iMCs04 ソフトウェアマニュアルVer1.4
Contents
1. struct cemd unsigned short duty 4 0 32767 char dumy 56 Fig 1 2 ccmd 2 2 3 3 iMCs04 A D iMCs04 ID 3 1 64 IN H8PC uin Fig 2 struct uin 3 1998 2011 iXs Research Corporation All right reserved iMCs04 unsigned short time 1ms 0 2047 unsigned short magicno 1D unsigned short ad 4 AUD 10bit char dumy 52 Fig 2 3 uin 4 1998 2011 iXs Research Corporation All right reserved iMCs04 3 USB 3 1 USB fd open dev urbtc0 0_RDWR2. 1 char dev dev urbtc0 if argc gt 1 dev argv 1 if fd open dev 0_RDWR 1 fprintf stderr s Open error n dev exit 1 3 2 iMCs04 iMCs04 buf 3 uin struc
3. Kernel 2 6 odule Size Used by rc 5557 0 1998 2011 iXs Research Corporation All right reserved iMCs04 5 3 USB A USB CN109 PC USB iMCs04 USB HUB usb c registered new driver urbtc urbtc c H8 based USB motor controller driver v0 1 hub c USB new device connect on bus1 2 assigned device number 2 urbtc c USB robot controller now attached to urbtc0 HUB HUB HUB iMCs04 ub c USB new device connect on bus1 2 assigned device number 3 hub c USB hub found 4 ports detected hub c iMCs04 gt h8test Vendor XXXXXXXX Product XXXXXXXX 10 1998 2011 iXs Rese
4. 45mm x 30mm USB PC 1 4 20ms HUB 32 iMCs04 Linux 2 2 1 2 2 iMCs04 0 50000 0 0 32767 50000 65 536 2 1 64 OUT PC H8 Fig 1 Short CPU H8
5. 5 5 3 RC iMCs04 2 USB PC 1 mknod dev urc1 c 180 141 chmod 666 dev urcl1 180 USB No 141 No 3 mknod dev urc1 c 180 141 chmod 666 dev urc1 mknod dev urc2 c 180 142 chmod 666 dev urc2 2 2 RC samplem make samplem samplem Tr BE Bg gt 2 1998 2011 iXs Research Corporation All right reserved iMCs04 2002 10 2003 1 Ver1 1 2009 9 Ver1 2 2010 4 Ver1 3 2011 1 Ver1 4 Kernel
6. 1 0 0 0 4 0 0 1 0 0 30 0 1 1 1 1 31 1 1 1 1 1 8 1998 2011 iXs Research Corporation All right reserved iMCs04 5 LINUX Kernel 2 4 iMCs04 root SU Ubuntu sudo 4 5 1 USB USB PC 1 mknod dev urc0 c 180 140 gt chmod 666 dev urc0 5 2 USB USB iMCs04 USB cd home user1 iMCs04 driver Insmod urbtc o Kernel 2 6 Insmod urc ko lsmod odule Size Used by urbtc 7360 0 unused
7. 2 6 E mail info ixs co jp 212 0055 5 18 16 230 0051 2 12 29 18 1998 2011 iXs Research Corporation All right reserved
8. exit 1 3 4 LITTLE_ENDIAN BIG_ENDIAN 2 1 LITTLE ENDIAN BIG ENDIAN Intel Motorola PC iMCs04 LITTLE ENDIAN Motorola ccmd duty 0x1380 6 1998 2011 iXs Research Corporati
9. arch Corporation All right reserved iMCs04 5 4 iMCs04 USB dmesg usb c USB disconnect on device 2 urbtc c urbtc0 now disconnected gt rmmod urbtc USB Kernel 2 6 gt rmmod urc ko 11 1998 2011 iXs Research Corporation All right reserved iMCs04 5 5 5 5 1 uread gt uread CHO 0xFFCO CH1 0xFFCO CH2 0xFFCO CH3 0xFFCO CHO 0xFFCO CH1 OxFFCO CH2 0xFFCO CH3 0xFFCO CHO 0xFFCO CH1 OxFFCO CH2 0xFFCO CH3 0xFFCO buf ad 0 buf ad 1 buf ad 2 buf ad 3 5 5 2 RC RC sample make sample gt sample
10. iMCs04 iXs Research Corp Robotics IMCs504 Ver1 4 1 1998 2011 iXs Research Corporation All right reserved iMCs04 AA 3 DE RR ANC NA 3 2 2 3 DD ERRA SL ES SE EE 3 Sa MUSBIK 205 NE 5 So DR EE EE lt 5 3 2 iMCs04 pi 5 3 3 iMCs04 pi 6 3 4 LITTLE_ENDIAN BIG_ENDIAN i 6 4 En 8 5 9 5 USB RRR 9 5 MWUSB RARDO UH NR IE IIE I 9 5 S8 NN 10 5 4 AE 90 11 5S RR A 12 52 SRS 12 5 52 RC RR lt 12 5 5 3 RC iMCs04 12 1998 2011 1Xs Research Corporation All right reserved iMCs04 1 iMCs04 H8 USB USB 32 iMCs04
11. on Allright reserved iMCs04 4 unsigned char duty_num 0x1388 if _BYTE ORDER _ LITTLE_ENDIAN obuf duty 0 duty_num else obuf duty 0 Oxff amp duty_num lt 8 Oxff00 amp duty_num gt gt 8 endif PC 7 1998 2011 iXs Research Corporation Allright reserved iMCs04 4 iMCs04 Pin1 lt 5 iMCs04 ID 0 ID 0x00 0 1 1D 0x1f 31 i 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
12. t uin buf if ioctl fd URCC_GET_DATA lt 0 fprintf stderr ioctl URCC_GET_DATA error n exit 1 if i read fd amp buf sizeof buf 64 fprintf stderr Warning read size mismatch d d n i sizeof buf continue 5 1998 2011 iXs Research Corporation All right reserved iMCs04 3 3 iMCs04 iMCs04 2 ccmd obuf 2 ccmd Struct ccmd obuf if ioctl fd URCC_DUTY_SET lt 0 fprintf stderr ioctl URCC_DUTY_SET error n exit 1 if write fd amp obuf sizeof obuf lt 0 fprintf stderr write error n
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