2006 CMUcam2 Code

[Cuog]

k thanks time to search,
Cuog

[Makubesu]

My team is having some problems using the camera code. When we used the code that came with the controller, we were able to get the LEDs to light up for y movement on the joystick, as well as the trigger and thumb button. When we loaded on the camera code, though, none of those did anything. We loaded on the default code provided at IFI's website, and that fixed things, but we can't use the camera with just that code. Any idea what we're doing wrong? The user_routines.c files look the same, so I don't understand why the joystick wouldn't work.

[Cuog]

in the method: Proccess_Data_From_Master_uP(), make a call to Default_Routine, then in Default_Routine comment out the pwm assignment for pwm01 and 02 and you're good to go, i spent all day trying to fix this and hit my head against the wall when i got it.

[Makubesu]

Originally Posted by Cuog

in the method: Proccess_Data_From_Master_uP(), make a call to Default_Routine, then in Default_Routine comment out the pwm assignment for pwm01 and 02 and you're good to go, i spent all day trying to fix this and hit my head against the wall when i got it.

Oh, I see, the call to Default_Routine is actually commented out in the camera code. Why do I need to comment out the assignments for pwm01 and 02 in default routine though?

[X-Istence]

Originally Posted by Makubesu

Oh, I see, the call to Default_Routine is actually commented out in the camera code. Why do I need to comment out the assignments for pwm01 and 02 in default routine though?

Because those are standard used for the servo's, and last I checked it was not desirable for the servo's to be changed in position by the robot controller.

[iBheat]

Originally Posted by X-Istence

Because those are standard used for the servo's, and last I checked it was not desirable for the servo's to be changed in position by the robot controller.

If by that you mean the PWM outputs for camera servos (pan and tilt) cannot be changed then you are incorrect if you look in tracking.h you see

// By default, PWM output one is used for the pan servo.
// Change it to another value if you'd like to use PWM
// output one for another purpose.
#define PAN_SERVO pwm01

// By default, PWM output two is used for the tilt servo.
// Change it to another value if you'd like to use PWM
// output two for another purpose.
#define TILT_SERVO pwm02

That defines which PWM output is used!

[Windward]

I don't know if this has been answered in one of the above posts or somewhere, but does the camera code (the one for MPLab) interfere with other code that we programmers add in? I can't get any of my personal code, including printfs, to work even though all the camera code works perfectly fine, including printfs. Is there something I'm supposed to edit before I can edit the default code and have it work?

[Alan Anderson]

The call to Default_Routine() is commented out in the camera code. If that's where you're putting your own programming, you now know why it doesn't seem to be doing anything.

Uncomment it and your code should run.

[aaeamdar]

Originally Posted by MPLAB IDE 7.2 Linker

Clean: Deleting intermediary and output files.
Clean: Deleted file "G:\Default Code\main.o".
Clean: Deleted file "G:\Default Code\user_routines.o".
Clean: Deleted file "G:\Default Code\user_routines_fast.o".
Clean: Deleted file "G:\Default Code\user_SerialDrv.o".
Clean: Deleted file "G:\Default Code\ifi_startup.o".
Clean: Deleted file "G:\Default Code\ifi_utilities.o".
Clean: Deleted file "G:\Default Code\camera.o".
Clean: Deleted file "G:\Default Code\serial_ports.o".
Clean: Deleted file "G:\Default Code\tracking.o".
Clean: Done.
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "main.c" -fo="main.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "user_routines.c" -fo="user_routines.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
G:\Default Code\user_routines.c:252:Warning [2058] call of function without prototype
G:\Default Code\user_routines.c:260:Warning [2058] call of function without prototype
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "user_routines_fast.c" -fo="user_routines_fast.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "user_SerialDrv.c" -fo="user_SerialDrv.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "ifi_startup.c" -fo="ifi_startup.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "ifi_utilities.c" -fo="ifi_utilities.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "camera.c" -fo="camera.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "serial_ports.c" -fo="serial_ports.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
Executing: "c:\mcc18\bin\mcc18.exe" -p=18F8722 "tracking.c" -fo="tracking.o" /i"C:\mcc18\h" -D_FRC_BOARD -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw=2066
Executing: "C:\Program Files\Microchip\MPASM Suite\MPLink.exe" /l"C:\mcc18\lib" "18f8722.lkr" "G:\Default Code\main.o" "G:\Default Code\user_routines.o" "G:\Default Code\user_routines_fast.o" "G:\Default Code\user_SerialDrv.o" "G:\Default Code\ifi_startup.o" "G:\Default Code\ifi_utilities.o" "G:\Default Code\camera.o" "G:\Default Code\serial_ports.o" "G:\Default Code\tracking.o" "G:\Default Code\FRC_library.lib" /o"FrcCode.cof"
MPLINK 3.94, Linker
Copyright (c) 2005 Microchip Technology Inc.
Error - section '.udata_user_routines.o' can not fit the section. Section '.udata_user_routines.o' length=0x00000103
Errors : 1

This code gives us the above error. Some insight: hex 103 is just above 256. Are we exceeding some miserly value of MPLAB?

Thanks, I hope I'm not repeating someone.

[Kevin Watson]

Originally Posted by aaeamdar

This code gives us the above error. Some insight: hex 103 is just above 256. Are we exceeding some miserly value of MPLAB?

Thanks, I hope I'm not repeating someone.

Try removing user_SerialDrv.c/.h from your project.

