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KOBA789 ࣌ͷྲྀΕ͕ڐͤͳ͍ ,FSOFM7.୳ݕୂ!๺཮1BSU

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KOBA789 ప໷Ͱͭ͘͹͔ΒंͰདྷ·ͨ͠ʢ৸ෆ଍ʣ w ࢓ࣄͷ࿩͸͠·ͤΜ w ࢓ࣄͷ࿩͸͠·ͤΜʢʣ w ͏͔ͬΓձࣾͷ1$Λ͖࣋ͬͯͨͷͰ͍ͭ΋ͷࣗݾ঺հςϯϓϨʔτ͕ͳ͍

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ಈ͘Α͏ʹͳΓ·ͨ͠ ΫϦελϧͷཪ໘ʹ৴߸ઢ͕௨ͬͯͯΫϩοΫ͕๫Ε͍ͯͨͷ͕ݪҼ

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࣌ͷྲྀΕ͕ڐͤͳ͍

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Έͳ͞Μ΋ͦ͏Ͱ͢Ͷʁ

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ࢲͩͬͯͦ͏ͩ

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ͭͷϚΠίϯͰ࣌ࠁΛಉظ͍ͨ͠ ΈΜͳେ޷͖6"35ͰλΠϜελϯϓΛૹΔ .$6 # .$6 " lz

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ͭͷϚΠίϯͰ࣌ࠁΛಉظ͍ͨ͠ ΈΜͳେ޷͖6"35ͰλΠϜελϯϓΛૹΔ #ͷ࣌ܭ͕ͪΐͬͱ͚ͩ஗ΕΔ .$6 # .$6 " lz

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ͭͷϚΠίϯͰ࣌ࠁΛಉظ͍ͨ͠ ΈΜͳେ޷͖6"35ͰλΠϜελϯϓΛૹΔ #ͷ࣌ܭ͕ͪΐͬͱ͚ͩ஗ΕΔ .$6 # .$6 " lz ͳ͔ͥʁ

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6"35ͷ࢓૊Έ CBVEͳΒ#ZUFૹΔͷʹ໿NT͔͔Δ https://vanhunteradams.com/Protocols/UART/UART.html ˺ ੨͍෦෼͸KOBA789ʹΑΔՃච

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6"35ͷ࢓૊Έ #ZUFͷ࣌ࠁΛૹͬͨΒ໿NT஗Ԇ͢Δ .$6# .$6" ໿NT #ͷ࣌ܭ͕NT஗ΕΔ

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6"35ͷ࢓૊Έ #ZUFͷ࣌ࠁΛૹͬͨΒ໿NT஗Ԇ͢Δ .$6# .$6" ໿NT #ͷ࣌ܭ͕NT஗ΕΔ NT Ҿ͍ͨΒʁ

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·͊஗Ԇ͕ίϯελϯτͳΒ ͦΕͰ͍͍ΜͰ͢Α

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͕ͩࣄଶ͸ͦ͏୯७Ͱ͸ͳ͍

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let time = gettimeofday(); send(time);

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let time = gettimeofday(); send(time); ߦ໨͕࣮ߦ͞Ε͔ͯΒ ߦ໨͕࣮ߦ͞ΕΔ·Ͱͷ஗Ԇ͸ʁ

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ߦ໨ͱߦ໨ͷؒʹ͋Δ஗Ԇ Α͋͘Γ͕ͪͳϚΠίϯͷ৔߹ w ී௨ʹ໋ྩ࣮ߦʹ͔͔ΔαΠΫϧ෼͚ͩ஗Ԇ͢Δ w ༏ઌ౓ͷߴׂ͍ΓࠐΈ͕ೖΕ͹஗Ԇ͢ΔʢཁΫϦςΟΧϧηΫγϣϯʣ w ࠷ۙͷϚΠίϯͰ͸ w $16͕଎͍͗ͯ͢Ζ͍Ζ͕૬ରతʹ஗͍ͷͰΩϟογϡ͕͋Δ w ΩϟογϡώοτPSOPUͰ஗Ԇ͕࣌ؒมԽʢඇܾఆ࿦తʣ w 5$.ͱ͔࢖͑͹Ϛγʹ͸ͳΔ͕ w 0VUPG0SEFS࣮ߦ͢Δ w ίʔυಡΉ͚ͩͰ͸஗Ԇ͕࣌ؒΘ͔Βͳ͍ʢࣄ্࣮ඇܾఆ࿦తʣ

