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TMS320C6000 DSP McBSP Reference Guide

2008-11-14 20:56:47

Texas Instruments c6000系列dsp mcbsp参考手册
目录
1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 McBSP Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3 McBSP Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.1 Resetting the Serial Port: RRST, XRST, GRST, and RESET . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Determining Ready Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2.1 Receive Ready Status: REVT, RINT, and RRDY . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2.2 Transmit Ready Status: XEVT, XINT, and XRDY . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3 CPU Interrupts: RINT, XINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.4 Frame and Clock Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4 Clocks, Frames, and Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.1 Frame and Clock Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2 Sample Rate Generator Clocking and Framing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.3 Data Clock Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3.1 Input Clock Source Mode: CLKSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3.2 Sample Rate Generator Data Bit Clock Rate: CLKGDV . . . . . . . . . . . . . . . . . . . . 23
4.3.3 Bit Clock Polarity: CLKSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.3.4 Bit Clock and Frame Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.3.5 Digital Loopback Mode: DLB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.3.6 Receive Clock Selection: DLB, CLKRM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.3.7 Transmit Clock Selection: CLKXM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.3.8 Stopping Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.4 Frame Sync Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.4.1 Frame Period (FPER) and Frame Width (FWID) . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.4.2 Receive Frame Sync Selection: DLB, FSRM, GSYNC . . . . . . . . . . . . . . . . . . . . . 30
4.4.3 Transmit Frame Sync Selection: FSXM, FSGM . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.4.4 Frame Detection for Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.5 Data and Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.5.1 Frame Synchronization Phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.5.2 Frame Length: RFRLEN1/2, XFRLEN1/2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.5.3 Element Length: RWDLEN1/2, XWDLEN1/2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.5.4 Data Packing using Frame Length and Element Length . . . . . . . . . . . . . . . . . . . 34
4.5.5 Data Delay: RDATDLY, XDATDLY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.5.6 Receive Data Justification and Sign Extension: RJUST . . . . . . . . . . . . . . . . . . . . 37
4.5.7 32-Bit Bit Reversal: RWDREVRS, XWDREVRS . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.6 Clocking and Framing Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.6.1 Multiphase Frame Example: AC97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.6.2 Double-Rate ST-BUS Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.6.3 Single-Rate ST-BUS Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.6.4 Double-Rate Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5 McBSP Standard Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.1 Receive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.2 Transmit Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.3 Maximum Frame Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.4 Frame Synchronization Ignore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5.4.1 Frame Sync Ignore and Unexpected Frame Sync Pulses . . . . . . . . . . . . . . . . . . 48
5.4.2 Data Packing using Frame Sync Ignore Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.5 Serial Port Exception Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.5.1 Receive Overrun: RFULL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.5.2 Unexpected Receive Frame Synchronization: RSYNCERR . . . . . . . . . . . . . . . . 53
5.5.3 Transmit With Data Overwrite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.5.4 Transmit Empty: XEMPTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.5.5 Unexpected Transmit Frame Synchronization: XSYNCERR . . . . . . . . . . . . . . . . 57
6 -Law/A-Law Companding Hardware Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
6.1 Companding Internal Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
6.2 Bit Ordering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
7 McBSP Initialization Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.1 General Initialization Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
7.2 Special Case: External Device is the Transmit Frame Master . . . . . . . . . . . . . . . . . . . . . . 66
8 Multichannel Selection Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
8.1 Enabling Multichannel Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
8.2 Enabling and Masking of Channels in Normal Multichannel Selection Mode . . . . . . . . . 70
8.2.1 Changing Element Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8.2.2 End-of-Subframe Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8.3 Enhanced Multichannel Selection Mode (C64x DSP only) . . . . . . . . . . . . . . . . . . . . . . . . . 75
8.4 DX Enabler: DXENA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
9 SPI Protocol: CLKSTP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
9.1 McBSP Operation as the SPI Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
9.2 McBSP Operation as the SPI Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
9.3 McBSP Initialization for SPI Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
10 McBSP Pins as General-Purpose I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
11 Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
11.1 Data Receive Register (DRR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
11.2 Data Transmit Register (DXR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
11.3 Serial Port Control Register (SPCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
11.4 Receive Control Register (RCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
11.5 Transmit Control Register (XCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
11.6 Sample Rate Generator Register (SRGR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
11.7 Multichannel Control Register (MCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
11.8 Receive Channel Enable Register (RCER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
11.9 Transmit Channel Enable Registers (XCER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
11.10 Enhanced Receive Channel Enable Registers (RCERE0?3) . . . . . . . . . . . . . . . . . . . . . . 110
11.11 Enhanced Transmit Channel Enable Registers (XCERE0?3) . . . . . . . . . . . . . . . . . . . . . 112
11.12 Pin Control Register (PCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

高级验证方法学

2008-10-13 22:57:34

语言：中文页数：262
第1 章使用手册指南
序
绪论
手册的使用
本书的结构
第2 章验证原理
两个问题
第一个测试平台
第二个测试平台
第3 章 AVM综述
验证构件
同心圆的测试平台架构
处理器（Transactor）
环境组件
第4 章 TLM介绍
事务的定义
表示事务
事务对象
事务级模块和验证
第5 章 SystemVerilog 中的AVM机制
接口
SystemVerilog 接口
SystemVerilog虚拟接口
纯虚接口类
第6 章测试基本原理
一个存储器的测试平台
说明
主要概念
第7 章完成测试
记分板
说明
主要概念
第8 章逐步替换 .....
第9 章有约束的随机验证 .....
第10 章基于断言的监视器.....
附录A SystemVerilog AVM库
目录的章节很多，详细细节见正文