-Kevin

[aaeamdar]

Originally Posted by Kevin Watson

Try removing user_SerialDrv.c/.h from your project.

-Kevin

This worked to fix the error, and I was about to throw a Jubilee Feast when it gave me a different error, about Breaker_Tripped:

MPLINK 3.94, Linker
Copyright (c) 2005 Microchip Technology Inc.
Error - could not find definition of symbol 'Breaker_Tripped' in file 'G:\Default Code\user_routines.o'.
Errors    : 1

That's fine, I fixed that (essentially commented it out), and then, BOOM I got the same error again:

MPLINK 3.94, Linker
Copyright (c) 2005 Microchip Technology Inc.
Error - section '.udata_user_routines.o' can not fit the section. Section '.udata_user_routines.o' length=0x00000103
Errors    : 1

=(

I HATE MP BLOB

[Kevin Watson]

Originally Posted by aaeamdar

This worked to fix the error, and I was about to throw a Jubilee Feast when it gave me a different error, about Breaker_Tripped:

MPLINK 3.94, Linker
Copyright (c) 2005 Microchip Technology Inc.
Error - could not find definition of symbol 'Breaker_Tripped' in file 'G:\Default Code\user_routines.o'.
Errors : 1

That's fine, I fixed that (essentially commented it out), and then, BOOM I got the same error again:

MPLINK 3.94, Linker
Copyright (c) 2005 Microchip Technology Inc.
Error - section '.udata_user_routines.o' can not fit the section. Section '.udata_user_routines.o' length=0x00000103
Errors : 1

=(

I HATE MP BLOB

Post the .map file.

-Kevin

[aaeamdar]

Originally Posted by Kevin Watson

Post the .map file.

-Kevin

What is the .map file and where can I find it?

Thanks,
Paul

[Kevin Watson]

Originally Posted by aaeamdar

What is the .map file and where can I find it?

Thanks,
Paul

It should be in your build directory. If not, go to Project -> Build Options... -> Project -> MPLINK Linker tab -> Check "Generate map file" check box and then build all. The <project name>.map should now be in the build directory.

-Kevin

[aaeamdar]

MPLINK 3.94, Linker
Linker Error Map File - Created Sun Jan 22 18:39:54 2006

*Warning* - This is only a partial map file due to a link time error.
   Only sections which were allocated prior to the error are shown below.

CODEPAGES:
    Memory      Start        End              Section    Address Size(Bytes)
 ---------  ---------  ---------            ---------  ---------  ---------
   vectors     0x0000     0x07ff                                           

      page     0x0800     0xffff           _entry_scn     0x0800     0x0006
                                  InterruptVectorHigh     0x0808     0x0006
                                   InterruptVectorLow     0x0818     0x0006
                                               .cinit     0x081e     0x004a
                                 .code_user_routines.o     0x0868     0x1270
                                     .code_vfprintf.o     0x1ad8     0x0c22
                                          .code_pow.o     0x26fa     0x0b2e
                                  .code_ifi_library.o     0x3228     0x0722
                                                 PROG     0x394a     0x06a2
                                       .code_camera.o     0x3fec     0x0634
                                          .code_exp.o     0x4620     0x05c2
                                          .code_log.o     0x4be2     0x04f6
                                     .code_tracking.o     0x50d8     0x0408
                                             UTIL_LIB     0x54e0     0x0396
                                        .code_fchop.o     0x5876     0x028e
                                 .code_ifi_utilities.o     0x5b04     0x01de
                                 .code_serial_ports.o     0x5ce2     0x0188
                                 .code_user_routines_fast.o     0x5e6a     0x015a
                                        .code_ldexp.o     0x5fc4     0x0134
                                        .code_frexp.o     0x60f8     0x0120
                                     .code_UnpkMath.o     0x6218     0x011c
                                     .code_PackMath.o     0x6334     0x011a

    idlocs     0x0000     0x0007                                           

    config     0x0000     0x000d                                           

     devid     0xfffe     0xffff                                           

    eedata     0x0000     0x03ff                                           


SHAREBANKS:

DATABANKS:
    Memory      Start        End              Section    Address Size(Bytes)
 ---------  ---------  ---------            ---------  ---------  ---------
      gpr0     0x0060     0x00ff             COPY_VAR     0x0080     0x0080

      gpr1     0x0100     0x01ff                                           

      gpr2     0x0200     0x02ff                                           

      gpr3     0x0300     0x03ff                                           

      gpr4     0x0400     0x04ff                                           

      gpr5     0x0500     0x05ff                                           

      gpr6     0x0600     0x06ff                                           

      gpr7     0x0700     0x07ff                                           

      gpr8     0x0800     0x08ff                                           

      gpr9     0x0900     0x09ff                                           

     gpr10     0x0a00     0x0aff                                           

     gpr11     0x0b00     0x0bff                                           

     gpr12     0x0c00     0x0cff                                           

     gpr13     0x0d00     0x0dff                                           

     gpr14     0x0e00     0x0eff               .stack     0x0e00     0x0100

     gpr15     0x0f00     0x0f5f                                           


ACCESSBANKS:
    Memory      Start        End              Section    Address Size(Bytes)
 ---------  ---------  ---------            ---------  ---------  ---------
 accessram     0x0000     0x005f                                           

 accesssfr     0x0f60     0x0fff        SFR_UNBANKED0     0x0f62     0x009e

Here it is.

Thanks