取扱説明書 - ミネベア
Contents
1. II No 2004 09 DRW NO 294 1215 2005 04 DRW NO 294 1215 A FN05 02020 2006 06 DRW NO294 1215 B FN06 02088 Linux CD ROM 2009 08 DRW NO294 1215 C FN09 02096 2010 08 DRW NO294 1215 D FN10 02126 III V 7 Ey 19 7 Id AP Aun ULT be A E I EE 7 172 2 TT OE RECEPTUM II T oo AEE E HT Il 0222 MERE 777 EE CO REP ARR NIORT PORA pumapas ashaka qam st aqpaah2. 4 8 3 Linux Kernel 2 4 2 6 Makefile KERNDIR Linux2 6 Makefile linux26 make Kernel 2 4 or make f Makefile linux26 Kernel 2 6 dev scpci su make device insmod scpci o lt Kernel 2 4 insmod f scpci o Or insmod scpci ko Kernel 2 6 insmod f scpci ko it app1 For more details see source code scpci c Module Source scpci h Main Header plx9054 h Required for scpci c appX c User Application Samples 36 4 8 4 RT Linux RT Linux3 2 real time Kernel2 4 Edit Makefile rt for your location of RTLinux Directory Real Time Module Compilation 96 make f Makefile rt RTLinux su rtlinux st
3. e PCI AS PCI PCI ON BIOS BIOS 2 3 Windows hh XOS DX Windows 2 3
4. 1 2 e e e e e e 1 3 ded 1 4 2 RS 422 10 000 Windows Linux OS 1 OS Windows Microsoft Windows 2000 Professional SP3 Linux 2 4 X 2 6 X 2 256 Mbyte 3 CPU Pentium III 800 MHz CPU 1
5. StopForceCaptureGnt fd fd gt OpenDriver fi StartForceCapture fd 17 18 4 2 5 4 2 6 GetRangeDataGnt fd int channel int Frangel 6 fd OpenDriver 9 channel gt 0 7 Frangel6 Frangel0 Fx Frangell Fy Frangel2 Fz Frangel3 Mx Frangel4 My Frangel 5 Mz Fx Fz Fy Mx My Mz int 0
6. 7 2 39 o o 889 0293HHHHHHHHHHHHHHHH 4106 73 220267 32 2200 FAX 0267 31 1350 HHHHHHH 251 8581HHHHHHH HH 1 1 1 230466 23 2180 FAX 0466 22 7191 HHHHHHH 541 0053 0 0 00000 1 7 7 WAKITAHHHHHH11F 06 6263 83831FAX 06 6263 7388 HHHHHHHH 460 00038HHHHHHHH1 6 5 HHHHHHHH 23052 231 1181FAX 052 231 1157 8 HHHH 251 85831HHHHHHHHH 1 1 1 230466 22 1151FAX 0466 22 1701 HHHHH 889 0293HHHHHHHHHHHHHHHH 4106 73 230267 31 1309 FAX 0267 31 1353 HHHHHHHHHHHHHHHL E 0120 950008 0000000000 http www minebea mcd com
7. MIL M e A Les e Microsoft Windows 2000 Microsoft Visual Basic Microsoft Visual C Microsoft Corporation 1 e 0 C to50 C 20 RH to 90 RH N Efa mi es C3
8. gelay GetForce GetForceComplete GetPkt DMA Linux 24 Linux 2 6 2 4 2 6 H insmod f scpcio insmod f scpci ko Linux 2 6 f
9. CD ROM MM y D T eid 0 E88 6 CD ROM iay Cuv CD ROM amp CD ROM N e NMB SCPCI GI scpcisys CXWINDOWSXSystem32X DRIVERS
10. 1 0x80000 524288Byte 1 128Byte 524288 128 4096 OPFT SCPCI 4 4096 4 1024 1 1024 100usec 1024X100usec 0 1024 GetPktO 0 1024 GetPkt GetPktO
11. 2 2 1 2 3 PcI PCI 4 PCI 3 e
12. AR F ICI 63S BE TA RSN TORIA choeldssteguR e CS D 0s e PcI 37 6 6 1 ch eet 0 EA PCI 32bit 33 MHz 5V15A 106 68 X17463 Dmm 133g MOI A PCI 38 7 7 1 e 1
