RK_Pres_Modular(chinese)

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RKNN Toolkit 快速上手指南说明书

福州瑞芯微电子股份有限公司密级状态：绝密( ) 秘密( ) 内部( ) 公开(√ )RKNN Toolkit快速上手指南（技术部，图形显示平台中心）文件状态：[ ] 正在修改[√] 正式发布当前版本：V1.3.0作者：饶洪完成日期：2019-12-23审核：卓鸿添完成日期：2019-12-23福州瑞芯微电子股份有限公司Fuzhou Rockchips Semiconductor Co . , Ltd(版本所有,翻版必究)更新记录版本修改人修改日期修改说明核定人V0.9.9 饶洪2019-03-25 初始版本卓鸿添V1.0.0 饶洪2019-05-08 同步RKNN-Toolkit-V1.0.0修改内容卓鸿添V1.1.0 饶洪2019-06-28 1.同步RKNN-Toolkit-V1.1.0修改内容2.新增Windows/MacOS/ARM64等平台的快速上手指南卓鸿添V1.2.0 饶洪2019-08-21 同步RKNN-Toolkit-V1.2.0修改内容卓鸿添V1.2.1 饶洪2019-09-26 同步RKNN-Toolkit-V1.2.1修改内容卓鸿添V1.3.0 饶洪2019-12-23 同步RKNN-Toolkit-V1.3.0修改内容卓鸿添目录1主要功能说明 (1)2系统依赖说明 (3)3UBUNTU平台快速上手 (4)3.1环境准备 (4)3.2安装RKNN-T OOLKIT（以P YTHON3.5为例） (4)3.3运行安装包中附带的示例 (5)3.3.1在PC上仿真运行示例 (5)3.3.2在RK1808上运行示例 (7)4WINDOWS平台（PYTHON3.6）快速上手指南 (9)4.1环境准备 (9)4.2安装RKNN-T OOLKIT (10)4.3运行安装包中附带的示例 (11)5MAC OS X平台（PYTHON3.6）快速上手指南 (14)5.1环境准备 (14)5.2安装RKNN-T OOLKIT (14)5.3运行安装包中附带的示例 (15)6ARM64平台（PYTHON3.5）快速上手指南 (17)6.1环境准备 (17)6.2安装RKNN-T OOLKIT (17)6.3运行安装包中附带的示例 (18)7参考文档 (21)1 主要功能说明RKNN-Toolkit是为用户提供在PC、RK3399Pro、RK1808、TB-RK1808 AI计算棒或RK3399Pro Linux开发板上进行模型转换、推理和性能评估的开发套件，用户通过提供的python接口可以便捷地完成以下功能：1)模型转换：支持Caffe、TensorFlow、TensorFlow Lite、ONNX、Darknet、Pytorch、MXNet模型转成RKNN模型，支持RKNN模型导入导出，后续能够在硬件平台上加载使用。

RK平台Realtek WiFi驱动移植说明

密级状态：绝密()秘密()内部(√)公开()RK平台Realtek WiFi驱动移植说明（系统产品一部）文件状态：[]正在修改[√]正式发布当前版本：V1.0作者：胡卫国完成日期：2015-03-13审核：完成日期：福州瑞芯微电子有限公司Fuzhou Rockchips Semiconductor Co.,Ltd(版本所有,翻版必究)版本历史版本号作者修改日期修改说明备注V1.0胡卫国2015-03-13初始版本目录1REALTEK驱动基本情况说明 (2)2WIFI驱动移植 (3)2.1WIFI驱动入口函数 (3)2.2电源控制及SDIO识别操作 (4)2.3M AKEFILE配置修改 (5)2.4使用自定义W I F I MAC地址 (6)3BT固件更新 (7)1Realtek驱动基本情况说明Realtek系列WiFi BT芯片，如RTL8188EU,RTL8189ES,RTL8723系列，驱动移植包都是类似的目录结构，驱动代码目录结构也类似。

以RTL8188EUS_RTL8189ES_linux_v4.1.8_9499.20131104.zip为例解压之后里面包含文档、驱动源码包、android reference代码等内容，具体如下：Android部分RK一般都已经移植好集成到SDK中，由于Realtek驱动更新比较频繁，所以客户最常遇到的事情就是更新WiFi驱动。

2WiFi驱动移植可对比SDK Kernel中已经移植好的驱动与Realtek的驱动进行合并。

驱动在以下目录drivers/net/wireless/rockchip_wlan/针对kernel3.10版本drivers/net/wireless/针对kernel3.0版本2.1wifi驱动入口函数Realtek提供的驱动入口函数为：module_init(rtw_drv_entry);module_exit(rtw_drv_halt);在以下文件中：os_dep\linux\sdio_intf.c针对sdio接口wifios_dep\linux\usb_intf.c针对usb接口wifiRK平台做了稍微修改，主要是为了增加RK版本信息打印及wifi gpio电源控制，启动sdio 识别。

RK3399 MCU 开发指南说明书

RK3399 MCU 开发指南文件标识：RK-KF-YF-124发布版本：V1.3.0日期：2021-01-14文件密级：□绝密 □秘密 □内部资料 ■公开免责声明本文档按“现状”提供，瑞芯微电子股份有限公司（“本公司”，下同）不对本文档的任何陈述、信息和内容的准确性、可靠性、完整性、适销性、特定目的性和非侵权性提供任何明示或暗示的声明或保证。

本文档仅作为使用指导的参考。

由于产品版本升级或其他原因，本文档将可能在未经任何通知的情况下，不定期进行更新或修改。

商标声明“Rockchip”、“瑞芯微”、“瑞芯”均为本公司的注册商标，归本公司所有。

本文档可能提及的其他所有注册商标或商标，由其各自拥有者所有。

瑞芯微电子股份有限公司Fuzhou Rockchip Electronics Co., Ltd.地址：福建省福州市铜盘路软件园A区18号网址：客户服务电话： +86-4007-700-590客户服务传真： +86-591-83951833客户服务邮箱：******************前言概述本文档主要介绍Rockchip RK3399 MCU开发的基本方法。

产品版本芯片名称内核版本RK3399 4.4读者对象本文档（本指南）主要适用于以下工程师：技术支持工程师软件开发工程师修订记录日期版本作者修改说明2017-09-20V1.0.0王明成初始版本2017-12-27V1.1.0王明成修订文档格式2020-08-17V1.2.0王明成修订文档格式，修正代码下载路径等2021-01-14V1.3.0王明成文档重命名，修正demo目录显示等RK3399 MCU 开发指南1. Rockchip MCU简介2. 开发基础2.1 运行前配置2.1.1 启动地址2.1.2 地址映射2.1.3 时钟配置2.1.4 复位撤销2.2 其它配置2.2.1 JTAG使能配置2.3 MCU与主控通信2.3.1 Mailbox2.3.2 共享内存3. Demo程序3.1 代码获取3.2 代码简介3.2.1 目录结构3.2.2 编译方法3.2.3 中断编程4. MCU调试4.1 JTAG调试4.2 串口打印4.3 读写寄存器5. 参考文档1. Rockchip MCU简介ARM® Cortex®-M处理器系列具有灵活性、易用性、高性能、低功耗等特点。

代数几何符号歩

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树莓派安装中文字库

树莓派安装中文字库
2020年12月16日
树莓派默认是采用英文字库的，而且系统里没有预装中文字库，所以即使你在locale中改成中文，也不会显示中文，只会显示一堆方块。

因此需要我们手动来安装中文字体。

好在有一个中文字体是免费开源使用的。

ssh中输入以下命令：sudo apt-get install ttf-wqy-zenhei
安装过程中如果碰到(Y/n)，都选择y
中文字库安装完成之后，还需要安装一个中文输入法。

输入如下命令sudo apt-get install scim-pinyin
一样的安装过程，安装完毕后输入
sudo raspi-config
然后选择change_locale，在Default locale for the system environment:中选择zh_CN.UTF-8,配置完成之后，输入命令sudo reboot
重启完成好就可以在VNC连接上去后使用中文显示和中文输入法了，切换中文输入法一样也是ctrl+space。

RIMO System Manual E22_730_0085221_001_01

Safety information in these operating instructions ........................................................................... 9 For your safety ................................................................................................................................. 9 Intended use ................................................................................................................................... 10 Transport ........................................................................................................................................ 10 Configuration assistance ................................................................................................................ 11 Safety regulations, protective measures ........................................................................................ 11 Information on environmental behavior and disposal .................................................................... 11 Valid standards and directives ....................................................................................................... 12

