
             TOPPERS/JSP{bgRec 

            iRelease 1.0.1ΉCŏIXV: 04-Oct-2007j
----------------------------------------------------------------------
 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

 L쌠҂́Cȉ (1)`(4) ̏CFree Software Foundation 
 ɂČ\Ă GNU General Public License  Version 2 ɋL
 qĂ𖞂ꍇɌC{\tgEFAi{\tgEFA
 ς̂܂ށDȉjgpEEρEĔzziȉC
 pƌĂԁj邱Ƃ𖳏ŋD
 (1) {\tgEFA\[XR[ȟ`ŗpꍇɂ́CL̒
     \C̗pщL̖ۏ؋K肪Ĉ܂܂̌`Ń\[
     XR[hɊ܂܂Ă邱ƁD
 (2) {\tgEFACCu`ȂǁC̃\tgEFAJɎg
     pł`ōĔzzꍇɂ́CĔzzɔhLgip
     ҃}jAȂǁjɁCL̒쌠\C̗pщL
     ̖ۏ؋Kfڂ邱ƁD
 (3) {\tgEFAC@ɑgݍނȂǁC̃\tgEFAJɎg
     płȂ`ōĔzzꍇɂ́Ĉꂩ̏𖞂
     ƁD
   (a) ĔzzɔhLgip҃}jAȂǁjɁCL̒
       쌠\C̗pщL̖ۏ؋Kfڂ邱ƁD
   (b) Ĕzž`ԂCʂɒ߂@ɂāCTOPPERSvWFNg
       񍐂邱ƁD
 (4) {\tgEFA̗pɂ蒼ړI܂͊ԐړIɐ邢Ȃ鑹
     QCL쌠҂TOPPERSvWFNgƐӂ邱ƁD

 {\tgEFÁCۏ؂Œ񋟂Ă̂łDL쌠҂
 TOPPERSvWFNǵC{\tgEFAɊւāC̓Kp\
 ܂߂āCȂۏ؂sȂD܂C{\tgEFA̗pɂ蒼
 ړI܂͊ԐړIɐȂ鑹QɊւĂC̐ӔC𕉂ȂD

 @(#) $Id: readme.txt,v 1.04 2007/10/04 16:38:10 roi Exp $


PDRec̊Tv

1.1 vO̐ݒ
̃vOcygwinŊJsALINUXłrh̊mFs܂D
vOƃhLgEUCŋLڂĂ܂DcygwinGNUARMSH
J̐ݒsKv܂DݒɂĂjsp/doc/gnu_install.txt
QƂĂDfBNgjsp-1.4.3́ATOPPERS/JSP-1.4.3ɑ΂ă{bg
vO݂̍̂ڂĂ܂D̃vO̊Jݒ肷ꍇ
TOPPERS/JSP-1.4.3_E[h𓀂sǍAjsp-1.4.3̓e
fBNgɒǉĂD

1.2 Rec̓e

̃RećAESP̂͂߃{bgƃ\tBAVXeY
eMasterGEARpRTOSȂp̃{bgp̃vOłD
RTOSȂ̃{bgvO̓fBNgrobỏɁARTOSΉ
{bgvÕrhOBJ/AT91SAM7S/WALKOBJ/CRB_H3/WALK
s܂D܂Arommon̉ɂ͂߃{bg̐{[hłCRB_H3p
ROMj^܂D
͂߃{bg̓vO_E[hĎs`ƂȂ܂D
ROMj^͓Ϗq̊Jh8monx[XɁAbꉻ
SH2pɈڐAȂ܂B
Q̃{bg΁A삪\łD
{bg̎菇́A͂߃{bgō̗pĂu{bg
R}hdlvɏĂ܂DR}h̔s̓{bgN
VAE|[g̃R}hݒɂčs܂D

