1 | =====================================================================
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2 | TOPPERS RTE/RTOS compatible with Arduino libraries : RCA
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3 | Last Modified:2015 Dec 06 09:04:40
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4 | =====================================================================
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5 |
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6 | âToDo
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7 | ã»SPI/I2Cã®å
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8 | ±æã®ããã®ã»ããã©ã®è¿½å
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9 |
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10 | âæ¦è¦
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11 |
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12 | TOPPERS RTE/RTOS compatible with Arduino libraries(RCA)ã¯ï¼TOPPERSä¸ã§
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13 | Arduino ã©ã¤ãã©ãªã使ç¨ããããã®ç°å¢ã§ããï¼
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14 |
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15 | å¤ãã®ã³ã¼ããArduino IDEä»å±ã®ç©ããã¼ã¹ã¨ãã¦ããããï¼ã©ã¤ã»ã³ã¹ã¯
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16 | GPLã§ããï¼åã³ã¼ãã®ã©ã¤ã»ã³ã¹ã¯ã³ã¼ãæ¯ã®ã©ã¤ã»ã³ã¹ã«å¾ãï¼
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17 |
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18 | âãµãã¼ã
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19 |
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20 | ãµãã¼ããã¦ããããã»ããµã¯ï¼Arduino M0/M0 Pro ã§ããï¼
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21 |
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22 | âåä½ç¢ºèªæ¸ã¿ã®ãã¼ã¸ã§ã³
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23 |
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24 | åä½ç¢ºèªæ¸ã¿ã®ãã¼ã¸ã§ã³ã¯æ¬¡ã®éãã§ããï¼
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25 |
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26 | ã»Arduino IDE 1.7.8
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27 | ã»TOPPERS/ASPã«ã¼ãã« 1.9.2
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28 | ã» Atmel Studio 7.0 (build 594)
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29 |
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30 | âã¯ã¤ãã¯ã¹ã¿ã¼ã(ãããã¬ãªã/GDBã«ãããããã°)
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31 |
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32 | Windowsç°å¢ã§ã®ãããã¬ãªãã®å®è¡æ¹æ³ã«ã¤ãã¦èª¬æããï¼
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33 |
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34 | âã¤ã³ã¹ãã¼ã«
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35 |
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36 | Arduino IDE ã®ã¤ã³ã¹ãã¼ã«
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37 | ã»http://www.arduino.org/ ãããã¦ã³ãã¼ããã¦ã¤ã³ã¹ãã¼ã«ï¼
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38 | ã»ã¤ã³ã¹ãã¼ã©ã«å¾ã£ã¦ã¤ã³ã¹ãã¼ã«ãå®æ½ããï¼
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39 |
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40 | Arduino IDE ã®ã¤ã³ã¹ãã¼ã«ãã¹ã®è¨å®
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41 | ã»C:\Program Files (x86)\Arduino ã«ã¤ã³ã¹ãã¼ã«ããå ´åã¯å¿
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42 | è¦ãªã
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43 | ã»ã¤ã³ã¹ãã¼ã«ãããã©ã«ãã以ä¸ã®ãã¡ã¤ã«ã«è¨å®ãã
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44 | ã»example/do_path.bat
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45 | SET ARDUINO_DIR=C:\Program Files (x86)\Arduino
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46 | ã»asp_1.9.1/target/arduino_m0_gcc/
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47 | ARDUINO_BASE_DIR_WIN = C:\Program Files (x86)\Arduino
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48 |
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49 | âãã«ã
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50 | ã»ãã©ã«ã ./example/basic ãéã
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51 | ã»./do_make.bat ãå®è¡
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52 |
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53 | âå®è¡
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54 | ã»ãã¼ãã®PROGRAMãã¼ãã¨PCã®USBãæ¥ç¶ããï¼
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55 | ã»Arduino IDEãèµ·åãã
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56 | ã»ãã¼ã« -> ãã¼ã -> COMx(Arduino M0 Pro (Programmmming Port)) ãé¸æï¼
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57 | ã»ãã¼ã« -> ã·ãªã¢ã«ã¢ãã¿ ãé¸æãã¦ã·ãªã¢ã«ã¢ãã¿ãå®è¡ããï¼
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58 | ã»ã·ãªã¢ã«ã¢ãã¿ã®å³ä¸ã®é度ã115200bpsã«å¤æ´
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59 | ã»ãã©ã«ã ./example/basic ãéã
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60 | ã»./do_run.bat ãå®è¡
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61 |