A MODULAR INHERENTLY NONFINITELY BASED LATTICE

A MODULAR INHERENTLYNONFINITELY BASED LATTICERALPH FREESE,GEORGE MCNULTY,AND J.B.NATIONIn[4]we gave a construction of inherently nonﬁnitely based lattices which produced a wide variety of examples.But none of these examples was mod-ular and we asked in Problem1for a modular example.Here we shall show that L∞of Figure1is such an example.Theorem1.L∞is an inherently nonﬁnitely based modular lattice. Proof.As observed in McNulty[6],a locallyﬁnite variety V ofﬁnite type is inherently nonﬁnitely based if and only if for inﬁnitely many natural numbers N,there is a non-locally-ﬁnite algebra each of whose N-generated subalgebras belongs to V.We prove the theorem by establishing these facts. We assume the reader is familiar with the basic facts of modular lattices; see[1],[2],[5].Let B(for bottom)be the sublattice of L∞consisting of all elements of ﬁnite height and let T consist of all elements ofﬁnite depth.Of course L∞is the ordinal(or linear)sum B+T of these sublattices.Lemma2.The variety V(L∞)generated by L∞is locallyﬁnite.Proof.To prove this we need to show that for everyﬁnite n there is a bound on the size of the n–generated subalgebras of L∞.We do this by induction on n.Suppose that x1,...,x n are elements of L∞and let S be the sublattice they generate.We may assume that all of these elements either lie in B or they all lie in T since otherwise S is the ordinal sum of two sublattices with fewer generators.By duality we may assume they all lie in B.Thus each x k has a rank(or height)r k.Observe that if a and b are elements of B with ranks r a and r b and r b−r a≥4then the meet of all elements with rank at least r b is greater than or equal to the join of all elements with rank at most r a.So if we let r k be the rank of x k and(re)order the x k’s so that r1≤r2≤···≤r n then we may assume r k+1−r k≤3since otherwise S is a ordinal sum of sublattices with fewer generators.Thus S lies in an interval of L∞which has length at most3(n+2).All intervals of L∞ofﬁxed length have a bound on their size.Thus S is of bounded size.Let M3be theﬁve element modular,nondistributive lattice and let Z be integers as a chain.Let M3[Z]be the lattice of all order-preserving functions2RALPH FREESE,GEORGE MCNULTY,AND J.B.NATIONFigure1.L∞,an inherently nonﬁnitely based modular latticefrom Z to M3.If x∈M3letx embedds M3in M3[Z].(3)If v≺u in M3,then the interval[u]is1+Z+1(the ordinal sum).(4)If a is an atom of M3and0is its least element,then M3[Z]isgenerated by the constanst maps and the interval[a].(5)The(left)shift operatorσ[(σf)(i)=f(i+1)]is an automorphismof M3[Z].We wish do something similar with L∞and other modular lattices.So let L be a modular lattice.We start by forming M the lattice of all order-preserving maps from Z into L.This lattice is bigger than we want;weA MODULAR INHERENTLY NONFINITELY BASED LATTICE3 would like that intervals of L which are chains remain chains in M under the natural(diagonal)embedding(denoted x→v≤x≤a to4RALPH FREESE,GEORGE MCNULTY,AND J.B.NATIONa 2e 2Figure 2.L10cFigure 3.M 33needs to verify that every element of M 33[Z ]is either below a ,w h i c h i s s t r a i g h t f o r w a r d .A typical element of [b ]is c i ,where c i is the function c i (k )=a if k ≤i and b otherwise.Instead of using the identity map when gluing the two M 3[Z ]’s,we could use the shift map:c i →c i −1,obtaining a lattice M 33[Z ]∗.It is easy to check that M 33[Z ]∗∼=M 33[Z ].In L n −{u,v }there are two element of each odd dimension.We can arrange these elements into two chains s 1<s 3<···<s n −1and r 1<r 3<···<r n −1;see Figure 2.We have s 1<r 3and one can verify that every element in L n [Z ]is either in the principal ideal I generated bys 1and thus L n [Z ]is the Hall-Dilworth gluing of I and F .I is isomorphic to M 33[Z ].Let L n [Z ]∗be the result of gluing M 33[Z ]∗to F using the identity map on the interval [r 3].A MODULAR INHERENTLY NONFINITELY BASED LATTICE5Unlike the situation with M33[Z]∗,L n[Z]∗is not isomorphic to L n[Z].In fact L n has the sequence of transpositions[0,v] [a2,s3] [s1,b2] [e4,r5] [r3,d4]··· [u,1] ··· [r1,d2] [e2,r3] [0,v] where a i,b i∈[s i−1,s i+1]and d i,e i∈[r i−1,r i+1]are the four irreducibleelements of rank i,i even.Of course this deﬁnes an automorphism on[v]in L n[Z]but since the sequence of transpositions goes through the shifted interval,this automor-phism is the shift,sending each element x with v to its lower cover. Thus the sublattice of L n[Z]∗generate by L n and any element v is inﬁnite(in fact it is all of L n[Z]∗,but we do not use this fact).In order to complete the proof of Theorem1it suﬃces to show that for each N we can choose n large enough so that the N–generated sublattices of L n[Z]∗lie in V(L∞)=V(L∞[Z]).As usual we view L n as embedded in L n[Z]∗by the diagonal map.Every element of x∈L n[Z]∗lies in a uniquely determined complemented interval[z x,t x]of L n of minimal dimension.z x is just the join of all elements of L n below x and t x is deﬁned dually.Of course the dimension(in L n)of[z x,t x]is at most2.Thus we may assign to each element x of L n[Z]∗an lower and upper rank(the ranks in L n of z x and t x) and these diﬀer by at most2.So if we let S be an N–generated sublattice of L n[Z]∗then an argument similar to the proof of Lemma2shows that, if S is linearly indecomposable,it lies in an interval[b]of L n[Z]∗where the dimension of[a,b]in L n is at most5(N+2).It follows that,for any N–generated sublattice S,if n>5(N+2)+4then either S lies in the ﬁlter[s1, ,s n−1]or is the linear sum of two such lattices.So it suﬃces to show that thisﬁlter and ideal are isomorphic to sublattices of L∞[Z].For theﬁlter this is straightforward since theﬁlter does not contain the shifted interval.Let I denote the ideal.To see that it is also embedable into L∞[Z]let P n be theﬁlter[s1,1]of K n.(Recall K n is L n with u removed.) Now I is isomorphic it K n[Z]∗and K n[Z]is naturally embeddable into B and so into L∞[Z].Thus it suﬃces to show that K n[Z]∼=K n[Z]∗.In P n every prime interval is projective with either[r1∨s1,s3]or[r1∨s1,r3], but not both.So P n is a subdirect product of two lattices,say Q and R,and P n[Z]is a subdirect product of Q[Z]and R[Z].So P n[Z]has an automorphismτwhich is the shift operator on one of these factors and the identity on the other.To makeτexplicit let x∈P n[Z]and let z x and t x be the element of P n deﬁned above.If z x=t x then x∈P n andτ(x)=x. Suppose the dimension of[z x,t x]is1.If[z x,t x]projects to[r1∨s1,r3] then we apply the shift operator on[t x]to x;that isτ(x)is the unique upper cover of x in[t x].If[z x,t x]projects to[r1∨s1,r3]thenτ(x)=x. If the dimension of[z x,t x]is2then[z x,t x]is isomorphic to either M3or 2×2.In the former case if the prime quotients of[z x,t x]∼=M3project to [r1∨s1,r3]the we apply the shift operator to x,otherwise x isﬁxed.Finally6RALPH FREESE,GEORGE MCNULTY,AND J.B.NATIONif[z x,t x]∼=2×2and r and s are the atoms of[z x,t x],then x=(x∧s) andτ(x)=τ(x∧s).Now we deﬁneρ:K n[Z]→K n[Z]∗.If x≥s1t h e nx≤r1,ρapplies the shift operator to x;otherwiseρ(x)=x.Since[r3]in K n[Z]∗is obtained from gluing two copies of M3by applying the shift operator to the top copy,ρrestricted to [r3]is an isomorphism.Finally one checks thatρis one-to-one and onto and that it preserves order and so is an isomorphism.This completes the proof of Theorem1.References[1]P.Crawley and R.P.Dilworth,Algebraic theory of lattices,Prentice-Hall,EnglewoodCliﬀs,New Jersey,1973.[2]B.A.Davey and H.A.Priestley,An introduction to lattices and order,CambridgeUniversity Press,Cambridge,1989.[3]R.Freese,J.Jeˇz ek,and J.B.Nation,Lattices with large minimal extensions,AlgebraUniversalis45(2001),221–309.[4]Ralph Freese,George F.McNulty,and J.B.Nation,Inherently nonﬁnitely based lat-tices,Annals of Pure and Applied Logic115(2002),175–193,online manuscript avail-able at:/∼ralph/papers.html.[5]Ralph McKenzie,George McNulty,and Walter Taylor,Algebras,lattices,varieties,Volume I,Wadsworth and Brooks/Cole,Monterey,California,1987.[6]G.McNulty,How to constructﬁnite algebras which are notﬁnitely based,UniversalAlgebra and Lattice Theory,Springer-Verlag,New York,1985,er,ed.,Lecture Notes in Mathematics,vol.1149,pp.167–174.University of Hawaii,Honolulu,HI96822E-mail address:ralph@University of South carolina,Columbia,SC29208E-mail address:mcnulty@University of Hawaii,Honolulu,HI96822E-mail address:jb@。

