[ros-users] Problem with Sparkfun IMU 9D Razor AVR Driver

[Will McMahan]

Hi Adam,

Thanks for the response.

Just thought I'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'm not certain, but this may have been a by-product of initially
loading the AHRS firmware on the razors (from a windows box).

--Will



> ---------- Forwarded message ----------
> From: Adam Stambler <adasta at gmail.com>
> Date: Fri, Jan 21, 2011 at 1:39 PM
> Subject: Re: [ros-users] Problem with Sparkfun IMU 9D Razor AVR Driver
> To: User discussions <ros-users at code.ros.org>
>
>
> Hi Will,
>
> I am not sure what is causing your programming difficulty.  The Sparkfun
> 9D razor imu <http://www.sparkfun.com/products/9623> should be programed
> with an arduino bootloader.   Your settings are correct for programming
> it..
>
> 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.
>
> Another thing you should try as a sanity check is reprogramming it with the
> default firmware<https://github.com/a1ronzo/SparkFun-9DOF-Razor-IMU-Test-Firmware>or the AHRS
> firmware <http://code.google.com/p/sf9domahrs/source/list> with the
> arduino IDE.
>
> Hopefully this helps.
>
> Good luck!,
> Adam
>
> On Thu, Jan 20, 2011 at 6:29 PM, William McMahan <wmcmahan at seas.upenn.edu>wrote:
>
>> Hey,
>>
>> Adam, Thanks for writing a ROS wrapper for the sparkfun razor imu.  It's
>> actually something I was about to start working on.  However, I've been
>> banging my head against a problem installing your AVRdriver firmware onto
>> the IMUs and I'd appreciate any assistance you (or the community) might be
>> able to offer.
>>
>> Here is the process that I've taken so far. Note that I'm running the a
>> fully updated version of cturtle on Ubuntu 10.04 Lucid (64bit).
>>
>> 1. Plug the IMU via an FTDI board into the USB port of my computer.
>> 2. Open Eclipse and import an existing project into the workspace,
>> pointing to /rutgers-ros-pkg/imu_9drazor/src
>> (I've followed your AVR Eclipse installation instructions on the
>> avr_bridge package documentation.)
>> 3. Build the project.
>> 4. Press the Upload current project to Atmel target MCU
>>
>> The last step is where I run into a problem, and get the following console
>> output.
>>
>> Launching /usr/bin/avrdude -pm328p -carduino -P/dev/ttyUSB0
>> -Uflash:w:imu_AVRdriver.hex:a
>> Output:
>> avrdude: stk500_getsync(): not in sync: resp=0x1e
>>
>> avrdude done.  Thank you.
>>
>> avrdude finished
>>
>> I think the problem may lie in my selection for AVR Programmer.  I'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'm doing wrong
>> in this process?
>>
>> Thanks again,
>> --Will
>>
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>
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