012 7:34 am

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.
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.
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Post by longjohnny » Thu Jun 28, 2012 5:19 pm

Post by longjohnny
Thu Jun 28, 2012 5:19 pm

planius wrote: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 wrote: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
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Post by planius » Thu Jun 28, 2012 10:21 pm

Post by planius
Thu Jun 28, 2012 10:21 pm

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
Code: Select all
   // 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.
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
Code: Select all
   // 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.
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Post by longjohnny » Fri Jun 29, 2012 6:50 pm

Post by longjohnny
Fri Jun 29, 2012 6:50 pm

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
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
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Post by planius » Sat Jun 30, 2012 1:53 am

Post by planius
Sat Jun 30, 2012 1:53 am

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 ==========
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 ==========
Last edited by planius on Sun Jul 01, 2012 8:40 am, edited 1 time in total.
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Post by longjohnny » Sat Jun 30, 2012 2:33 am

Post by longjohnny
Sat Jun 30, 2012 2:33 am

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
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
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Post by planius » Sun Jul 01, 2012 7:38 am

Post by planius
Sun Jul 01, 2012 7:38 am

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.
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.
Last edited by planius on Sun Jul 01, 2012 12:03 pm, edited 1 time in total.
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Post by e0ne199 » Sun Jul 01, 2012 11:54 am

Post by e0ne199
Sun Jul 01, 2012 11:54 am

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 :D
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 :D
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Post by planius » Sat Jul 07, 2012 6:30 am

Post by planius
Sat Jul 07, 2012 6:30 am

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.
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.
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Post by longjohnny » Sat Jul 07, 2012 12:28 pm

Post by longjohnny
Sat Jul 07, 2012 12:28 pm

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
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
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