iMCs03 ソフトウェアマニュアル
Contents
1. struct udr cmd1 if ioctl fd USC_DR_SET lt 0 fprintf stderr ioctl USC_DR_SET error n exit 1 if write fd amp cmd1 sizeof cmd1 lt 0 8 1998 2002 iXs Research Corporation All right reserved iMCs03 Ver 1 1 printf write err n break 3 4 5 LITTLE_ENDIAN BIG_ENDIAN 2 1 LITTLE ENDIAN BIG ENDIAN Intel Motorola2. PAO PA5 Hi PA3 PA5 Low cmd1 PADR 0x21 01 0 1 cmd1 PADR amp 0x48 3 3 3 64 OUT PC H8 Fig 3 struct uddr 1 unsigned char P9DDR PB unsigned char PADDR PB unsigned char PBDDR PB char dummy 61 Fig 4 3 uddr P9DDR PADDR P
3. buf 1 udata struct udata buf if ioctl fd USC_BUFREAD lt 0 fprintf stderr ioctl USC_BUFREAD error n exit 1 if read fd amp buf sizeof buf sizeof buf 1 fprintf stderr Warning read size mismatch continue 3 4 4 iMCs03 iMCs03 2 cmd1 cmd1 2 udr
4. 14 1998 2002 1iXs Research Corporation Allright reserved
5. 3 4 2 iMCs03 iMCs03 3 cmd cmd 3 uddr struct uddr cmdi if ioctl fd USC_DDR_SET lt 0 fprintf stderr ioctl USC_DDR_SET error n exit 1 if write fd amp cmd sizeof cmd 0 fprintf stderr write error n 7 1998 2002 iXs Research Corporation All right reserved 1MCs03 Ver 1 1 exit 1 3 4 3 iMCs03 iMCs03
6. iMCs03 iMDs03 iMCs03 Makefile INCLUDE INCLUDE usr src inux include RedHat7 3 RedHat8 0 INCLUDE usr src linux 2 4 include Path
7. PC iMCs03 LITTLE ENDIAN Motorola A D if _ BYTE_ORDER _BIG_ENDIAN buf ad i Oxff amp buf ad i lt lt 8 Oxff00 amp buf ad i gt gt 8 endif PC 3 5 iMCs03 iMCs03 Pin1 lt 5 iMCs03
8. 4 1998 2002 iXs Research Corporation All right reserved 1MCs03 Ver 1 1 Fig 2 1 udata P9DR PADR PBDR P9 PA PB P9DDR PADDR PBDDR Hi Low Hi Low Table 1 7 6 5 4 3 2 1 0 P9DR P9DDR PADR PADDR PBDR PBDDR 7 6 5 4 3 2 1 0 3 2 2 1 64 OUT PC H8 struct udr unsigned char retval unsigned char P9DR P9 unsigned char PADR PA unsigned char PBDR PB char dmy 60 Fig 3 2 udr P9DR PADR PBDR P9 PA PB 1 Hi 0 Low
9. 4 5 1 uread 20324 0 1023 1023 1023 1023 1023 1023 1023 1023 fd ff ff 20326 0 1023 1023 1023 1023 1023 1023 1023 1023 fd ff ff 20328 0 1023 1023 1023 1023 1023 1023 1023 1023 fd ff ff time magicno ad 0 ad 1 ad 2 ad 3 ad 4 ad 5 ad 6 ad 7 P9DR PADR PBDR 12 1998 2002 iXs Research Corporation Allright reserved 1MCs03 Ver 1 1 4 5 2 uwrite 13 1998 2002 iXs Research Corporation Allright reserved iMCs03 Ver 1 1 2003 4 Ver1 0 2009 1 E mail info ixs co jp
10. 1 Hi 0 Low P9DDR PADDR PBDDR Table 1 PAO Hi 5 1998 2002 iXs Research Corporation Allright reserved 1MCs03 Ver 1 1 cmd1 PADR 0x01 1 cmd1 2 udr PA5 Low cmd1 PADR amp 0x20 0
11. ID 0 ID 0x00 0 1 1ID 0x1f 31 D Pin 1 2 3 4 5 0 0 0 0 0 0 1 1 0 0 0 0 2 0 1 0 0 0 3 1 1 0 0 0 4 0 0 1 0 0 30 0 1 1 1 1 9 1998 2002 iXs Research Corporation All right reserved 1MCs03 Ver 1 1 31 1 1 1 1 1 4 LINUX Kernel 2 4 iMCs03 root SU 4 1 USB USB PC 1 mknod dev usc0 c 180 200 chmod 666 dev usc0 4 2 USB iMCs03 USB USB