USB Complete: Everything You Need to Develop Custom USB Peripherals 3e

2008-07-29 08:41:45

Contents
Introduction xv
1. USB Basics 1
What USB Can Do 2
Benefits for Users 2
Benefits for Developers 6
Beyond the Hype 10
Evolution of an Interface 13
Original USB 14
USB 2.0 15
USB On-The-Go 16
Wireless USB 16
USB versus IEEE-1394 16
USB versus Ethernet 17
Bus Components 17
Topology 18
Defining Terms 19
Contents
iv
Division of Labor 22
The Host’s Duties 22
The Peripheral’s Duties 25
What about Speed? 28
Developing a Device 29
Elements in the Link 29
Tools for Developing 30
Steps in Developing a Project 30
2. Inside USB Transfers 33
Transfer Basics 34
Enumeration Communications 34
Application Communications 34
Managing Data on the Bus 35
Host Speed and Bus Speed 36
Elements of a Transfer 37
Device Endpoints: the Source and Sink of Data 38
Pipes: Connecting Endpoints to the Host 40
Types of Transfers 40
Stream and Message Pipes 42
Initiating a Transfer 43
Transactions: the Building Blocks of a Transfer 44
Transaction Phases 45
Ensuring that Transfers Are Successful 51
Handshaking 51
Reporting the Status of Control Transfers 55
Error Checking 56
3. A Transfer Type for Every Purpose 61
Control Transfers 61
Availability 62
Structure 62
Data Size 66
Speed 66
Detecting and Handling Errors 68
Bulk Transfers 68
Availability 69
Structure 69
Data Size 69
Speed 71
Detecting and Handling Errors 71
Contents
v
Interrupt Transfers 72
Availability 72
Structure 72
Data Size 73
Speed 73
Detecting and Handling Errors 75
Isochronous Transfers 76
Availability 76
Structure 76
Data Size 79
Speed 79
Detecting and Handling Errors 80
More about Time-critical Transfers 80
Bus Bandwidth 81
Device Capabilities 81
Host Capabilities 82
Host Latencies 83
4. Enumeration: How the Host Learns about Devices 85
The Process 86
Enumeration Steps 87
Enumerating a Hub 91
Device Removal 92
Tips for Successful Enumeration 92
Descriptors 93
Types of Descriptors 94
Device Descriptor 96
Device_qualifier Descriptor 99
Configuration Descriptor 101
Other_speed_configuration Descriptor 103
Interface Association Descriptor 103
Interface Descriptor 106
Endpoint Descriptor 108
String Descriptor 112
Other Standard Descriptors 113
The Microsoft OS Descriptor 114
Descriptors in 2.0-compliant Devices 114
Making 1.x Descriptors 2.0-compliant 114
Detecting the Speed of a Dual-Speed Device 116
Contents
vi
5. Control Transfers:
Structured Requests for Critical Data 117
Elements of a Control Transfer 117
Setup Stage 118
Data Stage 120
Status Stage 122
Handling Errors 124
Device Firmware 125
The Requests 127
Get_Status 129
Clear_Feature 130
Set_Feature 131
Set_Address 132
Get_Descriptor 133
Set_Descriptor 134
Get_Configuration 135
Set_Configuration 136
Get_Interface 137
Set_Interface 138
Synch_Frame 139
Other Control Requests 140
Class-specific Requests 140
Vendor-specific Requests 140
6. Chip Choices 141
Components of a USB Device 142
The USB Controller 143
Other Device Components 145
Simplifying Device Development 148
Device Requirements 149
Chip Documentation 150
Driver Choices 151
Debugging Tools 151
Controllers with Embedded CPUs 154
Microchip PIC18F4550 156
Cypress EZ-USB 157
Cypress enCoRe II 163
Freescale MC68HC908JB16 164
Freescale MCF5482 ColdFire 164
Contents
vii
Controllers that Interface to External CPUs 165
National Semiconductor USBN9603 165
Philips Semiconductors ISP1181B 167
Philips Semiconductors ISP1581 168
PLX Technology NET2272 169
FTDI Chip FT232BM and FT245BM 170
7. Device Classes 177
About Classes 177
Device Working Groups 178
Elements of a Class Specification 178
Defined Classes 181
Audio 181
Chip/Smart Card Interface 189
Communication Devices: Modems and Networks 191
Content Security 198
Device Firmware Upgrade 200
Human Interface 203
IrDA Bridge 206
Mass Storage 208
Printers 213
Still Image Capture: Cameras and Scanners 217
Test and Measurement 220
Video 221
Implementing Non-standard Functions 226
Standard or Custom Driver? 226
Converting from RS-232 227
Converting from the Parallel Port 229
PC-to-PC Communications 229
Using a Generic Driver 231
8. How the Host Communicates 233
Device Driver Basics 233
Insulating Applications from the Details 234
Options for USB Devices 235
User and Kernel Modes 235
WDM Drivers 237
Layered Drivers 238
Communication Flow 243
More Examples 246
Contents
viii
Creating a Custom Driver 247
Writing a Driver from Scratch 247
Using a Driver Toolkit 248
Using GUIDs 249
Device Setup GUIDs 250
Device Interface GUIDs 251
9. Matching a Driver to a Device 253
Using the Device Manager 253
Viewing Devices 254
Property Pages 257
Device Information in the Registry 257
The Hardware Key 258
The Class Key 259
The Driver Key 260
The Service Key 262
Inside INF Files 262
Syntax 265
Sections 266
Using Device Identification Strings 272
Finding a Match 274
Do You Need to Provide an INF File? 276
Tools and Diagnostic Aids 277
Tips for Using INF Files 277
What the User Sees 279