Raspberry Pi CM4 基于的边缘计算机说明书

—————————————————————————————————————————————————EdgeBox-RPI4User Manual V1.0 Raspberry PI CM4Based Edge computerRevision HistoryContents1.Introduction (4)1.1Features (4)1.2Interfaces (5)1.3Block Diagram (7)2.Installation (8)2.1Mounting (8)2.2Connectors and Interfaces (9)2.2.1Power supply (9)2.2.2Serial Port(RS232and RS485) (9)2.2.3DI&DO (10)2.2.4HDMI (11)2.2.5Ethernet (11)2.2.6USB HOST (12)2.2.7Console(USB typeC) (12)2.2.8LED (12)2.2.9SMA Connector2.2.10NANO SIM card slot (14)2.2.11Mini-PCIe (15)2.2.12M.2 (16)3.Drivers and Programming Interfaces (17)3.1LED (17)3.2Serial Port(RS232and RS485) (18)3.3Cellular over Mini-PCIe (18)3.4WDT (21)3.4.1Block Diagram of WDT (21)3.4.2How it works (21)3.5RTC (21)3.5.1 (21)3.5.2 (22)3.10UPS for safe shut down (22)4.Electrical specifications (24)4.1Power consumption (24)4.2UPS (24)5.Mechanical Drawings (24)1.IntroductionEdgeBox-RPI4is a rugged fanless Edge Computing Controller with Raspberry Pi Computer Module4(CM4) for harsh industry environment.It can be used to connect the field networks with cloud or IoT applications.It is designed from the ground up to meet the challenges of rugged applications at competitive prices,ideal for small business or small order with scale milti-level demands.1.1FeaturesState-of-the-art Aluminium chassis for Harsh environmentIntegrated passive heat sinkBuilt-in mini PCIe socket for RF module,such as4G,WI-FI,Lora or ZigbeeSMA antenna holes x2Built in UPS with supercap for safe shutdownEncryption chip ATECC608AHardware WatchdogRTC with Super CapacitorIsolated DI&DO terminal35mm DIN Rail supportWide power supply from9to36V DCThese features make the EdgeBox-RPI4designed for easy setup and quick deployment for typical industrial applications,such as status monitoring,facility management,digital signage and remote control of public utilities.Furthermore,it is a user-friendly gateway solution with4cores ARM Cortex A72and most industry protocols can save on total deployment costs including electrical power cabling cost and help reduce the product’s deployment time.Its ultra-lightweight and compact design is the answer for applications in space-constricting environments ensures it can operate reliably in a variety of extreme environments including in-vehicle applications.1.2Interfaces1Multi-Func phoenix connectorNote Func name PIN#PIN#Func name Note POWER12GNDRS485_A34RS232_RXRS485_B56RS232_TXRS485_GND78RS232_GNDDI0-910DO0_0DI0+1112DO0_1DI1-1314DO1_0DI1+1516DO1_1NOTE:24awg to16awg cable are suggested2Ethernet connector3USB2.0x24HDMI5LED26LED17SMA antenna18Console(USB type C)9SIM card slot10SMA antenna21.3Block DiagramThe processing core of the EdgeBox-RPI4is a Raspberry CM4board.A OpenEmbed specific base board implements the specific features.Refer to next figure for the block diagram.2.Installation2.1MountingThe EdgeBox-RPI4is intended for two wall mounts,as well one with35mm DIN-rail.Refer to next figure for the recommended mounting orientation.2.2Connectors and Interfaces2.2.1Power supplyPin#Signal Description1POWER_IN DC9-36V2GND Ground(Reference potential)The PE signal is optional.If there is no EMI present,the PE connection can left open.2.2.2Serial Port(RS232and RS485)Pin#Signal Description4RS232_RX RS232receive line6RS232_TX RS232transmit line8GND Ground(Reference potential)Pin#Signal Description 3RS485_A RS485difference line high 5RS485_B RS485difference line low 7RS485_GNDRS485Ground (isolated from GND)The RS485_GND signal is isolated with “GND”signal.If a shielded twisted pair wire is used ,the RS485_GND is connected to the shield.NOTE:The 120Ohm termination resistor for RS485has been installed inside.2.2.3DI&DOPin#Signal of terminal PIN Level of active PIN of GPIO fromBCM2711NOTE09DI0-HIGH GPIO1711DI0+13DI1-HIGH GPIO2715DI1+10DO0_0HIGH GPIO2312DO0_114DO1_0HIGHGPIO2416DO1_1NOTE:NOTE:1.DC voltage for input is24V(+-10%).2.DC voltage for output should be under60V,the current capacity is500ma.3.Channel0and channel1of input are isolated to each other4.Channel0and channel1of output are isolated to each other2.2.4HDMIDirectly connected to the Raspberry PI CM4board with TVS array.2.2.5EthernetEthernet interface is same as Raspberry PI CM4,10/100/1000-BaseT supported,available through the shieldedmodular jack.Twisted pair cable or shielded t wisted pair cable can be used to connect to this port.2.2.6USB HOSTThere are two USB interfaces at the connector panel.The two ports share the same electronic fuse.NOTE:Max current for both ports is limited to1000ma.2.2.7Console(USB typeC)The design of console used a USB-UART converter,most OS of the computer have the driver,if not,the link below may be useful:https:///products/interface/usb-bridges/classic-usb-bridges/device.cp2104This port is used as a Linux console default.You can log into the OS use the settings of115200,8n1(Bits:8, Parity:None,Stop Bits:1,Flow Control:None).A terminal program such as putty is needed,too.The default user name is pi and password is raspberry.2.2.8LEDEdgeBox-RPI4use two green/red dual colour LED as outside indicators.LED1:green as power indicator and red as eMMC active.LED2:green as4G indicator and red as user programmable led connected to GPIO21,low active,programmable.EdgeBox-RPI4also use two green colour LED for debug.2.2.9SMA ConnectorThere are two SMA Connector holes for antennas.The antenna types are very depend on what modules fitted into the Mini-PCIe socket.The ANT1is default used for Mini-PCIe socket and ANT2is for Internal WI-FI signal from CM4module.NOTES:1.The functions of the antennas are not fixed,maybe adjusted to cover other usage.2.2.10NANO SIM card slotThe sim card is only needed in cellular(4G,LTE or others based on cellular technology)mode.NOTES:1.O nly NANO Sim card is accepted,pay attention to the card size.2.The NANO sim card is inserted with chip side top.2.2.11Mini-PCIeThe orange area is the rough Mini-PCIe add-on card position,only one m2x5screw is needed.The table below show all the signals.Full size Mini-PCIe card are supported.NOTE2:4G_PWR is the individual power supply for Mini-PCIe card.It can be shout down or turn on by the GPIO6of CM4,the control signal is high active.C7222uFC0805NOTE3:4G_LED signal is connected to LED2internally,refer to section of2.2.8.NOTE4:SPI1signals are used only for LoraWAN card,such as SX1301,SX1302from the third company.2.2.12M.2EdgeBox-RPI4equipped a M.2socket of M KEY type.ONLY2242size NVME SSD card is support,NOT msata.3.Drivers and Programming Interfaces3.1LEDThe is a LED used as user indicator,refer to2.2.8.Use LED2as a example to test the function.$sudo-i#enable root account privileges$cd/sys/class/gpio$echo21>export#GPIO21which is user LED of LED2$cd gpio21$echo out>direction$echo0>value#turn on the user LED,LOW activeOR$echo1>value#turn off the user LED3.2Serial Port(RS232and RS485)There are two individual serial ports in the system.The/dev/ttyUSB1as RS232port and/dev/ttyUSB0as e RS232as a example.$python>>>import serial>>>ser=serial.Serial('/dev/ttyUSB1',115200,timeout=1)>>>ser.isOpen()true>>>ser.isOpen()>>>ser.write('1234567890')103.3Cellular over Mini-PCIeUse Quectel EC20as a example and follow the steps:1.Insert the EC20into Mini-PCIe socket and micro sim card in related slot,connect the antenna.2.Log in the system via console use pi/raspberry.3.Turn on the power of Mini-PCIe socket and release the reset signal.$sudo-i#enable root account privileges$cd/sys/class/gpio$echo6>export#GPIO6which is POW_ON signal$echo5>export#GPIO5which is reset signal$cd gpio6$echo out>direction$echo1>value#turn on the power of Mini PCIeAND$cd gpio5$echo out>direction$echo1>value#release the reset signal of Mini PCIeNOTE:Then the LED of4G is start to flash.4.Check the device:$lsusb$Bus001Device005:ID2c7c:0125Quectel Wireless Solutions Co.,Ltd.EC25LTE modem……$dmesg$……[185.421911]usb1-1.3:new high-speed USB device number5using dwc_otg[185.561937]usb1-1.3:New USB device found,idVendor=2c7c,idProduct=0125,bcdDevice=3.18 [185.561953]usb1-1.3:New USB device strings:Mfr=1,Product=2,SerialNumber=0[185.561963]usb1-1.3:Product:Android[185.561972]usb1-1.3:Manufacturer:Android[185.651402]usbcore:registered new interface driver cdc_wdm[185.665545]usbcore:registered new interface driver option[185.665593]usbserial:USB Serial support registered for GSM modem(1-port)[185.665973]option1-1.3:1.0:GSM modem(1-port)converter detected[185.666283]usb1-1.3:GSM modem(1-port)converter now attached to ttyUSB2[185.666499]option1-1.3:1.1:GSM modem(1-port)converter detected[185.666701]usb1-1.3:GSM modem(1-port)converter now attached to ttyUSB3[185.666880]option1-1.3:1.2:GSM modem(1-port)converter detected[185.667048]usb1-1.3:GSM modem(1-port)converter now attached to ttyUSB4[185.667220]option1-1.3:1.3:GSM modem(1-port)converter detected[185.667384]usb1-1.3:GSM modem(1-port)converter now attached to ttyUSB5[185.667810]qmi_wwan1-1.3:1.4:cdc-wdm0:USB WDM device[185.669160]qmi_wwan1-1.3:1.4wwan0:register'qmi_wwan'at b-1.3,WWAN/QMI device,xx:xx:xx:xx:xx:xxxx:xx:xx:xx:xx:xx is the MAC address.$ifconfig-a……wwan0:flags=4163<UP,BROADCAST,RUNNING,MULTICAST>mtu1500inet169.254.69.13netmask255.255.0.0broadcast169.254.255.255inet6fe80::8bc:5a1a:204a:1a4b prefixlen64scopeid0x20<link>ether0a:e6:41:60:cf:42txqueuelen1000(Ethernet)RX packets0bytes0(0.0B)RX errors0dropped0overruns0frame0TX packets165bytes11660(11.3KiB)TX errors0dropped0overruns0carrier0collisions05.How to use AT command$miniterm---Available ports:---1:/dev/ttyAMA0'ttyAMA0'---2:/dev/ttyUSB0'CP2105Dual USB to UART Bridge Controller'---3:/dev/ttyUSB1'CP2105Dual USB to UART Bridge Controller'---4:/dev/ttyUSB2'Android'---5:/dev/ttyUSB3'Android'---6:/dev/ttyUSB4'Android'---7:/dev/ttyUSB5'Android'---Enter port index or full name:$miniterm/dev/ttyUSB5115200Some useful AT command:AT//should return OKAT+QINISTAT//return the initialization status of(U)SIM card,the response should be7AT+QCCID//returns the ICCID(Integrated Circuit Card Identifier)number of the(U)SIM card 6.How to dial$su root$cd/usr/app/linux-ppp-scripts$./quectel-pppd.shThen the4G led is flashing.If success,the return like this:7.Add the router path$route add default gw10.64.64.64or your gateway XX.XX.XX.XXThen have a test$ping 3.4WDT3.4.1Block Diagram of WDTThe WDT module have three terminals,input ,output and LED indicator.Note:The LED is optional and not available in earlier hardware version.3.4.2How it works1.System POWER ON.2.Delay 200ms.3.Send WDO a negative pulse with 200ms low level to reset the system.4.Pull up WDO.5.Delay 120seconds while the indicator flashing(typical 1hz).6.Turn off the indicator.7.Wait for 8pulses at WDI to active WDT module and light the LED.8.Get Into WDT-FEED mode ,at least one pulse should be feed into WDI in at least every 2seconds,if not,the WDT module should output a negative pulse to reset the system.9.Goto 2.3.5RTC3.5.1The chip of RTC is MCP79410from microchip.It is mounted on the system I2C bus.The OS itself has the driver inside,only we need are some configurations.3.5.2Open/etc/rc.local AND add2lines:echo"mcp7941x0x6f">/sys/class/i2c-adapter/i2c-1/new_devicehwclock-sThen reset the system and the RTC is working.Note：1.make sure the i2c-1driver point is open,and the point is closed default.2.the estimated backup time of the RTC is15days.3.10UPS for safe shut downThe UPS module diagram is listed below.The UPS module is inserted between the DC5V and CM4,a GPIO is used to alarm CPU when the5V power supply is down.Then the CPU should do something urgent in a script before energy exhaustion of super capacitor and run a“$shutdown”Another way to use this function is Initiate a shutdown when GPIO pin changes.The given GPIO pin is configured as an input key that generates KEY_POWER events.This event is handled by systemd-logind by initiating ashutdown.Systemd versions older than225need an udev rule enable listening to the inputdevice:Use/boot/overlays/README as reference,then modify/boot/config.txt. dtoverlay=gpio-shutdown,gpio_pin=GPIO22,active_low=1NOTE:The alarm signal is active LOW.4.Electrical specifications4.1Power consumptionThe power consumption of the EdgeBox-RPI4strongly depends on the application,the mode of operation and the peripheral devices connected.The given values have to be seen as approximate values. The following table shows power consumption parameters of the EdgeBox-RPI4:Note:On condition of power supply24V,no add-on card in sockets and no USB devices.4.2UPSThe backup time of UPS module is very depend on the system load of the system.Some typical conditions are listed below.The test module of CM4is4GB LPDDR4,32GB eMMC with Wi-FI module.5.Mechanical DrawingsTBD。

