sib_knowledge.txt Mark Sibenac January 31, 2000 Nomad RAMS Expedition 2000 Elephant Moraine, Antarctica Field Robotics Center Carnegie Mellon University Introduction: This file represents my knowledge for use on the Nomad project. There is information on the real-time system, electronics, communications equipment, and laptops. Index: 1. Nomad's Real-Time Control Computer (vwtarg2.frc.ri.cmu.edu/vw2) 1.1 How to compile the code on needsfixed 1.2 How to load the code from needsfixed 1.3 How to burn the code into flash from needsfixed 1.4 What commands to execute to enable driving 1.5 How to run Stethoscope 1.6 How to change the IP address 1.7 How to recover from jacking up the flash 1.8 Files it looks for on needsfixed, tire, and sweeper 1.9 Cool monitoring commands 1.10 What I ran every day in Antarctica for the 2000 expedition 2. Needsfixed.frc.ri.cmu.edu Dell Inspiron 7000 laptop 2.1 Specs 2.2 Software installed 2.3 How to run win98/vxworks from vmware 2.4 How to run the macintosh emulator 2.5 How to run the dos emulator 2.4 Cvs repository notes 3. New pendant for Nomad 3.1 Sequence of steps to run things for everyday operation 4. VHF radios 4.1 How to program them 4.2 What to program them with for Pittsburgh 4.3 What to program them with for the field 5. GPS base station 5.1 How to monitor the Trimble 4000 Msi 5.2 How to set the base station coordinates 6. INMARSAT terminal Lynxx-RT from L3 Communications 6.1 How to hook it up to the Cisco 2507 router 6.2 What commands to execute for normal operation 6.3 How to operate it for normal HSD calls 7. Aironet Arlan Wireless Ethernet Bridges 7.1 Write password 7.2 Bandwidth considerations 7.3 Antenna selection 8. Iridium phone 8.1 Calling plan selection 8.2 Charging the battery 8.3 Making a call ------------------------------------------------------------------------ 1. Nomad's Real-Time Control Computer (vwtarg2.frc.ri.cmu.edu/vw2) IP address at CMU is 128.2.44.201 This computer consists of a Pep VM62 68060 with onboard ethernet. 1.1 How to compile the code on needsfixed The easiest way to do this is to log in as sib, cd ~sib/nomad/src/realtime2000 make install make librobot (for downloadable code) make librobot.so (for flashable code) If you do not log in as sib, setenv PROJECT_DIR ~/nomad or ~sib/nomad cvs get src/realtime2000 cvs get src/makefiles cvs get src/messages make the messages first make the realtime code according to the above 1.2 How to load the code from needsfixed The needsfixed:/ partition is mounted automatically cd "/nf/home/sib/nomad/lib/m68kVx5.3.1" KillRobot (if you did not already) ld 1,0,"librobot" InitRobot 1.3 How to burn the code into flash from needsfixed cd ~sib/nomad/src/realtime2000 make librobot.so cd vx mv vxWorks_srom vxWorks_srom.{date} (for backup) source setup make vxWorks_srom Delete the StartWD file at ~sib/StartWD telnet to vw2 reboot telnet to vw2 again KillRobot (after everything comes up) cd "/nf/home/sib/nomad/src/realtime2000/vx" flashProg enter vxWorks_srom for the flash file answer yes for the question, "are you sure?" touch the ~sib/StartWD file on needfixed to create it reboot to check it out If it is jacked up, go to 1.7 1.4 What commands to execute to enable driving drive_ChangeMode 0 (for autonomous driving) moveRobot 0,50 (to make sure it is commanded to stop) drive_ChangeState05 1 (to enable the amps) If someone hits the E-Stop button, drive_ChangeMode 0 (for autonomous driving) If someone drives with the pendant, follow the first 3 steps above To disable driving drive_ChangeState05 0 (to disable amps) To disable NDDS message driving drive_ChangeMode 1 (to go to manual mode) 1.5 How to run Stethoscope On vw2: sp scope_Collect,freq (where 0 < freq < 60) sp drive_ScopeBen,freq (for best scope data) On author, run scope and connect to vw2 1.6 How to change the IP address rm the ~sib/StartWD on needsfixed reboot vw2 let vw2 come up again KillRobot cd "/nf/usr/vxworks/target/config/pvm62 flashProg enter bootrom_uncmp for filename reboot You need to connect a serial line up to the vw2 console Change the boot params with the 'c' command Enter pvm62/vxWorks for the filename if it is not there Let it boot up cd "nomad/src/realtime2000/vx" flashProg enter vxWorks_srom for filename answer yes for question touch the ~sib/StartWD file to create it reboot and see if it works, if not, go to 1.7 1.7 How to recover from jacking up the flash Pull out the vm62 board Attach the jumper near at the bottom. The jumper goes onto the two pins closest to the VMW bus, I think. Make sure the VMEM board is in the cage. Boot up and connect a serial line to the