[136] | 1 | =====================================================================
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[186] | 2 | TOPPERS RTE/RTOS compatible with Arduino libraries : R2CA
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| 3 | Last Modified:2016 Mar 28 14:43:20
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[136] | 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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[186] | 11 |
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[136] | 12 | TOPPERS RTE/RTOS compatible with Arduino libraries(R2CA)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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[186] | 25 |
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[136] | 26 | ã»Arduino IDE 1.7.9
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[145] | 27 | ã»TOPPERS/ASPã«ã¼ãã« 1.9.2
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[136] | 28 | ã» Atmel Studio 7.0 (build 594)
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[145] | 29 |
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[136] | 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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[145] | 41 | ã»C:\Program Files (x86)\Arduino ã«ã¤ã³ã¹ãã¼ã«ããå ´åã¯å¿
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[136] | 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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[145] | 52 |
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[136] | 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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[145] | 69 |
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[136] | 70 |
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[145] | 71 | âã¯ã¤ãã¯ã¹ã¿ã¼ã(AtmelStudio使ç¨)
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[136] | 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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[145] | 104 | Arduinoã©ã¤ãã©ãªãå®è¡ããããã®ã¿ã¹ã¯ã¨ãã¦ï¼ã¡ã¤ã³ã¿ã¹ã¯ã¨ã¿ã¹ã¯1,
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[136] | 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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[145] | 113 | ã¿ã¹ã¯2 : RCA_TASK2
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[136] | 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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[145] | 123 | ã¿ã¹ã¯2 : task2_setup/task2_loop
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[136] | 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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[186] | 173 | ã»NCESCAN : USE_NCESCAN
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[136] | 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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[186] | 180 | ./example
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[136] | 181 | ã»R2CAã®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 | ./hardware/arduino/samd/libraries/GSM
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| 190 | ./tools/avr
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| 191 | ./tools/gcc-arm-none-eabi-4.8.3-2014q1
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| 192 | ./tools/OpenOCD-0.9.0-arduino
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| 193 | ./tools/CMSIS/CMSIS_RTX
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[186] | 194 | ./tools/CMSIS/CMSIS/Driver
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[136] | 195 | ./tools/CMSIS/CMSIS/DSP_Lib
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| 196 | ./tools/CMSIS/CMSIS/Lib
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| 197 | ./tools/CMSIS/CMSIS/RTOS
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| 198 | ./tools/CMSIS/CMSIS/SVD
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| 199 | ./tools/CMSIS/CMSIS/UserCodeTemplates
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[186] | 200 | ./tools/CMSIS/Device/ARM
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[136] | 201 | ./tools/CMSIS/Device/ATMEL/samd21 以å¤
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| 202 | ./libraries
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| 203 | 以ä¸ã®ãã©ã«ãã¯å¿
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[186] | 204 | è¦ç¡ãã¨å¤æãåé¤ãã¦ãã
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| 205 | ./Ethernet
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| 206 | ./Scheduler
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| 207 | ./SpacebrewYun
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| 208 | ./WiFi
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| 209 | 以ä¸ã®ãã¡ã¤ã«ã追å ãã¦ãã
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[136] | 210 | ./ESP8266 _Arduino_AT
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| 211 | ä¸è¨ã§å
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| 212 | ¬éããã¦ããã³ã¼ãããã¼ã¹ã«M0ã«å¯¾å¿
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| 213 | https://github.com/itead/ITEADLIB_Arduino_WeeESP8266
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[139] | 214 | ./NcesCan
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[136] | 215 | Seeedã®2015/11/08çããã¼ã¹ã«APIãå¤æ´
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| 216 | https://github.com/Seeed-Studio/CAN_BUS_Shield
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[139] | 217 | ./Milkcocoa_Arduino_SDK
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| 218 | ESP8266ã使ç¨ãã¦Milkcocoaã«æ¥ç¶ããããã®ã©ã¤ãã©ãªï¼
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| 219 | https://github.com/milk-cocoa/Milkcocoa_Arduino_SDK
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[136] | 220 |
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| 221 | ./asp_1.9.2
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| 222 | ã»ASPã«ã¼ãã«ã®ã½ã¼ã¹ã³ã¼ã
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| 223 |
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| 224 | âãµã³ãã«ããã°ã©ã