TPS2554 and TPS2555 Evaluation Module User's Guide

User's GuideSLVU462–June2011TPS2554and TPS2555Evaluation Module This user’s guide describes the evaluation module(EVM)for the TPS2554and TPS2555.TPS2554and TPS2555are precision-adjustable,current-limited,power-distribution switches.The document contains an operational description of the EVM,schematic,board layout,and bill of materials.Contents1Description (2)1.1Features (2)1.2Applications (2)2Schematic (3)3General Configuration and Description (4)3.1Physical Access (4)3.2Current-Limit Setpoint (4)3.3Test Setup (4)4EVM Assembly Drawings and Layout Guidelines (5)4.1Layout Guidelines (5)4.2PCB Drawings (5)5Bill of Materials (8)List of Figures1TPS2554/5EVM Schematic (3)2Typical TPS2554/5EVM Test Setup (5)3Top-Side Placement and Routing (6)4Layer-Two Routing (6)5Layer-Three Routing (7)6Bottom-Side Placement and Routing (7)List of Tables1User Interface (4)2Test Points (4)3EVM Bill of Materials (8)1 SLVU462–June2011TPS2554and TPS2555Evaluation Module Submit Documentation FeedbackCopyright©2011,Texas Instruments IncorporatedDescription 1DescriptionThe TPS2554EVM-010evaluation module allows reference circuit evaluation of the Texas Instruments TPS2554and TPS2555power-distribution switches.1.1Features•Precision adjustable,current-limited,power-distribution switch•Fast overcurrent response–1µs typical•80-mΩ,high-side MOSFET•Operating range:4.5V to5.5V1.2Applications•USB ports/hubs•Notebook personal computers(PC)2TPS2554and TPS2555Evaluation Module SLVU462–June2011Submit Documentation FeedbackCopyright©2011,Texas Instruments IncorporatedGeneral Configuration and Description 3General Configuration and Description3.1Physical AccessTable1lists the TPS2554/5EVM connector functionality,and Table2describes the test point availability.er InterfaceConnector Label DescriptionJ1VIN Input connectorJ2VOUT Output connectorJ3J3Input voltage jumper.Shunt can be removed to measure input current.J4J4Output voltage jumper.Shunt can be removed to measure output current.J5EN Enable jumper.Leave open to enable TPS2554and install shunt to enable TPS2555.J6ILIM_SEL Current limit select.Install shunt to select ILIM0(2.4A nominal),and remove shunt toselect ILIM1(1.2A nominal).D1(RED)FLT Fault LEDTable2.Test PointsTest Point Color Label DescriptionTP3RED IN Power switch input(IC side of J3shunt)TP4BLK GND Power switch input groundTP1WHT FLT Fault pin outputTP2RED VOUT Power switch outputTP5BLK GND Power switch output groundTP6WHT EN Enable pin input3.2Current-Limit SetpointR4and R5configure the current-limit setpoint for ILIM0and ILIM1,respectively(see J6in Table1).ILIM0or ILIM1setpoint can be adjusted using the following example by substituting R4or R5for RILIMx .In thisexample IOS=2A.The following example is an approximation only and does not take into account the resistor tolerance or the variation of ILIM.For exact variation of ILIM,see the TPS2554/TPS2555data sheet,SLVSAM0.IOS=48000/RILIMx=2ARILIMx=48000/IOS=48000/2=24000ΩChoose RILIMx=23.7kΩIOS=48000/23700=2.03A3.3Test SetupFigure2shows a typical test setup for TPS2554/5EVM.4TPS2554and TPS2555Evaluation Module SLVU462–June2011Submit Documentation FeedbackCopyright©2011,Texas Instruments IncorporatedV INOscilloscope EVM Assembly Drawings and Layout GuidelinesFigure2.Typical TPS2554/5EVM Test Setup4EVM Assembly Drawings and Layout Guidelines4.1Layout Guidelines•TPS2554/55placement:Place the TPS2554/55near the USB output connector and the150-µF OUT pin filter capacitor.Connect the exposed pad to the GND pin and the system ground plane using a viaarray.•IN pin bypass capacitance:Place the100-nF bypass capacitor near the IN and GND pins,and make the connection using a low-inductance trace.•ILIM0and ILIM1pin connections:Current-limit accuracy can be compromised by stray current leakage from a higher voltage source to the ILIM0or ILIM1pins.Ensure that adequate spacing existsbetween IN pin copper/trace and ILIM0pin trace to prevent contaminate buildup during the PCBassembly process.If a low-current-limit setpoint is required(RILIMx >200kΩ),use ILIM1for this case,as it is further away from the IN pin.4.2PCB DrawingsThe Figure3through Figure6show component placement and layout of the EVM.5 SLVU462–June2011TPS2554and TPS2555Evaluation Module Submit Documentation FeedbackCopyright©2011,Texas Instruments IncorporatedEVM Assembly Drawings and Layout Guidelines Figure 3.Top-Side Placement and RoutingFigure yer-Two Routing6TPS2554and TPS2555Evaluation ModuleSLVU462–June 2011Submit Documentation FeedbackCopyright ©2011,Texas Instruments Incorporated EVM Assembly Drawings and Layout Guidelinesyer-Three RoutingFigure6.Bottom-Side Placement and Routing7 SLVU462–June2011TPS2554and TPS2555Evaluation Module Submit Documentation FeedbackCopyright©2011,Texas Instruments IncorporatedEvaluation Board/Kit Important NoticeTexas Instruments(TI)provides the enclosed product(s)under the following conditions:This evaluation board/kit is intended for use for ENGINEERING DEVELOPMENT,DEMONSTRATION,OR EVALUATION PURPOSES ONLY and is not considered by TI to be a finished end-product fit for general consumer use.Persons handling the product(s)must have electronics training and observe good engineering practice standards.As such,the goods being provided are not intended to be complete in terms of required design-,marketing-,and/or manufacturing-related protective considerations, including product safety and environmental measures typically found in end products that incorporate such semiconductor components or circuit boards.This evaluation board/kit does not fall within the scope of the European Union directives regarding electromagnetic compatibility,restricted substances(RoHS),recycling(WEEE),FCC,CE or UL,and therefore may not meet the technical requirements of these directives or other related directives.Should this evaluation board/kit not meet the specifications indicated in the User’s Guide,the board/kit may be returned within30 days from the date of delivery for a full refund.THE FOREGOING WARRANTY IS THE EXCLUSIVE WARRANTY MADE BY SELLER TO BUYER AND IS IN LIEU OF ALL OTHER WARRANTIES,EXPRESSED,IMPLIED,OR STATUTORY,INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE.The user assumes all responsibility and liability for proper and safe handling of the goods.Further,the user indemnifies TI from all claims arising from the handling or use of the goods.Due to the open construction of the product,it is the user’s responsibility to take any and all appropriate precautions with regard to electrostatic discharge.EXCEPT TO THE EXTENT OF THE INDEMNITY SET FORTH ABOVE,NEITHER PARTY SHALL BE LIABLE TO THE OTHER FOR ANY INDIRECT,SPECIAL,INCIDENTAL,OR CONSEQUENTIAL DAMAGES.TI currently deals with a variety of customers for products,and therefore our arrangement with the user is not exclusive.TI assumes no liability for applications assistance,customer product design,software performance,or infringement of patents or services described herein.Please read the User’s Guide and,specifically,the Warnings and Restrictions notice in the User’s Guide prior to handling the product.This notice contains important safety information about temperatures and voltages.For additional information on TI’s environmental and/or safety programs,please