ʐMtH[}bgF
  *0730XXXX#
  XXXX͂SoCg̃R}h
R}h̐
@+10ȏ̓At@xbg̑啶ŁA1=A,2=B,3=C,...,26=ZƂ܂D
@+1`+9́ALN^1`9ł悢D
@}CiX̓At@xbg̏ŁA-1=a,-2=b,-3=c,...,-26=z
܂D

eFOis
@R}hFe@@E@x
@(gp)@*0730FF00#
  6AOi
@(gp)@*0730FF20#
  oXpxQxŉE]Ȃ6Oi
  (gp)  *0730FF02#
  20ms6Oi
@(gp)  *0730F000#
  Oi

aFޕs
@R}hFa@@E@x
@(gp)@*0730BF00#
  6Aނ
@(gp)@*0730BFa0#
  ]Ȃ6ނ
  (gp)  *0730BF02#
  20ms6ނ

rFXebv
@R}hFr@@E@x
@(gp)@*0730SF00#
  6AXebv
@(gp)@*0730SFa0#
  ]Ȃ6Xebv


cF
@R}hFc@@E@x
@(gp)@*0730DF00#
  E6
@(gp)@*0730DFa0#
  6

sF
@R}hFs@O@O@
@(gp)@*0730DF00#
  pƂȂ

lF[Vs
@R}hFl@S̈ʁ@\̈ʁ@̈
@(gp)@*0730M001#
  [VPs

mFN
@R}hFm@O@O@̈
@(gp)@*0730N001#
  ̋N
@(gp)@*0730N002#
  낯̋NieMasterGEAR̂݁j

fFV
@R}hFf@񐔁@ԁ@y
@(gp)@*0730G330#
@TbԂ̂VR񂷂
  yeMasterGEARTOPPERS/JSPł̂

bFsLZ
@R}hFb@w@Tu@O
@(gp) *0730C000#
  s̃ViILZ
@(gp) *0730C100#
  s~
@(gp) *0730C2b0#
  s̃oXpxQxɂ

1.3 ^[QbgvZbT^^[QbgVXe

Q̃{bg̊J͂ƂGNUłD{JCygwinGNURpC
|[eBOăvO̍쐬sD̊Js߂ɂ
e{bg̓ƃ{bg̐{[hɑΉGNU̍\zsKvD

    {bg@@  fBNg          J
        @@@@@  vZbTi^ԁj      VXei[Jj
                    vWFNg

    eMasterGEAR     at91sam7s               GNUJ(arm-elf-gcc)
                    arm7                    BTE064 SAM7S I/O{[h
                                                ixXgeNmWj
                    at91sam7s               AT91SAM7S128(ATMEL)

    ͂߃{bg  crb_h3                  GNUJ(sh-hitachi-elf)
                    SH2(SH7047F)            CROBO_H3(C[GXs[)
                    crb_h3

1.4 fBNg\
J͈ȉ̃fBNg\ƂȂĂ܂D
TOPPERS/JSPŎs\Ȋ\zɂ́ATOPPERS/JSP-1.4.3_E[h
jspjsp-1.4.3ɖ̕ϊA𓀂Jjsp-1.4.3ɏ㏑܂D
robo/jspTOPPERS/JSPpɃ{bgvOCuB
߂̃fBNgłA͎gp܂D

