
             TOPPERS/JSPܥåȥƥ 

            Release 1.0.1бǽ: 04-Oct-2007
----------------------------------------------------------------------
 TOPPERS Robot/Content

 Copyright (C) 2006-2007 GJ Business Division RICOH COMPANY,LTD. JAPAN
 Copyright (C) 1999-2004 by Dep. of Computer Science and Engineering
                       Tomakomai National College of Technology, JAPAN

 嵭Ԥϡʲ (1)(4) ξ狼Free Software Foundation 
 ˤäƸɽƤ GNU General Public License  Version 2 ˵
 ҤƤ˸¤ꡤܥեȥܥեȥ
 ѤΤޤࡥʲƱˤѡʣѡۡʰʲ
 ѤȸƤ֡ˤ뤳Ȥ̵ǵ롥
 (1) ܥեȥ򥽡ɤηѤˤϡ嵭
     ɽѾ浪Ӳ̵ݾڵ꤬Τޤޤηǥ
     ˴ޤޤƤ뤳ȡ
 (2) ܥեȥ򡤥饤֥ʤɡ¾Υեȥȯ˻
     ѤǤǺۤˤϡۤȼɥȡ
     ԥޥ˥奢ʤɡˤˡ嵭ɽѾ浪Ӳ
     ̵ݾڵǺܤ뤳ȡ
 (3) ܥեȥ򡤵Ȥ߹ʤɡ¾Υեȥȯ˻
     ѤǤʤǺۤˤϡΤ줫ξ
     ȡ
   (a) ۤȼɥȡѼԥޥ˥奢ʤɡˤˡ嵭
       ɽѾ浪Ӳ̵ݾڵǺܤ뤳ȡ
   (b) ۤη֤̤ˡˤäơTOPPERSץȤ
       𤹤뤳ȡ
 (4) ܥեȥѤˤľŪޤϴŪ뤤ʤ»
     ⡤嵭ԤTOPPERSץȤդ뤳ȡ

 ܥեȥϡ̵ݾڤ󶡤ƤΤǤ롥嵭Ԥ
 TOPPERSץȤϡܥեȥ˴ؤơŬѲǽ
 ޤơʤݾڤԤʤޤܥեȥѤˤľ
 ŪޤϴŪʤ»˴ؤƤ⡤Ǥʤ

 @(#) $Id: readme.txt,v 1.04 2007/10/04 18:48:10 roi Exp $


ƥĤγ

1.1 ץ
ΥץcygwinǳȯԤLINUXǤӥɤγǧԤޤ
ץȥɥȤEUCǵܤƤޤcygwinGNUARMSH
ȯĶԤɬפޤˤĤƤjsp/doc/gnu_install.txt
ȤƤǥ쥯ȥjsp-1.4.3ϡTOPPERS/JSP-1.4.3Фƥܥå
ץκʬΤߤܤƤޤΥץγȯĶꤹ
TOPPERS/JSP-1.4.3ɸԤθ塢jsp-1.4.3Ƥ
ǥ쥯ȥɲäƤ

1.2 ƥĤ

ΥƥĤϡESPΤϤܥåȤȥեƥॺ
eMasterGEARѤRTOSʤѤΥܥåѤΥץǤ
RTOSʤΥܥåץϥǥ쥯ȥroboβˡRTOSб
ܥåץΥӥɤOBJ/AT91SAM7S/WALKOBJ/CRB_H3/WALK
ԤޤޤrommonβˤϤܥåȤܡɤǤCRB_H3
ROM˥ޤ
ϤܥåȤϥץɤƼ¹ԤȤʤޤ
ROM˥Ѿҹγȯh8mon١ˡø첽
SH2Ѥ˰ܿ򤪤ʤޤ
ΥܥåȤСưǽǤ
ܥåμϡϤܥåȤǺѤƤ֥ܥåȤ
ޥɻ͡פ˽򤷤ƤޤޥɤȯԤϥܥåȵư
ꥢ롦ݡȤΥޥˤƹԤޤ