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62 | âãããã°
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63 | ã»ãã©ã«ã ./example/basic ãéã
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64 | ã»./do_debug.bat ãå®è¡
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65 |
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66 | âã¯ãªã¼ã³
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67 | ã»ãã©ã«ã ./example/basic ãéã
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68 | ã»./do_clean.bat ãå®è¡
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69 |
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70 |
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71 | âã¯ã¤ãã¯ã¹ã¿ã¼ã(AtmelStudio使ç¨)
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72 |
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73 | Windowsç°å¢ã§AtmelStudioã使ç¨ããå®è¡æ¹æ³ã«ã¤ãã¦èª¬æããï¼
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74 |
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75 | âã¤ã³ã¹ãã¼ã«
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76 |
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77 | Atmel Studio ã®ã¤ã³ã¹ãã¼ã«
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78 | ã» http://www.atmel.com/ja/jp/tools/ATMELSTUDIO.aspx ãããã¦ã³ãã¼ããã¦ã¤ã³ã¹ãã¼ã«ï¼
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79 | ã»ã¤ã³ã¹ãã¼ã©ã«å¾ã£ã¦ã¤ã³ã¹ãã¼ã«ãå®æ½ããï¼
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80 |
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81 | âããã¸ã§ã¯ããéã
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82 |
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83 | åãµã³ãã«ã®ãã©ã«ã以ä¸ã«ããï¼
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84 |
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85 | \example\basic\asp.atsln
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86 |
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87 | ãã¿ãã«ã¯ãªãã¯ããã¨Atmel Studioãèµ·åããï¼
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88 |
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89 | âãã«ã
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90 |
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91 | ã¡ãã¥ã¼ -> Build -> Build Solution ãå®è¡
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92 |
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93 | âå®è¡
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94 |
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95 | ã¡ãã¥ã¼ -> Debug -> Start Debugging and Brake ãå®è¡
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96 |
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97 | ã¡ã¢ãªã«æ¸ãè¾¼ã¾ããããï¼å®è¡ãéå§ããï¼
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98 | ãã¡ã¤ã«ã¡ãã¥ã¼ããrca_app.cpp ãé¸æãã¦ãã¬ã¼ã¯ãã¤ã³ããç½®ããã¨ã
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99 | å¯è½ï¼
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100 |
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101 |
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102 | âåä½ã¢ãã«
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103 |
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104 | Arduinoã©ã¤ãã©ãªãå®è¡ããããã®ã¿ã¹ã¯ã¨ãã¦ï¼ã¡ã¤ã³ã¿ã¹ã¯ã¨ã¿ã¹ã¯1,
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105 | ã¿ã¹ã¯2,...(RCAã¿ã¹ã¯)ãç¨æãã¦ããï¼ã¡ã¤ã³ã¿ã¹ã¯ã¯å¿
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106 | ãçæããï¼RCA
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107 | ã¿ã¹ã¯ã¯ï¼å¹¾ã¤çæãããã¯ãã¯ãã§å®ç¾©å¯è½ã§ããï¼ç¾ç¶æ大æ°ã¯5åã§ããï¼
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108 |
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109 | ããããã®ã¿ã¹ã¯åã¯æ¬¡ã®éãã§ããï¼
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110 |
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111 | ã¡ã¤ã³ã¿ã¹ã¯ : RCA_MAINTASK
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112 | ã¿ã¹ã¯1 : RCA_TASK1
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113 | ã¿ã¹ã¯2 : RCA_TASK2
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114 | ã¿ã¹ã¯3 : RCA_TASK3
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115 | ã¿ã¹ã¯4 : RCA_TASK4
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116 | ã¿ã¹ã¯5 : RCA_TASK5
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117 |
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118 |
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119 | åã¿ã¹ã¯ã¯ï¼æ¬¡ã®é¢æ°ãå®è¡ããï¼ãããã®é¢æ°ã®æ¬ä½ãè¨è¿°ããï¼
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120 |
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121 | ã¡ã¤ã³ã¿ã¹ã¯ : setup/loop
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122 | ã¿ã¹ã¯1 : task1_setup/task2_loop
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123 | ã¿ã¹ã¯2 : task2_setup/task2_loop
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124 | ã¿ã¹ã¯3 : task3_setup/task3_loop
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125 | ã¿ã¹ã¯4 : task4_setup/task4_loop
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126 | ã¿ã¹ã¯5 : task5_setup/task5_loop
