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ʲ࿈ଓߨ࠲ #4ʳ֓ཁઃܭ͔ΒৄࡉઃܭΛߦ͏ ɹ2022/10/27 ConnpassΠϕϯτ൛ 2022/10/27 ύʔιϧςΫϊϩδʔελοϑגࣜձࣾ Ѩ෦ߞೋ [email protected] ૊ΈࠐΈιϑτ΢ΣΞجૅ

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▪ύʔιϧςΫϊϩδʔελοϑגࣜձࣾ ɹٕज़ຊ෦ɹػిٕज़෦ɹट౎ݍ2GɹѨ෦ɹߞೋʢ͋΂ɹ͜͏͡ʣ ▪ҩྍػث։ൃ ɾ૊ࠐΈιϑτ΢ΣΞ։ൃɻ ɾCݴޠɺϕΞϝλϧͷ։ൃۀ຿ܦݧ͕΄ͱΜͲɻ ࣗݾ঺հ 1 2

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▪ٕज़ॻΛॻ͍ٕͯज़ॻయ13ʹࢀՃͨ͠Γɺ ɹ ▪ϚΠίϯͷίϯςετ(※)ʹࢀՃͨ͠Γɺ ɹ※SPRESENSE™ ׆༻ίϯςετ ɹ૊ࠐΈιϑτ΢ΣΞ։ൃ͕޷͖ͳ͓͡͞ΜͰ͢ɻ ɹΑΖ͓͘͠ئ͍͠·͢ɻ ▪LAPRASϙʔτϑΥϦΦɿhttps://lapras.com/public/k-abe ▪twitter: @juraruming ࣗݾ঺հ 2 3

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• ߨ࠲։࠵ͷഎܠɾ໨త • ຊ೔ͷςʔϚʲ֓ཁઃܭ͔ΒৄࡉઃܭΛߦ͏ʳ • QA • ·ͱΊ • ࣍ճ༧ࠂ ໨࣍ 4

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• ͳʹ͔ςʔϚΛܾΊͯɺιϑτ΢ΣΞ։ൃͷ্ྲྀ޻ఔ͔ΒԼྲྀ޻ఔ·Ͱઆ໌͢Δߨ࠲Λ։࠵͠ɺε ΩϧΞοϓΛਤΔɻ ɹ˙ཁٻ࢓༷ͷཧղɹࢿྉɾهࣄ ɹ˙ཁٻ࢓༷ͷ࢓༷Խɹࢿྉɾهࣄ ɹ˙ઃܭɹ ɹɹ֓ཁɹࢿྉɾهࣄ ɹɹৄࡉɹ˒͍·͜͜ ɹ˙TDD ɹ˙࣮૷ ߨ࠲։࠵ͷഎܠɾ໨త 5

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ςʔϚɿ ʲطଘ૊ࠐΈ੡඼(CQ EVΧʔτ)ͷ ϚΠίϯΛҠ২͢Δʳ ߨ࠲։࠵ͷഎܠɾ໨త 6

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ςʔϚɿʲطଘ૊ࠐΈ੡඼ͷϚΠίϯΛҠ২͢Δʳ ର৅૷ஔɿCQ EVΧʔτ എܠɿ ɾߨࢣ͕͓࣋ͬͯΓɺର৅૷ஔͷυϝΠϯ஌ࣝΛཧղ͍ͯ͠Δɻ ɾιϑτ΢ΣΞͷߏ଄Λཧղ͍ͯ͠Δɻ ɾର৅૷ஔͷϚΠίϯ͕৽ن࠾༻ඇਪ঑඼ʹͳͬͨɻ ɹ⇛ֶशɾεΩϧΞοϓͷͨΊผϚΠίϯʹҠ২ͯ͠ΈΑ͏!!!ɹ ߨ࠲։࠵ͷഎܠɾ໨త 7

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• ߨ࠲։࠵ͷഎܠɾ໨త • ຊ೔ͷςʔϚʲ֓ཁઃܭ͔ΒৄࡉઃܭΛߦ͏ʳ • QA • ·ͱΊ • ࣍ճ༧ࠂ ໨࣍ 8

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• ৄࡉઃܭͷείʔϓ • ৄࡉઃܭͷίϯηϓτ • ۩ମతࣄྫ • ઃܭ࣌ʹߟ͑ͨ͜ͱ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 9

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• ৄࡉઃܭͷείʔϓ • ৄࡉઃܭͷίϯηϓτ • ۩ମతࣄྫ • ઃܭ࣌ʹߟ͑ͨ͜ͱ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 10