̿եޥåȡ
  *0730XXXX#
  XXXXϣХȤΥޥ
ޥο
+10ʾϥե٥åȤʸǡ1=A,2=B,3=C,...,26=ZȤޤ
+1+9ϡ饯19Ǥ褤
ޥʥϥե٥åȤξʸǡ-1=a,-2=b,-3=c,...,-26=z
ޤ

ơ
ޥɡơ®
()*0730FF00#
  6⡢ʤ
()*0730FF20#
  Х󥹳٣٤Ǳžʤ6ʤ
  ()  *0730FF02#
  ¬20ms᤯6ʤ

¡
ޥɡ¡®
()*0730BF00#
  6⡢ह
()*0730BFa0#
  žʤ6ह
  ()  *0730BF02#
  ¬20ms᤯6ह
()  *0730F000#
  ʤ³

ӡƥå
ޥɡӡ®
()*0730SF00#
  6⡢ƥåפ
()*0730SFa0#
  žʤ6⥹ƥåפ


ġ⤭
ޥɡġ®
()*0730DF00#
  6ⲣ⤭
()*0730DFa0#
  6ⲣ⤭

ԡľΩ
ޥɡԡ̵
()*0730DF00#
  ľΩȤʤ

͡⡼¹
ޥɡ͡ɴΰ̡ΰ̡ΰ
()*0730M001#
  ⡼󣱤¹Ԥ

Ρư
ޥɡΡΰ
()*0730N001#
  ĸεư
()*0730N002#
  εưeMasterGEARΤߡ

ǡ
ޥɡǡ֡
()*0730G330#
ô֤Τ򣳲󤹤
  ڤeMasterGEARTOPPERS/JSPǤΤ

á¹Ԥ򥭥󥻥뤹
  ޥɡáꡡ֡
()  *0730C000#
  ¹Υʥꥪ򥭥󥻥뤹
  ()  *0730C100#
  Ԥߤ
  ()  *0730C2b0#
  ΥХ󥹳٤򺸣٤ˤ

1.3 åȥץååȥƥ

ΥܥåȤγȯĶϤȤGNUǤ롥ܳȯCygwinGNUѥ
ݡƥ󥰤ƥץκԤäƱγȯԤˤ
ƥܥåȤȥܥåȤܡɤбGNUĶιۤԤɬפ롥

    ܥå̾  ǥ쥯ȥ̾          ȯĶ
          ץåʷ֡      ƥʥ᡼̾
                    ץ̾

    eMasterGEAR     at91sam7s               GNUȯĶ(arm-elf-gcc)
                    arm7                    BTE064 SAM7S I/Oܡ
                                                ʥ٥ȥƥΥ
                    at91sam7s               AT91SAM7S128(ATMEL)

    Ϥܥå  crb_h3                  GNUȯĶ(sh-hitachi-elf)
                    SH2(SH7047F)            CROBO_H3(ԡ)
                    crb_h3

1.4 ǥ쥯ȥ깽
ȯĶϰʲΥǥ쥯ȥ깽ȤʤäƤޤ
TOPPERS/JSPǼ¹ԲǽʴĶۤˤϡTOPPERS/JSP-1.4.3ɤ
jspjsp-1.4.3̾ѴषȯĶjsp-1.4.3˾񤭤ޤ
robo/jspTOPPERS/JSPѤ˥ܥåץ饤֥ꥣ
Υǥ쥯ȥǤꡢϻѤޤ

jsp-1.4.3-+-config-+-arm4  TOPPERS/JSPAT91SAM7S128Ѥΰ¸
            |        |
            |        +-sh2   TOPPERS/JSPCRB_H8Ѥΰ¸
            |
            +-monitor        TOPPERS/JSP˥Υ
            |
            +-OBJ-+-AT91SAM7S-+-libkernel  AT91SAMS7Sͥ饤֥ꥣ
            |     |           |            ǥ쥯ȥ
            |     |           +- MON       AT91SAMS7S˥
            |     |           |            ǥ쥯ȥ
            |     |           +- WALK      JSPeMasterGEARץ
            |     |                        ǥ쥯ȥ
            |     + CRB_H3-+-libkernel     CRB_H3ͥ饤֥ꥣ
            |                 |            ǥ쥯ȥ
            |                 +- MON       CRB_h3˥
            |                 |            ǥ쥯ȥ
            |                 +- WALK      JSPǤϤܥåץ
            |                              ǥ쥯ȥ
            +-robo-+-at91sam7s  eMasterGEARRTOSʤǤΥӥɥǥ쥯ȥ
                   |
                   +-crb_h3     ϤܥåȤRTOSʤǤΥӥɥǥ쥯ȥ
                   |
                   +-jsp        TOPPERS/JSPѤΥܥåȥ饤֥ꥣ
                   |            ѥǥ쥯ȥ
                   +-lib        RTOSʤǤζ̥饤֥ꥣΥӥɥǥ쥯ȥ
                   |
                   +-scenario   ܥåȼ¹ԥʥꥪǥ쥯ȥ
  rommon-+-crb_h3     CRB_H3ѤROM˥Υӥɥǥ쥯ȥ
         |
         +-mon3069    AKIH8-3069FѤROM˥Υӥɥǥ쥯ȥ