10. Detecting Devices 281
A Brief Guide to Calling API Functions 281
Managed and Unmanaged Code 282
Documentation 284
Using Visual C++ .NET 284
Using Visual Basic .NET 286
Finding Your Device 291
Obtaining the Device Interface GUID 292
Requesting a Pointer to a Device Information Set 293
Identifying a Device Interface 295
Requesting a Structure Containing the Device Path Name 298
Extracting the Device Path Name 301
Closing Communications 302
Contents
ix
Obtaining a Handle 303
Requesting a Communications Handle 303
Closing the Handle 306
Detecting Attachment and Removal 306
About Device Notifications 307
Registering for Device Notifications 307
Capturing Device Change Messages 311
Reading Device Change Messages 312
Retrieving the Device Path Name in the Message 314
Stopping Device Notifications 317
11. Human Interface Devices:
Using Control and Interrupt Transfers 319
What is a HID? 320
Hardware Requirements 321
Firmware Requirements 323
Identifying a Device as a HID 323
The HID Interface 326
HID Class Descriptor 326
Report Descriptors 328
HID-specific Requests 330
Get_Report 332
Get_Idle 333
Get_Protocol 334
Set_Report 335
Set_Idle 336
Set_Protocol 337
Transferring Data 338
About the Example Code 338
Sending Reports via Interrupt Transfers 340
Receiving Reports via Interrupt Transfers 343
Sending Reports via Control Transfers 345
Receiving Reports via Control Transfers 347
12. Human Interface Devices: Reports 351
Report Structure 351
Using the HID Descriptor Tool 352
Control and Data Item Values 354
Item Types 354
Contents
x
The Main Item Type 355
Input, Output, and Feature Items 356
Collection and End Collection Items 360
The Global Item Type 361
Identifying the Report 361
Describing the Data’s Use 363
Converting Units 365
Converting Raw Data 366
Describing the Data’s Size and Format 369
Saving and Restoring Global Items 369
The Local Item Type 370
Physical Descriptors 373
Padding 373
13. Human Interface Devices: Host Application 375
HID API Functions 375
Requesting Information about the HID 376
Sending and Receiving Reports 376
Providing and Using Report Data 378
Managing HID Communications 379
Identifying a Device 379
Reading the Vendor and Product IDs 380
Getting a Pointer to a Buffer with Device Capabilities 384
Getting the Device’s Capabilities 385
Getting the Capabilities of the Buttons and Values 388
Sending and Receiving Reports 388
Sending an Output Report to the Device 389
Reading an Input Report from the Device 392
Writing a Feature Report to the Device 402
Reading a Feature Report from a Device 404
Closing Communications 406
14. Bulk Transfers for Any CPU 407
Two Projects 407
Asynchronous Serial Interface 408
Parallel Interface 414
Host Programming 421
Using the D2XX Direct Driver 422
Selecting a Driver 422
Contents
xi
Performance Tips 426
Speed Considerations 426
Minimizing Latency 427
Preventing Lost Data 428
EEPROM Programming 429
EEPROM Data 429
Editing the Data 429
15. Hubs: the Link between Devices and the Host 433
Hub Basics 434
The Hub Repeater 435
The Transaction Translator 438
The Hub Controller 444
Speed 445
Maintaing an Idle Bus 447
How Many Hubs in Series? 447
The Hub Class 448
Hub Descriptors 448
Hub-class Requests 452
Port Indicators 453
16. Managing Power 455
Powering Options 455
Voltages 456
Which Peripherals Can Use Bus Power? 457
Power Needs 458
Informing the Host 459
Hub Power 461
Power Sources 461
Over-current Protection 462
Power Switching 463
Saving Power 464
Global and Selective Suspends 464
Current Limits for Suspended Devices 464
Resuming Communications 466
Power Management under Windows 467
17. Testing and Debugging 471
Tools 471
Hardware Protocol Analyzers 472
Software Protocol Analyzers 475
Traffic Generators 477
Contents
xii
Testing 477
Compliance Testing 478
WHQL Testing 484
18. Signals and Encoding 489
Bus States 489
Low-speed and Full-speed Bus States 490
High-speed Bus States 492
Data Encoding 494
Staying Synchronized 496
Timing Accuracy 498
Packet Format 499
Fields 499
Inter-packet Delay 501
Test Modes 502
Entering and Exiting Test Modes 502
The Modes 502
19. The Electrical Interface 505
Transceivers and Signals 506
Cable Segments 506
Low- and Full-speed Transceivers 508
High-speed Transceivers 512
Signal Voltages 517
Low and Full Speeds 517
High Speed 518
Cables 518
Conductors 518
Connectors 520
Detachable and Captive Cables 524
Cable Length 524
Ensuring Signal Quality 525
Sources of Noise 526
Balanced Lines 527
Twisted Pairs 527
Shielding 528
Edge Rates 529
Isolated Interfaces 529
Contents
xiii
Wireless Links 530
Cypress WirelessUSB 530
The Wireless USB Initiative 533
Other Options 534
20. Dual-role Devices with USB On-The-Go 535
Device and Host in One 536
Capabilities and Limits 536
Requirements for an OTG Device 538
The OTG Descriptor 545
Feature Codes for HNP 545
OTG Controller Chips 545
Philips ISP1362 546
TransDimension TD242LP 547
Cypress CY7C67200 EZ-OTG 548
Philips ISP1261 Bridge Controller 549
Index 551