13. Linux udev Linux Fedora Core 3 udev Linux qdev udev etc udev devices t mknod m 666 etc udev devices scpci c 240 O etc udev devices scpci dev
14. FPGA OPFT SCPCI DMA OPFT SCPCI DMA 33 34 4 4 1 2 3 4 o 8 8 1 128Bytes x 4096 DMA A Z DMA 4 8 2 1 2 3 OpenDriver dev scpc ioctl
15. IOCTL GET FORCE CHANNEL IOCTL_GET FORCE COMPLETE ioctld IOCTL GET FORCE COMPLETE amp force DAS force force_data scpei h IO0CTL_GET_FORCE_CHANNEL IOCTL_START_CAPTURE ioctlfd IOCTL START CAPTURE DAS IOCTL_STOP_CAPTURE ioctlfd IOCTL_STOP_CAPTURE DAS 4 4 T IOCTL AUTOZERO ON CE doctl fd IOCTL_ AUTOZERO ON amp channel OAS A ZONSME channel ch 4 4 8 IOCTL AUTOZERO OFF CE ioctl fd IOCTL AUTOZERO OFF amp channel DAS A ZOF
16. bit2 bit3 00H bit0 0 255 255 0 4 No 0 7 No 2 3 13 14 D 1 Visual C 2 unsigned long ret buf 32 ret GetPkt 0 buf if ret 0 f else if ret 1 else if ret 2 f else Visual Basic Dim ret As Long Dim buf O To 31 As Long ret GetPkt 0 buf 0 If ret 0 then Elself ret
17. 4 7 OPFT SCPCI OPFT SCPQCI RS422 10Oxs DMA FPGA DMA DMA DMA qgev scpci ioctl
18. Y 4 Linux 4 1 CD ROM Linux TForceSensor 1 ForeceSensor zt JU Makefile 2 4 x Make scpci h plx9054 h SCDOI C app1 c 1 app2 c 2 app3 c 3 app4 c 4 Makefile linux26 2 6 x Make Makefile rt RT Linux Make scpci rt c RT Linux monitor_rtc RT Linux X 2 4 x 2 6 xMakeFile RU RT Linux 4 2 API API scpci h
19. 4 2 1 dev scoci OpenDriverO int fd OpenDriverO if fd lt 0 printf Driver Open Error Exiting Xn exit 0 16 4 2 2 4 2 3 4 2 4 dev scoci CloseDriverGnt fd fd gt OpenDriver fqJ CloseDriver fd StartForceCaptureGnt fd fd gt OpenDriver fqJ StartForceCapture fd
20. CD e NM x x A EA AR F ICI eS SUBE TA RSN TORIA choelds3teguR ete CS D 0s PCI e e PCI
21. 0 0 e NMB SCPGI BET amp 5usrderr PERO Dad 7 2 OPFT SCPCI 1 8 CD ROM CD ROM CH Iod9S 14dO pul 1 2 6 3 Windows 3 1 CD ROM Win Disk VBVC 1 Disk scpci sys scpci inf INF
22. SCPGIbas exe scpcidal exe 3 3 4 APD D Q O 3 3 1 CD DriverOpenO Q int 0 gt 1 2 JP5 1 Visual C
23. 0 0 int 0 1 gt SENSOR NO DATA 2 SENSOR_NON ret GetPkt fd ch buf 1 4 2 14 128Byte SndPktGnt fd int channel char bufjint length fd gt OpenDriver fd ch gt 0 77 buf gt lenght 15 int 0 0 PACKET MEASURE MODE 2AX0XOXOXOXOYXOXOXOYXOYXOXOXO ret SndPkt fd 0 PACKET MEASURE MODE 15 4 3 RT Linux API scpcei
24. CD ROM Z CD ROM 2 CD ROM Win DISK UniInstall exe 3 7 4 OK 5 2 Windows Linux 1 2 3 4 PCI 3 6 A
25. CD ROM eseeseserrrrreren 1 2 edad eda a eaae dos od cd oct A AR 1 o 1 5 174 63 L CH1 CH3 CH4 HH 2 3 g2m 254 106 68 H LED LED LED 2 2 1 JP5 JP6 JP7 3 1 1 JP5 O 3
