This is a chart that shows some sizes of object files for VxWorks 5.1 and Control Shell. Looks like you need at least 2 megs of ram to run everything. Don't forget to save some ram for alloc'ed memory and IO boards and stuff. Mark Sibenac 96-10-21 vxworks: -rwxr-xr-x 1 sib other 490326 Jun 13 15:56 vxWorks* -rw-r--r-- 1 sib other 99042 Jun 13 15:56 vxWorks.sym tca: -rw-r--r-- 1 sib mars 123014 Oct 21 00:59 libtca_vx.a imu: -rw-r--r-- 1 sib mars 13840 Oct 20 19:51 VADMadc.ro -rw-r--r-- 1 sib mars 306213 Oct 23 01:48 cs.lo -rw-r--r-- 1 sib mars 5141 Oct 18 14:44 user.o rtilib: -rw-r--r-- 1 mkb vxworks 13230 Jun 6 1994 libext.so -rw-r--r-- 1 mkb vxworks 12376 Nov 16 1995 libutils++.so -rw-r--r-- 1 mkb vxworks 131676 Nov 27 1995 libutils.so -rw-r--r-- 1 mkb vxworks 6250 Apr 6 1994 libxdr.so -rw-r--r-- 1 mkb vxworks 35830 Nov 27 1995 rshell.lo -rw-r--r-- 1 mkb vxworks 70144 Nov 16 1995 tools.lo scope: -rw-r--r-- 1 mkb vxworks 7701 Mar 15 1995 kernelmon.lo -rw-r--r-- 1 mkb vxworks 22844 Apr 28 1995 libscope.so -rw-r--r-- 1 mkb vxworks 125003 Apr 17 1995 libutils.so -rw-r--r-- 1 mkb vxworks 42276 Apr 10 1995 profile.lo -rw-r--r-- 1 mkb vxworks 1562 Mar 15 1995 vxdemo.lo -rw-r--r-- 1 mkb vxworks 4184 Mar 15 1995 vxdemo2.lo cs: -rw-r--r-- 1 mkb vxworks 40602 Mar 16 1996 CSMatdouble.ro -rw-r--r-- 1 mkb vxworks 39860 Mar 16 1996 CSMatfloat.ro -rw-r--r-- 1 mkb vxworks 13666 Mar 16 1996 clocks.ro -rw-r--r-- 1 mkb vxworks 217140 Mar 16 1996 cs.ro -rw-r--r-- 1 mkb vxworks 23088 Feb 28 1996 csdouble.ro -rw-r--r-- 1 mkb vxworks 23067 Feb 28 1996 csfloat.ro -rw-r--r-- 1 mkb vxworks 139638 Mar 16 1996 libTclvx.ro -rw-r--r-- 1 mkb vxworks 143146 Nov 16 1995 libTclvx.ro.old -rw-r--r-- 1 mkb vxworks 11891 Aug 25 1995 libcs++.so -rw-r--r-- 1 mkb vxworks 8971 Mar 16 1996 libcsdouble++.so -rw-r--r-- 1 mkb vxworks 8976 Mar 16 1996 libcsfloat++.so -rw-r--r-- 1 mkb vxworks 39762 Aug 24 1995 matrix.ro -rw-r--r-- 1 mkb vxworks 34741 Jan 5 1995 vip.so -rw-r--r-- 1 mkb vxworks 8628 Mar 16 1996 vision.ro some cs/components: -rw-r--r-- 1 mkb vxworks 17018 Feb 28 1996 coordaTransform.ro -rw-r--r-- 1 mkb vxworks 14578 Mar 16 1996 deadReckonBody.ro -rw-r--r-- 1 mkb vxworks 15077 Mar 16 1996 deadReckonPoint.ro -rw-r--r-- 1 mkb vxworks 13862 Mar 16 1996 delay.ro -rw-r--r-- 1 mkb vxworks 13341 Feb 28 1996 doubler.ro -rw-r--r-- 1 mkb vxworks 14420 Mar 16 1996 estimatorMeasureUpdate.ro -rw-r--r-- 1 mkb vxworks 14719 Mar 16 1996 estimatorTimeUpdate.ro -rw-r--r-- 1 mkb vxworks 13272 Mar 16 1996 euler.ro -rw-r--r-- 1 mkb vxworks 19690 Mar 16 1996 fifthOrderTrajectory.ro -rw-r--r-- 1 mkb vxworks 16206 Feb 28 1996 filter.ro -rw-r--r-- 1 mkb vxworks 13903 Mar 16 1996 getBias.ro -rw-r--r-- 1 mkb vxworks 17115 Mar 16 1996 linearTrajectory.ro some cs/devices: -rw-r--r-- 1 mkb vxworks 14137 Mar 16 1996 avme9210.ro -rw-r--r-- 1 mkb vxworks 19613 Mar 16 1996 encoderMVME340.ro -rw-r--r-- 1 mkb vxworks 14339 Mar 16 1996 matrixad12.ro -rw-r--r-- 1 mkb vxworks 14324 Mar 16 1996 matrixda12.ro -rw-r--r-- 1 mkb vxworks 14284 Mar 16 1996 mpv906.ro -rw-r--r-- 1 mkb vxworks 14128 Mar 16 1996 mpv950.ro -rw-r--r-- 1 mkb vxworks 14356 Mar 16 1996 mpv954.ro -rw-r--r-- 1 mkb vxworks 14930 Mar 16 1996 vme4116.ro -rw-r--r-- 1 mkb vxworks 14269 Mar 16 1996 vmic4120.ro -rw-r--r-- 1 mkb vxworks 16378 Mar 16 1996 whedco3570.ro -rw-r--r-- 1 mkb vxworks 14028 Mar 16 1996 xvme290.ro -rw-r--r-- 1 mkb vxworks 13924 Mar 16 1996 xvme500.ro -rw-r--r-- 1 mkb vxworks 14231 Mar 16 1996 xvme505.ro -rw-r--r-- 1 mkb vxworks 15236 Mar 16 1996 xvme566.ro Minimum necessary to run control shell: -rwxr-xr-x 1 sib other 490326 Jun 13 15:56 vxWorks* -rw-r--r-- 1 sib other 99042 Jun 13 15:56 vxWorks.sym -rw-r--r-- 1 mkb vxworks 131676 Nov 27 1995 libutils.so -rw-r--r-- 1 mkb vxworks 22844 Apr 28 1995 libscope.so -rw-r--r-- 1 mkb vxworks 35830 Nov 27 1995 rshell.lo -rw-r--r-- 1 mkb vxworks 70144 Nov 16 1995 tools.lo -rw-r--r-- 1 mkb vxworks 139638 Mar 16 1996 libTclvx.ro -rw-r--r-- 1 sib mars 289850 Oct 20 19:51 cs.lo (imu) -rwx 1 sib@cs.cmu.edu 452979 Jun 28 11:10 cs.lo* (catexample) -rw-r--r-- 1 sib mars 123014 Oct 21 00:59 libtca_vx.a (tca) Total for: minimum = 989500 minimum + imu = 1279350 minimum + catexample = 1442479 minimum + imu + tca = 1402364 minimum + catexample + tca = 1565493 Memory after loading and running imu cs.lo without tca: status bytes blocks avg block max block ------ --------- -------- ---------- ---------- current free 2279400 66 34536 1987552 alloc 1496032 9734 153 - cumulative alloc 3444664 12497 275 -