CN102810277A - Singlechip teaching experiment box with secondary development function - Google Patents
Singlechip teaching experiment box with secondary development function Download PDFInfo
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- CN102810277A CN102810277A CN2012102404547A CN201210240454A CN102810277A CN 102810277 A CN102810277 A CN 102810277A CN 2012102404547 A CN2012102404547 A CN 2012102404547A CN 201210240454 A CN201210240454 A CN 201210240454A CN 102810277 A CN102810277 A CN 102810277A
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Abstract
The invention discloses a singlechip teaching experiment box with a secondary development function. The singlechip teaching experiment box is divided into a bottom layer and an upper layer, wherein the bottom layer specifically executes an instruction and feeds back a sensor state; and the upper layer calls a control algorithm and generates the instruction according to the sensor state, and the two layers communicate with each other through a serial port, namely an upper computer on the upper layer transmits and reads a bottom layer sensor state frame, and the bottom layer feeds back the sensor state frame; the upper computer on the upper layer inputs a bottom layer state into the called control algorithm and obtains a control instruction; and the upper computer on the upper layer transmits a bottom layer executor instruction frame, the bottom layer executes the control instruction, and the processes are continuously cycled. By the singlechip teaching experiment box, an S12 singlechip man-machine interaction interface is improved, a user is prevented from directly contacting hardware programming, the development process of the user is simplified, and the user conveniently learns development of an S12 embedded system from the systematic angle; and moreover, the singlechip teaching experiment box is convenient to carry and universal in interface, is safely used and is not limited by sites, and the experiment is easily carried out.
Description
Technical field
The present invention relates to a kind of Teaching Experiment Box, specifically, what relate to is a kind of S12DG128 single chip computer teaching experimental box with secondary development function.
Background technology
The S12DG128 single-chip microcomputer is 16 MCU (Micro Control Unit) that Freescale company produces; Comprise many functional modules; Like SCI (Serial Communication Interface) module; PWM (Pulse-Width Modulator) module, PIT (Periodic Interrupt Timer) module etc. are fit to vehicle electric field very much.Therefore, the S12 single-chip microcomputer is widely used in industrial embedded systems such as unmanned technology, automotive electronics.For this reason, many schools offer correlated curriculum, and hope can be carried out the training of relevant knowledge and introduction to the student.
S12 single chip computer teaching experiment in the past all is directly on this single-chip microcomputer, to develop.For example: S12 microcontroller education experiment, S12 embedded system and applied teaching experiment, intelligent vehicle control and algorism instruction experiment etc.Because the S12 microcomputer development need possess certain hardware foundation and single-chip microcomputer professional knowledge, the difficulty of study is bigger for the student of contacted single-chip microcomputer never, and the developing and debugging cycle is longer, and conventional efficient is lower.Secondly, directly contact hardware bottom layer and tend to hardware is caused damage, cause experimental system to reuse, be unfavorable for hardware maintenance.Therefore the relevant teaching of S12 single-chip microcomputer often is subject to the study of mcu programming, is unfavorable for that the student learns from the angle of embedded system framework.Therefore need that design is a kind of can to improve efficiency of teaching, reduce the study threshold, left-hand seat easily causes the teaching experiment platform of learning interest.
As early stage develop computer software, owing to there is not the support of operating system, the programmer need directly carry out hardware programming.Write the bottom layer driving time and effort consuming, program also is unfavorable for management.The universal development with software of now computer all be unable to do without the management of operating system.The function that good operating system possesses comprises and makes full use of hardware resource; Dispatch between the coordination software; Improve man-machine interaction; The software developer is freed from hardware bottom layer, improve the development efficiency of upper layer software (applications).
If can be to a kind of secondary development teaching experiment platform that possesses These characteristics of S12 single-chip microcomputer design; With letting the student grasp the function of single-chip microcomputer rapidly equally, understand The application of single-chip computer from the angle of system, cause student's creativity and initiative; Be convenient to let student's quick start of contacted single-chip microcomputer never; From the angle study embedded system development of system framework, also be convenient to the maintenance of hardware, and guarantee the safety of system.