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let time = gettimeofday(); send(time);

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let time = gettimeofday(); send(time); ͦ΋ͦ΋TFOE ͷ࣮૷͸ʁ

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Α͋͘Δ6"35ૹ৴ϖϦϑΣϥϧʢงғؾʣ ૹ৴'*'0 5%3 ͕ϝϞϦϚοϓ͞Ε͍ۭͯͯʹͳΔͱׂΓࠐΈ͕ೖΔ 4IJGU SFHJTUFS EFQUI '*'0 59 %"5" όε $16 %"5" '*'0&NQUZ *OUFSSVQU 5%3

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5%3ʹ஋Λॻ͖ࠐΉͱૹ৴͞ΕΔ ͨͱ͑͹5%3ͷΞυϨεΛY@ͱ͢Δ *(uint32_t*)0x400001000 = 'A'; core::ptr::write_volatile(0x400001000 as *mut u8, b'A');

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5%3ʹ஋Λॻ͖ࠐΉͱૹ৴͞ΕΔ EFQUI'*'0ͳΒจࣈ·Ͱ͸Ұؾʹॻ͚Δ͕ɺӽ͑ΔͱᷓΕΔ core::ptr::write_volatile(0x40000100 as *mut u8, b'0'); core::ptr::write_volatile(0x40000100 as *mut u8, b'1'); core::ptr::write_volatile(0x40000100 as *mut u8, b'2'); core::ptr::write_volatile(0x40000100 as *mut u8, b'3'); core::ptr::write_volatile(0x40000100 as *mut u8, b'4'); core::ptr::write_volatile(0x40000100 as *mut u8, b'5'); core::ptr::write_volatile(0x40000100 as *mut u8, b'6'); core::ptr::write_volatile(0x40000100 as *mut u8, b'7'); core::ptr::write_volatile(0x40000100 as *mut u8, b'8'); core::ptr::write_volatile(0x40000100 as *mut u8, b'9'); core::ptr::write_volatile(0x40000100 as *mut u8, b'A'); core::ptr::write_volatile(0x40000100 as *mut u8, b'B'); core::ptr::write_volatile(0x40000100 as *mut u8, b'C'); core::ptr::write_volatile(0x40000100 as *mut u8, b'D'); core::ptr::write_volatile(0x40000100 as *mut u8, b'E'); core::ptr::write_volatile(0x40000100 as *mut u8, b’F'); // ͔͜͜Βઌ͸ᷓΕΔ

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Α͋͘Δ6"35υϥΠόʢงғؾʣ %."ͷ͜ͱ͸Ұ୴๨Ε͍ͯͩ͘͞ w TFOE w ·ͣ'*'0ͷۭ͖༰ྔ෼͚ͩॻ͘ w ᷓΕͨ෼͸ιϑτ΢ΣΞόοϑΝʹॻ͘ w &NQUZ'*'0ׂΓࠐΈ w '*'0ͷۭ͖༰ྔ෼͚ͩιϑτ΢ΣΞόοϑΝ͔ΒҠ͢

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΋͏͓෼͔ΓͰ͢Ͷʁ

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όοϑΝɾ'*'0͕ ٧·ͬͯͨΒ ଈ࠲ʹ͸ૹ৴͞Εͳ͍ ʢͦΕ͸ͦ͏ʣ

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ͯ͞

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Α͋͘Δ6"35ड৴ϖϦϑΣϥϧʢงғؾʣ ड৴'*'0 3%3 ͕ϝϞϦϚοϓ͞Ε͍ͯͯ஋͕དྷΔͱׂΓࠐΈ͕ೖΔ 4IJGU SFHJTUFS EFQUI '*'0 39 %"5" όε $16 %"5" '*'0/PO&NQUZ *OUFSSVQU 3%3