26. OpenDriver fd channel gt 0 AZ int 0 0 ret UnsetAutoZeroFunc fd ch 4 2 10 GetForceGnt fd int channel int Forcel6 fd gt OpenDriver fg ch gt 0 7 Force gt Force 0 Fx Forcel1 Fy Forcel2 Fz Force 3 Mx Force 4 My Force 5 Mz int 0 0 2 SENSOR NONE ret GetForce fd ch force 4 2 1 1 GetAllChannelForce nt fd struct force data force fd
27. SENSOR NO DATA 2 SENSOR NON ret GetForceComplete fd ch force ch 100usec DMA 4 2 13 128Byte GetPktGnt fd int channel char bufiint mode fd gt OpenDriver fd ch gt 0 7 buf gt 0 14 mode gt
28. GetPkt 31 24 23 16 15 8 7 0 No QE 4 3 2 1 8 7 6 5 12 1 1 10 9 124 14 13 12418 128Byte 1 DD 1 15 bit bito biti
29. 1 SENSOR TIMEOUT 2 SENSOR NONE ret GetRangeData fd ch force_rangelchl GetMovingAveragent fd int channel fd OpenDriver 9 channel gt 0 int 1 100 1 SENSOR_TIMEOUT 2 SENSOR NONE ret GetMovingAverage fd ch 4 2 7 4 2 8 SetMovingAverage int fd int channel int N_moving_ave
30. 2 3 1 Administator 2 3 2 1 N DPIO CD e O AN MAE DRA 2 FO31 2 0
31. PCI 4 OPFT SCPCT 294 1215 D PCI OPFT SCPCI Ega mi ec
32. p sched priority 1 pthread setschedparam pthread self SCHED FIFO amp p pthread make periodic np pthread self gethrtime while 1 pthread wait np 0 Newest Force Data is obtained header GetForce 0 force rtf put 0 amp force sizeof force return 0 int st 1000000000 int init module void int n pthread create amp thread NULL start routine 0 pthread setfp np thread 1 rtf create 0 fifo size Range Data is obtained here GetRangeData 0 force range n GetMovingAverage 0 rtl printf CSCPCI RTLinux Range ch0 Fx Fy Fz d Mx My Mz d N d n force range 0 force range 3 n A Z Fuction Enabled for ch0 SetAutoZeroFunc 0 rtl printf CSCPCI RTLinux Module Installed Yn return 0 void cleanup module void rtl printf SCPCI RTLinux Module Removed Yn rtf destroy 0 pthread delete np thread 4 8 scpci o scpci_rt c scpct 1 app1 c gt app4 c monitor_rt c lt dev r
33. 1 then Elself ret 2 then Elself ret 3 then EndIf buf I buf 3 4 1 7z297z vavmMm DriverOpen0 SndPkt ili GetPkt0 ili DriverClose0 9 2 C D C E DriverOpen 0 B3 2X DriverClose 0 B3 0 O Y v v SndPkt GetPkt Bg z0 0 O am O REI 5 v
34. DataPacketFormat recv_data fd OpenDriver if fd lt 0 printf Driver Open Error Exiting Yn exit 0 for j 0 j lt 100000 j for channel 1 while 1 ret GetPkt fd 0 buf 1 if ret 0 ret SENSOR NONE break if ret 0 header Rx_Header Register amp buf recv_data DataPacketFormat header 1 printf 0 Header 4Bytes 0x 8x ch d Seq No 3d header gt All header gt Bits chnum header gt Bits seqnum if ret SENSOR_NONE printf 0 No sensor connected O Rx Header Register DataPacketFormat scpci h 88 Ne 4 5 4 4 app4 c gcc o app4 app4 c include lt stdio h gt include lt stdlib h gt include scpci h main O int fd int chk i j all channel read int ret MAX CHANNEL seqnum MAX CHANNEL seqnumO1d MAX CHANNEL int lost counter MAX CHANNEL lost total 0 int force MAX CHANNEL 6 fd OpenDriver if fd lt O printf Driver Open Error Exiting Yn exit 0 for j 0 j lt 10000000 j for i 0 iXMAX CHANNEL i while 1 seqnum i GetForceComplete fd i f