Retrieval through to the prior art document is found; Fang Xing etc. propose to adopt host computer and bottom two-level architecture mode contrived experiment platform in patent of invention " hardware is at ring intelligent carriage teaching and scientific research experiment porch ", can experimentize in the ring mode with hardware through the programming of host computer pure software; But consider that to build hardware less in ring intelligent vehicle experiment porch range of application; And need build special racing track, and exist radio communication to postpone, therefore certain limitation is arranged.
Summary of the invention
The objective of the invention is to solve above-mentioned deficiency of the prior art; A kind of S12DG128 single chip computer teaching experimental box with secondary development function is provided; Improve S12 single-chip microcomputer human-computer interaction interface, avoid the user direct contact hardware programming, simplify user's performance history; Be convenient to the user from system perspective study S12 embedded system development, and have carry light, interface is general, safe in utilization, the advantage that is not subject to the place, is easy to carry out experiment.
For realizing above-mentioned purpose, the single chip computer teaching experimental box with secondary development function of the present invention adopts layer architecture, is divided into bottom and upper strata, and the function of bottom is concrete execution command and feedback transducer state; The function on upper strata is according to sensor states, calls control algolithm, generates instruction, communicates through serial ports between two-layer, and the upper strata host computer sends earlier and reads bottom sensor status frames, bottom feedback transducer status frames; The control algolithm that the upper strata host computer calls the input of bottom state, controlled instruction; The upper strata host computer sends bottom actuator command frame, and bottom is carried out steering order, and said process constantly circulates.
Among the present invention, said bottom is made up of hardware and software two parts, and hardware components is a S12 single chip computer teaching experimental box, comprises multiple sensors Acquisition Circuit and multiple driving circuit; Software section is a bottom control software, is made up of interrupt service routine and master routine, and master routine is responsible for communicating by letter with host computer, receives steering order, the feedback system state; Interrupt service routine is responsible for driving output according to instruction, and timing acquiring bottom state.
Among the present invention, S12 single chip computer teaching experimental box comprises that camera collection module, infrared electro are to pipe acquisition module, electromagnetic sensor acquisition module, human-computer interaction module, motor steering wheel driver module, serial communication modular and power module, wherein:
The camera collection module is used for study through S12 single-chip microcomputer collection simulation camera video data, obtains camera visual information;
Infrared electro is used for study to the pipe acquisition module and gathers the photoelectric tube state through S12, obtains the environment obstacle information;
The electromagnetic sensor acquisition module is used for study and gathers the electromagnetic resonant sensor state through S12, obtains resonance information;
Human-computer interaction module comprises charactron demonstration, button and toggle switch, singly-bound flies shuttle, hummer; Charactron and optical wand show the teaching that is used for single-chip microcomputer numeral output function; Teaching Experiment Box has been installed two eight sections charactrons and one eight s' LED optical wand; Button and toggle switch are used for the teaching of single-chip microcomputer numeral input function; Singly-bound flies the teaching that the shuttle module is used for the control system parameter testing; Hummer is used to send the tone of different frequency different duty;
Motor steering wheel drive module realizes the rotation of motor and steering wheel, and motor rotates the education experiment that is used to realize motor speed control, adopts SCM PWM port output control signal, rotates through building H type bridge circuit drive motor; Steering wheel drives the education experiment that is used to realize various platform mechanism angles and attitude control, adopts PWM port output control signal;
Serial communication modular is used for the data communication between bottom and the upper strata, adopts single-chip microcomputer SCI serial ports to communicate, and through the FT232PL chip serial ports is changeed USB mouth signal and communicates by letter with host computer.
Among the present invention; The instruction issuing that said bottom control software is responsible for host computer is sent is to each control port of single-chip microcomputer; And with the bottom sensor feedback of status to host computer; Comprise man-machine interaction driving, the driving of motor steering wheel, webcam driver, photoelectric sensor driving, electromagnetic sensor driving and serial communication and drive, adopt the special-purpose programming platform codewarrior of S12 to write.
Among the present invention, the S12 microcontroller bus frequency configuration in the said bottom is at 40MHz, and man-machine interaction drives through configuration single-chip microcomputer IO port and realizes; The motor steering wheel drives through configuration SCM PWM port and realizes, webcam driver adopts the ATD port sampling of S12 single-chip microcomputer, and photoelectric sensor drives and also adopts single-chip microcomputer IO port to gather, and electromagnetic sensor drives the ATD port sampling of adopting the S12 single-chip microcomputer.