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▪ৄࡉઃܭͷείʔϓ ɹʲৄࡉઃܭʳͷఆٛ͸ਓɾձࣾʹΑΓҧ͏ͱࢥ͏ɻ͜ͷΠϕϯτͰͷʲৄࡉઃܭʳ ͷҙຯΛఆٛ͢Δɻ ʲৄࡉઃܭʳ ɾΰʔϧ͸࣮૷͕։࢝Ͱ͖Δཻ౓Ͱॻ͍ͨઃܭਤ͕͋Δঢ়ଶ ɹྫ) ӳޠͰม਺໊ɾؔ਺໊Λॻ͘ɻ ຊ೔ͷςʔϚ ʲ࢓༷͔Β֓ཁઃܭ͢Δʳ 11

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▪ৄࡉઃܭͷείʔϓ ɹલճͷ֓ཁઃܭͰॻ͍ͨઃܭਤ ɹΦϒδΣΫτਤɾঢ়ଶભҠਤ ຊ೔ͷςʔϚ ʲ࢓༷͔Β֓ཁઃܭ͢Δʳ 12

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• ৄࡉઃܭͷείʔϓ • ৄࡉઃܭͷίϯηϓτ • ۩ମతࣄྫ • ઃܭ࣌ʹߟ͑ͨ͜ͱ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 13

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▪ৄࡉઃܭͷίϯηϓτ ɹৄࡉઃܭͷޙ͸TDDͰίʔυΛվળ͍ͯͭ͘͠΋Γɻ ɹඞཁʹԠͯ͡౰ॳͷઃܭ΋దٓมߋ͍ͯ͘͠ɻ ɹιϑτ΢ΣΞͷେ࿮ͷߏ଄Λఆٛ͢Δҙຯ߹͍Ͱઃܭ͢Δɻ ɹৄࡉઃܭޙ͸ݫີʹઃܭਤʹଇΔɺͱ͍͏ελΠϧʹ͠ͳ͍ɻ ຊ೔ͷςʔϚ ʲ࢓༷͔Β֓ཁઃܭ͢Δʳ 14

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• ৄࡉઃܭͷείʔϓ • ৄࡉઃܭͷίϯηϓτ • ۩ମతࣄྫ • ઃܭ࣌ʹߟ͑ͨ͜ͱ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 15

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 16

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 17

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ϋʔυ΢ΣΞϒϩοΫਤɹࢀߟࢿྉ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 18

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ௨ిύλʔϯͱ͸?ɹλΠϛϯάνϟʔτɺද ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 19

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ▪ϗʔϧηϯαͷ੹຿ ɾϞʔλͷݱࡏҐஔΛ0, 1Ͱग़ྗ͢Δɻ ▪௨ిύλʔϯͷ੹຿ ɾϗʔϧηϯαͷϨϕϧʹΑΓFETʹηοτ ͢Δ৴߸ύλʔϯΛࢉग़͢Δɻ ▪FETͷ੹຿ ɾ৴߸ύλʔϯΛઃఆ͢Δ͜ͱͰϞʔλΛ ۦಈͰ͖Δɻ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 20

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ▪௨ిύλʔϯઃఆ͢ΔλΠϛϯά ɹ࣍ͷ2௨ΓͷλΠϛϯάͰ௨ిύλʔϯઃఆͰ͖Δඞཁ͋Γɻ 1) Ϟʔλఀࢭঢ়ଶ͔Βۦಈ͢Δ࣌ ɹυϥΠόʔ͕ΞΫηϧΛ։͚ͨΒϞʔλۦಈ͢Δɻ ɹ὎ϚΠίϯͷೖྗϙʔτͰϗʔϧηϯαͷϨϕϧΛ ɹಡΊ͹ݱࡏͷ௨ిύλʔϯΛೝࣝͰ͖Δ!!! 2) ϞʔλճసʹΑΓϗʔϧηϯαͷग़ྗ͕มԽ͢Δ࣌ ɹϗʔϧηϯαͷˢɾˣΤοδͷ੾ΓସΘΓ ɹ὎ϚΠίϯͷ྆Τοδ֎෦ׂΓࠐΈͰ ɹɹϗʔϧηϯαͷมԽΛݕग़Ͱ͖Δ!!!ɹ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 21

