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20 Jun 09

Introduction to AI Robotics

The book is a broad survey and represents the state of the practice circa 1999. Robotics is a rapidly changing field and I am working on the second edition this year. I teach the course each year in the fall to approximately 35 undergraduate and 10 graduate students and update the materials accordingly. In the meantime, my slides reflect advances and alternative organization of themes. Probably the biggest changes are to the sections on teleoperation, multi-agents, and human-robot interaction, and the de-emphasis on architectures.

www.csee.usf.edu/book - Preview

book choice robot embedded AI

堪称一绝的“IO口扫键”法 (www.ouravr.com)

www.ouravr.com/...bbs_content.jsp - Preview

electronics embedded GPIO switch schematics

09 May 09

微處理機與USB主從介面之設計與應用

本書捨棄了標準的USB微處理器(例如，Cypress EZ-USB系列)，特別採用了一般的8051微處理機來設計USB裝置，以提高整個USB裝置設計的彈性與便利性。而透過8051與USB主/從介面晶片組的結合可以很輕易地設計出一個完全符合規格的USB主裝置與從裝置。在本書中，分別以Philips的PDIUSBD11與PDIUSBD12 USB從晶片組來設計USB週邊裝置，另以Cypress的SL811HS USB主晶片組來設計出能連接HID滑鼠、HUB與Mass Storage裝置的USB主裝置。而後者，更可以實現模擬一個虛擬的主機端的功能

www.books.com.tw/...booksfile.php - Preview

book choice USB embedded

22 Apr 09

USB Audio Streamer

The idea for creating a USB sound card based on a PIC came from discussions of other people creating one on the Microchip USB forum. The hardware of the card is based on all Microchip products.

www.raccoonrezcats.com/soundcard.html - Preview

USB audio embedded PIC

the other device is a custom interface based on a HID
interface. The purpose of the custom interface is for programming the device
serial number, upgrading the firmware, and in the future any other
configuration that isn’t supported directly by USB Audio 1.0

12 Apr 09

Some concepts for hardening embedded software

This document lists in abstract form a number of suggestions to harden embedded software, making units either detect problems and reboot, or in some situations auto-repairing.

iapetus.neab.net/...hardening.html - Preview

embedded programming

12 Feb 09

Soundmeter A simple soundmeter using the PIC 16F628 or 16F84

I made this project as a test to improve a technic to read analog values without analog-to-digital converter

www.josepino.com/pic_projects - Preview

ADC embedded GPIO sound RC

The capacitor can be a 103k or a 220k. A poliester capacitor works better.
3 more annotations...
- If you want to connect this circuit to another audio circuit, you can use this adapter:
- Here is the method used to read analog values with a digital input output pin:
  
  1. Connect a RC circuit to a Digital I/O pin.
  
  2. Set the pin as OUTPUT and make it high for 1 ms (one milisecond)
  
  3. Set the pin as INPUT and start a 16 bit counter until the input signal is low.
  
  The value of the 16-bit counter should be the value of the input signal or the value of the RC

Security Keypad II

www.josepino.com/pic_projects - Preview

schematics embedded keypad GPIO RC

the 3x4 keypad uses only 4 I/O ports. To determine what key is pressed, I read the discharge time of each capacitor.
1 more annotations...
- The only inconvenience of this method is the reading from the keypad is affected by the voltage of the circuit.

ADC without ADC

Some Microcontrollers, like the small 8-pin Microchip PIC 12F675, do have an ADC integrated, but it is expensier than a PIC without ADC. A simple solution is to use a RC circuit to measure the resistance or capacitance.

www.josepino.com/pic_projects - Preview

schematics embedded ADC sensor RC GPIO

The circuit labeled A shows the most common RC circuit used. I like to use the B circuit, I get better results.
6 more annotations...
- You can replace the resistor and use a thermistor to measure temperature (PTC or NTC), also a photoresistor can be used to measure light. Any kind of resistive sensor can replace the resistor. If you are using a capacitive sensor, just replace the capacitor instead of the resistor.
- Just connect the RC circuit directly to an I/O pin of the microcontroller. You can use a 33pf capacitor and 1k resistor.
  