@jsp-1.4.3-+-config-+-arm4  TOPPERS/JSPAT91SAM7S128p̈ˑ\[X
            |        |
            |        +-sh2   TOPPERS/JSPCRB_H8p̈ˑ\[X
            |
            +-monitor        pTOPPERS/JSP^XNj^̃\[X
            |
            +-OBJ-+-AT91SAM7S-+-libkernel  AT91SAMS7SJ[lCuB
            |     |           |            쐬fBNg
            |     |           +- MON       AT91SAMS7S^XNj^
            |     |           |            쐬fBNg
            |     |           +- WALK      JSPeMasterGEARvO
            |     |                        쐬fBNg
            |     + CRB_H3-+-libkernel     CRB_H3J[lCuB
            |                 |            쐬fBNg
            |                 +- MON       CRB_h3^XNj^
            |                 |            쐬fBNg
            |                 +- WALK      JSPł͂߃{bgvO
            |                              쐬fBNg
            +-robo-+-at91sam7s  eMasterGEARRTOSȂł̃rhfBNg
                   |
                   +-crb_h3     ͂߃{bgRTOSȂł̃rhfBNg
                   |
                   +-jsp        TOPPERS/JSPp̃{bgCuB
                   |            쐬pfBNg
                   +-lib        RTOSȂł̋ʃCuB̃rhfBNg
                   |
                   +-scenario   {bgsViI\[XfBNg
  rommon-+-crb_h3     CRB_H3pROMj^̃rhfBNg
         |
         +-mon3069    AKIH8-3069FpROMj^̃rhfBNg

1.5 rh̎菇

1.5.1 ROMj^̍쐬
͂߃{bg̎s̍\zɂ́A܂AROMj^rhA{[h
FLASH-ROMɏŃvÕ[hƎssKv܂D
eMasterGEAR͐vO𒼐FLASH-ROMɏނ߁AROMj^쐬
Kv͂܂DGNŨRpC\zArommon/crb_h8̈ړ
@@make clean
    make
sāArommon.srec쐬ĂDʓ|ȏꍇ͊rommon.srec
̂܂܁AgpĂDFW7047.exe͂͂߃{bgCD-ROMɓĂ܂
ȉ̎菇ROMj^݂̏s܂D

1.5.1.1 ՓdA[^d؂Ă邱ƂmF܂D
1.5.1.2 ݗp̃WpstAVAP[uڑAՓd܂
1.5.1.3 FW7047.exep\Rs
1.5.1.4 [ݒ][COM|[gI]ŁAgp|[gI
1.5.1.5 [t@C][J]ŁArommon\crb_h8\rommon.srecIāA\
@@@  _CAOŁu͂vƂŁAFLASH-ROMւ݂̏n܂܂

1.5.2 ʃCuB̍쐬
e{bg̐vO̍\zA܂AʃCuB쐬Kv܂D
TOPPERS/JSPłł́ARTOS̋@\̂܂܎gp邽߁ÃCuB쐬
Kv͂܂Drobo/libɈړȉ̃R}hsĂD

make clean
make PROJ=<vWFNg>

make PROJ=<vWFNg>eMasterGEARp̃CuB쐬ꍇAȉ
R}hӖ܂D

make PROJ=at91sam7s

CRB_H3plibcrb_h3.aAeMaterGEARplibat91sam7s.a쐬܂D

1.5.3 svO̍쐬
Ɋe{bg̊JfBNgɈړĈȉ̃R}hs܂D

make clean
make

vO̎s`ƂāACRB_H3probot.srecAeMaterGEARprobot.bin
쐬܂D

1.5,4 TOPPERS/JSPł̎svO̐
{bgTOPPERS/JSPŐs߂ɂ́A{bgvO
CuBJSP̃^XNƂē삳Kv܂D
CuBsɂ́Arobo/jspɈړȉ̃R}hsĂD

make clean
make PROJ=<vWFNg>

CRB_H3pwalkcrb_h3.aAeMaterGEARpwalkat91sam7s.a쐬܂D

̌ŁA͂߃{bgȂOBJ/CRB_H3/WALKAeMasterGEARȂOBJ/AT91SAM7S
ɈړĈȉ̃R}hsĂD

make depend
make

1.5.5 {bg̎s
͂߃{bg̏ꍇ̃_E[hAKIH8-3069FƓł
tera-Term𗧂グAՓdƁAȉ̃vvg\܂

mon>

ldR}h͂āA_E[h҂Ԃɂ܂Drobo/crb_h3/robot.srec
teraTermɏd˂ƃ_E[hn܂܂D_E[hIƁA
mon>̃vvg\܂̂ŁAgo <AhX>R}hŎsĂD