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ɹΫϥεਤͬΆ͍ਤΛॻ͖ɺ੔ཧ͢Δɻ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 22 ※hall_sensor_bitmap: Hall W=2bit, Hall V=1bit, Hall U=0bit HallηϯαͷಡΈࠐΈ஋Λ2ʙ0bitʹϚοϐϯάͨ͠஋ɻ௨ిεςʔδ1Ͱ͋Ε͹0x05(Hall W=1, Hall V=0, Hall U=1) ※pwm_duty: λΠϛϯάνϟʔτͷPWM੍ޚΛߦ͏ظؒͰઃఆ͢ΔPWM Duty(%)ɻ0ʙ100Ͱࢦఆɻ͜ͷਤʹ͸ొ৔͠ͳ͍͕ ΞΫηϧͷ։͖۩߹ʹΑΓPWM DutyΛܾΊΔɻmotor_driver͸0ʙ100(%)ͷPWM DutyΛϚΠίϯػೳͷઃఆ஋(Ϟʔλ੍ޚ ػೳͷλΠϚΧ΢ϯτͳͲ)ʹม׵͠ઃఆ͢Δ੹຿Λ࣋ͭɻPWM 100%Λ࣮ݱ͢ΔͨΊͷϚΠίϯઃఆ஋͸400ɺ800ͩͬͨ ΓϚΠίϯɾΫϩοΫʹΑΓมΘͬͯ͘Δɺͱ͍͏࿩ɻ

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ɹ࣍Λ࣮ݱͰ͖Δ͔ΫϥεਤͰ֬ೝ͢Δɻ ʲ1) Ϟʔλఀࢭঢ়ଶ͔Βۦಈ͢Δ࣌ ɹυϥΠόʔ͕ΞΫηϧΛ։͚ͨΒϞʔλۦಈ͢Δɻ ɹ὎ϚΠίϯͷೖྗϙʔτͰϗʔϧηϯαͷϨϕϧΛ ɹಡΊ͹ݱࡏͷ௨ిύλʔϯΛೝࣝͰ͖Δ!!!ʳ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 23 1.1 read 1.2 read 1.3 read 2 update 3 drive 4 ௨ిύλʔϯ ઃఆ

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▪۩ମతࣄྫ 1) ϗʔϧηϯα→௨ిύλʔϯઃఆ ɹ࣍Λ࣮ݱͰ͖Δ͔ΫϥεਤͰ֬ೝ͢Δɻ ʲ2) ϞʔλճసʹΑΓϗʔϧηϯαͷग़ྗ͕มԽ͢Δ࣌ ɹϗʔϧηϯαͷˢɾˣΤοδͷ੾ΓସΘΓ ɹ὎ϚΠίϯͷ྆Τοδ֎෦ׂΓࠐΈͰ ɹɹϗʔϧηϯαͷมԽΛݕग़Ͱ͖Δ!!!ʳ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 24 1.1 update 2 update 3 drive 4 ௨ిύλʔϯ ઃఆ

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• ৄࡉઃܭͷείʔϓ • ৄࡉઃܭͷίϯηϓτ • ۩ମతࣄྫ • ઃܭ࣌ʹߟ͑ͨ͜ͱ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 25

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▪ઃܭ࣌ʹߟ͑ͨ͜ͱ 1) ໋໊ 2) ֊૚ߏ଄ɾந৅Խ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 26

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▪ઃܭ࣌ʹߟ͑ͨ͜ͱ 1) ໋໊ 2) ֊૚ߏ଄ɾந৅Խ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 27

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▪ઃܭ࣌ʹߟ͑ͨ͜ͱ 1) ໋໊ Ϋϥε໊ɾϝϯόม਺ɾϝϯόؔ਺ͷ໋໊ Λߟ͑ͨɻ ໋໊Ͱߏ଄͸ܾ·Δͱࢥ͏ͨΊɻ ɾhall_sensor_driverΫϥεͷ hall_sensor_bitmap͸ ৑௕Ͱ sensor_bitmapͰΑ͔͔ͬͨ΋͠Εͳ͍ɻ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 28

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▪ઃܭ࣌ʹߟ͑ͨ͜ͱ 1) ໋໊ 2) ֊૚ߏ଄ɾந৅Խ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 29

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▪ઃܭ࣌ʹߟ͑ͨ͜ͱ 2) ֊૚ߏ଄ɾந৅Խ ɾ*_driver͕ϋʔυ΢ΣΞͱ΍ΓͱΓ͢Δɻɹ ɹ*_driverͷ֊૚Λ࣋ͨͣʹdrive_pattern͕ ɹhall_sensorɾFETͱ΍ΓͱΓ͢Δߏ଄΋ߟ͑ΒΕΔ͕ ɹͦͷߏ଄ʹ͸͠ͳ͔ͬͨɻ ɾdrive_pattern͸ϋʔυ΢ΣΞͱؔ࿈͠ͳ͍ɻ ɹλΠϛϯάνϟʔτͷʲ௨ిεςʔδʳͱ͍͏ ɹ֓೦Λѻ͏ɻ ɹ*_driverΑΓ஌ࣝΛ΋ͬͨ֊૚ͱͨ͠ɻ ຊ೔ͷςʔϚ ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ 30