35. Int ret ret DriverOpen if ret 0 fl else if ret 1 else J 2 Visual Basic Dim ret As Integer ret Driveropen If ret 0 then Elself ret 1 then Elself ret 2 then EndIf 3 3 2 CD DriverCloseO BU 1 Visual C DriverCloseQ 2 Visual Basic DriverClose 3 3 3 CD SndPkt char ch unsigned long bufiunsigned int len ch gt 0 7 buf gt Long 64 256 1 256 15 15 int 0 1
36. gt 3 10 SE 2 1 6 5 4 3 10 9 8 12 1 1 SndPktO 1 2 Visual C Int ret unsigned long buf 64 ret SndPkt 0 buf 15 f ret 0 else if ret 1 else Visual Basic Dim ret As Integer Dim buf O To 63 As Lo
37. JP6 2 3 JPG JP7 1 2 JP7 2 JP5 OPFT SCPOI 1 2 JP5 CH CH CH1 0 0 1 CH1 ERR TORES o oa 2 CH2 1 1 1 CH2 eere om ru eee QUE te aeea a ase CH3 2 2 1 CH3 PECES RR ZL 2 2 Zl CH4 3 3 1 CH4 CH1 4 2 CH1 Jer iy ciem M rA i RECS CH2 5 2 CH2 ii li CH3 6 2 CH3 CN CH4 7 2 CH4
38. OpenDriver f9 force force data status NO_SENSOR_STATUS 0xFFFFFFFE GetAllChannelForce fd force struct force datal int channel int F 6 Fx Fy Fz Mx My MZ int Frangel 6 for Fx Fy Fz Mx My Mz int N moving average unsigned int status unsigned char seqnum unsigned char previous seqnum 21 22 4 2 12 GetForceComplete nt fd int channel int Force 6 fd gt OpenDriver fg ch gt 0 7 Force gt int 0 255 0 255 0 1 255 0 1
39. CHANNEL 6 N moving average fd OpenDriver if fd lt 0 printf Driver Open Error Exiting Yn exit 0 for i20 iXMAX CHANNEL i ret GetRangeData fd i force range i N moving average GetMovingAverage fd i if ret SENSOR NONE printf Ch9d No Sensor connected Yn i else if ret SENSOR TIMEOUT printf Ch d Timeout n i elset printf Ch d Frange 0 1 2 d t Frange 3 4 5 d t N dYn i force range i 0 Fx Fy Fz range are same value force range i 3 Mx My Mz range are same value N moving average Get Each Channel Force into array force 6 ret GetForce fd 0 force printf 1 Fx 6 1f Fy 6 1f Fz X6 1f 3d double force 0 32768 0 double force_range 0 0 double force 1 32768 0 double force_range 0 1 double force 2 32768 0 double force_range 0 2 ret c e 0j for O force 27 28 4 5 3 3 app3 c gcc o app3 app3 c Rinclude lt stdio h gt include lt stdlib h gt include scpci h main int fd int ret i j struct force_data force char buf 128 for one packet Rx_Header_Register header