contact the TI application engineer or visit /esh.No license is granted under any patent right or other intellectual property right of TI covering or relating to any machine,process,or combination in which such TI products or services might be or are used.FCC WarningThis evaluation board/kit is intended for use for ENGINEERING DEVELOPMENT,DEMONSTRATION,OR EVALUATION PURPOSES ONLY and is not considered by TI to be a finished end-product fit for general consumer use.It generates,uses,and can radiate radio frequency energy and has not been tested for compliance with the limits of computing devices pursuant to part15 of FCC rules,which are designed to provide reasonable protection against radio frequency interference.Operation of this equipment in other environments may cause interference with radio communications,in which case the user at his own expense will be required to take whatever measures may be required to correct this interference.EVM Warnings and RestrictionsIt is important to operate this EVM within the input voltage range of0V to5.5V and the output voltage range of0V to5.5V. Exceeding the specified input range may cause unexpected operation and/or irreversible damage to the EVM.If there are questions concerning the input range,please contact a TI field representative prior to connecting the input power.Applying loads outside of the specified output range may result in unintended operation and/or possible permanent damage to the EVM.Please consult the EVM User's Guide prior to connecting any load to the EVM output.If there is uncertainty as to the load specification,please contact a TI field representative.During normal operation,some circuit components may have case temperatures greater than85°C.The EVM is designed to operate properly with certain components above85°C as long as the input and output ranges are maintained.These components include but are not limited to linear regulators,switching transistors,pass transistors,and current sense resistors.These types of devices can be identified using the EVM schematic located in the EVM User's Guide.When placing measurement probes near these devices during operation,please be aware that these devices may be very warm to the touch.Mailing Address:Texas Instruments,Post Office Box655303,Dallas,Texas75265Copyright©2011,Texas Instruments IncorporatedIMPORTANT NOTICETexas Instruments Incorporated and its subsidiaries(TI)reserve the right to make corrections,modifications,enhancements,improvements, and other changes to its products and services at any time and to discontinue any product or service without notice.Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete.All products are sold subject to TI’s terms and conditions of sale supplied at the time of order acknowledgment.TI warrants performance of its hardware products to the specifications applicable at the time of sale in accordance with TI’s standard warranty.Testing and other quality control techniques are used to the extent TI deems necessary to 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party,or a license from TI under the patents or other intellectual property of TI.Reproduction of TI information in TI data books or data sheets is permissible only if reproduction is without alteration and is accompanied by all associated warranties,conditions,limitations,and notices.Reproduction of this information with alteration is an unfair and deceptive business practice.TI is not responsible or liable for such altered rmation of third parties may be subject to additional restrictions.Resale of TI products or services with statements different from or beyond the parameters stated by TI for that product or service voids all express and any implied warranties for the associated TI product or service and is an unfair and deceptive business practice.TI is not responsible or liable for any such statements.TI products are not authorized for use in safety-critical applications(such as life support)where a failure of the TI product would reasonably be expected to cause severe personal injury or death,unless officers of the parties have executed an agreement specifically governing such use.Buyers represent that they have all necessary expertise in the safety and regulatory ramifications of their applications,and acknowledge and agree that they are solely responsible for all legal,regulatory and safety-related requirements concerning their products and any use of TI products in such safety-critical applications,notwithstanding any applications-related information or support that may be provided by TI.Further,Buyers must fully indemnify TI and its representatives against any damages arising out of the use of TI products in such safety-critical applications.TI products are neither designed nor intended for use in military/aerospace applications or environments unless the TI products are specifically designated by TI as military-grade or"enhanced plastic."Only products designated by TI as military-grade meet military specifications.Buyers acknowledge and agree that any such use of TI products which TI has not designated as military-grade is solely at the Buyer's risk,and that they are solely responsible for compliance with all legal and regulatory requirements in connection with such use. TI products are neither designed nor intended for use in automotive applications or environments unless the specific TI products are designated by TI as compliant with ISO/TS16949requirements.Buyers acknowledge and agree that,if they use any non-designated products in automotive applications,TI will not be responsible for any failure to meet such requirements.Following are URLs where you can obtain information on other Texas Instruments products and application solutions:Products ApplicationsAudio /audio Communications and Telecom /communicationsAmplifiers Computers and Peripherals /computersData Converters Consumer Electronics /consumer-appsDLP®Products Energy and Lighting /energyDSP Industrial /industrialClocks and Timers /clocks Medical /medicalInterface Security /securityLogic Space,Avionics and Defense /space-avionics-defense Power Mgmt Transportation and /automotiveAutomotiveMicrocontrollers Video and Imaging /videoRFID Wireless /wireless-appsRF/IF and ZigBee®Solutions /lprfTI E2E Community Home Page Mailing Address:Texas Instruments,Post Office Box655303,Dallas,Texas75265Copyright©2011,Texas Instruments Incorporated。

类人机器人套件介绍

类人机器人套件介绍1.专家版专门为学生与研究者与机器人爱好者开发的高级机器人套件。

结合了行为仿真、通讯（UART、IR、ZigBee）、图像辨别、传感器、机械及嵌入式系统(Embedded system)六大领域，并提供了图形化的行为操纵编程器，运动编辑器。

专家版配备有无线镜头模块, ZigBee无线通讯模块, 影像处理函数, 及C语言程序开发环境.还能够根据客户需要，独立添加各类传感器。

它非常适合给在大专院校, 理工科系的机器人课程使用。

专家版套件用于科研与教学：●单芯片操纵: 机器人的CM-5操纵器是使用Atmel公司的ATMega128, 16Mhz单芯片。

能够使用WinAVR程序开发工具, 开发单芯片机器人操纵程序, 有助于懂得机器人的电路图, I/O输出输入, A/D转换。

● C 编程语言驱动机器人：本套件是一套十分友好的 GCC(Ansi-C: freeware)编程语言学习工具，大家可学习到以C编程语言技巧得以操纵嵌入式微处理器操纵板。

●无线操纵机器人：可利用ZIG-100无线ZigBee通讯模块，学习在个人局域网络(PAN)内做机器人无线操纵。

●个人计算机动态操纵：能够以动态方式联机个人计算机直接操控机器人，经动态连接组件直接操控连接图。

●机器人视觉：能把镜头影像以无线方式传送回操纵计算机USB接收组件，在计算机接收到影像后能够通过软件加以分析．再结合基本影像处理函数(如Edge detection), 开发影像操纵程序●运动关节串联操纵:可由 PC 的 USB 口直接串接最多256个 Dynamixel 系列的模块做操纵●逻辑能力训练: 机器人的行为反应规划, 如对声音的反应, 对温度的反应, 疲劳时的行为, 对物体的感知, 按钮或者远程摇控等等, 都是一连串逻辑程序的规划●机器人步态规划算法：本套件为机械动力架构主体，在完成机器人搭建后，运用反向关节运动原理,设计其步态动作，并可研究类人机器人步态规划方法。

