VideoRay Defender MSS Operator's Manual page 66

Camera Module
vr_refresh -c vrport3 -i 4 ~/firmware/camera_adapter-X.Y.Z.hex --block_size 16384
LED Module (Use the correct Node ID)
vr_refresh -i 11 ~/firmware/led_controller-X.Y.Z.hex
Firmware Block Sizes
Module
Power Module
Communications Module 16384
AHRS Module
Power Module
Camera Module
LED Module
Command: vr_enum
The vr_enum command is used to enumerate (list) the modules that are connected to the vehicle.
Use
vr_enum [OPTIONS] [min explcit id] [max explicit id]
[Options] - See the table below
[min explicit id] - The minimum Node ID to include the list
[max explicit id] - The maximum Node ID to include in the list
OPTION Alternate
-? --help
--version
-c --com
-p --pretty
-v --verbose
--timeout
- --
retry_count
--explicit
Examples
To use vr_enum on modules connected to the communications module, you need to open a virtual
port and specify the port to use. See
For Power, Communications, Thrusters and LEDs
vr_enum
For the AHRS and camera modules, you need to include the virtual port.
AHRS Module
Block Size Comms Path
16384 Direct
Direct
16384 vport2
Default Direct
16384 vport3
Default Direct
Argument(s)
Com_Port_Name
Timeout
Retry_Count
either max_node_id or
min_node_id
max_node_id
vr_create_virtport_all.sh
Description
Display this help information
Display the Version Number
Com Port to use
Use nicer human readable device type
display
Output verbose diagnostics
Connection timeout in mS
Set retry count for broadcast
enumeration
Explicit nodes to search,
for more information.
Default
dev/ttyUSB0
1,000
5