华为3com存储基础知识白皮书

2008-07-27 15:56:53

目录
第1章网络存储主要技术.......................................................................................................7
1.1 概述............................................................................................................................7
1.2 DAS：直接附加存储.................................................................................................7
1.3 SAN：存储区域网络.................................................................................................8
1.3.1 什么是SAN？.................................................................................................8
1.3.2 SAN的误区......................................................................................................9
1.3.3 SAN的组成......................................................................................................9
1.3.4 FC SAN的问题................................................................................................9
1.3.5 IP SAN ...........................................................................................................10
1.4 NAS：网络附加存储...............................................................................................12
1.5 SAN和NAS...............................................................................................................13
第2章主要协议和相关技术.................................................................................................14
2.1 SCSI ..........................................................................................................................14
2.2 FC（光纤通道）......................................................................................................14
2.3 iSCSI .........................................................................................................................16
2.4 iSCSI与光纤通道的比较.........................................................................................17
第3章文件系统相关知识.....................................................................................................19
3.1 什么是文件系统......................................................................................................19
3.2 主流文件系统和特点..............................................................................................20
3.3 NFS和CIFS网络文件系统工作原理和特点...........................................................24
3.4 存储系统与文件系统的关系..................................................................................25
第4章 RAID技术...................................................................................................................26
4.1 RAID概述.................................................................................................................26
4.2 RAID级别.................................................................................................................26
4.2.1 RAID0............................................................................................................26
4.2.2 RAID1............................................................................................................27
4.2.3 RAID2............................................................................................................28
4.2.4 RAID3............................................................................................................28
4.2.5 RAID4............................................................................................................29
4.2.6 RAID5............................................................................................................29
4.2.7 RAID6............................................................................................................30
4.2.8 RAID10..........................................................................................................31
4.2.9 RAID01..........................................................................................................32
4.2.10 JBOD............................................................................................................32
4.3 不同RAID级别对比................................................................................................33
第5章主机系统高可用技术.................................................................................................35
5.1 概述..........................................................................................................................35
5.1.1 双机热备份方式...........................................................................................37
5.1.2 双机互备份方式...........................................................................................41
5.1.3 群集并发存取方式.......................................................................................43
5.2 工作模式..................................................................................................................45
5.2.1 双机热备份方式...........................................................................................45
5.2.2 双机互备方式...............................................................................................45
5.2.3 群集并发存取方式.......................................................................................45
5.3 适用场合..................................................................................................................46
5.4 对存储系统的要求..................................................................................................46
第6章数据一致性.................................................................................................................48
6.1 数据一致性概述......................................................................................................48
6.2 Cache引起的数据一致性问题.................................................................................48
6.3 时间不同步引起的数据一致性问题......................................................................49
6.4 文件共享中的数据一致性问题..............................................................................50
第7章数据复制与容灾.........................................................................................................51
7.1 灾难恢复/业务连续性.............................................................................................51
7.2 数据备份系统..........................................................................................................54
7.2.1 数据备份.......................................................................................................54
7.2.2 数据复制.......................................................................................................56
7.3 数据一致性..............................................................................................................59
7.4 总结..........................................................................................................................60
第8章备份技术.....................................................................................................................61
8.1 什么是备份..............................................................................................................61
8.2 备份与拷贝、归档的区别......................................................................................61
8.3 常规备份的实现方式..............................................................................................62
8.4 LAN Free和Serverless备份......................................................................................63
8.5 主流备份软件和介质..............................................................................................64
8.6 备份技术新趋势......................................................................................................68
第9章存储连接设备.............................................................................................................71
9.1 HBA卡介绍..............................................................................................................71
9.1.1 FC HBA相关知识： .....................................................................................71
9.1.2 主要HBA卡厂商..........................................................................................72
9.1.3 iSCSI HBA相关知识：.................................................................................72
9.1.4 iSCSI HBA和TOE网卡主要厂商.................................................................73
9.2 FC连接设备介绍......................................................................................................73
9.2.1 FC HUB相关知识： .....................................................................................73
9.2.2 FC Switch相关知识：...................................................................................73
9.2.3 FC Director相关知识：.................................................................................73
9.2.4 iSCSI-FC存储路由器....................................................................................74
9.2.5 FC Switch和FC Director主要厂商................................................................74
第10章信息生命周期...........................................................................................................74
10.1 什么是信息生命周期............................................................................................74
10.2 信息生命周期的实现............................................................................................75
10.3 实现ILM的技术保障和面临的挑战.....................................................................75
10.4 信息生命周期管理现状........................................................................................76
10.5 法规遵从与信息生命周期管理............................................................................76
10.6 与信息生命周期相关的存储技术........................................................................77
10.6.1 固定内容管理：.........................................................................................77
10.6.2 WORM：.....................................................................................................77
10.7 怎样看待信息生命周期管理................................................................................77
第11章其他存储技术及标准...............................................................................................78
11.1 SMI－S ...................................................................................................................78
11.2 CDP（持续数据保护） .........................................................................................79
11.3 虚拟存储................................................................................................................79
11.4 网格计算................................................................................................................80
11.5 高性能计算............................................................................................................80
11.6 负载均衡................................................................................................................80
第12章常见主机及操作系统...............................................................................................81
12.1 主机架构及操作系统概述....................................................................................81
12.1.1 主机架构.....................................................................................................81
12.1.2 操作系统.....................................................................................................81
12.1.3 操作系统比较.............................................................................................82
12.2 常见主机厂商及常见产品介绍............................................................................82
12.2.1 IBM： ..........................................................................................................82
12.2.2 SUN：..........................................................................................................83
12.2.3 Fujitsu: .........................................................................................................84
12.2.4 HP: ...............................................................................................................84
12.3 操作系统应用特点................................................................................................85
第13章常见数据库及应用系统...........................................................................................86
13.1 数据库厂商介绍....................................................................................................86
13.1.1 Oracle ...........................................................................................................86
13.1.2 DB2 ..............................................................................................................91
13.1.3 Sybase ..........................................................................................................94
13.1.4 MS SQL Server............................................................................................95