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127 |
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128 | åsetup/loopã®æ¯ãèãã¯Arduinoã¨åçã§ããï¼
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129 |
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130 | âã¹ã±ã¸ã¥ã¼ãªã³ã°
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131 |
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132 | åºæ¬çã«ã¯åªå
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133 | 度ãã¼ã¹ã®ã¹ã±ã¸ã¥ã¼ã«ã§ããï¼
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134 |
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135 | åã¿ã¹ã¯ã®setupå®è¡æ(èµ·åæ)ã¨loopå®è¡æã®åªå
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136 | 度ããããããã¯ãã§æ
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137 | å®å¯è½ã§ããï¼
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138 |
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139 | ãªãã·ã§ã³ã§ã©ã¦ã³ãããã³ã¹ã±ã¸ã¥ã¼ãªã³ã°ãé¸æå¯è½ã§ããï¼ã©ã¦ã³ãã
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140 | ãã³ã®å¨æã¨ã©ã¦ã³ãããã³ã®å¯¾è±¡ã¨ããåªå
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141 | 度ããã¯ãã§æå®å¯è½ã§ããï¼
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142 |
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143 | âã©ã¤ãã©ãª
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144 |
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145 | 次ã®ã©ã¤ãã©ãªã¯åä½ç¢ºèªæ¸ã¿ã§ãã
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146 |
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147 | ã³ã¢ã©ã¤ãã©ãª
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148 |
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149 | ã³ã¢ã©ã¤ãã©ãªã¯å¸¸ã«ã³ã³ãã¤ã«&ãªã³ã¯ãããï¼
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150 |
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151 | ã»PWM
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152 | ã»digitalå
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153 | ¥åºå
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154 | ã»delay
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155 | ã»analogå
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156 | ¥åºå
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157 | ã»attachInterrupt()
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158 | noInterrupt() : Primaskã使ç¨ãã¦ããããåé¡ãªã
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159 | ã»USB Uart
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160 | ã»Tone
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161 |
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162 | ãã®ä»ã®ã©ã¤ãã©ãª
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163 |
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164 | 次ã®ã©ã¤ãã©ãªã¯ä½¿ç¨ããå ´åã¯Makefileã§åãã¯ããtrueã«å®ç¾©ãããã¨ï¼
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165 |
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166 | ã»SPI : USE_ARDUINO_SPI
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167 | ã»SD : USE_ARDUINO_SD
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168 | ã»TFT : USE_ARDUINO_TFT
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169 | ã»RTC : USE_ARDUINO_RTC
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170 | ã»I2C : USE_ARDUINO_WIRE
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171 | ã»ETHERNET2 : USE_ETHERNET2
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172 | ã»NAXESMOTION : USE_NAXESMOTION
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173 | ã»NCESCAN : USE_NCESCAN
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174 |
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175 | 次ã®ã©ã¤ãã©ãªã¯åä½æªç¢ºèªã§ããï¼
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176 |
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177 | âãã¡ã¤ã«
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178 | ./lib
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179 | ã»RCAé¢é£ã®ã©ã¤ãã©ãª
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180 | ./example
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181 | ã»RCAã®ãµã³ãã«
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182 | ./arduino_lib
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183 | ã»Arduino IDEä»å±ã®ã©ã¤ãã©ãª(ãããæ¸ã¿)
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184 | ã»ãã£ã¬ã¯ããªæ§æã¯ãªãªã¸ãã«ã¨åçã ã以ä¸ã®ãã©ã«ãã¯å¿
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185 | è¦ãªãã®ã§åé¤ãã¦ããï¼
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186 | ./hardware/arduino/avr
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187 | ./hardware/arduino/sam
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188 | ./hardware/arduino/samd/bootloaders
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189 | ./tools/avr
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190 | ./tools/gcc-arm-none-eabi-4.8.3-2014q1
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191 | ./tools/OpenOCD-0.9.0-arduino
