Hi Adam,<br><br>Thanks for the response.  <br><br>Just thought I&#39;d let you (and the community) know that after some more tinkering, I was finally able to get Eclipse to successfully upload firmware to my razor imu.  What I had to do was set the baud rate of the programmer to 57600.  I&#39;m not certain, but this may have been a by-product of initially loading the AHRS firmware on the razors (from a windows box).<br>

<br>--Will<br><div class="gmail_quote"><div><br> </div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div class="gmail_quote">---------- Forwarded message ----------<br>

From: <b class="gmail_sendername">Adam Stambler</b> <span dir="ltr">&lt;<a href="mailto:adasta@gmail.com" target="_blank">adasta@gmail.com</a>&gt;</span><br>Date: Fri, Jan 21, 2011 at 1:39 PM<br>

Subject: Re: [ros-users] Problem with Sparkfun IMU 9D Razor AVR Driver<br>To: User discussions &lt;<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a>&gt;<br><br><br>Hi Will,<br><br>I am not sure what is causing your programming difficulty.  The <a href="http://www.sparkfun.com/products/9623" target="_blank">Sparkfun 9D razor imu</a> should be programed with an arduino bootloader.   Your settings are correct for programming it..  <br>




<br>The only things that I can think of are that your device is not showing up as /dev/ttyUSB0 or its not being properly reset by your avrdude. When avrdude starts to program, it tells the ftdi to reset the avr chip and then starts communicating with the bootloader.  Sometimes, avrdude seems to fail to reset the device.  You can try pressing the reset button on the board right before you tell avrdude to program it.<br>




<br>Another thing you should try as a sanity check is reprogramming it with the <a href="https://github.com/a1ronzo/SparkFun-9DOF-Razor-IMU-Test-Firmware" target="_blank">default firmware</a> or the <a href="http://code.google.com/p/sf9domahrs/source/list" target="_blank">AHRS firmware</a> with the arduino IDE.  <br>




<br>Hopefully this helps.<br><br>Good luck!,<br>Adam<br><br><div class="gmail_quote"><div><div></div><div class="h5"><div><div></div><div>On Thu, Jan 20, 2011 at 6:29 PM, William McMahan <span dir="ltr">&lt;<a href="mailto:wmcmahan@seas.upenn.edu" target="_blank">wmcmahan@seas.upenn.edu</a>&gt;</span> wrote:<br>




</div></div></div></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div><div></div><div class="h5"><div><div></div><div>Hey,<div><br></div>

<div>Adam, Thanks for writing a ROS wrapper for the sparkfun razor imu.  It&#39;s actually something I was about to start working on.  However, I&#39;ve been banging my head against a problem installing your AVRdriver firmware onto the IMUs and I&#39;d appreciate any assistance you (or the community) might be able to offer.</div>






<div><br></div><div>Here is the process that I&#39;ve taken so far. Note that I&#39;m running the a fully updated version of cturtle on Ubuntu 10.04 Lucid (64bit).  </div><div>

<br></div><div>1. Plug the IMU via an FTDI board into the USB port of my computer.</div><div>2. Open Eclipse and import an existing project into the workspace, pointing to /rutgers-ros-pkg/imu_9drazor/src</div><div>(I&#39;ve followed your AVR Eclipse installation instructions on the avr_bridge package documentation.)</div>






<div>3. Build the project.</div><div>4. Press the Upload current project to Atmel target MCU</div><div><br></div><div>The last step is where I run into a problem, and get the following console output.</div><div><br></div>






<div><div><div><div><font face="&#39;courier new&#39;, monospace">Launching /usr/bin/avrdude -pm328p -carduino -P/dev/ttyUSB0 -Uflash:w:imu_AVRdriver.hex:a </font></div></div></div><div><div><div>

<font face="&#39;courier new&#39;, monospace">Output:</font></div></div></div><div><div><div><font face="&#39;courier new&#39;, monospace">avrdude: stk500_getsync(): not in sync: resp=0x1e</font></div>

</div></div><div><div><div><font face="&#39;courier new&#39;, monospace"><br></font></div></div></div><div><div><div><font face="&#39;courier new&#39;, monospace">avrdude done.  Thank you.</font></div>

</div></div><div><div><div><font face="&#39;courier new&#39;, monospace"><br></font></div></div></div><div><div><div><font face="&#39;courier new&#39;, monospace">avrdude finished</font></div>

</div></div></div><div><br></div><div>I think the problem may lie in my selection for AVR Programmer.  I&#39;ve selected the Arduino from the Programmer Hardware (-c) option and entered in /dev/ttyUSB0 into the Overide default port (-P) section.  The Target hardware is set to ATMega328P with a clock of 8000000.  Do you use the same AVR programmer settings as I do?  Do you see anything else I&#39;m doing wrong in this process?</div>






<div><br></div><div>Thanks again,</div><div>--Will</div>
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