1.5 ӥɤμ

1.5.1 ROM˥κ
ϤܥåȤμ¹ԴĶιۤˤϡޤROM˥ӥɤܡ
FLASH-ROM˽񤭹ǥץΥɤȼ¹ԤԤɬפޤ
eMasterGEARץľFLASH-ROM˽񤭹िᡢROM˥
ɬפϤޤGNUΥѥĶ۸塢rommon/crb_h8ΰư
make clean
    make
¹Ԥơrommon.srecƤݤʾϴ¸rommon.srec
ΤޤޡѤƤFW7047.exeϤϤܥåȤCD-ROMäƤޤ
ʲμROM˥νߤԤޤ

1.5.1.1 Ÿ⡼ŸڤƤ뤳Ȥǧޤ
1.5.1.2 ѤΥѥԥդꥢ륱֥³塢Ÿޤ
1.5.1.3 FW7047.exeѥ󤫤¹Ԥ
1.5.1.4 [][COMݡ]ǡѤݡȤ
1.5.1.5 [ե][]ǡrommon\crb_h8\rommon.srec򤷤ơɽ
  ǡ֤Ϥפ򲡤ȤǡFLASH-ROMؤνߤϤޤޤ

1.5.2 ̥饤֥ꥣκ
ƥܥåȤץιۡޤ̥饤֥ꥣɬפޤ
TOPPERS/JSPǤǤϡRTOSεǽ򤽤Τޤ޻Ѥ뤿ᡢΥ饤֥ꥣ
ɬפϤޤrobo/lib˰ưʲΥޥɤ¹ԤƤ