Wiley Virtualization for Dummies Sun and AMD Special Edition

2008-07-11 06:20:02

Introduction
Virtualization is the latest in a long line of technical innovations
designed to increase the level of system abstraction
and enable IT users to harness ever-increasing levels of
computer performance.
At its simplest level, virtualization allows you, virtually and
cost-effectively, to have two or more computers, running two
or more completely different environments, on one piece of
hardware. For example, with virtualization, you can have both
a Linux machine and a Windows machine on one system.
Alternatively, you could host a Windows 95 desktop and a
Windows XP desktop on one workstation.
In slightly more technical terms, virtualization essentially
decouples users and applications from the specific hardware
characteristics of the systems they use to perform computational
tasks. This technology promises to usher in an entirely
new wave of hardware and software innovation. For example,
and among other benefits, virtualization is designed to simplify
system upgrades (and in some cases may eliminate the
need for such upgrades), by allowing users to capture the
state of a virtual machine (VM), and then transport that state
in its entirety from an old to a new host system.
Virtualization is also designed to enable a generation of more
energy-efficient computing. Processor, memory, and storage
resources that today must be delivered in fixed amounts
determined by real hardware system configurations will be
delivered with finer granularity via dynamically tuned VMs.
About This Book
Virtualization For Dummies, Sun and AMD Special Edition
explains how virtualization works and how it can benefit your
organization. The book covers the kinds of issues virtualization
can address and how it addresses them.
2 Virtualization For Dummies, Sun and AMD Special Edition
Icons Used in This Book
In the margins of this book, you find several helpful little icons
that can make your journey a little easier:
This icon flags information that you should pay attention to.
This icon lets you know that the accompanying text explains
some technical information in detail. You don’t need to know
this stuff to get what you need from the book, but it may be
interesting.
A Tip icon lets you know some practical information that can
really help you out is on the way. These tips can help save you
time, effort, or money.

Chapter 1 Wrapping Your Head around Virtualization
Chapter 2 Understanding AMD Virtualization!
Chapter 3 Looking into AMD’s Virtualization Initiatives
Chapter 4 Making Servers Virtualization-Ready
Chapter 5 Managing Virtualization End-to-End
Chapter 6 Ten Steps to Virtualization Success

