This page contains links to the drivers, firmware and applications used with the ARM7-based SRV-1 mobile robot controller. If you are looking for SRV-1 Blackfin information, go instead to http://www.surveyor.com/blackfin/. If you don't find what you're looking for on this page, try searching the Surveyor Robotics Forum ARM7 section.

• Select the appropriate USB radio driver for your system -
  
  • Download for Windows
          Driver
          Revision History
             Note - for Windows, you only need to run PreInstaller.exe in the
                WIN_PREINSTALL directory before plugging in the USB radio.
  • Download for Mac OS/X
          Driver
          Revision History
  • Download for Linux 2.6
          no download required - driver already built into operating system
  • Download for Linux 2.4
          Driver
          Revision History
  For additional drivers, check CP210x USB to UART Bridge VCP Drivers download page
  
  
• Click here to download a Windows-based configuration utility for the Zigbee radios. You can use this utility to change radio channels, update radio firmware (we're currently running version 1090, and would recommend against changing this), modify the source and destination network addresses, etc, though we recommend using caution before changing any settings. A reference manual for the radio modules is found here.

• SRV1Console-040407.zip - latest version update for SRV1Console-101506.zip that adds 640x480 support and fixes bug in "Network" interface (for WiPort users) ... otherwise identical to 101506 version.
  
  
• SRV1Console-101506.zip adds one more command line option to SRV1Console: -s - display "scan" data in "wander mode". Needs to be used with latest SRV-1 firmware. See description in Surveyor Robotics Journal.
  
  
• SRV1Console-092706.zip adds support for new communication protocol and adds the two command line options for SRV1Console: -c (connect on startup via last comport used) and -p portnum (change port number for webcamsat from default 8888). Includes Windows .exe. Needs to be used with latest SRV-1 firmware, or buttons WILL NOT function properly. See description in Surveyor Robotics Journal
  
  
• SRV1Console-062306.zip - old version of console that works with old versions of firmware (prior to srv1.hex.091406)
  
  NOTE: for OS/X, you may need to install the RXTXcomm.jar comm library - check with us for help with Mac installations.
  
  For Linux and other operating systems, take a look at http://users.frii.com/jarvi/rxtx/download.html for RXTX comm library installation details. RXTXcomm.jar is already included with the SRV1Console installation, but you will need to extract librxtxSerial.so and install it in the /jre/lib/[machine type] directory and make certain the user is in group lock or uucp so lockfiles work.

• download pySRV1Console-022807.zip
  
  This is the Python-based replacement for the Java SRV1Console, as described in the Surveyor Robotics Journal.
  
  Note that if you don't already have Python installed on your system, or if you are running a version prior to 2.4, you should download the Python installer from http://www.python.org/download/.
  
  On systems that already have Python installed, the only additional module you need to install is pySerial, which is downloaded from http://pyserial.sourceforge.net.
  Surveyor Robotics Journal Feb 17 post.
  
  Once you have Python installed, the console is started with:
  
        python pySRV1Console.py -com COM4
  or
        python pySRV1Console.py -com /dev/cu.SLAB_USBtoUART
  
  Once it's running, the main console page is accessed via your browser at:
  
        http://localhost:8888/view.html
  
  Please report problems on Surveyor Robotics Forum - SRV-1 Software or via email to support@surveyor.com.

• srv1.hex.053007c w/C interpreter - last updated May 30, 2007 (rename to srv1.hex)
• srv1.hex.053007b w/BASIC interpreter - last updated May 30, 2007 (rename to srv1.hex)
• srv1.hex.053007w for WiPort w/C interpreter - last updated May 30, 2007 (rename to srv1.hex)
  
  The following additions and changes are included in this release:
  • support for 640x480 capture resolution - 'A' command ('d' was already taken)
  • support for WiPort at 921kbps with CTS/RTS flow control
  • fix for camera timeout after using "zw" or running C/BASIC programs (restarts camera within 5 seconds)
  • improved IR sensor support - much better sensitivity and directionality as a result of software changes
  • addition of 2 image processing functions
    • 'vf' - finds first occurrence of specified color in each pixel column (corollary to 'vs' scan function which finds first mismatch of specified color in each pixel column)
    • 'vn' - counts the number of occurrences of a specified color in each pixel column
  • elimination of the 'm' function - the vision functions are no longer modal, and 160x128 frames will always be decompressed into YUV
  • elimination of 'l' and 'L' locate beacon commands
  • elimination of 'x' and 'X' xmit beacon commands
  
  Changes to the firmware are reflected in the latest SRV Protocol Definition
  
        ** Source code for this version of firmware is found here -
           http://www.surveyor.com/srvdownload/srv-053007.zip.
  
  
• srv1.hex.010207c w/C interpreter - last updated January 2, 2007 (rename to srv1.hex)
• srv1.hex.010207b w/BASIC interpreter - last updated January 2, 2007 (rename to srv1.hex)
  
  Now there is a choice of running interpreted C or BASIC onboard, depending on which firmware is loaded. Use the Python version of SRV1Console to edit your C or BASIC programs stored in onboard flash memory. See the SRV protocol specification for language definitions and code samples, and see the Surveyor Robotics Journal for more info on this version.
  
        ** Source code for this version of firmware is found here -
           http://www.surveyor.com/srvdownload/srv-010207.zip.
  
  
• srv1.hex.120206 - last updated December 2, 2006 - rename to srv1.hex. Update to firmware version supporting latest version of SRV_protocol that adds a variety of image processing and digital i/o functions, flash memory access, and an onboard BASIC interpreter. See the Surveyor Robotics Journal for more info on this version.
  
        ** Source code for this version of firmware is found here -
           http://www.surveyor.com/srvdownload/srv-120206.zip.
  
  
• srv1.hex.101406 - last updated October 14, 2006 - rename to srv1.hex. Update to firmware version supporting new communication protocol that adds more effective "wander mode" as well as access to raw image processing data through the "Scan" function. See the Surveyor Robotics Journal for more info on this version. Needs to be used with most recent version of SRV1Console (SRV1Console-101506.zip).
  
        ** Source code for this version of firmware is found here -
           http://www.surveyor.com/srvdownload/srv-101406.zip.
  
  
• A short tutorial on modifying / recompiling firmware source code is found here -
           http://www.surveyor.com/cgi-bin/yabb2/YaBB.pl?num=1159653540.
  

• lpc21isp.exe - flash loader (version 1.47) for Windows
  
  
• lpc21isp-147-osx - flash loader (version 1.47) for Mac OS/X
  
  
• instructions for using loader - lpc21isp_readme.txt
  
  
• lpc21isp_147.zip - flash loader source code for modification or compilation on Linux - see description on http://tech.groups.yahoo.com/group/lpc21isp/

• run these installers in order - gnuarm-install1.exe (17MB) - gnuarm-install2.exe (23MB) - gnuarm-install3.exe (2MB)
  
  
• "LPC2106 Quick Start" guide (1MB) - info about LPC2106 ARM7 processor board, including guidance in using the GNUARM tools