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3%3͔Β஋ΛಡΉͱ'*'0͔ΒQPQ͞ΕΔ ͨͱ͑͹3%3ͷΞυϨεΛY@ͱ͢Δ uint8_t r = *(uint32_t*)0x40000200; // r == 'A' let r = core::ptr::read_volatile(0x40000100 as *const u8); // r == b’A'

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Α͋͘Δ6"35υϥΠόʢงғؾʣ %."ͷ͜ͱ͸Ұ୴๨Ε͍ͯͩ͘͞ʢʣ w /POFNQUZ'*'0ׂΓࠐΈ w '*'0ͷ಺༰Λιϑτ΢ΣΞόοϑΝʹҠ͢ w ͜ΕΛ͠ͳ͍ͱ'*'0͸༰қʹᷓΕΔ w SFDW w ιϑτ΢ΣΞόοϑΝ͔ΒಡΈग़͢

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ड৴σʔλͷಡΈऔΓ͸͍͘ΒͰ΋஗Ԇ͢Δ ΋͏͓Θ͔ΓͰ͢Ͷʢʣ w ΞϓϦέʔγϣϯ͕ιϑτ΢ΣΞόοϑΝΛ͍ͭಡΉ͔͸ࣗ༝ w ׂΓࠐΈϋϯυϥ͕ݺ͹ΕΔλΠϛϯά͸ʜʜʁ w ΞςʹͳΒͳ͍ w ผͷΫϦςΟΧϧηΫγϣϯͰεϐϯϩοΫͯͨ͠Β஗ΕΔ w $PSUFY.Ͱ͸ׂΓࠐΈͷԣऔΓͱ͔ͰϨΠςϯγ͕ζϨΔ

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ࠔΔ

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ࠔΔͷͰɺΑ͋͘Δํ๏ʢ6"35114ʣ ඵ͝ͱʹύϧεΛೖྗ͠ɺͦΕΛϋʔυ΢ΣΞͰΩϟϓνϟ͢Δ .$6 # .$6 " lz ʮࠓͰ͢ʂʯ

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*OQVU$BQUVSF0VUQVU$PNQBSF ΠέͯΔϚΠίϯͷλΠϚʹ͸͍͍ͩͨ͋Δ w *OQVU$BQUVSF w ύϧεೖྗΛτϦΨʔʹͯ͠ɺΧ΢ϯλͷ஋ΛϨδελʹΩϟϓνϟ w ιϑτ΢ΣΞͷλΠϛϯάʹґଘͤͣਖ਼֬ͳλΠϛϯά͕औΕΔ w (1*0ׂΓࠐΈͱ͸શ͘ผͷػೳ w 0VUQVU$PNQBSF w Χ΢ϯλͷ஋ΛτϦΨʔʹͯ͠ɺύϧεΛग़ྗ w ιϑτ΢ΣΞͷλΠϛϯάʹґଘͤͣʢSZ

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ΊͰͨ͠ΊͰͨ͠ʢʁʣ

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ݪཧతʹ͸੒ཱ͍ͯ͠Δ͕ݱ࣮తʹ͸ࠔΔ 6"35͸࣌ࠁ഑৴ઐ༻Ͱ͸ͳ͍ɻଞͷίϚϯυ΋ૹΓ͍ͨ .$6 # .$6 " lz ʮࠓͰ͢ʂʯ $.%@%0@40.&5)*/( ࠞͬͯ͟͠·͏

