Mars Pathfinder Rover Command Dictionary Rev C

Mars Pathfinder Rover Command Dictionary

MARS ROVER DFM 94-032 (Rev C)

Updated 11/12/96

Introduction
Command Index (alphabetical listing)
Command-Telemetry Correspondence Tables:
- Table 1: Sorted by Command Name
Command Descriptions

Mars Pathfinder Rover Command Dictionary
MARS ROVER DFM 94-032 (Rev C)
Updated 11/12/96

INTRODUCTION

This document describes the commands understood by the rover software, in symbolic and numeric formats. The commands are built into sequences by the Rover Control Workstation (RCW) and uplinked to the rover via the lander. Telemetry packets generated during command execution are listed for those commands that generate them; these are described in detail in the Telemetry Dictionary (Mars Pathfinder Rover DFM 94-033). All other commands generate "Command Acknowledge" telemetry messages, if enabled by {CMD_ACK} or if the command is skipped due to an unmasked error condition. In addition, if any errors (at or above the current error severity reporting threshold {EREP_LEVEL}) are detected during execution of a command, an error report packet is generated.

Note that the RCW may define additional logical commands which are implemented as macros or aliases for one or more actual rover commands.

The sequence number is incremented (by the RCW) for each successive command, and is included in the secondary header of all telemetry data packets generated by the rover in response to that command.

Signed values are in 2's complement notation.

Commands marked with * are processed even if unmasked error flags are set.

Commands marked with (RL) are available in the the Rover Lite command set, possibly with some modification.

Eight error flags are defined (see the software design document for detailed descriptions). The following table indicates which commands can generate which errors. Specific error conditions are described with the individual commands.

Error Flags:

Command	time out	dev fail	dev n/a	hazd	ins pwr	over temp	inv cmd	gen fail
ABORT	X						X
APPLY PATCH	X						X	X
CAL HEADING	X	X	X				X	X
CALL FUNCTION	X						X
CAPTURE IMAGE	X	X	X				X
CLEAR	X						X
DEPLOY APXS	X	X	X	X	X	X	X	X
END SEQUENCE	X						X
FIND ROCK	X	X	X	X	X	X	X	X
GOTO WAYPOINT	X	X	X	X	X	X	X	X
HEALTH CHECK	X	X			X	X	X	X
HEAT MOTORS	X	X	X		X	X	X
LIMIT CALIBRATE	X	X			X	X	X	X
MATERIAL ADHERENCE	X	X			X	X	X
MOVE	X	X	X	X	X	X	X	X
OUTPUT TO PORT	X						X
PATCH MEMORY	X						X
POSITION APXS	X	X	X	X	X	X	X	X
READ ANALOG	X						X
READ PORT	X						X
READ MEMORY	X						X
RUN MOTOR	X	X	X		X		X	X
SEND APXS CMD	X	X	X				X	X
SET CLOCK	X						X
SET DEVICE STATUS	X						X
SET ERROR MASK	X						X
SET MISSION PHASE	X						X	X
SET PARAMETER	X						X
SET POSITION	X						X
SHUTDOWN	X		X				X
SOIL MECHANICS	X	X	X	X	X	X	X	X
SYNC CLOCK	X						X
TEST MEMORY	X						X	X
TURN	X	X	X	X	X	X	X	X
TURN ON/OFF DEV	X	X			X	X	X
UNSTOW	X	X	X	X	X	X	X	X
WAIT	X		X				X
WHEEL ABRASION	X	X	X	X	X	X	X	X
ZERO CALIBRATE	X						X

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Mars Pathfinder Rover Command Dictionary
MARS ROVER DFM 94-032 (Rev C)
Updated 11/12/96

Table 1:
Command List
Sorted by Command Name

Command Name (index)	Telemetry Message	APID	Alt. APID
Abort Sequence (at execution)	Command Acknowledge	5	23
Abort Sequence (at sequence abort)	Sequence Status Report	6	---
Apply Patch	Command Acknowledge	5	23
Calibrate Heading with Sun	Sun Heading Calibration Results	5	23
Call Function	Command Acknowledge	5	23
Capture Image	Image Data (lander engineering)	10	---
Capture Image	Image Data (autonomous)	24	---
Capture Image	Image Data (operations)	25	---
Capture Image	Image Data (science)	8	---
Capture Image	Image Data (technology)	9	---
Clear	Command Acknowledge	5	23
Deploy APXS	APXS Deployment Results	5	23
Drive Motors (RL only)	Command Acknowledge	5	23
End of Sequence	Sequence Status Report	6	---
Find Rock	Traverse Data	29	---
Go To Waypoint	Traverse Data	29	---
Health Check	Rover Health/Status Data	4	---
Heat Motors	Command Acknowledge	5	23
Limit-Calibrate Pos Sensors	Command Acknowledge	5	23
Material Adherence	Material Adherence Results	5	23
Move	Traverse Data	29	---
Output to Port	Command Acknowledge	5	23
Patch Memory	Command Acknowledge	5	23
Position APXS	Traverse Data	29	---
Read Analog Channel	Analog Input Results	5	23
Read Bytes from Port	Port Input Results	5	23
Read Bytes from Segment	Memory Readback Results	5	23
Run Motor for Centons	Command Acknowledge	5	23
Run Motor to Position	Command Acknowledge	5	23
Send APXS Command (except TX_START)	Command Acknowledge	5	23
Send APXS Command (TX_START)	APXS Results	12	---
Set Clock	Command Acknowledge	5	23
Set Device Status	Command Acknowledge	5	23
Set Error Mask	Command Acknowledge	5	23
Set Mission Phase	Command Acknowledge	5	23
Set Parameter	Command Acknowledge	5	23
Set Vehicle Position	Command Acknowledge	5	23
Shutdown	Sequence Status Report	6	---
Soil Mechanics Test	Soil Experiment Results	5	23
Synchronize Clock	Command Acknowledge	5	23
Test Bytes of Memory	Memory Test Results	5	23
Turn Left/Right	Traverse Data	29	---
Turn OFF Devices	Command Acknowledge	5	23
Turn ON Devices	Command Acknowledge	5	23
Turn to Heading	Traverse Data	29	---
Turn Toward	Traverse Data	29	---
Unstow	Traverse Data	29	---
Wait	Command Acknowledge	5	23
Wheel Abrasion Measurement	Wheel Abrasion Results	5	23
Zero-Calibrate Position Sensors	Command Acknowledge	5	23

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Mars Pathfinder Rover Command Dictionary
MARS ROVER DFM 94-032 (Rev C)
Updated 11/12/96

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mishkin@robotics.jpl.nasa.gov

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