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192 | ./tools/CMSIS/CMSIS_RTX
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193 | ./tools/CMSIS/CMSIS/Driver
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194 | ./tools/CMSIS/CMSIS/DSP_Lib
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195 | ./tools/CMSIS/CMSIS/Lib
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196 | ./tools/CMSIS/CMSIS/RTOS
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197 | ./tools/CMSIS/CMSIS/SVD
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198 | ./tools/CMSIS/CMSIS/UserCodeTemplates
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199 | ./tools/CMSIS/Device/ARM
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200 | ./tools/CMSIS/Device/ATMEL/samd21 以å¤
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201 | ./libraries
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202 | 以ä¸ã®ãã©ã«ãã¯å¿
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203 | è¦ç¡ãã®ã§åé¤ãã¦ãã
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204 | ./Ethernet
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205 | ./Scheduler
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206 | ./SpacebrewYun
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207 | ./WiFi
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208 | 以ä¸ã®ãã¡ã¤ã«ã追å ãã¦ãã
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209 | ./ESP8266
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210 | ä¸è¨ã§å
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211 | ¬éããã¦ããã³ã¼ãããã¼ã¹ã«M0ã«å¯¾å¿
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212 | https://github.com/itead/ITEADLIB_Arduino_WeeESP8266
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213 | ./NcesCan
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214 | ã»Seeedã®2015/11/08çããã¼ã¹ã«APIãå¤æ´
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215 | https://github.com/Seeed-Studio/CAN_BUS_Shield
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216 | ./asp_1.9.2
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217 | ã»ASPã«ã¼ãã«ã®ã½ã¼ã¹ã³ã¼ã
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218 |
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219 | âãµã³ãã«ããã°ã©ã
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220 | ./Basic
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221 | ã»Arduinoã®åºæ¬çãªããã°ã©ã ã®è©°ãåããï¼
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222 | ã»ã½ã¼ã¹ã®å
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223 | é ã®ifdefã§å®è¡ããããã°ã©ã ãé¸æããï¼
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224 | ./CompositeExample
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225 | ã»å種æ©è½ãçµã¿åããããµã³ãã«
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226 | ./MultiTtask
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227 | ã»ãã«ãã¿ã¹ã¯ã®ãµã³ãã«ï¼
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228 | ./NAxesMotion
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229 | ã»9軸ã¢ã¼ã·ã§ã³ã·ã¼ã«ãã®ãµã³ãã«ï¼
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230 | ./NCESCan
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231 | ã»NCES CAN ã·ã¼ã«ãã®ãµã³ãã«ï¼
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232 | ./Profiling
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233 | ã»ãããã¡ã¤ãªã³ã°ã®ãµã³ãã«
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234 | ./RRscheduling
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235 | ã»ã©ã¦ã³ãããã³ã¹ã±ã¸ã¥ã¼ãªã³ã°ã®ãµã³ãã«ï¼
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236 |
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237 |
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238 | âã³ã³ãã£ã®ã¥ã¬ã¼ã·ã§ã³é
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239 | ç®
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240 |
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241 | ârca_app.h
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242 |
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243 | 以ä¸ã®é
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244 | ç®ã rca_app.h ã«è¨å®å¯è½ã§ããï¼
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245 |
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246 | ã¡ã¤ã³ã¿ã¹ã¯ä»¥å¤ã®RCAã¿ã¹ã¯æ°ã®æå® : ç¾ç¶5åã¾ã§ãµãã¼ã
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247 | RCA_NUM_TASK : 0ï½5
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248 |
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249 | åªå
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250 | 度 : å®ç¾©ããªãã¨åæå¤ã使ç¨
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251 | RCA_MAINTASK_SETUP_PRI
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252 | RCA_MAINTASK_LOOP_PRI
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253 |
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254 | RCA_TASK1_SETUP_PRI
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255 | RCA_TASK1_LOOP_PRI
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256 | ...