The LabVIEW Style book

2008-07-04 16:42:24

Contents
Copyright ................................................................................................................................................................ 1
Dedication ........................................................................................................................................................... 2
Foreword ................................................................................................................................................................. 6
Preface .................................................................................................................................................................... 7
Intended Reader ................................................................................................................................................. 7
Organization ....................................................................................................................................................... 7
Endnotes ............................................................................................................................................................. 8
Acknowledgments .................................................................................................................................................. 9
About the Author .................................................................................................................................................. 11
1. The Significance of Style .................................................................................................................................. 12
1.1. Style Significance ....................................................................................................................................... 12
Theorem 1.1 ................................................................................................................................................. 12
Equation 1.1 ................................................................................................................................................. 22
1.2. Style Versus Time Tradeoff ........................................................................................................................ 27
Definition 1.1 ................................................................................................................................................ 27
Theorem 1.2 ................................................................................................................................................. 28
2. Prepare for Good Style ..................................................................................................................................... 29
2.1. Specifications ............................................................................................................................................ 29
Theorem 2.1 ................................................................................................................................................. 30
Theorem 2.2 ................................................................................................................................................. 30
2.2. Design ........................................................................................................................................................ 36
2.3. Configure the LabVIEW Environment ........................................................................................................ 39
2.4. Project Organization, File Naming, and Control ........................................................................................ 46
Endnotes ........................................................................................................................................................... 54
3. Front Panel Style .............................................................................................................................................. 56
3.1. Layout ........................................................................................................................................................ 57
3.2. Text ............................................................................................................................................................ 70
3.3. Color .......................................................................................................................................................... 78
3.4. GUI Navigation .......................................................................................................................................... 80
Theorem 3.1 ................................................................................................................................................. 80
3.5. Examples ................................................................................................................................................... 84
Endnotes ........................................................................................................................................................... 94
4. Block Diagram .................................................................................................................................................. 95
Theorem 4.1 ................................................................................................................................................. 95
4.1. Layout ........................................................................................................................................................ 95
Cohesion Test ............................................................................................................................................... 98
4.2. Wiring ...................................................................................................................................................... 100
4.3. Data Flow ................................................................................................................................................. 108
4.4. Examples ................................................................................................................................................. 122
Endnotes ......................................................................................................................................................... 132
5. Icon and Connector ........................................................................................................................................ 133
5.1. Icon .......................................................................................................................................................... 135 3
5.2. Connector Pane ....................................................................................................................................... 143
5.3. Examples ................................................................................................................................................. 149
Endnotes ......................................................................................................................................................... 159
6. Data Structures ............................................................................................................................................... 160
Theorem 6‐1 ............................................................................................................................................... 160
6.1. Data Structure Design Methodology ....................................................................................................... 160
6.2. Simple Data Types ................................................................................................................................... 174
6.3. Data Constructs ....................................................................................................................................... 183
6.4. Examples ................................................................................................................................................. 195
Endnotes ......................................................................................................................................................... 203
7. Error Handling ................................................................................................................................................ 204
Theorem 7.1 ............................................................................................................................................... 204
7.1. Error Handling Basics ............................................................................................................................... 204
7.2. SubVI Error Handling ............................................................................................................................... 218
7.3. Prioritizing Errors .................................................................................................................................... 222
7.4. Error Handling Tips .................................................................................................................................. 226
7.5. Examples ................................................................................................................................................. 230
Endnotes ......................................................................................................................................................... 238
8. Design Patterns .............................................................................................................................................. 239
8.1. Simple Design Patterns ............................................................................................................................ 241
8.2. State Machines ........................................................................................................................................ 254
8.3. Compound Design Patterns ..................................................................................................................... 266
8.4. Complex Application Frameworks ........................................................................................................... 271
8.5. Examples ................................................................................................................................................. 284
Endnotes ......................................................................................................................................................... 294
9. Documentation .............................................................................................................................................. 296
Myth 9.1 ..................................................................................................................................................... 296
Theorem 9.1 ............................................................................................................................................... 296
9.1. Front Panel Documentation ..................................................................................................................... 297
9.2. Block Diagram ......................................................................................................................................... 301
9.3. Icon and VI Description ............................................................................................................................ 308
9.4. Online Documentation ............................................................................................................................. 309
9.5. Examples ................................................................................................................................................. 312
Endnotes ......................................................................................................................................................... 315
10. Code Reviews ............................................................................................................................................... 316
10.1. Self‐Reviews .......................................................................................................................................... 316
10.2. Peer Reviews ......................................................................................................................................... 332
Theorem 10.1 ............................................................................................................................................. 332
Endnotes ......................................................................................................................................................... 336
A. Glossary .......................................................................................................................................................... 338
B. Style Rules Summary ..................................................................................................................................... 354
Chapter 2 ........................................................................................................................................................ 354
Chapter 3 ........................................................................................................................................................ 354
Chapter 4 ........................................................................................................................................................ 356 4
Chapter 5 ........................................................................................................................................................ 357
Chapter 6 ........................................................................................................................................................ 358
Chapter 7 ........................................................................................................................................................ 359
Chapter 8 ........................................................................................................................................................ 360
Chapter 9 ........................................................................................................................................................ 361
Chapter 10 ...................................................................................................................................................... 361
5

