Pioneer 2 User Manual

Page 46

Updating and Reconfiguring P2OS

Step 4: Run p2osdl

With Linux/UNIX systems, enter the

p2os/

directory and execute

p2osdl

using the following arguments:

% p2osdl p2os1_c.hex <comm-port>

The pathname for the

p2os.hex

image file is required and may be a direct or relative path. The file

p2os1_c.hex

, for example, is the current P2OS version 1.c image in the

p2os/

folder.

The

comm-port

argument is optional. It lets you specify the serial communication port that connects

p2osdl

with the Pioneer microcontroller. For Linux/UNIX systems, the default is

/dev/ttyS0

To communicate through /dev/ttyS3, for example, use:

% p2osdl p2os1_c.hex /dev/ttyS3

For 32-bit Windows systems, you must pass the required

p2osV_r.hex

file to

p2osdl.exe

, so you

cannot simply double-click on the program icon from the Windows desktop. Instead, use your mouse to
successfully launch the program by “dragging and dropping” the

.hex

icon (

p2os1_c.hex

, for example)

onto the

psosdl.exe

icon. But this works only if you also plan to use the default

COM1

serial port. The

universal solution is to execute

p2osdl.exe

and pass it the proper arguments from the MS-DOS Prompt

program, which normally resides in the Programs section of the Start menu.

Note that p2osdl and p2oscf (below) both autoconfigure the serial ports to communicate at 19,200 bps,
regardless of other settings.

Download Troubleshooting

The p2osdl program will tell you if the download was successful or not. If it was, simply reboot the robot
and go on to connect with a client or change its operating parameters (see next section). Otherwise, try the
download from Step 1 again, to be sure you performed each step correctly.

Configuring P2OS Operating Parameters

The program

p2oscf

(

p2ocf.exe

for 32-bit Windows) is the way you view and change your Pioneer 2’s

identity and operating parameters.

Limited reconfigurations.

FLASH PROM in the Pioneer 2 is guaranteed for only 100 erase cycles.

Steps 1–3: Preparing Pioneer 2 for Configuration

Prepare your connection and Pioneer 2 for changes to its operating configuration identically to Steps 1, 2
and 3 for updating P2OS.

Step 4: Run p2oscf

As with

p2osdl

, you will find p2oscf (.exe) in the

p2os/

directory of your PSOS distribution.

% p2oscf

The program accepts a single, optional parameter—the serial communication port name (

comm-port

whose specification is identical to that for

p2osdl

. The port

/dev/ttyS0

in Linux/UNIX systems and

COM1

are the default serial ports

p2oscf

and

p2osdl

use, if none is given from the command line.

Accordingly, if you use

COM1

on your Win32 PC, you may launch

psoscf.exe

directly from the desktop,

rather than executing the program from the MS-DOS Prompt window.

Step 5: Changing the Configuration Parameters

On startup (after power cycle or RESET), P2OS reads a set of operating parameters from its flash PROM
and uses these values if and until you override them with explicit P2OS commands. For instance, a default
maximum velocity is stored in flash PROM (TransVelMax) which value is used by P2OS when receiving a