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[139] | 225 | ./Basic
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| 226 | ã»Arduinoã®åºæ¬çãªããã°ã©ã ã®è©°ãåããï¼
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| 227 | ã»ã½ã¼ã¹ã®å
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[136] | 228 | é ã®ifdefã§å®è¡ããããã°ã©ã ãé¸æããï¼
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| 229 | ./CompositeExample
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[139] | 230 | ã»å種æ©è½ãçµã¿åããããµã³ãã«
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[136] | 231 | ./MultiTtask
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| 232 | ã»ãã«ãã¿ã¹ã¯ã®ãµã³ãã«ï¼
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| 233 | ./NAxesMotion
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| 234 | ã»9軸ã¢ã¼ã·ã§ã³ã·ã¼ã«ãã®ãµã³ãã«ï¼
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| 235 | ./NCESCan
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| 236 | ã»NCES CAN ã·ã¼ã«ãã®ãµã³ãã«ï¼
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| 237 | ./Profiling
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| 238 | ã»ãããã¡ã¤ãªã³ã°ã®ãµã³ãã«
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| 239 | ./RRscheduling
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| 240 | ã»ã©ã¦ã³ãããã³ã¹ã±ã¸ã¥ã¼ãªã³ã°ã®ãµã³ãã«ï¼
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| 241 |
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| 242 |
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| 243 | âã³ã³ãã£ã®ã¥ã¬ã¼ã·ã§ã³é
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| 244 | ç®
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| 245 |
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| 246 | ârca_app.h
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| 247 |
|
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| 248 | 以ä¸ã®é
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| 249 | ç®ã rca_app.h ã«è¨å®å¯è½ã§ããï¼
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| 250 |
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| 251 | ã¡ã¤ã³ã¿ã¹ã¯ä»¥å¤ã®RCAã¿ã¹ã¯æ°ã®æå® : ç¾ç¶5åã¾ã§ãµãã¼ã
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| 252 | RCA_NUM_TASK : 0ï½5
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| 253 |
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| 254 | åªå
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| 255 | 度 : å®ç¾©ããªãã¨åæå¤ã使ç¨
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| 256 | RCA_MAINTASK_SETUP_PRI
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| 257 | RCA_MAINTASK_LOOP_PRI
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| 258 |
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| 259 | RCA_TASK1_SETUP_PRI
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| 260 | RCA_TASK1_LOOP_PRI
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| 261 | ...
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| 262 |
|
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| 263 | ã¹ã¿ã㯠: å®ç¾©ããªãã¨åæå¤ã使ç¨
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| 264 | RCA_MAINTASK_STACK_SIZE
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| 265 |
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| 266 | RCA_TASK1_STACK_SIZE
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| 267 | ...
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| 268 |
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| 269 | ã¹ã±ã¸ã¥ã¼ãªã³ã° :
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| 270 | RCA_RR_SCEDULE :
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| 271 | ãããæå®ããåªå
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| 272 | 度(0ã¯ç¡è¦)ãã©ã¦ã³ãããã³ã¹ã±ã¸ã¥ã¼ãªã³ã°ãã
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| 273 | RCA_RR_SCEDULE_CYCLE : ã©ã¦ã³ãããã³ã¹ã±ã¸ã¥ã¼ãªã³ã°ã®å¨æ
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| 274 |
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| 275 | âMakefile
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| 276 |
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| 277 | 以ä¸ã®é
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| 278 | ç®ãæå®å¯è½ã§ããï¼
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| 279 |
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| 280 | ARDUINO_SERIAL
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| 281 | ã·ãªã¢ã«(Serial)ã®æ±ããè¨å®ä»¥ä¸ã®ããããã«å®ç¾©
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| 282 | NOUSE_SERIAL : Serialã¯ä½¿ç¨ããªãï¼syslog/logtaskã使ç¨ããåºåãå¯è½ï¼
|
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| 283 | USE_SERIAL : Serialã使ç¨ããï¼logtaskã¯ä½¿ç¨ããªãï¼syslogã¯ä½ã¬ãã«
|
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| 284 | åºåã¨ãªãï¼
|
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| 285 |
|
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| 286 | âArduinoã©ã¤ãã©ãªã¸ã®ããã : 対象 IDE 1.7.8
|
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| 287 |
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| 288 | âãã°
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| 289 | ./hardware/arduino/samd/cores/arduino/USB/samd21_device.c : 152è¡ç® ã¡ã¢ãªãªã¼ã¯
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| 290 |
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| 291 | for (i = 0; i < sizeof(usb_endpoint_table)/4; i++) {
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| 292 | (*(uint32_t *)((uint32_t *)(&usb_endpoint_table[0])+i)) = 0;
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| 293 | }
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| 294 |
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| 295 | arduino/samd/variants/arduino_zero/variant.h : 68è¡ç® å®ç¾©ãã¹
|
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| 296 | #define portOutputRegister(port) ( &(port->OUT.reg) )
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[137] | 297 | #define portInputRegister(port) ( &(port->IN.reg) )