vm62 console port. Follow instructions in the second part of 1.6 1.8 Files it looks for on needsfixed, tire, and sweeper Looks for ~sib/StartWD. If it exists, it starts the hardware watchdog If ~sib/StartWD does not exist, the watchdog does not start If none of the above computers are up, it automatically starts the watchdog after two minutes Looks for rshell.lo and starts the daemon After 5 minutes, ~sib/nomad/odometry is written to on needsfixed 1.9 Cool monitoring commands GPSstat (see if posSigmas are less than 5 cm. They should be.) dedRekStats (to see if DGPS corrections are coming) weatherShow posDerivedStatePrint (p_posDerived) 1.10 What I ran every day in Antarctica for the 2000 expedition I had four windows, one telnet and three rshells rshell1-> period 1,weatherShow rshell2-> period 1,GPSstat rshell3-> period (1,posDerivedStatePrint,p_posDerived) telnet-> (just watch the move commands go by) 2. Needsfixed.frc.ri.cmu.edu Dell Inspiron 7000 laptop 2.1 Specs DVD-ROM player -cool- 128 megs RAM 10 gigs harddrive 2.2 Software installed win98/redhat 5.2 lilo boot 2.3 How to run win98/vxworks from vmware su -l root cd ~/vmware/win98 vmware select the win98.cfg configuration when it boots up, make sure you type dos at the lilo prompt cd ~/vmware/vxworks5.3.1 (even though it is for vxworks 5.4) vmware select the vmworks5.3.1.cfg file insert the vxworks 5.4 pcPentium boot diskette 2.4 How to run the macintosh emulator executor-demo 2.5 How to run the dos emulator go to a virtual console (text mode) dos d: is the / partition can run the VHF radio programming software (see 4) 2.6 Cvs repository notes CVSROOT=/usr/nomad/Master 'cvs rtag TAG_HERE src' tags all of the code 3. New pendant for Nomad Can be left outside in Antarctic conditions 3.1 Sequence of steps to run things for everyday operation CH 1 - press select switch for zero joystick CH 2 - calibrate steering angles CH 3 - Skid Steer Drive Mode CH 4 - Normal Drive Mode CH 6 - Left steering velocity control CH 7 - Right steering velocity control 4. VHF radios 4.1 How to program them Run icc.exe from the d:\User\sib\nomad\icom2 directory on author Load a configuration file or read from eprom 4.2 What to program them with for Pittsburgh Use chucktest for this: only allowed to use those freqs at 1 Watt 4.3 What to program them with for the field Program all of the freqs and use 5 Watts transmit power 5. GPS base station Set up antenna as far away from obstuctions as possible Do not coil the cable 5.1 How to monitor the Trimble 4000 Msi Run the remote-controller program on author 5.2 How to set the base station coordinates Go to base station under control Take away the corrections port. Press enter all the way through. Go to base station under control Press HERE Put the corrections port back in. Press enter all the way through. Go to base station under control Press the AVG button After at least 30 minutes, preferably after 3 hours, Press AVG. Press enter all the way through to make the coordinates stick. 6. INMARSAT terminal Lynxx-RT from L3 Communications 6.1 How to hook it up to the Cisco 2507 router Connect the HSD port to serial 0 Connect the test port to async 1 Connect the router console to async 2 6.2 What commands to execute for normal operation telnet router 2001 to access the test port menu option 6, option 5 to monitor signal strength telnet router 2002 to access the router's console just watch it telnet router password: nomadrules enable password: nomadrules! debug ppp auth debug ppp pac debug ppp neg config t int ser 0 no shutdown --link comes up if Lynxx-RT is configured to handshake on 'TR STROBE'. It automatically calls the number stored in memory 9 shutdown --call disconnects 6.3 How to operate it for normal HSD calls dial the number stored in memory 9 yourself after doing the 'no shutdown' command on the router you must manually 'call clear' on the inmarsat to hang up 7. Aironet Arlan Wireless Ethernet Bridges 7.1 Write password elephant 7.2 Bandwidth considerations Use 4 Mbps for close proximity Use 2 Mbps for far distances or if you are getting lots of errors 7.3 Antenna selection Use the small patch antennae for best results. Use the big high-gain flat antennae for good results at over 2km. 8. Iridium phone 8.1 Calling plan selection We are currently on the lots of calls rate plan. It costs $50 a month plus $3/min There is a low usage plan that costs less/month, but more/min 8.2 Charging the battery If a call comes in while charging, you must disconnect and reconnect the charging plug 8.3 Making a call Always dial 00 before the country code and phone number