make clean
make PROJ=<ץ̾>

make PROJ=<ץ̾>eMasterGEARѤΥ饤֥ꥣ硢ʲ
ޥɤ̣ޤ

make PROJ=at91sam7s

CRB_H3Ѥlibcrb_h3.aeMaterGEARѤlibat91sam7s.aޤ

1.5.3 ¹ԥץκ
˳ƥܥåȤγȯǥ쥯ȥ˰ưưʲΥޥɤ¹Ԥޤ

make clean
make

ץμ¹ԷȤơCRB_H3Ѥrobot.sreceMaterGEARѤrobot.bin
ޤ

1.5,4 TOPPERS/JSPǤμ¹ԥץ
ܥåȤTOPPERS/JSPԤˤϡܥåץ
饤֥ꥣJSPΥȤưɬפޤ
饤֥ꥣԤˤϡrobo/jsp˰ưʲΥޥɤ¹ԤƤ

make clean
make PROJ=<ץ̾>

CRB_H3Ѥwalkcrb_h3.aeMaterGEARѤwalkat91sam7s.aޤ

θǡϤܥåȤʤOBJ/CRB_H3/WALKeMasterGEARʤOBJ/AT91SAM7S
˰ưưʲΥޥɤ¹ԤƤ

make depend
make

1.5.5 ܥåȤμ¹
ϤܥåȤξΥɤAKIH8-3069FƱǤ
tera-TermΩ夲ŸȡʲΥץץȤɽޤ

mon>

ldޥɤϤơԤ֤ˤޤrobo/crb_h3/robot.srec
teraTerm˽ŤͤȥɤϤޤޤɤλȡ
mon>ΥץץȤɽޤΤǡgo <ɥ쥹>ޥɤǼ¹ԤƤ

mon>go 200590

TOPPERS/JSPǤμ¹ԤϡOBJ/CRB_H3/WALK/jsp.srecɤgoޥɤ
¹ԤƤ

mon>go 200400

RTOSʤǤRTOSбǤǤϼ¹ԥɥ쥹ۤʤޤΤǵĤƤ

H8ξ硢ꥻåȥɥ쥹ROM˥ƤޤSH2Ǥϥ٥
ѹ뵡ǽ뤿ᡢꥻåȥɥ쥹ޤ٥δϥɤ
ץबޤΤ¹ԥɥ쥹ȤƥꥻåȤμ¹ԥɥ쥹
ꤷޤꥻåȤμ¹ԥɥ쥹_startΥɥ쥹Ȥʤޤӥɤˡ
ǤΥɥ쥹200590ϰʳ˳Ƥǽޤ
robot.map_startɥ쥹ǧơΥɥ쥹¹ԥɥ쥹Ȥ
ꤷƤ

eMasterGEARξ硢°CD-ROMGCC Developer LiteƱƤޤ
GCC Developper LiteFlash WriteѤơޥ˥奢˽äơ
RTOSʤǤrobo/at91sam7s/robot.binRTOSбǤOBJ/AT91SAM7S/WALK/jsp.bin
ܡɤ˽񤭹Ǥ

1.5.6 ܥåȤ򤭤ư뤿
ܥåȤư뤿ˤϡۡݥꤵƤ
ɬפޤۡݥϳƴΥܤγ٤٤ξ֤Ǥ
٤٤ʤΤˡ­ΰ֤ƤԤ뤳ȤǤޤ
ܤȤդ֤ˤꥵܤγ٤٤Ǥ㴳ΰ֤뤳Ȥ
ޤ뤿ˡեåȤλ꤬ǽǤꡢեåȤͤ
Ѥ뤳ȤˤۡݥѹǽǤ
ϤܥåȤξ硢EEPROM˥եåȤͤ¸ƤޤΤ
EEPROMΤͤѹ뤳ȤˤꡢۡݥѹԤޤ
eMasterGEARξ硢EEPROMʤᥪեåȤѹƤ⡢ץ
եåͤѹʤ¤ꡢŪʥۡݥѹϤǤޤ
ңϣ;Υǡrobo/at91sam7s/storage.cservo_reset_table˵Ҥޤ
ߤΥեåͤɽϰʲΥޥɤǹԤޤ

ͤɽ
*0351#
ƥܡʥֹˤбʲͤɽ롥
deg_offset ٤򥵡ܥ⡼ꤹ
de_sign    ٤򥵡ܥ⡼ꤹ͡ʣޤϡ
deg_lim    ١٤-deg_lim <= deg <= deg_limȤʤꡢĶ
		٤ꤷ硢٤
deg2plsܥ⡼˳٤ꤹ硢deg2plsܤꤹ롢Ĥޤꡢ
          ʲٿdeg2plsϤ

Υեåͤѹʥƥݥꥣ
*0752nn0c#
nnϣʿΥֹ桢Υϥեåͤѹ򼨤
cϣͤ򥤥󥯥ȡǥǥ
˽äơƴ˰ưޤΤǡΤƤ

ͤEEPROM˽񤭹ʤϤܥåȤΤߡ
*0250#
ߤΥνEEPROM˽񤭹

eMasterGEARνͤϡrobo/at91sam7s/storage.c
servo_reset_table[DEF_SERVO+1][4]˥եåͤܤƤޤΤǡ
ɬפʾ硢Υơ֥񤭴Ƥ

1.5.7 ⡼ž
⡼žȡŪʺǽϤϤܥåȤλͤ˽सƤޤ
⡼ž
*6A40nnnnttttd001d002d003.....d0024#
Υޥɤϥ⡼ǡΤΤǡ⡼ֹбΰ
åȤ롥
nnnnϥ⡼ֹ
ttttϣʿǻ(100ms1)
d001ϥܣγ
 :
d024ϥܣγ