Among the present invention, the serial communication of the S12 single-chip microcomputer in the bottom drives the serial ports Slave ASCII fromat that adopts in the Modbus agreement, and this agreement is easy to realize, is convenient to debugging, is widely used in Industry Control, and baud rate is set at 115200.
Among the present invention; The upper strata host computer also is made up of hardware and software two parts; Hardware components is a PC, and software section is a man-machine interactive platform, adopts the Labview platform to write; Concrete software architecture is made up of communication module, control algolithm calling module, human-computer interaction interface display module three parts, and human-computer interaction interface is responsible for the display system state; The control algolithm calling module is responsible for the dynamic call control algolithm, generates steering order according to the bottom state; Communication module is responsible for receiving bottom state and sending controling instruction.
Among the present invention; The host computer serial communication modular on upper strata adopts the serial ports Master ASCII fromat in the Modbus agreement; The self-defined control algolithm development scheme of host computer is to write Subvi, realizes through the dynamic call mode, can realize testing required function easily; Human-computer interaction interface has comprised the various modules on the Teaching Experiment Box, shows the various states of experimental box easily.
Adopt after the technique scheme beneficial effect of the present invention: only can accomplish functions such as motor, steering wheel rotation, charactron demonstration, sensor states collection by control single chip computer through the host computer graphic programming; The user program implementation procedure need not to understand hardware circuit implementation and the configuration of single-chip microcomputer interior details; Adopt integrated design, make things convenient for the user to carry, be easy to experiment.
Description of drawings
Fig. 1 is the system chart of one embodiment of the invention;
Fig. 2 is the system flowchart of one embodiment of the invention;
Fig. 3 is the first floor system block diagram of one embodiment of the invention;
Fig. 4 is the bottom process flow diagram of one embodiment of the invention;
Fig. 5 is the upper system block diagram of one embodiment of the invention;
Fig. 6 is the upper strata process flow diagram of one embodiment of the invention;
Fig. 7 is the host computer human-computer interaction interface of one embodiment of the invention;
Wherein the 1-serial ports is selected, 2-control algolithm routing, 3-hummer tone, 4-hummer cycle, 5-hummer dutycycle; The 6-motor-driven, 7-speed feedback, 8-photoelectric tube, 9-toggle switch, 10-button; The 11-singly-bound flies the shuttle rotation status, the 12-steering wheel, and the 13-hummer enables, and the 14-motor enables, and the 15-motor is just changeing and is enabling; The counter-rotating of 16-motor enables, the 17-optical wand, and the 18-charactron shows that the 19-singly-bound flies shuttle and clicks state.
Embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is done further to explain, but following content is not used in qualification protection scope of the present invention.
As shown in Figure 1; Present embodiment provides a kind of S12DG128 single chip computer teaching experimental box with secondary development function; This experimental box can be used for the teaching of unmanned technology, and the student can easily learn to use experiments such as the demonstration of this experimental box completion LED charactron, button read, camera signals collection, photoelectric tube signals collecting.
The present invention adopts layer architecture, is divided into bottom and upper strata, and is as shown in Figure 1.The function of bottom is concrete execution command and feedback transducer state.The function on upper strata is according to sensor states, calls control algolithm, generates instruction.Communicate through serial ports between two-layer.
The workflow of system is as shown in Figure 2: 1 host computer sends earlier and reads the bottom sensor status frames.2 bottom feedback transducer status frames.The control algolithm that 3 host computers call the input of bottom state, controlled instruction.4。Host computer sends bottom actuator command frame.5 bottoms are carried out steering order.Constantly circulation.
Wherein bottom is made up of hardware and software two parts.Hardware components is a S12 single chip computer teaching experimental box, and its framework is as shown in Figure 3, comprises multiple sensors Acquisition Circuit and multiple driving circuit.Software section is a bottom control software, is made up of interrupt service routine and master routine.Master routine is responsible for communicating by letter with host computer, receives steering order, the feedback system state.Interrupt service routine is responsible for driving output according to instruction, and timing acquiring bottom state, and its flow process is as shown in Figure 4.The detailed design of each several part is following, and the Teaching Experiment Box pictorial diagram is shown in 7.
S12 single chip computer teaching experimental box comprises that camera collection module, infrared electro are to pipe acquisition module, electromagnetic sensor acquisition module, human-computer interaction module, motor steering wheel driver module, serial communication modular, power module.
