\contentsline {chapter}{\numberline {1}Introduction}{1}
\contentsline {section}{\numberline {1.1}Caveats}{1}
\contentsline {chapter}{\numberline {2}Installing RCCL/RCI on VxWorks}{1}
\contentsline {section}{\numberline {2.1}Editing the {\ptt site.conf} File}{1}
\contentsline {section}{\numberline {2.2}Running {\ptt make}}{2}
\contentsline {section}{\numberline {2.3}Directory and Library Structure for the VxWorks Configuration}{2}
\contentsline {section}{\numberline {2.4}Adjustment to the VxWorks Environment}{2}
\contentsline {subsection}{\numberline {2.4.1}The CPU startup file}{2}
\contentsline {subsection}{\numberline {2.4.2}Clock rates}{3}
\contentsline {section}{\numberline {2.5}Robot Configuration and Device Interrupts}{3}
\contentsline {subsection}{\numberline {2.5.1}Interrupt information and the {\ptt robots.vxw} file}{3}
\contentsline {chapter}{\numberline {3}Compiling RCCL Programs for VxWorks}{4}
\contentsline {section}{\numberline {3.1}Differences Between UNIX and VxWorks}{4}
\contentsline {section}{\numberline {3.2}Program Compilation}{4}
\contentsline {section}{\numberline {3.3}Include File Stubs}{5}
\contentsline {section}{\numberline {3.4}The {\ptt run} Command}{5}
\contentsline {subsection}{\numberline {3.4.1}Command usage}{5}
\contentsline {subsection}{\numberline {3.4.2}Reseting the system state}{6}
\contentsline {subsection}{\numberline {3.4.3}Interrupts from the console}{7}
\contentsline {chapter}{\numberline {4}Things to Know}{8}
\contentsline {section}{\numberline {4.1}Exceptions}{8}
\contentsline {section}{\numberline {4.2}Process Priorities}{8}
\contentsline {section}{\numberline {4.3}The RCI Interrupt Driver}{8}
\contentsline {section}{\numberline {4.4}Limitations}{9}
\contentsline {subsection}{\numberline {4.4.1}Signals}{9}
\contentsline {subsection}{\numberline {4.4.2}The {\ptt .JLS} file}{10}
