Pioneer 2 Manuel d'utilisateur télécharger pdf (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 <comm-port>

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

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Pioneer 2 Manuel d'utilisateur Page 46