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| 298 |
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| 299 | libraries\TFT\src\utility\ããã¤ãã®ãã¡ã¤ã«
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| 300 | ARDUINO_ARCH_SAM -> ARDUINO_ARCH_SAD
|
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| 301 | glcdfont.c:1:#ifndef ARDUINO_ARCH_SAMD
|
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| 302 | Adafruit_ST7735.cpp:334:#if defined(ARDUINO_ARCH_SAMD)
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| 303 | Adafruit_ST7735.h:138: #if defined(ARDUINO_ARCH_SAMD)
|
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| 304 |
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| 305 | libraries\NAxesMotion\NAxisMotion.h : 139è¡ç®
|
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| 306 | M0ã®æã¯ã¢ãã¬ã¹ãå¤æ´ããï¼ããã«ã·ã¼ã«ãã®ADRESSã®ã¸ã£ã³ããå¤ã
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| 307 |
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[136] | 308 | #if defined(ARDUINO_ARCH_SAMD)
|
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| 309 | void initSensor(unsigned int address = 0x29);
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| 310 | #else /* !defined(ARDUINO_ARCH_SAMD) */
|
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| 311 | void initSensor(unsigned int address = 0x28);
|
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| 312 | #endif /* defined(ARDUINO_ARCH_SAMD) */
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| 313 |
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| 314 |
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| 315 | hardware/arduino/samd/cores/arduino/wiring_analog.c
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| 316 | å
|
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| 317 | é ã«ä»¥ä¸ã追å ï¼
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| 318 |
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| 319 | // Wait for synchronization of registers between the clock domains
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| 320 | static __inline__ void syncDAC() __attribute__((always_inline, unused));
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| 321 | static void syncDAC() {
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| 322 | while (DAC->STATUS.bit.SYNCBUSY == 1)
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| 323 | ;
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| 324 | }
|
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| 325 |
|
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| 326 | âTOPPERS対å¿
|
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| 327 | /hardware/tools/CMSIS/CMSIS/Include/core_cm0plus.h : 646è¡ç®
|
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| 328 | å²è¾¼ã¿ç¦æ¢ã»è¨±å¯ãAPIãå¼ã³åºãããã«å¤æ´
|
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| 329 |
|
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| 330 | __STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
|
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| 331 | {
|
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| 332 | // NVIC->ISER[0] = (1 << ((uint32_t)(IRQn) & 0x1F));
|
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| 333 | extern void rca_ena_int(uint32_t intno);
|
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| 334 | rca_ena_int(IRQn);
|
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| 335 | }
|
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| 336 |
|
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| 337 |
|
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| 338 | /** \brief Disable External Interrupt
|
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| 339 |
|
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| 340 | The function disables a device-specific interrupt in the NVIC interrupt controller.
|
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| 341 |
|
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[145] | 342 | \param [in] IRQn External interrupt number. Value cannot be negative.
|
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| 343 | */
|
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| 344 | __STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
|
---|
| 345 | {
|
---|
| 346 | // NVIC->ICER[0] = (1 << ((uint32_t)(IRQn) & 0x1F));
|
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| 347 | extern void rca_dis_int(uint32_t intno);
|
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| 348 | rca_dis_int(IRQn);
|
---|
| 349 | }
|
---|
| 350 |
|
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[136] | 351 | âæ©è½è¿½å
|
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| 352 |
|
---|
| 353 | Serial3ã®è¿½å
|
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| 354 | SERCOM2ã使ç¨
|
---|
| 355 | ãã³
|
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| 356 | 5 : RX
|
---|
| 357 | 4 : TX
|
---|
| 358 | http://ehbtj.com/electronics/arduino-m0-hacks
|
---|
| 359 |
|
---|
[186] | 360 | âã©ã¤ãã©ãªå¯¾å¿
|
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[136] | 361 |
|
---|
| 362 | \arduino_lib\hardware\arduino\samd\cores\arduino\RingBuffer.h
|
---|
| 363 |
|
---|
| 364 | ESP8266ã®éä¿¡ç¨ã«ãªã³ã°ãããã¡ãµã¤ãºã大ããããï¼
|
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| 365 |
|
---|
| 366 | #define SERIAL_BUFFER_SIZE 256
|
---|
| 367 |
|
---|
| 368 |
|
---|
| 369 | âæ¬ããã±ã¼ã¸ã®å称
|
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| 370 |
|
---|
| 371 | Aruduinoã®ã¬ã¤ãã©ã¤ã³(https://www.arduino.cc/en/Main/FAQ)ã§ã¯ï¼
|
---|
| 372 |
|
---|
| 373 | Arduino Xxxxxx : NG
|
---|
| 374 | Xxxxxx for Arduino : OK
|
---|
| 375 |
|
---|
| 376 | ã¨ããï¼Arduinoã¨ã®é¢ä¿ãåããæ¸ãæ¹ãªãåé¡ãªãã¨ã®ãã¨ï¼
|
---|
| 377 |
|
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| 378 | TOPPERS RTE/RTOS Compatible with Arduino libraries : R2CA
|
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| 379 |
|
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| 380 | 以ä¸ï¼
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