The camera collection module is used for study through S12 single-chip microcomputer collection simulation camera video data.Employing is built hardware circuit based on 1881 simulation camera collection scheme, realizes the synchronous of row field signal.Simulation camera video data are analog signals, through S12 single chip computer AT D sample port simulation camera data are carried out data acquisition, can obtain camera visual information.Can obtain road image information thus, thereby realize unmanned technology based on visual guidance.
Infrared electro is used for study to the pipe acquisition module and gathers the photoelectric tube state through S12.Teaching Experiment Box comprises 4 photoelectric tubes and 4 subsequent use photoelectric sensor interfaces.Photoelectric tube adopts the TCRT5000 photoelectric sensor.The photoelectric tube signal is a digital quantity signal, reads the photoelectric tube state through S12 single-chip microcomputer IO port, can obtain the environment obstacle information.But can obtain road FOH domain information thus, thereby realize unmanned technology based on photoelectric guide.
The electromagnetic sensor acquisition module is used for study and gathers the electromagnetic resonant sensor state through S12.Electromagnetic resonant sensor adopts the LC resonant tank to build.Resonance signal is an analog quantity, through treatment circuits such as filtering, amplification, detections, is sampled by S12 single chip computer AT D port, thereby obtains resonance information.Can obtain road information thus, thereby realize unmanned technology based on the electromagnetism guiding with electromagnetism steering signal.
Human-computer interaction module comprises charactron demonstration, button and toggle switch, singly-bound flies shuttle, hummer.Charactron and optical wand show the teaching that is used for single-chip microcomputer numeral output function.Teaching Experiment Box has been installed two eight sections charactrons and one eight s' LED optical wand, is used to show various digital states, is convenient to debugging.Button and toggle switch are used for the teaching of single-chip microcomputer numeral input function.Be convenient to the switching of the state of realizing, the selection of function.Singly-bound flies the shuttle module and has left-handedly, and dextrorotation such as clicks at a plurality of actions, is used for the teaching of control system parameter testing.Use this module to make amendment to the various parameters of system easily.Improve debugging efficiency.Hummer is used to send the tone of different frequency different duty.Be widely used in electronic products such as computing machine, printer, alarm as microphone device.This module is used to show current system state, helps to debug unmanned intelligent vehicle systematic parameter.
Motor steering wheel drive module realizes the rotation of motor and steering wheel.Motor rotates the education experiment that is used to realize motor speed control.Adopt SCM PWM port output control signal, rotate through building H type bridge circuit drive motor.Steering wheel drives the education experiment that is used to realize various platform mechanism angles and attitude control.Adopt PWM port output control signal.Steering wheel adopts FutabaS3010.This module can be used for realizing the speed control and the direction control of unmanned intelligent vehicle.
Serial communication modular is used for the data communication between bottom and the upper strata, adopts single-chip microcomputer SCI serial ports to communicate, and through the FT232PL chip serial ports is changeed USB mouth signal and communicates by letter with host computer.
The instruction issuing that bottom control software is responsible for host computer is sent is to each control port of single-chip microcomputer, and with the bottom sensor feedback of status to host computer.Comprising man-machine interaction driving, the driving of motor steering wheel, webcam driver, photoelectric sensor driving, electromagnetic sensor driving and serial communication drives.Adopt the special-purpose programming platform codewarrior of S12 to write.
Bottom S12 bus frequency is arranged on 40MHz.Man-machine interaction drives through configuration single-chip microcomputer IO port and realizes; The motor steering wheel drives through configuration SCM PWM port and realizes.Webcam driver adopts the ATD port sampling of S12 single-chip microcomputer.Photoelectric sensor drives and also adopts single-chip microcomputer IO port to gather.Electromagnetic sensor drives the ATD port sampling of adopting the S12 single-chip microcomputer.
The serial communication of bottom S12 drives the serial ports Slave ASCII fromat that adopts in the Modbus agreement, and this agreement is easy to realize, is convenient to debugging, is widely used in Industry Control, and baud rate is set at 115200.