  First, make the I/O pin as OUTPUT.
  Second, make the pin POSITIVE (+) for one milisecond. (Using a PIC at 4mhz, a 255-cycles loop will be enough).
  Third, Make the I/O pin as INPUT and measure how long stays as POSITIVE (+).
- The PIC will measure the RC value of the I/O pin. If the time measured is too long, that means; there is no key pressed. Precision resistors and Mylar capacitor is required to get exact values.
- Note: Measuring capacitance or resistance usign this technique is affected by the voltage.

03 Jan 09

Hacker's Delight

A collection useful programming advice the author has collected over the years; small algorithms that make the programmer's task easier.

www.hackersdelight.org/ - Preview

book programming algorithm embedded

22 Nov 08

一个有趣的关于C宏的题目及巧解

定義一個C宏，實現插入0~255個NOP指令

blog.21ic.com/...48568.html - Preview

embedded C macro

//宏定义方法：
#define __NOP1__ asm("nop");
#define __NOP2__ __NOP1__ __NOP1__
#define __NOP4__ __NOP2__ __NOP2__
#define __NOP8__ __NOP4__ __NOP4__
#define __NOP16__ __NOP8__ __NOP8__
#define __NOP32__ __NOP16__ __NOP16__
#define __NOP64__ __NOP32__ __NOP32__
#define __NOP128__ __NOP64__ __NOP64__

#define __NOPX__(a)             \
    if ((a)&(0x01))    {__NOP1__}                    \
    if ((a)&(0x02))    {__NOP2__}                    \
    if ((a)&(0x04))    {__NOP4__}                    \
    if ((a)&(0x08))    {__NOP8__}                    \
    if ((a)&(0x10))    {__NOP16__}                    \
    if ((a)&(0x20))    {__NOP32__}                    \
    if ((a)&(0x40))    {__NOP64__}                    \
    if ((a)&(0x80))    {__NOP128__}

//宏引用方法（举例）：

    __NOPX__(13)

//编译结果：
138:                   __NOPX__(13)
  051D    0000     NOP
  051E    0000     NOP
  051F    0000     NOP
  0520    0000     NOP
  0521    0000     NOP
  0522    0000     NOP
  0523    0000     NOP
  0524    0000     NOP
  0525    0000     NOP
  0526    0000     NOP
  0527    0000     NOP
  0528    0000     NOP
  0529    0000     NOP

08 Aug 08

OO Programing in C (3)

Linux內核中用C提供了一套非常巧妙的方法操作鏈表，位於.../linux/include/linux/list.h，只用一些宏和inline函數來實現雙向鏈表。摘抄一部分出來

rubynroll.javaeye.com/150581 - Preview

C offsetof embedded list trick

struct list_head {
struct list_head *next, *prev;
};
/**
* list_entry - get the struct for this entry
* @ptr: the &struct list_head pointer.
* @type: the type of the struct this is embedded in.
* @member: the name of the list_struct within the struct.
*/
#define list_entry(ptr, type, member) \
container_of(ptr, type, member)
6 more annotations...
- /**
  * list_for_each - iterate over a list
  * @pos: the &struct list_head to use as a loop counter.
  * @head: the head for your list.
  */
  #define list_for_each(pos, head) \
  for (pos = (head)->next; prefetch(pos->next), pos != (head); \
  pos = pos->next)
- /**
  * container_of - cast a member of a structure out to the containing structure
  * @ptr: the pointer to the member.
  * @type: the type of the container struct this is embedded in.
  * @member: the name of the member within the struct.
  *
  */
  #define container_of(ptr, type, member) ({ \
  const typeof( ((type *)0)->member ) *__mptr = (ptr); \
  (type *)( (char *)__mptr - offsetof(type,member) );})
- #define offsetof(TYPE, MEMBER) ((size_t) &((TYPE *)0)->MEMBER)
- struct my_data {
  int x;
  int y;
  struct list_head list;
  }
- list_for_each (pos, &my_listhead) {
  node = list_entry (pos, struct my_data, list);
  ...
  }
- //定义你的数据结构
  struct my_point {
  int x;
  int y;
  struct list_head list; //嵌入链表管理节点
  };
  