树莓派入门使用手册官方屏一体机入门手册

Raspberry Pi 3官方套件入门指南(Rev.A)i目录第1章 (1)Raspberry PI 3官方套件介绍 (1)1.1产品概述 (1)1.1.1Raspberry Pi 3套件特点 (1)1.1.2Raspberry Pi 3套件介绍 (2)1.2技术支持及详细资料 (4)第2章 (5)Raspberry Pi 3官方套件安装 (5)2.1R ASPBERRY P I 3套件软件系统安装 (5)2.1.1.SD卡安装NOOBS系统 (5)2.1.2.SD卡安装Raspbian系统 (7)2.1.3.旋转屏显 (8)2.2R ASPBERRY P I 3套件硬件安装 (8)2.2.1安装散热片 (9)2.2.2安装SD卡 (9)2.2.3安装触摸屏 (9)2.2.4安装外壳 (12)2.2.5电源连接 (13)第3章 (14)Raspberry Pi 3套件的软件入门操作 (14)3.1R ASPBERRY P I 3套件软件操作准备工作 (14)3.1.1上电准备 (14)3.1.2旋转屏显 (14)3.2R ASPBERRY P I 3网络连接 (15)3.2.1有线网络连接 (15)3.2.2WiFi网络连接 (16)3.3R ASPBERRY P I 3系统更新及升级 (16)3.3.1更新系统 (16)3.3.2升级系统 (17)3.3.3查看SD卡的空间 (17)3.4R ASPBERRY P I 3安装其他应用文件 (17)附录A (18)Raspberry Pi 3 GPIO定义 (18)A.140PIN GPIO定义 (18)第1章Raspberry PI 3官方套件介绍1.1 产品概述Rasapberry Pi（中译：树莓派）是能够和一个键盘一起插入你的电视的信用卡大小的电脑。

这是一个性能足够强的小电脑，可以在电子工程中使用，并且能够做许多台式电脑做的事情，比如制作电子表格，处理文档和玩游戏。

RK 24.1（9.0）波音压力无onde械年型C Нитрожген底 № —rg型备量桢说明书

I A CCURACY•• Accuracy: ±(0.015% of reading *), ±(0.025% of reading *), or ±(0.05% of reading)Repeatab il i t y: ± 0.005% of readingTemperature Coefficient: ± 0.00167% of rdg / °C outs i de of 23°(*Down to 10inH2O.±(0.0596 of reading) below 1 O inH2O** See ordering information for details.I W EIGHT MASSES Pressure Range: 0.145 to 300 psi /1 to 2000 kPaGrav i t y: 9.80655 m/s 2 (lnt'I standard) Local Gravity (Specify)Wate r Column Reference: 20°( (ISA standard)60°F (AGA standard, specify when ordering) Ava i lable Units: psi, kg/cm 2, bar, kPa, inH 2O, cmH 2O, and in H gI P RESSURE SOURCE Source: Nitrogen or instrument /shop air •Maximum S upp l y Pressure: 450 psi /3100 kPaMinimum Supply Pressure: 30 psi /210 kPa ••Flow Rate: 1 scfh at 0.15 psi / 28 slh at 1 kPa output 60 scfh at 300 psi/ 1700 slh at 2000 kPa output• /SA quality standard 7.3.• • Or 15096 of desired output pressure.24.1 (9.0) 0 -I I I I I i I I I I I I I�-�l ---.-------------.------J f7----------------\ �3 ! \ •Q I \ r ..1I I I [ AU D I MENS I ONS IN CM {IN) 0 0 l 38.1 (15.0) 1 (1)I I IlTester Enclosure 5505.A RK Data Sheet.\METEK ®Page 1 of 3 TEST • CAUBRATION INSTRUMENTS Test Equipment Depot - 800.517.8431 - 99 Washington Street Melrose, MA 02176 - I M ODELS, SPECIFICATIONS, AND OPTIONS I S TANDARD DELIVERYModel Certified R ange In crement RK-50 1 to51 psi 1 psiRK-100 1 to 101 psi 1 psiRK-200 1 to 201 psi 1 psiRK-300 1 to 301 psi 1 psiRK-4M 0.01 to 4 kg/c m2 0.01 kg/c m2 RK-8M 0.01 to 8 kg/c m2 0.01 kg/c m2 RK-20M 0.01 to 20 kg/c m2 0.01 kg/c m2 RK-2B 0.01 to 2 bar 0.01 bar RK-4B 0.01 to 4 bar 0.01 bar RK-8B 0.01 to 8 bar 0.01 bar RK-12B 0.Ql to 12 bar 0.Ql bar RK-20B 0.Ql to20bar 0.Ql bar RK-200N 1 to 211 kPa 1 kPaRK-400N 1 to411 kPa 1 kPaRK-800N 1 to 811 kPa 1 kPaRK-1200N 1 to 1211 kPa 1 kPaRK-2000N 1 to2011 kPa 1 kPaRK-l00WC 4 to 104 inH,O 1 inH20 RK-300WC 4 to 314 inH20 1 inH20 RK�00WC 4 to 614 inH,O 1 inH20 RK-110WC 4to1114inH20 1 inH20 RK-1600WC 4 to 1614 inH,O 1 inH20 RK-500CM 5 to 510 c mH,O l0cmH,O RK-l00OCM 10 to 1010 c mH,O l0cmH,O RK-2000CM 10 to 2010 c mH,O l0cmH,O RK-3000CM 10 to 3010 c mH,O l0cmH,O RK-4000CM 10to4010cmH,O l0cmH,O RK-l00H 1 to 112 inHg 0.1 inHg W eight Carrier and Ball Output1 psi1 psi1 psi1 psi0.01 kg/c m20.Ql and 0.02 kg/c m20.01 and 0.02 kg/c m20.Ql bar0.01 bar0.Ql and 0.02 bar0.01 and 0.02 bar0.Ql and 0.02 bar1 kPa1 kPa1 and2 kPa1 and2 kPa1 and2 kPa4 inH204 inH204 inH204 inH204inH20l0cmH,Ol0cmH,Ol0cmH,Ol0cmH,Ol0cmH,O1 inHg►Calibration and Accuracy Options(specify standard or lo cal gravity)Suffix Ac cura cy Data(omit) ± (0.05% of reading) 0IC ± (0.05% of reading) •-1 B± (0.025% of reading) 0-1B/C± (0.025% of reading) •-lA± (0.015% of reading) 0-lNC± (0.015% of reading) •0 Standard traceable certificate.•Includes effective area, nominal p ressure,and actual p ressure data.I O RDERING INFORMATION►Sample Part NumbersIBm!J ...0.05 % o f reading, 1to 301 psi range.IBlfl ...0.05 % o f reading, 0.01 to 20 bar range, with test data.rnwN@a-a ...0.015 %of reading,4 to 314InH20 range, with test data.•Tester base with case•Weight Set•Manual•NISTTraceable CertificateI A CCESSORIESGauge Pointer Puller Set P/N1 G T-99Tripod P/N K-1562Adapter to CPF Fitting Line P/N MPF-1S MPTCPF Hose P/N MPH-11 meter hose(additional sizes and c ustom l engths available)Small Incremental Weights in psi, bar, kPa, k g/cml, inH20, and cmH20RWS-.1 W C Aluminum wei ght set converts 1 inH,O units to 0.1 inH,O i ncrementsRWS-. 1Aluminum w eight set converts 1 psi units toO.l psi incrementsRWS-.1 K PA Aluminum weight set, c onverts 1 kPaunits to 0.1 kPa incrementsRWS-.1 C M Aluminum w eight set converts 10 cmH,O units to 1 cmH,O i ncrementsRWS-.001 B Aluminum w eight set, converts 0.01 bar units to 0.001 bar incrementsRWS-.001 M Aluminum w eight set, converts 0.1 kg/cm' u nits t o 0.001 kg/cm' i ncrementsI C OMPLEMENTARY PRODUCTSAMETEK offers a w ide range of products thatwork with the RK:•Fittings that connect without tools, safely a nd without leads•Lightweight, su p er flexible high p ressure hose•Dig i tal Test Gauge•Reference Recorder•Pressure CalibratorSS0S.A RK Data SheetPage 3 of3.\METEK®TEST A CAUBRATION INSTRUMENTSTest Equipment Depot - 800.517.8431 - 99 Washington Street Melrose, MA 02176 - 。

城市智慧警务研究热点及趋势

第2期鲁#研究N0.2 2021 年 4 月Police Science Research Apr.，2021城市智慧警务研究热点及趋势孙柏霖\卢国显2(1.南京市公安局，江苏南京210018;2.中国人民公安大学，北京 100038)摘要：近十年来，我国智慧警务以公安机关新一轮科技信息化改革发展为依托，从无到有，从提出到发展，从基层摸索实践到理论总结成型，经历了一个快速上升时期。

对智慧警务研究的核心作者、核心机构、关键词等展开分析，结果显示近十年来我国智慧警务研究呈现快速上升趋势，广泛使用的大数据、人工智能、云计算等技术将极大改变我国现有警务运行理念与模式。