The host computer layer also is made up of hardware and software two parts; Hardware components is a PC, and software section is a man-machine interactive platform, adopts the Labview platform to write; Concrete software architecture is as shown in Figure 5, is made up of communication module, control algolithm calling module, human-computer interaction interface display module three parts.Human-computer interaction interface is responsible for the display system state.The control algolithm calling module is responsible for the dynamic call control algolithm, generates steering order according to the bottom state.Communication module is responsible for receiving bottom state and sending controling instruction.
The host computer idiographic flow is as shown in Figure 6.The host computer serial communication modular adopts the serial ports Master ASCII fromat in the Modbus agreement.The self-defined control algolithm development scheme of host computer is to write Subvi, realizes through the dynamic call mode, can realize testing required function easily.Human-computer interaction interface has comprised the various modules on the Teaching Experiment Box, shows the various states of experimental box easily, and is as shown in Figure 7, and wherein the 1-serial ports is selected, 2-control algolithm routing; 3-hummer tone, 4-hummer cycle, 5-hummer dutycycle, 6-motor-driven, 7-speed feedback; The 8-photoelectric tube, the 9-toggle switch, the 10-button, the 11-singly-bound flies the shuttle rotation status; The 12-steering wheel, the 13-hummer enables, and the 14-motor enables, and the 15-motor is just changeing and is enabling; The counter-rotating of 16-motor enables, the 17-optical wand, and the 18-charactron shows that the 19-singly-bound flies shuttle and clicks state.
Although content of the present invention has been done detailed introduction through above-mentioned preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute all will be conspicuous.Therefore, protection scope of the present invention should be limited appended claim.
Claims (10)
1. the single chip computer teaching experimental box with secondary development function is characterized in that said experimental box adopts layer architecture, is divided into bottom and upper strata, and the function of bottom is concrete execution command and feedback transducer state; The function on upper strata is according to sensor states, calls control algolithm, generates instruction, communicates through serial ports between two-layer, that is: the upper strata host computer sends earlier and reads bottom sensor status frames, bottom feedback transducer status frames; The control algolithm that the upper strata host computer calls the input of bottom state, controlled instruction; The upper strata host computer sends bottom actuator command frame, and bottom is carried out steering order, and said process constantly circulates.
2. the single chip computer teaching experimental box with secondary development function according to claim 1; It is characterized in that: said bottom is made up of hardware and software two parts; Hardware components is a S12 single chip computer teaching experimental box, comprises multiple sensors Acquisition Circuit and multiple driving circuit; Software section is a bottom control software, is made up of interrupt service routine and master routine, and master routine is responsible for communicating by letter with host computer, receives steering order, the feedback system state; Interrupt service routine is responsible for driving output according to instruction, and timing acquiring bottom state.
3. the single chip computer teaching experimental box with secondary development function according to claim 2; It is characterized in that: said S12 single chip computer teaching experimental box comprises that camera collection module, infrared electro are to pipe acquisition module, electromagnetic sensor acquisition module, human-computer interaction module, motor steering wheel driver module, serial communication modular and for each module provides the power module of working power, wherein:
The camera collection module is used for study through S12 single-chip microcomputer collection simulation camera video data, obtains camera visual information;
Infrared electro is used for study to the pipe acquisition module and gathers the photoelectric tube state through S12, obtains the environment obstacle information;
The electromagnetic sensor acquisition module is used for study and gathers the electromagnetic resonant sensor state through S12;
Human-computer interaction module comprises charactron demonstration, button and toggle switch, singly-bound flies shuttle, hummer, and charactron and optical wand show the teaching that is used for single-chip microcomputer numeral output function; Button and toggle switch are used for the teaching of single-chip microcomputer numeral input function; Singly-bound flies the teaching that the shuttle module is used for the control system parameter testing; Hummer is used to send the tone of different frequency different duty;
Motor steering wheel drive module realizes the rotation of motor and steering wheel, and motor rotates the education experiment that is used to realize motor speed control, adopts SCM PWM port output control signal, rotates through building H type bridge circuit drive motor; Steering wheel drives the education experiment that is used to realize various platform mechanism angles and attitude control, adopts PWM port output control signal;
Serial communication modular is used for the data communication between bottom and the upper strata, adopts single-chip microcomputer SCI serial ports to communicate, and through the FT232PL chip serial ports is changeed USB mouth signal and communicates by letter with host computer.