Robotics

2008-07-03 14:06:08

About the Authors ................................................................................................ v
1. Introduction ....................................................................... 1
1.1 Introduction to Robotics .........................................................................................1
1.2 History of Robotics ..................................................................................................2
1.3 Current Research in Robotics Around the World ...............................................10
1.4 Classifi cation of Robotics ......................................................................................16
1.4.1 Robotic Arms ............................................................................................16
1.4.2 Wheeled Mobile Robots ...........................................................................16
1.4.3 Legged Robots .........................................................................................17
1.4.4 Underwater Robots ..................................................................................18
1.4.5 Flying Robots ............................................................................................19
1.4.6 Robot Vision ..............................................................................................19
1.4.7 Artifi cial Intelligence ................................................................................20
1.4.8 Industrial Automation ...............................................................................22
1.5 An Overview of the Book ......................................................................................23
2. Basic Mechanics .............................................................. 25
2.1 Introduction to Theory of Machines and Mechanisms .......................................25
2.2 Some Popular Mechanisms...................................................................................26
2.2.1 Four-bar Mechanism ................................................................................26
2.2.2 Slider-crank Mechanism ..........................................................................28
2.2.3 Rack and Pinion ........................................................................................30
2.2.4 Cams and Cranks ......................................................................................32
2.3 Gear and Gear Trains ...........................................................................................32
2.3.1 Spur Gears .................................................................................................33
2.3.2 Helical Gears .............................................................................................34
2.3.3 Bevel Gears ...............................................................................................35
Table of Contents
viii CONTENTS
2.3.4 Worm and Wheel .....................................................................................36
2.3.5 Parallel Axis Gear Trains ..........................................................................37
2.4 Synthesis of Mechanisms .....................................................................................39
2.4.1 Type, Number, and Dimensional Synthesis .............................................39
2.4.2 Function Generation, Path Generation, and Motion Generation ..........40
2.4.3 Two-position Synthesis .............................................................................41
2.4.4 Three-position Synthesis .........................................................................44
2.5 Kinematic Analysis of Mechanisms ......................................................................48
2.5.1 Graphical Position Analysis Method ........................................................48
2.5.2 Algebraic Position Analysis of Linkages ...................................................50
2.5.3 Complex Algebra Method for Position Analysis ......................................52
2.6 A Practical Guide to Use Various Mechanisms ....................................................54
2.6.1 Most Commonly Used Mechanisms in Projects ......................................54
2.6.2 Use of Different Kinds of Gears and Their Advantages .........................61
2.6.3 Measuring the Torque of a Motor ............................................................62
3. Basic Electronics .............................................................. 65
3.1 Introduction to Electronics ...................................................................................65
3.2 Some Basic Elements ...........................................................................................66
3.2.1 Resistors ....................................................................................................67
3.2.2 Capacitors ..................................................................................................69
3.2.3 Breadboard ................................................................................................70
3.2.4 Potentiometer ..........................................................................................72
3.2.5 Diodes .......................................................................................................73
3.2.6 LEDs .........................................................................................................81
3.2.7 Transistors .................................................................................................82
3.2.8 Integrated Circuits ....................................................................................85
3.2.9 Some Lab Components ............................................................................86
3.3 Steps to Design and Create a Project ...................................................................89
3.4 Sensor Design .......................................................................................................90
3.5 Using the Parallel Port of the Computer ...........................................................102
3.6 Serial Communication: RS-232 ..........................................................................117
3.7 Using the Microcontroller ..................................................................................124
3.8 Actuators .............................................................................................................126
3.8.1 DC Motors .............................................................................................131
3.8.2 Controlling a DC Motor .........................................................................133
CONTENTS ix
3.8.3 Pulse Width Modulation .........................................................................140
3.8.4 Stepper Motors ......................................................................................141
3.8.5 Servo Motor ............................................................................................152
4. Wheeled Mobile Robots ................................................. 155
4.1 Introduction .........................................................................................................155
4.2 Classifi cation of Wheeled Mobile Robots (WMRs) ...........................................156
4.2.1 Differentially Driven WMRs ..................................................................156
4.2.2 Car-type WMRs ......................................................................................157
4.2.3 Omnidirectional WMRs .........................................................................158
4.2.4 Synchro Drive WMRs.............................................................................159
4.3 Kinematics and Mathematical Modeling of WMRs ..........................................161
4.3.1 What is Mathematical Modeling? ..........................................................161
4.3.2 Kinematic Constraints ............................................................................163
4.3.3 Holonomic Constraints ...........................................................................165
4.3.4 Nonholonomic Constraints .....................................................................165
4.3.5 Equivalent Robot Models .......................................................................167
4.3.6 Unicycle Kinematic Model ....................................................................169
4.3.7 Global Coordinate Kinematic Model of the Unicycle ...........................171
4.3.8 Global Coordinate Kinematic Model of a Car-type WMR ...................172
4.3.9 Path Coordinate Model ..........................................................................173
4.4 Control of WMRs ................................................................................................175
4.4.1 What is Control? .....................................................................................175
4.4.2 Trajectory Following ...............................................................................176
4.4.3 The Control Strategy ..............................................................................179
4.4.4 Feedback Control ...................................................................................179
4.5 Simulation of WMRs Using Matlab ...................................................................181
4.5.1 Testing the Control Strategy for a Unicycle-type Mobile Robot ..........182
4.5.2 Testing the Control Strategy for a Car-type Mobile Robot ...................186
4.5.3 Testing the Control Strategy Trajectory Following ..............................190
Problem in a Car-type Mobile Robot
4.6 The Identifi cation and Elimination of the Problem ..........................................191
4.7 Modifying the Model to Make the Variation in Delta Continuous ...................192
4.8 Developing the Software and Hardware Model of an
All-purpose Research WMR ...............................................................................194
Interfacing the System with a Parallel Port .......................................................194
x CONTENTS
5. Kinematics of Robotic Manipulators ............................... 213
5.1 Introduction to Robotic Manipulators ...............................................................213
5.2 Position and Orientation of Objects in Space ....................................................214
5.2.1 Object Coordinate Frame: Position, Orientation, and Frames ............214
5.2.2 Mapping between Translated Frames ...................................................215
5.2.3 Mapping between Rotated Frames ........................................................215
5.2.4 Mapping between Rotated and Translated Frames ..............................218
5.2.5 Homogeneous Representation ...............................................................219
5.3 Forward Kinematics ............................................................................................220
5.3.1 Notations and Description of Links and Joints ......................................220
5.3.2 Denavit-Hartenberg Notation ................................................................222
5.3.3 First and Last Links in the Chain ..........................................................224
5.3.4 Summary: D.H. Parameters ..................................................................225
5.3.5 Kinematic Modeling Using D-H Notations ...........................................226
5.3.6 Special Cases ...........................................................................................226
5.3.7 Forward Kinematics of a Manipulator ..................................................228
5.3.8 Examples of Forward Kinematics ..........................................................230
5.4 Inverse Kinematics ..............................................................................................233
5.4.1 Workspace ...............................................................................................233
5.4.2 Solvability ................................................................................................234
5.4.3 Closed form Solutions.............................................................................235
5.4.4 Algebraic vs. Geometric Solution ...........................................................236
5.4.5 Solution by a Systematic Approach ........................................................239
6. Classifi cation of Sensors ................................................. 241
6.1 Classifi cation of Sensors ......................................................................................241
6.2 Encoders and Dead Reckoning ..........................................................................244
6.3 Infrared Sensors ..................................................................................................249
6.4 Ground-based RF Systems ................................................................................250
6.4.1 LORAN ..................................................................................................250
6.4.2 Kaman Sciences Radio Frequency Navigation Grid ............................251
6.4.3 Precision Location Tracking and Telemetry System ............................252
6.4.4 Motorola Mini-ranger Falcon ................................................................253
6.4.5 Harris Infogeometric System ................................................................254
6.5 Active Beacons ...................................................................................................256
6.5.1 Trilateration ............................................................................................256
6.5.2 Triangulation ..........................................................................................257
CONTENTS xi
6.5.3 Discussion on Triangulation Methods ...................................................258
6.5.4 Triangulation with More than Three Landmarks .................................259
6.6 Ultrasonic Transponder Trilateration ................................................................261
6.6.1 IS Robotics 2D Location System ..........................................................261
6.6.2 Tulane University 3D Location System ................................................262
6.7 Accelerometers ...................................................................................................267
6.8 Gyroscopes .........................................................................................................267
6.8.1 Space-stable Gyroscopes .......................................................................268
6.8.2 Gyrocompasses .......................................................................................270
6.8.3 Gyros ......................................................................................................270
6.9 Laser Range Finder ............................................................................................274
6.10 Vision-based Sensors ...........................................................................................276
6.11 Color-tracking Sensors ........................................................................................281
6.12 Sensor Mounting Arrangement ..........................................................................287
6.13 Design of the Circuitry .......................................................................................288
6.14 Reading the Pulses in a Computer ....................................................................289
7. Legged Robots ............................................................... 291
7.1 Why Study Legged Robots?................................................................................291
7.2 Balance of Legged Robots ..................................................................................293
7.2.1 Static Balance Methods .........................................................................293
7.2.2 Dynamic Balance Methods ...................................................................294
7.3 Analysis of Gaits in Legged Animals ..................................................................297
7.4 Kinematics of Leg Design ...................................................................................304
7.4.1 Forward Kinematics ...............................................................................304
7.4.2 Inverse Kinematics .................................................................................305
7.5 Dynamic Balance and Inverse Pendulum Model ..............................................306
Appendix A Turtle.cpp ........................................................................311
Appendix B About the CD-Rom .........................................................339
Index ......................................................................................................341

