Surveyor SVS Setup





Hardware setup

A complete Surveyor SVS will appear as above, with two SRV-1 Blackfin Cameras, Lantronix Matchport module, and antenna cable installed. For shipping purposes, the camera modules may have been removed from the Blackfin card, and they just need to be plugged in as shown. Upgrade orders for SVS will include a single or no SRV-1 Blackfin Camera and no Matchport and no antenna/cable.

If the SVS was sent as a upgrade, where you are moving SRV-1 boards from other hardware, pay attention to the orientation when you install the Matchport.



Also note that the jumper blocks on the 3-pin J5 headers are placed differently for the left and right Blackfins.



If you are installing the SVS on an existing SRV-1 robot, note the 2-pin headers on the bottom of the board, as well as the power header. The mounting holes of the SVS are grounded, so if your chassis is grounded to the battery, you will only need to connect the battery power pin on the underside of the SVS. With the newer SRV-1 quad, the chassis is not grounded, so you will have to connect battery and ground to the 2-pin header.



Also note above the orientation of the signals on the 3-pin headers of the servos. You can directly plug servos or speed controllers into these headers, as the SVS provides 5V to the center pins of these headers.

If you also purchased an SRV-1 robot base with the SVS, there will be three 2-pin connectors marked with 1, 2 or 3 ticks. Plug these into the bottom of the SVS per this photo -





Software setup

If shipped as a complete system, the necessary firmware has already been installed on both SRV-1 Blackfin Cameras and the Matchport. The Matchport will be configured for an adhoc wifi network with SSID "SRV1" on channel 6, IP address 169.254.0.10. To change these settings, you need to connect your host computer to wireless network "SRV1", and then telnet to 169.254.0.10 port 9999 to access the Matchport configuration menu. The settings you will want to change are Network (selection 4), where you can change the SSID and select adhoc/infrastructure, and Server (Selection 0), where you can change the IP address of the Matchport. Don't return the Matchport to defaults or you will lose other critical settings.

If you are transferring one or more SRV-1 Blackfin Cameras from another system, make certain to first update the firmware to the latest version available from http://www.surveyor.com/blackfin/#blackfin3. Also, make certain the Matchport has been configured for 2500kbps with firmware version matchport-6500GE.rom. If in doubt, check these robot forum instructions.

Configuring the Matchport for a single SRV-1 Blackfin or for the SVS is identical, except that you have to configure Channel 2 with the same settings as Channel 1. From the Matchport configuration menu, the settings should look like this -
telnet 169.254.0.10 9999 (or whatever IP address you have set for the Matchport)

Press Enter for Setup Mode

Change Setup:
0 Server
1 Channel 1
2 Channel 2
3 E-mail
4 WLAN
5 Expert
6 Security
7 Defaults
8 Exit without save
9 Save and exit Your choice ?


First, select 5 Expert
for CPU performance, enter FF
for clk?, enter 81
change MTU Size from 1400 to 1024
skip the rest of the options

Next, select 1 Channel 1
for Baudrate, enter -1
for divisor, enter 2
for flow control, enter 2
further down, for FlushMode, enter 80
for Pack Cntrl, enter C0
for InterCh Time, enter 3
skip the rest of the options

Next, select 2 Channel 2
for Baudrate, enter -1
for divisor, enter 2
for flow control, enter 2
further down, for FlushMode, enter 80
for Pack Cntrl, enter C0
for InterCh Time, enter 3
skip the rest of the options

Finally, select 9 Save and exit



Operation

A variety of software packages and firmware upgrades are in the works for SVS, so check www.surveyor.com/stereo for latest availability.

The Surveyor firmware now includes support for direct control from a web browser (including those found on smart phones) without any special console software. By pointing a browser to "http://robot-ip-address:10001/index.html" for the left Blackfin or "http://robot-ip-address:10002/index.html" for the right Blackfin, you can access an html script which displays video frames and supports direct robot control. As shown below, we have image mapped the robot controls with a graphical overlay that can be turned on/off to show the actual controls.





The script that generates this display is stored in Blackfin flash sectors 10-11. As you will see below, we also have a new admin interface for uploading files to flash, and this facility can be used to upload the html scripts. A sample script is found here:
    code.google.com/p/surveyor-srv1-firmware/source/browse/trunk/blackfin/srv/www/index-m.html.
A complete description of the SRV-1/SVS http command set is found here -
    www.surveyor.com/SRV_httpd.html

With regard to console programs, the easiest to configure is SRV1Test.java - command line options:
-remote_addr (SRV-1 IP address - default is 169.254.0.10)
-remote_port (SRV-1 port - default is 10001)
-local_port (host computer port - default is 10001)
-protocol (TCP or UDP - default is TCP)
-archive (capture all frames to named directory)
sample script for stereo feeds -
java SRV1Test -remote_addr 169.254.0.10 -remote_port 10001 -local_port 10001 &
java SRV1Test -remote_addr 169.254.0.10 -remote_port 10002 -local_port 10002 &



Note that you can also use SRV1Console to control the SVS, though it's a bit tricky to run two instances of the console simultaneously because of port conflicts. The best solution we have at the moment is to install two copies of SRV1Console in two different directories, modify srv.config for each instance to point to either port 10001 or 10002. Here's an example shell script for Linux ...
cd console1
java -cp .:RXTXcomm.jar:ImageButton:wstreamd_embed.jar: SRV1Console -c -p 10001 &
cd ../console2
java -cp .:RXTXcomm.jar:ImageButton:wstreamd_embed.jar: SRV1Console -c -p 10002 &
For Windows, you would likewise install SRV1Console in two different directories, modify the respective srv.config files, and create two separate icons for SRV1Console.exe with "-c -p 10001" or "-c -p 10002" on the respective launch command lines.



Firmware updates

There is now a browser-based method for uploading firmware to the SVS. We added direct support of HTTP POST methods for uploads of firmware, html pages, picoC scripts, etc, to the SRV-1 / SVS firmware. Those familiar with our existing firmware & file upload mechanism using XMODEM with Teraterm, lsz, etc, will recognize this as a significant enhancement.

Here is an example of the browser interface after selecting the srv1.ldr firmware image to upload:



and the browser display after upload has completed:



As with the web-based interface to the robot controls, no special console software is required - only a browser. Thus far, we have successfully tested with Firefox, Internet Explorer 8, Chrome and Safari, including iPhone and Google Android phone browsers. This capability is included in the latest version of SRV-1 / SVS firmware posted to code.google.com. Note that with the SVS, the firmware update has to be done twice, first to port 10001 and then to port 10002.

The original process for upgrading SVS firmware using XMODEM file transfer protocols is identical to that which is used for the SRV-1 Blackfin, as described here. Only difference it that it has to be done twice, once on port 10001 and then again on port 10002.

Check the Surveyor Robotics Forum and www.surveyor.com/stereo for latest firmware versions.



Technical support





Last Updated - 24 April 2010 21:20 gmt

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