  //在这个函数里，产生30个my_point，并且加入链表
  void create_my_points(struct list_head *head)
  {
  struct my_point *p;
  int x, y;
  
  for (x = 0; x < 10; x++) {
  for (y = 0; y < 3; y++) {
  p = (struct my_point *)malloc(sizeof(struct my_point));
  p->x = x; p->y = y;
  list_add(&p->list, head);
  }
  }
  }
  
  //遍历链表，打印信息
  void print_list(struct list_head *head)
  {
  struct list_head *node;
  struct my_point *p;
  
  list_for_each(node, head) {
  p = list_entry(node, struct my_list, list);
  printf("x = %d, y = %d\n", p->x, p->y);
  }
  }
  
  //使用：
  LIST_HEAD(points_list); //定义链表头
  
  create_my_points(&points_list);
  print_list(&points_list);

28 Jun 08

血壓計的製作過程

從血壓的量測著手，製作出一個以 MiCcroChip 16F877為核心的無線傳輸血壓計。

www.cycu.edu.tw/...final.htm - Preview

schematics embedded blood meter

0.8Hz二階高通濾波後，去除DC準位值
2 more annotations...
- 經過150~200倍非反向放大，成為血壓脈動波形，在經過38Hz 二階低通濾波後，去除電源及皮膚與臂帶摩擦的高頻雜訊

歐姆龍血壓計如何實現低成本設計 .

當我們對歐姆龍的智慧電子血壓計HEM-711AC進行拆解時，我們深刻感到，個人保健正在成為不可多見的熱門應用。該血壓計以極低的價格實現了一些複雜的測量，產品外型尺寸小巧，因而適合家庭和外出使用。HEM-711AC的單價大約在60美元左右，很明顯依賴於低成本設計，而血壓計所需要的準確性則要求其具備某種靈巧的設計。

www.eettaiwan.com/0409722_617739_NT_35189c5c.HTM - Preview

blood meter embedded

HEM-711AC所用的壓力感測器是一片機械膜，會根據實際壓力成比例產生凹陷。這個產生形變的膜表面實際上是一個空氣介質電容器兩極板中的一個，電容的另一個極板固定在壓力感測器內部，與可產生變化的極板平行。這樣，系統內部的壓力變化就能對應可變電容器的變化。
1 more annotations...
- 可變電容器(壓力感測器)被用來修正環形振盪器(由東芝74VHC02的四個或非閘組成)頻率。這樣，壓力變化就對應環形振盪器的頻率變化

17 Jun 08

SRecord 1.42

I wrote SRecord because when I was looking for programs to manipulate EPROM load files, I could not find very many.

srecord.sourceforge.net - Preview

opensource free HEX embedded

10 Jun 08

GENERAL: INTEL HEX FILE FORMAT

What is the Intel HEX file format?

www.keil.com/...1584.htm - Preview

HEX embedded

15 May 08

江湖一點訣

假如你用 355/113 這個法子，前輩還是會笑你分子 355 超過 8 位元能表示的範圍，
113 也不是 2 的冪次，用在 8051 這種 8 位元系統上還是不適合，那 201/64 這個完美
的結果是如何找出來的？

godspeedlee.myweb.hinet.net/trick.html - Preview

C optimization embedded

2 more annotations...
- 用 C++ 寫一個很簡單的程式，把每個 q 都試試看(只取 2 的冪次)，並且 p 超過
  
  255 的都去掉不要，並且把結果排序
- for(q = 1; q < LIMIT; q<<=1)
  {
  Ratio r;
  r.q = q;
  r.p = int(x * r.q + 0.5);
  double tmp = (double)r.p/r.q;
  r.err = ::abs(x - tmp) * 100.0f;
  if(r.p < LIMIT)
  rv.push_back(r);
  }

07 May 08

Note: About Super Simple Tasker

前鎮子站長總算看到一個令人拍案叫絕的作法，2003 年 Robert Ward 在 Embedded System
Conference 上發表了一篇 Practical Real-Time Techniques，之後又跟 Miro Samek 博士在
Embedded System Design 雜誌合作發表了一篇 Build A Super Simple Tasker(簡稱 SST)。兩篇
文章的內容大同小異，其中 SST 的內容比較完整，而且用 C 語言實做(之前 Robert Ward
用 C++)，有完整可執行的 example code，所以這裡以 SST 為主。

godspeedlee.myweb.hinet.net/sst.htm - Preview

embedded OS RTOS

傳統 RTOS 的設計是每個 task 擁有自己的 stack
11 more annotations...
- SST 在觀念上的突破就是把 interrupt 也視為一種 preemptive 的行為，
  