12. usb c registered new driver usc usc c H8 based USB sensor controller driver hub c USB new device connect on bus1 2 assigned device number 2 usc C USB robot controller now attached to usc0 HUB HUB HUB iMCs03 ub c USB new device connect on bus1 2 assigned device number 3 ub c 4 ports detected iMCs03 make Vendor XXXXXXXX Product XXXXXXXX read status 0 read status 1 rite status 3 rite status 3 FF 1 1998 2002 iXs Research Corporation All right reserved 1MCs03 Ver 1 1 4 4 iMCs03 USB dmesg usb c USB disconnect on device 2 USC C UScO now disconnected rmmod usc USB 4 5 CD ROM
13. USB USB hid rmmod hid USB usc o UHCI Universal Host Controller Interface insmod uhci usC USB iMCs03 USB cd home user1 usc driver make Insmod usc 0 lsmod M odule Size Used by sc 7360 0 unused a Ft 0 1998 2002 iXs Research Corporation All right reserved iMCs03 Ver 1 1 4 3 USB A USB CN108 oo PC USB IMCs03 USB HUB RNN
14. 1 1 USB 0 iMCs03 Linux Linux Linux Web 2 CH 2 1 CN100 CN108 CN105 CN102 CN101 CN104 5 1 i EN1UE 2 eCN101 CN1 re luss 3 0 dS 2 8 iNnCs03 EN 1 6 1 6 1 6 CN106 CN107 CN103 Fig 1 2 2 CN101 CN105 CN101 CN102 CN103 CN104 CN105 Pin1 GND GND GND GND GND Pin2 PBO PB4 PAO PA4 P90 Pin3 PB1 PB5 PA1 PA5 P92 Pin4 PB2 PB6 PA2 PA6 P94 Pin5 PB3 PB7 PA3 PA7 VCC Pin6 VCC VCC VCC VCC 1998 2002 iXs Research Corporation All right reserved 1MCs03 Ver 1 1 2 3 CN106 CN107 CN10
15. 6 CN107 Pin1 AGND AGND Pin2 ANO AN4 Pin3 AN1 AN5 Pin4 AN2 AN6 Pin5 AN3 AN7 Pin6 AVCC AVCC 2 4 Pin ON OFF 1 1 0 2 1 0 3 ID Ox00 Ox1f 1 0 4 1 0 5 1 0 6 1 0 7 1 0 8 1 0 3 3 1 1 1 64 IN H8 PC Fig 2 Short CPU H8 A D A D 10bit 0 lt 1023 6bit 1 ms 1 65535 0 struct udata unsigned short time unsigned short magicno unsigned short ad 8 unsigned char P9DR unsigned char PADR unsigned char PBDR char dmy 41 1 ms EEPROM A D 10bit P9 PA PB
16. BDDR P9 PA PB 1 Hi 0 Low Table 1 6 1998 2002 iXs Research Corporation All right reserved iMCs03 Ver 1 1 3 4 USB 3 4 1 USB fd open dev usc0 0_RDWR 1 char dev dev usc0 if argc gt 1 dev argv 1 if fd open dev 0_RDWR 1 fprintf stderr s Open error n dev exit 1
17. iMCs03 Ver 1 1 iXs Research Corp Robotics IMCs03 Ver 1 1 1 1998 2002 iXs Research Corporation All right reserved 1MCs03 Ver 1 1 RR OE NAN 3 ODNeuie 3 2 1 CN100 CN108 3 2 2 CN101 CN105 3 2 3 CN106 CN107 i 4 RT LIAN TN A NN 4 SN TR NN a 4 3 TT NN 4 70 7000000000000 5 IETS NN 6 3 NUSB RA EE Ek 7 Be RE 7 3 4 2 iMCs03 7 3 4 3 iMCs03 i 8 3 4 4 iMCs03 Eo 8 3 4 5 LITTLE_ENDIAN BIG_ENDIAN ki 9 3 5 iMCs08 9 4 SS NT RN 10 MWSB SS EE 10 47 2 USB NO LN RR EE 10 8 2 RUNMRNSS2000 eS3809R083222020402828 11 SR NRN 12 A475 RE Ni 12 A 12 4 5 2 kk 18 2 1998 2002 iXs Research Corporation All right reserved 1MCs03 Ver 1
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