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257 |
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258 | ã¹ã¿ã㯠: å®ç¾©ããªãã¨åæå¤ã使ç¨
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259 | RCA_MAINTASK_STACK_SIZE
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260 |
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261 | RCA_TASK1_STACK_SIZE
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262 | ...
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263 |
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264 | ã¹ã±ã¸ã¥ã¼ãªã³ã° :
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265 | RCA_RR_SCEDULE :
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266 | ãããæå®ããåªå
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267 | 度(0ã¯ç¡è¦)ãã©ã¦ã³ãããã³ã¹ã±ã¸ã¥ã¼ãªã³ã°ãã
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268 | RCA_RR_SCEDULE_CYCLE : ã©ã¦ã³ãããã³ã¹ã±ã¸ã¥ã¼ãªã³ã°ã®å¨æ
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269 |
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270 | âMakefile
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271 |
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272 | 以ä¸ã®é
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273 | ç®ãæå®å¯è½ã§ããï¼
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274 |
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275 | ARDUINO_SERIAL
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276 | ã·ãªã¢ã«(Serial)ã®æ±ããè¨å®ä»¥ä¸ã®ããããã«å®ç¾©
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277 | NOUSE_SERIAL : Serialã¯ä½¿ç¨ããªãï¼syslog/logtaskã使ç¨ããåºåãå¯è½ï¼
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278 | USE_SERIAL : Serialã使ç¨ããï¼logtaskã¯ä½¿ç¨ããªãï¼syslogã¯ä½ã¬ãã«
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279 | åºåã¨ãªãï¼
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280 |
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281 | âArduinoã©ã¤ãã©ãªã¸ã®ããã : 対象 IDE 1.7.8
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282 |
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283 | âãã°
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284 | ./hardware/arduino/samd/cores/arduino/USB/samd21_device.c : 152è¡ç® ã¡ã¢ãªãªã¼ã¯
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285 |
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286 | for (i = 0; i < sizeof(usb_endpoint_table)/4; i++) {
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287 | (*(uint32_t *)((uint32_t *)(&usb_endpoint_table[0])+i)) = 0;
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288 | }
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289 |
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290 | arduino/samd/variants/arduino_zero/variant.h : 68è¡ç® å®ç¾©ãã¹
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291 | #define portOutputRegister(port) ( &(port->OUT.reg) )
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292 | #define portInputRegister(port) ( &(port->IN.reg) )
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293 |
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294 | libraries\TFT\src\utility\ããã¤ãã®ãã¡ã¤ã«
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295 | ARDUINO_ARCH_SAM -> ARDUINO_ARCH_SAD
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296 | glcdfont.c:1:#ifndef ARDUINO_ARCH_SAMD
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297 | Adafruit_ST7735.cpp:334:#if defined(ARDUINO_ARCH_SAMD)
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298 | Adafruit_ST7735.h:138: #if defined(ARDUINO_ARCH_SAMD)
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299 |
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300 | libraries\NAxesMotion\NAxisMotion.h : 139è¡ç®
|
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301 | M0ã®æã¯ã¢ãã¬ã¹ãå¤æ´ããï¼ããã«ã·ã¼ã«ãã®ADRESSã®ã¸ã£ã³ããå¤ã
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302 |
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303 | #if defined(ARDUINO_ARCH_SAMD)
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304 | void initSensor(unsigned int address = 0x29);
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305 | #else /* !defined(ARDUINO_ARCH_SAMD) */
