Autonomous Underwater Vehicles : Iridum modem testing This page last changed on May 21, 2009 by tm. The auv-linux 'nal' utility provides 3 ways to test vehicle-shore Iridium communications: nal -sim: simulated mode, runs CORBA store-and-fwd service but does not actually connect to a modem nal -9601 -dev device: connects to a NAL 9601 modem, as the one we have access to on shore nal -dev device: connects to a A3LA modem with large SBDs as the one onboard the vehicle Note that 'nal' output can be directed to a log file, e.g. to $AUV_LOG_DIR/latest/modem.log - see $AUV_HOME/sampleConfig/log4cxx.cfg # Use the on-shore modem (9601) After Corba has been correctly set you can run the command
    > nal -9601 -dev tcp:iridium:2101 &
    A3LA is now on TREX3 (located in building G)
    > nal -dev /dev/ttyS0 &
Note port number 2101, which is the "raw" TCP socket port. You can also telnet to it for verifying that you can connect to it and send basics commands like AT; for telnet, specify port 2001.
    > telnet iridium 2001
The serial number of this modem is # Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1
    mvc-dmo1> $AUV/bin/reset_a3la
On trex2 you can then start
    > nal -dev /dev/ttyS1 &
or check if everything is OK through minicom
> minicom iridum

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