40. FSME channel ch 4 4 9 IOCTL GET SENSOR SPEC CE doctl fd IOCTL GET SENSOR SPEC amp channeD DAS channel ch 4 4 1 O 4 4 1 1 4 4 1 2 4 4 13 IOCTL_GRET_FORCE_CHANNEL force_data IOCTL SET_MOVINGAVE ioctlfd IOCTL SET MOVINGAVE amp force DAS force_data foree channel N_moving_average ioctl IOCTL_GET_PKT_COMPLETE IOCTL GET PKT COMPLETE s ey 5t Hk IOCTL GET PKT CURRENT IOCTL GET PKT CURRENT OAS IOCTL SND PKT ioct
41. TL SCPCI OPEN QNS IOCTL GET FORCE CHANNEL CE idoctl fd IOCTL GET FORCE CHANNEL amp force DAS force force_data scpci h force_data channel ioctl API GetA11ChannelForce IOCTL GET_FORCE_ALL ioctlfd IOCTL_GET FORCE ALL force force struct force data forcel8l
42. UnInstall exe 2 VBVC SCPCLbas Visual Basic scpci dll Visual Basic scpci h Visual C scpci lib Visual C Microsoft Visual C Microsoft Visual Basic AP 3 2 1 Visual C D sepcih scpcih scpci ib scpcidll scpcilib exe scpci dll exe 2 Visual Basic SCPCLIbas scpcidl
43. aa az ha yaa u CNAE b pb kasa ba 1 RY RS 1 IIR NENNEN 1 EO SE 16 RENE NT NNT OS NTRS NT oa 1 ERR 1 toc CE fm HOM 2 DE RT TN 3 2 1 3 PN aa IDE AE A A E 4 2 3 WiNpows 5 2 22 S EET RERBA EP ERE REUS 7 2 MAEDE IIWINDOWS XW RD 8 3 4 CD ROM ee 8 CEVADA OEE E aE 8 3 3 9 CEP EEES ODIE DI A 15 E MEE TAAN O ET Tar DL 16 4 1 CD ROM AJ ttt ttt ttt ttt ttr Enn annan 16 lk 16 4 3 RT LinNUx AP Ea 23 ASA Moe I a aa n e a na n n a on n I 24 UN uM PIY V GAI J EJES Zx uu IM 26 4 6 LNux Claf amp U MS CIMA 32 4 7 OPFT SCPQI ee 33 4 8 34 GD F D71027 Emi SN s RD i aN 37 5 1 WiNpows S JN 37 5 2 WiNpows ha Linux assente 37 65 UE IEEE RT 38 CVM rinm RT ENT DN D 38 IV 1 1 1 c 6 PCI B API
44. art nstall Sample RealTime Process insmod scpci o lt or insmod f scpci o insmod scpci rt o Check dmesg or execute sample monitor program through FIFO dev rtfO monitor rt or execute sample program app1 app2 app3 app4 app4 For more details see source code scpc1_rt c RealTime Module scpci c Driver Object scpci h Main Header plx9054 h Required only for scpci c monitor rt c lt User Process for monitoring RTLinux API scpei o Linux API int GetRangeData int ch int Frangel6 int GetForce int ch int Force 6 int SetAutoZeroFunc int channel int UnsetAutoZeroFunc int ch int GetMovingAverage Gnt ch int SetMovingAverage int ch int N moving average RTLinuxAPI scpei_rt c 5 5 1 Windows 1
45. h include GetRangeData GetForce SetAutoZeroFunc UnsetAutoZeroFunc etMovingAverage int GetRangeData int ch rm nt Frange 6 int HDS ch int Force 6 int SetAutoZeroForce int ch int UnsetAutoZeroForce int ch int GetMovingAverage int ch int SetMovingAverage int ch int N moving average AS RE API scpci_rt c API Sscpci o 23 24 4 4 4 4 1 4 4 2 4 4 3 4 4 4 4 4 5 4 4 6 ioctl ioctl1 API scpci h ioctl IOCTL SCPCI OPEN ioctl fd IOC