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• ߨ࠲։࠵ͷഎܠɾ໨త • ຊ೔ͷςʔϚʲ֓ཁઃܭ͔ΒৄࡉઃܭΛߦ͏ʳ • QA • ·ͱΊ • ࣍ճ༧ࠂ ໨࣍ 31

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• ࣭͝໰ɺؾʹͳͬͨ͜ͱ͋Ε͹ڞ༗Λ͓ئ͍͠·͢ɻ QA 32

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• ߨ࠲։࠵ͷഎܠɾ໨త • ຊ೔ͷςʔϚʲ֓ཁઃܭ͔ΒৄࡉઃܭΛߦ͏ʳ • QA • ·ͱΊ • ࣍ճ༧ࠂ ໨࣍ 33

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▪ʲ໋໊ʳେࣄ!!! ▪ߏ଄ ▪ઃܭͷࢦ਑ɾ΋ͷ͞͠ ɹྑ͍) ߴڽूɾૄ݁߹ ɹѱ͍) ௿ڽूɾີ݁߹ ·ͱΊ 34

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• ߨ࠲։࠵ͷഎܠɾ໨త • ຊ೔ͷςʔϚʲ֓ཁઃܭ͔ΒৄࡉઃܭΛߦ͏ʳ • QA • ·ͱΊ • ࣍ճ༧ࠂ ໨࣍ 35

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࣍ճ͸ʲ11/24(໦) 19:30ʙ20:30ʳͰ։࠵༧ఆͰ͢ɻ ʲ࿈ଓߨ࠲ #5ʳςετۦಈ։ൃ ͸͡ΊͷҰา ৄࡉઃܭͰϓϩάϥϜʹ࣮૷ՄೳͳઃܭਤΛ࡞੒͠·ͨ͠ɻ͜ͷޙ͸ઃܭਤʹଇΓɺ࣮૷͍͖ͯ͠·͕͢ςετ ۦಈ։ൃͷख๏(ςετϑΝʔετ)ͰਐΊ͍͖͍ͯͨͱࢥ͍·͢ɻςετۦಈ։ൃΛ࢝ΊΔʹ͋ͨΓɺ࣍ͷ͜ͱΛ ࿩͍ͨ͠ͱࢥ͍·͢ɻ ɹɾςετۦಈ։ൃͱ͸? ɹɾ؀ڥߏங ɹɾςετΛॻ͍ͯΈΔ ࢀՃͷํɺੋඇͱ΋ΑΖ͓͘͠Ͷ͕͍͠·͢ɻ ࣍ճ༧ࠂ 36

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• ςʔϚͷલఏઆ໌ ʲCQ EVΧʔτʳͱ͸??? ɾಈը1: ૸ߦத ɾಈը2: ج൘Λ֦େ աڈʹॻ͍ٕͨज़ॻ(EV Χʔτ で ࢝ΊΔϞ デ ϧ ベ ʔε։ൃ)Λϕʔεʹઆ໌͠·͢ɻ هࡌՕॴɿʲୈ1ষ EVΧʔτͱ͸Կ͔ʳ ࢀߟʲςʔϚͷલఏઆ໌ʳ 37

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• ςʔϚͷલఏઆ໌ ςʔϚɿʲطଘ૊ࠐΈ੡඼ͷϚΠίϯΛҠ২͢Δʳ͸࣍ͷલఏͱ͢Δɻ ɾ೿ੜ։ൃ(طʹ͋Δ૷ஔͰϚΠίϯͷΈมߋ) ɾϋʔυ΢ΣΞ͋Γɻిؾత࢓༷֬ೝOKɻ ɾچϚΠίϯͰͷιϑτ΢ΣΞࢿ࢈͋Γɻ˞GitHub, ࢿྉ ͷ֤ϦϯΫ ɾݸਓ։ൃ(͓࢓ࣄʹ΋ద༻Ͱ͖ΔΤοηϯε͸͋Δ͔ͱࢥ͍·͢) ࢀߟʲςʔϚͷલఏઆ໌ʳ 38

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͝੩ௌ͋Γ͕ͱ͏ ͍͟͝·ͨ͠ɻ ऴΘΓ 39