为此需要对智慧警务研究前沿动态加以讨论，同时要关注大数据时代警察执法活动与保障公民权利之间的矛盾，加强法律规制与道德规范，培养高素质警务人才。

关键词：智慧警务；大数据；物联网；人工智能；科技强警中图分类号：D631.1文献标识码：A文章编号：1671-0541 (2021) 02-0117-12智慧警务是未来我国公安机关着力发展和改革的重点，是新时代警务改革的必然选择。

智慧警务是以互联网、大数据、人工智能、物联网、云计算、知识管理、信息挖掘等新一代信息技术为支撑，以警务工作的信息化、数字化为核心，通过万物互联、信息可视、资源整合、智能协调的方式,促进警察组织系统各个子功能模块形成集成化运作模式，达到警务数据信息“深度整合、高度共享、广泛应用”的目标，实现警务改革发展的新理念和新模式。

一、数据来源及研究方法(一）数据来源在中国知网C N K I下属的中国学术期刊总库中，选取C A J D期刊数据库作为数据来源，收稿日期：2020-11-20作者简介：孙柏霖，南京市公安局民警；卢国显，中国人民公安大学治安学院教授，社会学博士基金项目：本文^2019年度江苏省扬州市法学会重点项目“虚拟社会治理能力及其现代化”研究成果之一。

•117-誓含研究2〇2丨年•第2期C A J D数据库收录8 000余种国内刊物，总文献量超过5 700万。

使用cmake进行交叉编译

使⽤cmake进⾏交叉编译cmake 因为“⼜”要额外学⼀门语⾔⽽被诟病，但这并不妨碍越来越多私⼈项⽬⽤ cmake 来管理；autoconfig 确实是更好的发⾏⼯具，但⽤cmake 管理项⽬显然更加的容易。

如果要应⽤这些 cmake 管理的项⽬到嵌⼊式环境中，必然涉及交叉编译的问题。

这些项⽬交叉编译，主要是设置⼀些环境变量。

这些设定可以写成⼀个 .cmake ⽂件，1) 需要交叉编译时 include ，2)或者直接把这些配置写到 CMakeLists.txt ⽂件的开始位置。

两种⽅法是等效的。

⽤下⾯语句应⽤写好的配置。

include (cross.cmake)下⾯是收集的⼏个针对 arm 平台的交叉编译配置，参考这两个配置，根据⾃⼰平台的不同，进⾏定制修改即可。

（感觉直接制定编译器即可？待验证）配置1SET(CROSS_COMPILE 1)IF(CROSS_COMPILE)SET(CMAKE_SYSTEM_NAME Linux)SET(TOOLCHAIN_DIR "/home/zchx/Tools/opt/FriendlyARM/toolschain/4.5.1")set(CMAKE_CXX_COMPILER ${TOOLCHAIN_DIR}/bin/arm-linux-g++)set(CMAKE_C_COMPILER ${TOOLCHAIN_DIR}/bin/arm-linux-gcc)set(GNU_FLAGS "-mfpu=vfp -fPIC")set(CMAKE_CXX_FLAGS "${GNU_FLAGS} ")set(CMAKE_C_FLAGS "${GNU_FLAGS} ")SET(CMAKE_FIND_ROOT_PATH ${TOOLCHAIN_DIR}${TOOLCHAIN_DIR}/arm-none-linux-gnueabi/include${TOOLCHAIN_DIR}/arm-none-linux-gnueabi/lib )include_directories(/usr/local/Trolltech/QtEmbedded-4.8.5-arm/include/)include_directories(/home/zchx/Downloads/boost_1_49_0_arm)link_directories(/home/zchx/Downloads/boost_1_49_0_arm/stage/lib)link_directories(/home/zchx/Downloads/ffmpeg-1.0.8-arm/ffmpeglib/)link_directories(/usr/local/Trolltech/QtEmbedded-4.8.5-arm/lib)link_directories(/home/zchx/Downloads/live_arm/BasicUsageEnvironment/)link_directories(/home/zchx/Downloads/live_arm/groupsock/)link_directories(/home/zchx/Downloads/live_arm/liveMedia/)link_directories(/home/zchx/Downloads/live_arm/UsageEnvironment/)ENDIF(CROSS_COMPILE)配置2#告知当前使⽤的是交叉编译⽅式，必须配置SET(CMAKE_SYSTEM_NAME Linux)#指定编译⼯具，⼀定要设置#或交叉编译器使⽤绝对地址SET(CMAKE_C_COMPILER "arm-linux-gcc")#指定C++交叉编译器SET(CMAKE_CXX_COMPILER "arm-linux-g++")#不⼀定需要设置#指定交叉编译环境安装⽬录...SET(CMAKE_FIND_ROOT_PATH "...")#从来不在指定⽬录下查找⼯具程序SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)#只在指定⽬录下查找库⽂件SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)#只在指定⽬录下查找头⽂件SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)配置3SET(CMAKE_SYSTEM_NAME Linux)SET(CMAKE_SYSTEM_PROCESSOR arm)SET(TOOLCHAIN_DIR "/opt/mv_pro_4.0/montavista/pro/devkit/arm/v5t_le")SET(CMAKE_FIND_ROOT_PATH ${TOOLCHAIN_DIR})SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)SET(CMAKE_C_COMPILER ${TOOLCHAIN_DIR}/bin/arm_v5t_le-gcc) SET(CMAKE_CXX_COMPILER ${TOOLCHAIN_DIR}/bin/arm_v5t_le-g++)。

树莓派自定义“灯带函数”

树莓派自定义“灯带函数”作者：牟晓东来源：《电脑报》2021年第17期众所周知，函数是程序设计语言的“基石”，即“组织好的、可重复使用的、用来实现单一或相关功能的代码段”。

Python本身提供了功能丰富的“内置函数”，可以在命令行模式中输入“dir （__builtins__）”命令进行查看，例如求绝对值函数、求最大值和最小值函数，还包括input输入和print输出函数等（如图1）。

此時，可以直接在命令行交互模式下使用内置函数，比如输入“abs（-7）”来求解-7的绝对值，回车后就会返回数值7;输入“max（0，6，-99，28）”求解四个数中的最大值，就会返回数值28。

另外，Python还支持用户根据自己的不同需求进行自定义函数操作，比如编写一个能够同时求解二数之和、之差的函数sum_sub（）：def sum_sub（a，b）：return（a+b，a-b）输入“sum_sub（8，5）”进行测试，回车后就会返回两个结果：13和3（如图2）。

在开源硬件编程中使用Python可以灵活地控制各种周边硬件，从而实现更为丰富的功能。

我们在树莓派中使用Python进行函数的自定义编写，控制灯带模仿现实生活中十字路口的红绿灯，分别是单函数“带参”的红绿灯带和双函数“无参”的红绿灯带。

1.准备工作将可编程ws281x灯带通过古德微扩展板的18号接口与树莓派连接，注意灯带的三根引线分别标注+5V、GND和Din，不要接反。

在树莓派中通过Python编程控制灯带需要安装rpi_ws281x库模块，因此需要通过“Windows的远程桌面”连接树莓派。

在控制终端命令行模式中输入命令：“sudo pip3 installrpi_ws281x adafruit-circuitpython-neopixel”，回车后等待进度条到达100%后会有“Successfully installed”的提示（如图3）。

2.Python单函数“带参”控制红绿灯带（1）首先，以“ws”为别名导入rpi_ws281x库：“import rpi_ws281x as ws”，再导入time库中的sleep函数：“from time import sleep”;接着，设置灯带中激活的“灯珠”数量LED_COUNT值为60：“LED_COUNT = 60”，灯带接入的端口号LED_PIN是18号：“LED_PIN = 18”，并且创建灯带对象strip，实例化PixelStrip，参数为LED_COUNT和LED_PIN：“strip = ws.PixelStrip （LED_COUNT， LED_PIN）”，语句“strip.begin（）”的作用是对灯带进行初始化。