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6"35ʹྲྀΕΔσʔλΛ෼ผ͍ͨ͠ ͜ͷ΁ΜͷεϥΠυ͕Ͱ͖ͯͳ͍ w σʔλΛ෼ผ͢Δʹ͸ϔομΛ෇͚Δͷ͕ৗ౟खஈ w ϔομΛ෇͚Δʹ͸ύέοτࢦ޲͡Όͳ͍ͱ͍͚ͳ͍ w ͱ͜ΖͰ6"35͸ͨͩͷ੾Ε໨ͷͳ͍όΠτετϦʔϜ w ύέοτʹ͢Δʹ͸ϓϩτίϧ͕ඞཁ w ͔͠΋ඪ४Խ͞Εͯͳ͍ͱඍਖ΋خ͘͠ͳ͍

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͜ͷ΁ΜͷεϥΠυ͕Ͱ͖ͯͳ͍

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΋͏݁࿦ߦͧ͘

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151 1SFDJTJPO5JNF1SPUPDPM &UIFSOFU্Ͱ/51ΑΓਫ਼ີͳ࣌ࠁಉظΛ͢Δϓϩτίϧ w ൃ૝ͱͯ͠͸/51ͱಉ͡ʢԟ෮ͰϨΠςϯγΛଌΔʣ w େ͖ͳҧ͍͸ϋʔυ΢ΣΞλΠϜελϯϓͷαϙʔτ w &UIFSOFUϑϨʔϜͷ4'%͕1):Λ௨աͨ͠ॠؒͷΧ΢ϯλͷ஋Λ ϋʔυ΢ΣΞͰΩϟϓνϟ͢Δ w ΑΓਫ਼ີʹϨΠςϯγ͕ଌΕΔͷͰVTʙOTΦʔμʔͷਫ਼౓͕ૂ͑Δ w ࣮ࡍʹ͸΋ͬͱ͍Ζ͍Ζ͋Δ͕ɺ͜͜ʹॻ͘ʹ͸४උ͕࣌ؒ଍Βͳ͗͢͞Δ

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151 1SFDJTJPO5JNF1SPUPDPM &UIFSOFU্Ͱ/51ΑΓਫ਼ີͳ࣌ࠁಉظΛ͢Δϓϩτίϧ .$6 # .$6 "

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31J$.ͱळ݄ͷ(14ϞδϡʔϧͰ࡞ΕΔ ͜ͷهࣄಡΜͩΒ؆୯ʹ࡞ΕΔͱࢥ͏ https://www.je ff geerling.com/blog/2022/ptp-and-ieee-1588-hardware-timestamping-on-raspberry-pi-cm4

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/VDMFP 45. Ͱ΋΍Ε͹ಈ͘ ୭΋151ͳΜͯ࢖ͬͯͳ͍ͷͰؾ߹ೖΕ࣮ͯ૷͢Δඞཁ͸͋Δ

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ͱͳΔͱؾʹͳΔ͜ͱ͕ ͋Γ·͢Ͷʁ

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Ϣʔβʔϥϯυͷ"1* Ͳ͏ͳͬͯΜͩ

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#4%TPDLFUʹ λΠϜελϯϓऔΔ"1*͸ͳ͍

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·ͣ͸TFUTPDLPQUͰઃఆ͢Δ https://docs.kernel.org/networking/timestamping.html#so-timestamping-also-so-timestamping-old-and-so-timestamping-new

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·ͣ͸TFUTPDLPQUͰઃఆ͢Δ https://docs.kernel.org/networking/timestamping.html#so-timestamping-also-so-timestamping-old-and-so-timestamping-new

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·ͣ͸TFUTPDLPQUͰઃఆ͢Δ https://docs.kernel.org/networking/timestamping.html#so-timestamping-also-so-timestamping-old-and-so-timestamping-new ΤϥʔΩϡʔʹ ใࠂ͞ΕΔ

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·ͣ͸TFUTPDLPQUͰઃఆ͢Δ https://docs.kernel.org/networking/timestamping.html#so-timestamping-also-so-timestamping-old-and-so-timestamping-new ͸ʁʁʁ

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λΠϜελϯϓ͸ ΠϯλʔϑΣʔεΛ ഁյͯͭ͠Β͍ ʢਫ਼౓ӠʑΑΓͦΕ͕ͭΒ͍ʣ