We’ve spent quite a bit of time reading CD forums, talking with engineers at NI and, in general, trying to figure out what’s going on. During this time, our team has been using a 2010 Classmate (16G SSD) and a 2009 cRio.
We believe we’ve finally gotten the details worked out and would like to share this with other teams. Our website is in process also, so while it will be there eventually, I hope that posting it here will be the easiest way to reach others.
Imaging the cRio
Preparation
First, use the FRC KoP USB stick to image the Classmate or virtual Classmate.
If you accidentally delete the files on the USB stick, you can either send it back to Colin Fultz at FIRST for re-imagining or if you made a backup, you can restore it to the stick. If you made a backup without a bootblock, you can re-establish the bootblock by running the Windows 7 BCDboot tool.
Then, install the LabView software from CDs that ship with the KoP. Please note that there are two options: the entire LabVIEW and just the runtime. If you do not have enough room for the full installation, then follow the directions on the KoP website http://www.usfirst.org/roboticsprograms/frc/content.aspx?id=18530 for the Classmate Drive Space Recovery Procedure. OR, you can pick the runtime only option if you are not doing development on the Classmate in LabVIEW.
Next, apply three updates found on the 2011 Software Updates page.
http://www.usfirst.org/roboticsprograms/frc/content.aspx?id=18530
Do the LabVIEW update for the Classmate first.
The Utilities Update comes next.
Lastly, the Driver Station Update should be done.
If you are a LabVIEW programming team, you should be able to image your cRio.
If you are not, you need to apply the language relevant updates found on the 2011 Software Updates page.
If you’re using Java, you’ll need to install NetBeans on the machine that will be imaging the cRio. Once you have NetBeans installed, you need to get the updates from WPI through NetBeans. You do this by going to the Tools submenu and choose Plugins. From the Plugins screen, go to the Settings tab and click the Add button. A window will popup which asks for a name and a URL. The URL that you need to enter is http://first.wpi.edu/FRC/java/netbeans/update/updates.xml Accept this. Select the Available Plugins tab and scroll through the choices to find five plugins that you will need. They’ll all be in the category FRC Java.
FRCRobotTemplates
FRCRenameRefactoring
FRC Java Info
FRCSquawkSDK
FRCApplicationTemplate
When you’ve selected those plugins, click Install. Follow the installation process. It will restart your NetBeans during the process. When all that is complete, you can image the cRio to talk to Java. This last step brings in the image which you will need to flash onto the cRio.
Flashing the cRio
Before you turn on the cRio, set the DIP switches to Safe Mode on and Console Out on. Everything else should be off. For a very helpful discussion about the cRio and it’s error codes, please see http://decibel.ni.com/content/docs/DOC-2632 and read the pdf available there. It’s called Operating Instructions and Specifications CompactRIO cRIO-FRC Reconfigurable Embedded Chassis with Integrated Intelligent Real-Time Controller for FIRST Robotics Competition.
Turn on the cRio and plugged into a local, wired network that your imaging machine is also on. (Same subnet) For instance, you could have the Classmate plugged into the same FRC D-link as the cRio. You could use a crossover cable plugging your Classmate directly into the cRio.
Ideally, the machine that you will be using for the imaging process will have the following address: 10.0.0.5/8. (address=10.0.0.5 netmask=255.0.0.0)
If you want additional information while doing the next step, plug a serial cable into the cRio’s console port and attach it to a computer that speaks 9600 bits per second, 8 data bits, no parity, one stop bit and no flow control. A serial-port terminal program display the console logs.
Start up the imaging tool from this machine. (Hopefully, the Classmate that you just built above.) It should scan, find and see the cRio.
Choose the appropriate development environment from the first window with the cRio Imaging Tool.
The select the appropriate CAN bus options from the pulldown menu.
Select Format Controller, the appropriate image (based on your development language) and team number. You may also select the device name.
Assuming that everything has worked well so far, you should have an image (version 27), a cRio that the tool can see and everything looks appropriate including the team id number, click Apply to format the cRio.
At this point, the tool resets the cRio IP address back to factory defaults of 0.0.0.0. Do not despair! At this point, the cRio is only reachable via Layer 2 ethernet protocols. It will now ask you if you want to format the cRio. Agree to this. Once the tool tells you to set the Safe Mode switch to off, you should do this. Restart the cRio by either powering it off and on or pushing the reset button.
Rescan with the imaging tool. You should see the cRio come up with the address 0.0.0.0. Reformat it again, selecting the same choices as before. Because it is not in safe mode, the tool will apply the image and address appropriate for your team number.
You should be able to load code now.
Good luck and enjoy the competitions!
Team 1729