树莓派Pico RP2040微控制器说明书

ColophonCopyright © 2020-2023 Raspberry Pi Ltd (formerly Raspberry Pi (Trading) Ltd.)The documentation of the RP2040 microcontroller is licensed under a Creative Commons Attribution-NoDerivatives 4.0 International (CC BY-ND).Portions Copyright © 2019 Synopsys, Inc.All rights reserved. Used with permission. Synopsys & DesignWare are registered trademarks of Synopsys, Inc.Portions Copyright © 2000-2001, 2005, 2007, 2009, 2011-2012, 2016 ARM Limited.All rights reserved. Used with permission.build-date: 2023-06-14build-version: a6fe703-cleanLegal disclaimer noticeTECHNICAL AND RELIABILITY DATA FOR RASPBERRY PI PRODUCTS (INCLUDING DATASHEETS) AS MODIFIED FROM TIME TO TIME (“RESOURCES”) ARE PROVIDED BY RASPBERRY PI LTD (“RPL”) "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW IN NO EVENT SHALL RPL BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THE RESOURCES, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.RPL reserves the right to make any enhancements, improvements, corrections or any other modifications to the RESOURCES or any products described in them at any time and without further notice.The RESOURCES are intended for skilled users with suitable levels of design knowledge. Users are solely responsible for their selection and use of the RESOURCES and any application of the products described in them. User agrees to indemnify and hold RPL harmless against all liabilities, costs, damages or other losses arising out of their use of the RESOURCES.RPL grants users permission to use the RESOURCES solely in conjunction with the Raspberry Pi products. All other use of the RESOURCES is prohibited. No licence is granted to any other RPL or other third party intellectual property right.HIGH RISK ACTIVITIES. Raspberry Pi products are not designed, manufactured or intended for use in hazardous environments requiring fail safe performance, such as in the operation of nuclear facilities, aircraft navigation or communication systems, air traffic control, weapons systems or safety-critical applications (including life support systems and other medical devices), in which the failure of the products could lead directly to death, personal injury or severe physical or environmental damage (“High Risk Activities”). RPL specifically disclaims any express or implied warranty of fitness for High Risk Activities and accepts no liability for use or inclusions of Raspberry Pi products in High Risk Activities.Raspberry Pi products are provided subject to RPL’s Standard Terms. RPL’s provision of the RESOURCES does notexpressed in them.Table of contentsColophon. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Legal disclaimer notice. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91.1. Why is the chip called RP2040?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91.2. Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101.3. The Chip. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101.4. Pinout Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.4.1. Pin Locations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.4.2. Pin Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.4.3. GPIO Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132. System Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152.1. Bus Fabric. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152.1.1. AHB-Lite Crossbar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162.1.2. Atomic Register Access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182.1.3. APB Bridge. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182.1.4. Narrow IO Register Writes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182.1.5. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192.2. Address Map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.2.1. Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.2.2. Detail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252.3. Processor subsystem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272.3.1. SIO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272.3.2. Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602.3.3. Event Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612.3.4. Debug. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612.4. Cortex-M0+. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622.4.1. Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632.4.2. Functional Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642.4.3. Programmer’s model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692.4.4. System control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742.4.5. NVIC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742.4.6. MPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 762.4.7. Debug. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 762.4.8. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772.5. DMA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 912.5.1. Configuring Channels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 922.5.2. Starting Channels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 942.5.3. Data Request (DREQ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 952.5.4. Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 972.5.5. Additional Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 972.5.6. Example Use Cases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 982.5.7. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1022.6. Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1212.6.1. ROM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1212.6.2. SRAM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1222.6.3. Flash. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1232.7. Boot Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1302.8. Bootrom. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1302.8.1. Processor Controlled Boot Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1312.8.2. Launching Code On Processor Core 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1332.8.3. Bootrom Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1342.8.4. USB Mass Storage Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1452.8.5. USB PICOBOOT Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1462.9. Power Supplies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1522.9.3. On-Chip Voltage Regulator Input Supply (VREG_VIN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1532.9.4. USB PHY Supply (USB_VDD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1532.9.5. ADC Supply (ADC_AVDD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1542.9.6. Power Supply Sequencing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1542.9.7. Power Supply Schemes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 2.10. Core Supply Regulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1572.10.1. Application Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1572.10.2. Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1582.10.3. Output Voltage Select. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1592.10.4. Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1592.10.5. Current Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1592.10.6. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1592.10.7. Detailed Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 2.11. Power Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1622.11.1. Top-level Clock Gates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1622.11.2. SLEEP State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1632.11.3. DORMANT State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1632.11.4. Memory Power Down. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1632.11.5. Programmer’s Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 2.12. Chip-Level Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1652.12.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1652.12.2. Power-on Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1662.12.3. Brown-out Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1672.12.4. Supply Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1692.12.5. External Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1692.12.6. Rescue Debug Port Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1692.12.7. Source of Last Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1692.12.8. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 2.13. Power-On State Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1702.13.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1702.13.2. Power On Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1702.13.3. Register Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1712.13.4. Interaction with Watchdog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1712.13.5. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 2.14. Subsystem Resets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1742.14.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1742.14.2. Programmer’s Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1752.14.3. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 2.15. Clocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1802.15.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1802.15.2. Clock sources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1812.15.3. Clock Generators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1842.15.4. Frequency Counter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1882.15.5. Resus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1882.15.6. Programmer’s Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1892.15.7. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 2.16. Crystal Oscillator (XOSC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2162.16.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2162.16.2. Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2162.16.3. Startup Delay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2172.16.4. XOSC Counter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2172.16.5. DORMANT mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2172.16.6. Programmer’s Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2182.16.7. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 2.17. Ring Oscillator (ROSC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2212.17.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2212.17.2. ROSC/XOSC trade-offs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2212.17.3. Modifying the frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2222.17.6. ROSC Counter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2222.17.7. DORMANT mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2232.17.8. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2232.18. PLL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2272.18.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2272.18.2. Calculating PLL parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2282.18.3. Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2312.18.4. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2332.19. GPIO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2352.19.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2352.19.2. Function Select. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2362.19.3. Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2382.19.4. Pads. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2392.19.5. Software Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2392.19.6. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2432.20. Sysinfo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3032.20.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3032.20.2. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3032.21. Syscfg. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3042.21.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3042.21.2. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3042.22. TBMAN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3072.22.1. List of Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3073. PIO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3093.1. Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3093.2. Programmer’s Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3103.2.1. PIO Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3103.2.2. Control Flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3113.2.3. Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3123.2.4. Stalling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3153.2.5. Pin Mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3163.2.6. IRQ Flags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3163.2.7. Interactions Between State Machines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3163.3. PIO Assembler (pioasm). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3173.3.1. Directives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3173.3.2. Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3183.3.3. Expressions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3183.3.4. Comments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3183.3.5. Labels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3183.3.6. Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3193.3.7. Pseudoinstructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3193.4. Instruction Set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3193.4.1. Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3193.4.2. JMP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3203.4.3. WAIT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3213.4.4. IN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3223.4.5. OUT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3233.4.6. PUSH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3243.4.7. PULL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3253.4.8. MOV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3263.4.9. IRQ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3273.4.10. SET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3283.5. Functional Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3293.5.1. Side-set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3293.5.2. Program Wrapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3303.5.3. FIFO Joining. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3323.5.4. Autopush and Autopull. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3333.5.5. Clock Dividers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337。

外贸海运相关术语

外贸外运相关术语LOA LENGTH OVER ALL 船舶全长load loading 装货LOADREADY READY FOR LOADING，READY TO LOAD 已备妥，可装货loc。

local；location 当地；位置Long.，long longitude 经度LPG Liquefied petrochemical gas 液化石油气LSD loading,storage and delivery charges 装船，仓储和交货费用LT LINER TERMS 班轮条款LT letter telegram 书信电报LTA lighter than air system(airships）LTD LIMITED 有限（公司)ltge lighterage 驳运费ltr。

lighter 驳船lump lump sum 包干金额,总数M minimum（rate classification）最低（运费)m metre(s) 米M. MEASUREMENT 按货物的体积计算运价M。

H. Merchants Haulage 商船运输M。

S. MOTOR SHIP 内燃机船M/R mates receipt 大付收据M/R，M。

R。

MATES RECEIPT 大副收据M/S Motor ship 内燃机船M/V Motor vessel 内燃机船M/T,MT METRIC TON OR MOTOR TANKER 公吨或内燃机油轮海运费用术语海运费ocean freight（O/F）集卡运费、短驳费Drayage订舱费booking charge报关费customs clearance fee操作劳务费labour fee or handling charge商检换单费exchange fee for CIP换单费D/O fee拆箱费De-vanning charge卸柜费Destination Delivery Charge(DDC)港杂费port sur—charge电放费B/L surrender fee冲关费emergent declearation change海关查验费customs inspection fee待时费waiting charge仓储费storage fee改单费amendment charge拼箱服务费LCL service charge动、植检疫费animal & plant quarantine fee 移动式其重机费mobile crane charge进出库费warehouse in/out charge提箱费container stuffing charge滞期费demurrage charge滞箱费container detention charge卡车运费cartage fee商检费commodity inspection fee转运费transportation charge污箱费container dirtyness change坏箱费用container damage charge清洁箱费container clearance charge分拨费dispatch charge车上交货FOT ( free on track )电汇手续费T/T fee转境费/过境费I/E bonded charge空运方面的专用术语空运费air freight机场费air terminal charge空运提单费airway bill feeFSC (燃油附加费) fuel surchargeSCC(安全附加费）security sur—charge抽单费D/O fee上海港常用术语内装箱费container loading charge（including inland drayage)疏港费port congestion charge他港常用术语场站费CFS charge文件费document chargeM+R maintenance and repair(centre）维护修理m3 cubic metre(s）立方米MACH modular automated container handlingMAF Manifest Amendment Fee 舱单改单费MAWB Master Air Waybill 总运单(空)MAX MAXIMUM,THE MOST 最大（多）Mdse merchandise 商品MFN Most Favoured Nation 最惠国MIN MINIMUM，THE LEAST 最小（少）MOLOO MORE OR LESS AT OWNERS OPTION 溢短装由船东选择MOLSO MORE OR LESS AT SELLERS OPTION 溢短装由卖方选择msbl missing bill of lading 丢失提单msca missing cargo 灭失货物MT motor tanker 内燃机油轮MTD multimodal transport document 多式联运单证MTO multimodal transport operator 多式联运经营人MTON MEASUREMENT TON 尺码吨MV MOTOR VESSEL 内燃机船N normal(rate classification) 普通货(运价)n.c。