mon>go 200590

TOPPERS/JSPł̎śAOBJ/CRB_H3/WALK/jsp.srec_E[hAgoR}h
sĂD

mon>go 200400

RTOSȂłRTOSΉłł͎sAhXقȂ܂̂ŋCĂD

H8̏ꍇAZbgAhXROMj^ǗĂ܂ASH2ł̓xN^
ύX@\邽߁AZbgAhX܂ރxN^̊Ǘ̓_E[h
vOǗ܂D̂ߎsAhXƂăZbg̎sAhX
w肵܂DZbg̎sAhX_start̃AhXƂȂ܂Drh̕@
ł̃AhX200590ԒnȊOɊ蓖Ă\܂D
robot.map_startAhXmFāÃAhXsAhXƂ
ݒ肵ĂD

eMasterGEAȐꍇAtCD-ROMGCC Developer LiteĂ܂D
GCC Developper LiteFlash WritegpāA}jAɏ]āA
RTOSȂłrobo/at91sam7s/robot.binARTOSΉłOBJ/AT91SAM7S/WALK/jsp.bin
{[hɏłD

1.5.6 {bgƓ삳邽߂
{bgɓ삷邽߂ɂ́Az[|WVݒ肳Ă
Kv܂Dz[|WV͊e֐߂̃T[{̊pxOx̏ԂłD
pxOxȂ̂ɁAȆ̈ʒuĂΐs邱Ƃł܂D
T[{̑gݕtʒuɂT[{̊pxOxł኱Ëʒu邱Ƃ
܂D␳邽߂ɁAItZbg̎w肪\łAItZbg̒l
ς邱Ƃɂz[|WV̕ύX\łD
͂߃{bg̏ꍇAEEPROMɃItZbg̐ݒlۑĂ܂̂
EEPROM̂̒lύX邱ƂɂAz[|WV̕ύXs܂D
eMasterGEAȐꍇAEEPROMȂ߃ItZbgύXĂAvO
ItZbglύXȂAPvIȃz[|WV̕ύX͂ł܂B
qnl̃f[^robo/at91sam7s/storage.cservo_reset_tableɋLq܂D
݂̃ItZbgl̕\͈ȉ̃R}hōs܂B

Eݒl̕\
*0351#
eT[{iT[{ԍjɑΉȉ̒l\D
deg_offset ֐ߐݒpxT[{[^ɐݒ肷ꍇ̕␳l
de_sign    ֐ߐݒpxT[{[^ɐݒ肷ꍇ̐̐ݒliP܂́[Pj
deg_lim    őpxiݒpx-deg_lim <= deg <= deg_limƂȂA𒴂
		@pxw肵ꍇAőpxɕ␳j
deg2pls@@T[{[^Ɋpxݒ肷ꍇAdeg2pls{Đݒ肷A܂A
          _ȉ̓xdeg2plsȓŐēn

ẼItZbgl̕ύXie|Bj
*0752nn0c#
nn͂PUĩT[{ԍÃ[̓ItZbgl̕ύXD
c͂PŒlCNgAOŃfNg
̐ݒɏ]āAe֐߂͔Ɉړ܂̂ŁAÊ␳ĂD

E̐ݒlEEPROMɏށi͂߃{bĝ݁j
*0250#
݂̃̏ݒEEPROMɏ

eMasterGEAȐݒĺArobo/at91sam7s/storage.c
servo_reset_table[DEF_SERVO+1][4]ɃItZbglLڂĂ܂̂ŁA
␳KvȏꍇÃe[uĂD

1.5.7 [V̓]
[V̓]ƁAꎞIȍĐ@\͂͂߃{bg̎dlɏĂ܂D
E[V̓]
*6A40nnnnttttd001d002d003.....d0024#
̃R}h̓[Vf[^̂̂ŁA[VԍɑΉꎞ̈
ZbgD
nnnn̓[Vԍ
tttt͂PUiŎ(100ms1)
d001̓T[{P̊px
 :
d024̓T[{QS̊px