4. the single chip computer teaching experimental box with secondary development function according to claim 3; It is characterized in that: said infrared electro comprises 4 photoelectric tubes and 4 subsequent use photoelectric sensor interfaces to the pipe acquisition module; Photoelectric tube adopts the TCRT5000 photoelectric sensor; The photoelectric tube signal is a digital quantity signal, reads the photoelectric tube state through S12 single-chip microcomputer IO port, can obtain the environment obstacle information.
5. the single chip computer teaching experimental box with secondary development function according to claim 3; It is characterized in that: said electromagnetic sensor acquisition module adopts the LC resonant tank to build; Resonance signal is an analog quantity; Through filtering, amplification, detection treatment circuit, sample by S12 single chip computer AT D port again, thereby obtain resonance information.
6. according to each described single chip computer teaching experimental box of claim 1-5 with secondary development function; It is characterized in that: the instruction issuing that said bottom control software is responsible for host computer is sent is to each control port of single-chip microcomputer; And with the bottom sensor feedback of status to host computer; Comprise man-machine interaction driving, the driving of motor steering wheel, webcam driver, photoelectric sensor driving, electromagnetic sensor driving and serial communication and drive, adopt the special-purpose programming platform codewarrior of S12 single-chip microcomputer to write.
7. according to each described single chip computer teaching experimental box with secondary development function of claim 1-5, it is characterized in that: the S12 microcontroller bus frequency configuration in the said bottom is at 40MHz, and man-machine interaction drives through configuration single-chip microcomputer IO port and realizes; The motor steering wheel drives through configuration SCM PWM port and realizes, webcam driver adopts the ATD port sampling of S12 single-chip microcomputer, and photoelectric sensor drives and also adopts single-chip microcomputer IO port to gather, and electromagnetic sensor drives the ATD port sampling of adopting the S12 single-chip microcomputer.
8. according to each described single chip computer teaching experimental box with secondary development function of claim 1-5, it is characterized in that: the serial communication of the S12 single-chip microcomputer in the said bottom drives the serial ports Slave ASCII fromat that adopts in the Modbus agreement.
9. the single chip computer teaching experimental box with secondary development function according to claim 1 is characterized in that: said upper strata host computer also is made up of hardware and software two parts, and hardware components is a PC; Software section is a man-machine interactive platform, adopts the Labview platform to write, and concrete software architecture is made up of communication module, control algolithm calling module, human-computer interaction interface display module three parts, and human-computer interaction interface is responsible for the display system state; The control algolithm calling module is responsible for the dynamic call control algolithm, generates steering order according to the bottom state; Communication module is responsible for receiving bottom state and sending controling instruction.
10. according to claim 1 or 9 described single chip computer teaching experimental boxs with secondary development function; It is characterized in that: the host computer serial communication modular on said upper strata adopts the serial ports Master ASCII fromat in the Modbus agreement; The self-defined control algolithm development scheme of host computer is to write Subvi, realizes through the dynamic call mode; Human-computer interaction interface has comprised the various modules on the Teaching Experiment Box, shows the various states of experimental box easily.
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| CN103885448A (en) * | 2014-03-28 | 2014-06-25 | 芜湖蓝宙电子科技有限公司 | Intelligent vehicle control system for teaching |
| CN103913122A (en) * | 2014-04-22 | 2014-07-09 | 济南大学 | Workpiece length measurement device |
| CN106155687A (en) * | 2016-07-04 | 2016-11-23 | 南京阿波罗机器人科技有限公司 | A kind of wireless real time graphical based on bluetooth 4 is to controller programmed method |
| CN106652687A (en) * | 2016-11-30 | 2017-05-10 | 东北大学 | Portable computer control experiment system |
| CN107203203A (en) * | 2017-07-31 | 2017-09-26 | 湖南理工职业技术学院 | A kind of servos control experimental provision of integrated multi-communication mode |
| CN108154785A (en) * | 2017-12-21 | 2018-06-12 | 华南理工大学广州学院 | A kind of aerofoil control device and control method |
| CN111540259A (en) * | 2020-04-30 | 2020-08-14 | 北京科技大学 | Automatic control experimental facilities |
| CN112233498A (en) * | 2020-10-14 | 2021-01-15 | 烟台鼎钰电子科技有限公司 | Tabular programmable display controller |
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| CN102810277B (en) | 2015-10-14 |
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