⡼ΰʥ⡼ñ̡
*0741nnnn#
ΰΥ⡼ֹnnnn֤ߤ롥

⡼ڡΰ
*0742nnnn#
ΰΥ⡼ֹnnnn餽ΥڡΥ⡼롥

ΰEEPROMбڡ˽񤭹ʤϤܥåȤΤߡ
*0743nnnn#
ΰΥǡEEPROMΥڡnnnn˽񤭹ࡥ

1.5.8 ץ
̥ץ
robo/main.c			OS̵ǤΥᥤ롼(umain)
robo/robocontrol.h	ʥꥪ¹ѤΥǡ
robo/robocontrol.c	ʥꥪ¹ԥץ
robo/robodispatch.c	ܥåѤΥޥɥǥѥå
robo/roboinvkine.c	ѵձưط׻ץ
robo/robojoint.h	ᡢʤȤΥǡ
robo/robomove.c		ᡢʤΥեȥꡣؿ
robo/robomath.h		ܥåѹ®黻Υץȥ
robo/robomath.c		ܥåѹ®黻ؿ

ʥꥪץ
robo/scenario/roboscenario.h
					ʥꥪѥǡ¤
robo/scenario/robogratitude.c
					¹ԥʥꥪ
robo/scenario/robomotion.c
					⡼¹ԥʥꥪ
robo/scenario/roboready.c
					ǥְܹԥʥꥪ
robo/scenario/roboside.c
					ưʥꥪ
robo/scenario/robostep.c
					ƥåץʥꥪ
robo/scenario/robostraight.c
					ľΩܹԥʥꥪ
robo/scenario/robowalk.c
					ԥʥꥪ
robo/scenario/robosample.c
					⡼ǡ

饤֥ꥣץ
robo/lib/stdio.h	ɸϥ󥯥롼ɥե
robo/lib/stdde.c	ɸϥ󥿡եץ
robo/lib/printf.c	printfؿ
robo/lib/sprintf.c	sprintfؿ
robo/lib/scanf.c	scanfؿ
robo/lib/sscanf.c	sscanfؿ

ɽŪʵ¸ץ
robo/PROJ/machine.h	ͭǡ
robo/PROJ/motor.c	⡼ѥɥ饤
robo/PROJ/storage.c	ȥ졼ǥХؿ
					ȥ졼ǥХȤEEPROMROMؤ
robo/PROJ/sci.c		ߥʥǥХؿ
					ߥʥǥХȤϥꥢؤ

1.5.9 eMasterGEARǤZigBee󥿡եΥݡ
eMasterGEARǤϡZigBeeˤ̵ǽǤTOPPERS/JSPǤǤ
ǥѤˡZigBeeݡȤǥեȤǥ˥󥽡꤬Ǥޤ
ξ硢OBJ/AT91SAM7S/WALKMakefile񤭴Ԥޤ
Makefile103ܤʲ˽ƥӥɤľƤ

COPTS := $(COPTS) -DSUPPORT_PIPE -DNEED_MONITOR
					|
					V
COPTS := $(COPTS) -DSUPPORT_PIPE -DNEED_MONITOR -DMONITOR_ONLY -DMONITOR_PORTID=2 -DMONITOR_DELAY=10000

ѥ륹åϰʲ̤Ǥ
MONITOR_ONLY:ZigBeeμǡ˥ǡ˸ꤹ롣
MONITOR_PORTID=2:˥ΥݡȤ֡ZigBeeˤ˻ꤹ롣
MONITOR_DELAY=10000:ZigBeeǤ̿Ω˥ǡԤȥݡȥǤʤʤ뤿
˥εưäԤ롣

ռ
ϤܥåѤܡɰ¸ץESPȺܸ
Ϥˤꡢץ󥽡ޤޤeMasterGEARѤܡ
¸ץϡʳ˥٥ȥƥΥΤϤˤꥪץ󥽡
ޤξ򤫤ꡢ򿽤夲ޤ

ѹ
10/04/2007	JSP1.4.3бʲΥѥбarm-elf/binutils-2.17/gcc-3.4.6/gdb-6.6newlib-1.15.0
                                    sh-hitachi-elf/binutils-2.17/gcc-4.1.7/gdb-6.6/newlib-1.15.0