E[V̈ꎞĐi[VPʁj
*0741nnnn#
ꎞ̈̃[VԍnnnnĐĐԂŒ~D

E[Vy[ẄꎞĐ
*0742nnnn#
ꎞ̈̃[Vԍnnnn炻̃y[W̃[VĐD

Eꎞ̈EEPROM̑Ήy[Wɏށi͂߃{bĝ݁j
*0743nnnn#
ꎞ̈̃f[^EEPROM̃y[WnnnnɏށD

1.5.8 vO̐
ʃvO
robo/main.c			OSł̃C[`(umain)
robo/robocontrol.h	ViIsp̃f[^`
robo/robocontrol.c	ViIsvO
robo/robodispatch.c	{bgp̃R}hfXpb`
robo/roboinvkine.c	spt^wvZvO
robo/robojoint.h	֐߁AiƂ̃f[^`
robo/robomove.c		֐߁Aĩt@NgBANVw֐
robo/robomath.h		{bgpZ̃vg^Cv錾
robo/robomath.c		{bgpZ֐

ViIvO
robo/scenario/roboscenario.h
					ViIpf[^A\̒`
robo/scenario/robogratitude.c
					VsViI
robo/scenario/robomotion.c
					[VsViI
robo/scenario/roboready.c
					fBԈڍsViI
robo/scenario/roboside.c
					ړViI
robo/scenario/robostep.c
					XebvViI
robo/scenario/robostraight.c
					ڍsViI
robo/scenario/robowalk.c
					OsViI
robo/scenario/robosample.c
					Œ胂[Vf[^

CuBvO
robo/lib/stdio.h	Wo̓CN[ht@C
robo/lib/stdde.c	Wo̓C^[tFCXvO
robo/lib/printf.c	printf֐
robo/lib/sprintf.c	sprintf֐
robo/lib/scanf.c	scanf֐
robo/lib/sscanf.c	sscanf֐

\Iȋ@ˑvO
robo/PROJ/machine.h	@ŗLf[^`
robo/PROJ/motor.c	[^phCo
robo/PROJ/storage.c	Xg[WfoCXANZX֐
					Xg[WfoCXƂEEPROMROMw
robo/PROJ/sci.c		^[~ifoCXANZX֐
					^[~ifoCXƂ̓VAw

1.5.9 eMasterGEARłZigBeeC^[tFCX̃T|[g
eMasterGEARł́AZigBeeɂ閳삪\łBTOPPERS/JSPłł
fpɁAZigBee|[gftHgŃj^R\[ɐݒ肪ł܂B
̏ꍇAOBJ/AT91SAM7S/WALKMakefiles܂B
Makefile103sڂȉɏCărhĂB

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

RpCXCb`͈̐ȉ̒ʂłB
MONITOR_ONLY:ZigBee̎Mf[^j^f[^Ɍ肷B
MONITOR_PORTID=2:j^̃|[gQԁiZigBeejɎw肷B
MONITOR_DELAY=10000:ZigBeeł͒ʐMmOɃf[^̑Msƃ|[gANZXłȂȂ邽
j^̋NPOb̑҂B

QDӎ
͂߃{bgp̐{[hˑvOESPƍ{
͂ɂAI[v\[X܂D܂AeMasterGEARp̐{[h
ˑvÓijxXgeNmW[̂͂ɂI[v\[X
܂D̏A\グ܂D

RDύX
10/04/2007	JSP1.4.3ΉFȉ̃RpC̑ΉFarm-elf/binutils-2.17/gcc-3.4.6/gdb-6.6newlib-1.15.0
@@@@@@                                    Fsh-hitachi-elf/binutils-2.17/gcc-4.1.7/gdb-6.6/newlib-1.15.0