  ISR 也視為一種比一般 task priority 更高的 task
- 有意思的是 SST 用 nest interrupt 的方式進行 task switch，直接在 ISR stack frame 上執行 task
- single stack 又延伸出 SST 的另一個特色: Run-to-Completion(RTC)，因為 single stack 的緣故
  
  ，SST 的 task 不能像傳統 RTOS 的 task 跑一個無窮迴圈，前面也提到過 kernel 是把 task
  
  當作一般 function call
- SST 以 8 個位元代表 8 個 task，如此一來只要透過
  
  簡單的查表就能在常數時間找到等待執行中最高 priority 的 task：
- SST_readySet_ 絕對不夠紀錄 64 個 tasks，所以我們
  
  加上一個 8x8 table 來紀錄 ready task：
- 每個 task 的 priority 用一個 byte 儲存，對應到上方的 table：

SynthOS : 合成專屬的 RTOS

SynthOS 本身以 Java 撰寫，與其說是個 "OS"，不如說是個 OS Generator，其輸入為 C/C++, Java, assembly 的程式，描述一個系統設計中的基本要素，不過，我們沒有必須知曉 RTOS 的設計原理，只需維護必要之 state machine，稍後可在系統模擬得知其運作的模式，最終，會輸出 kernel source code，經編譯後，可佈署於我們期望的硬體平台中。

blog.linux.org.tw/...002011.html - Preview

embedded OS generator RTOS

是個 OS Generator，其輸入為 C/C++, Java, assembly 的程式，描述一個系統設計中的基本要素
維護必要之 state machine，稍後可在系統模擬得知其運作的模式，最終，會輸出 kernel source code，經編譯後，可佈署於我們期望的硬體平台中
1 more annotations...

29 Mar 08

C语言的宏定义--匠人的百宝箱

blog.21ic.com/...36490.html - Preview

C embedded macro

3，得到指定地址上的一个字节或字

#define MEM_B( x ) ( *( (byte *) (x) ) )

#define MEM_W( x ) ( *( (word *) (x) ) )
6,得到一个结构体中field所占用的字节数

#define FSIZ( type, field ) sizeof( ((type *) 0)->field )

>
5 more annotations...
- 7，按照LSB格式把两个字节转化为一个Word
  
  #define FLIPW( ray ) ( (((word) (ray)[0]) * 256) + (ray)[1] )
  
  8，按照LSB格式把一个Word转化为两个字节
  
  #define FLOPW( ray, val ) \
  
  (ray)[0] = ((val) / 256); \
  
  (ray)[1] = ((val) & 0xFF)
- 9，得到一个变量的地址（word宽度）
  
  #define B_PTR( var ) ( (byte *) (void *) &(var) )
  
  #define W_PTR( var ) ( (word *) (void *) &(var) )
  
  >
- 10，得到一个字的高位和低位字节
  
  #define WORD_LO(***) ((byte) ((word)(***) & 255))
  
  #define WORD_HI(***) ((byte) ((word)(***) >> 8))
- 16，返回数组元素的个数
  
  #define ARR_SIZE( a ) ( sizeof( (a) ) / sizeof( (a[0]) ) )
- 18，对于IO空间映射在存储空间的结构，输入输出处理
  
  #define inp(port)         (*((volatile byte *) (port)))
  
  #define inpw(port)        (*((volatile word *) (port)))
  
  #define inpdw(port)       (*((volatile dword *)(port)))
  
  #define outp(port, val)   (*((volatile byte *) (port)) = ((byte) (val)))
  
  #define outpw(port, val) (*((volatile word *) (port)) = ((word) (val)))
  
  #define outpdw(port, val) (*((volatile dword *) (port)) = ((dword) (val)))

23 Feb 08

Build a Super Simple Tasker

www.embedded.com/...O0T5DHZIELMQSNDLRSKHSCJUNN2JVN - Preview

5star RTOS embedded

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