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