46. lfd IOCTL SND PKT amp packet DAS 25 26 4 5 4 5 1 1 app1 c gcc o appl appl c Rinclude lt stdio h gt include lt stdlib h gt include scpci h main int fd struct force data force 8 fd OpenDriver if fd 0 printf Driver Open Error Exiting Yn exit 0 while 1 Get All Newest Channel Force into structure GetAllChannelForce fd force Print out for chO if force 0 status NO SENSOR STATUS printf 1 No Sensor else printf 1 Fx 6 1f Fy 6 1f Fz 6 1f 3d 8x double force 0 F 0 32768 0 double force 0 Frange 0 double force 0 F 1 32768 0 double force 0 Frange 1 double force 0 F 2 32768 0 double force 0 Frange 2 force 0 seqnum force 0 status CloseDriver fd J Soh force 8 1 4 5 2 2 app2 c gcc o app2 app2 c Rinclude lt stdio h gt include lt stdlib h gt include scpci h main int fd int i ret int force 6 force rangelMAX
47. ng ret SndPkt 0 buf 0 15 If ret 0 then Elself ret 1 then Elself ret 3 then EndIf 11 3 3 4 12 CD GetPkt char ch unsigned long buf char mode ch gt 0 7 buf gt 128Byte mode gt 0 0 0 0 int 0 gt 1 gt 2 gt 0 3 1 GetPkt 20 GetPkt
48. orceli if seqnum il gt 0 break else if seqnum i SENSOR NONE break No Sensor Sequence Number Check printf W5d 1 3d 2 3d 3 3d 4 3d 5 3d 6 3d 7 3d 8 3d j seqnum 0 seqnum 1 seqnum 2 seqnum 3 seqnum 4 seqnum 5 seqnum 6 seqnum 7 Force Data Check chk 0 select axis 0 5 Fx Fy Fz Mx My Mz printfC 5d 1 93d 2 3d 3 3d 4 3d 5 3d 6 3d 7 3d 8 3d j force 0 chk force 1 chk force 2 chk force 3 chk force 4 chk force 5 chk force 6 chk force 7 chk Each Channle Data chk 0 select channel printf 5d Fx 5d Fy 5d Fz 5d Mx 5d My 5d Mz 5d j force chk 0 force chk 1 force chk 2 force chk 3 force chk 4 force chk 5 7 vm VwuDDT 3 WO0CISUGCKRS vJVO0Z 777AGBS09dgMIma 2X7 Ffslc v JL 8588007 77 9 OUB720BV soo 29 30 4 5 5 5 XRTLinux sepci rt c include lt rt1 h gt include lt rt1_fifo h gt include lt rt1_sched h gt Hinclude lt rtl_sync h gt Rinclude lt time h gt include lt pthread h gt pthread_t thread include lt math h gt include scpci h define SAMPLING TIME 0 001 sec int fifo size 4000 int force 6 force range 6 void start routine void arg struct sched param p double st SAMPLING TIME int header
49. rage fd gt OpenDriver fg channel gt 0 N moving average gt 1 100 int 0 gt 0 ret SetMovingAverage fd ch ave A Z AZ AZ ON SetAutoZeroFuncGnt fd int channel fd gt OpenDriver fd channel gt 0 AZ int 0 gt 0 ret GetMovingAverage fd ch 19 20 4 2 9 A Z AZ AZ OFTF UnsetAutoZeroFuncGnt fd int channel fd
50. tfO monitor_rt c 31 4 6 32 Linux scpci qdev Makefile make device t mknod m 666 dev scpci c 240 O 666O 240 O ID 240O O Makefile scpci h PCI_MAJUOR
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