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306 | void initSensor(unsigned int address = 0x28);
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307 | #endif /* defined(ARDUINO_ARCH_SAMD) */
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308 |
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309 |
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310 | hardware/arduino/samd/cores/arduino/wiring_analog.c
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311 | å
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312 | é ã«ä»¥ä¸ã追å ï¼
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313 |
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314 | // Wait for synchronization of registers between the clock domains
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315 | static __inline__ void syncDAC() __attribute__((always_inline, unused));
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316 | static void syncDAC() {
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317 | while (DAC->STATUS.bit.SYNCBUSY == 1)
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318 | ;
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319 | }
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320 |
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321 | âTOPPERS対å¿
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322 | /hardware/tools/CMSIS/CMSIS/Include/core_cm0plus.h : 646è¡ç®
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323 | å²è¾¼ã¿ç¦æ¢ã»è¨±å¯ãAPIãå¼ã³åºãããã«å¤æ´
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324 |
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325 | __STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
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326 | {
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327 | // NVIC->ISER[0] = (1 << ((uint32_t)(IRQn) & 0x1F));
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328 | extern void rca_ena_int(uint32_t intno);
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329 | rca_ena_int(IRQn);
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330 | }
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331 |
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332 |
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333 | /** \brief Disable External Interrupt
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334 |
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335 | The function disables a device-specific interrupt in the NVIC interrupt controller.
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336 |
|
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337 | \param [in] IRQn External interrupt number. Value cannot be negative.
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338 | */
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339 | __STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
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340 | {
|
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341 | // NVIC->ICER[0] = (1 << ((uint32_t)(IRQn) & 0x1F));
|
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342 | extern void rca_dis_int(uint32_t intno);
|
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343 | rca_dis_int(IRQn);
|
---|
344 | }
|
---|
345 |
|
---|
346 | âæ©è½è¿½å
|
---|
347 |
|
---|
348 | Serial3ã®è¿½å
|
---|
349 | SERCOM2ã使ç¨
|
---|
350 | ãã³
|
---|
351 | 5 : RX
|
---|
352 | 4 : TX
|
---|
353 | http://ehbtj.com/electronics/arduino-m0-hacks
|
---|
354 |
|
---|
355 | âã©ã¤ãã©ãªå¯¾å¿
|
---|
356 |
|
---|
357 | \arduino_lib\hardware\arduino\samd\cores\arduino\RingBuffer.h
|
---|
358 |
|
---|
359 | ESP8266ã®éä¿¡ç¨ã«ãªã³ã°ãããã¡ãµã¤ãºã大ããããï¼
|
---|
360 |
|
---|
361 | #define SERIAL_BUFFER_SIZE 256
|
---|
362 |
|
---|
363 |
|
---|
364 | âæ¬ããã±ã¼ã¸ã®å称
|
---|
365 |
|
---|
366 | Aruduinoã®ã¬ã¤ãã©ã¤ã³(https://www.arduino.cc/en/Main/FAQ)ã§ã¯ï¼
|
---|
367 |
|
---|
368 | Arduino Xxxxxx : NG
|
---|
369 | Xxxxxx for Arduino : OK
|
---|
370 |
|
---|
371 | ã¨ããï¼Arduinoã¨ã®é¢ä¿ãåããæ¸ãæ¹ãªãåé¡ãªãã¨ã®ãã¨ï¼
|
---|
372 |
|
---|
373 | TOPPERS RTE/RTOS Compatible with Arduino libraries : RCA
|
---|
374 |
|
---|
375 | 以ä¸ï¼
|
---|