Extreme NXT: Extending the LEGO MINDSTORMS NXT to the Next Level

2008-06-18 17:38:54

Contents at a Glance
Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
About the Authors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
About the Technical Reviewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii
Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
■CHAPTER 1 In the Beginning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
■CHAPTER 2 In the Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
■CHAPTER 3 Connecting to the NXT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
■CHAPTER 4 Contact Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
■CHAPTER 5 Resistive Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
■CHAPTER 6 Potentiometer Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
■CHAPTER 7 Voltage Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
■CHAPTER 8 4.3V Powered Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
■CHAPTER 9 Two-Wire Powered Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
■CHAPTER 10 Aftermarket Vendors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
■CHAPTER 11 NXT Motor Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
■CHAPTER 12 Beyond NXT Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
■CHAPTER 13 I2C Bus Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
■CHAPTER 14 Cool Combinations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
■APPENDIX A Breadboard Construction Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
■APPENDIX B References, Links, and Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
■APPENDIX C Code Listings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
■INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

10 Cool LEGO MINDSTORMS Ultimate Buider Projects

2008-06-18 15:50:04

Contents
About This Book xi
Foreword xv
Robot 1 WideBot 1
Robot 2 SumoBug 29
Robot 3 Hopper 51
Robot 4 HunterBot 65
Robot 5 Nessie 91
Robot 6 Nellie 105
Robot 7 The DominoBot 123
Robot 8 The Drawbridge 181
Robot 9 Candy Wrapper Compactor 205
Robot 10 Robo-Hominid 223