Rabbit RCM3100 User Manual Download

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Distributor of Digi International: Excellent Integrated System Limited

Datasheet of 101-0533 - KIT DEV RABBIT3000/RCM3100
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Summary of Contents for RCM3100

Page 1: ...ted Excellent Integrated System Limited Stocking Distributor Stocking Distributor Click to view price real time Inventory Delivery Lifecycle Information Click to view price real time Inventory Deliver...

Page 2: ...Excellent Integrated System Limited Datasheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com RabbitCore RCM3100 C Programmable Modul...

Page 3: ...notice Trademarks Rabbit and Dynamic C are registered trademarks of Rabbit Semiconductor Inc Rabbit 3000 and RabbitCore are trademarks of Rabbit Semiconductor Inc No part of the contents of this manua...

Page 4: ...pment Kits 8 2 3 Starting Dynamic C 9 2 4 Run a Sample Program 9 2 4 1 Troubleshooting 9 2 5 Where Do I Go From Here 10 2 5 1 Technical Support 10 Chapter 3 Running Sample Programs 11 3 1 Introduction...

Page 5: ...6 Jumper Configurations 44 Appendix B Prototyping Board 45 B 1 Introduction 46 B 1 1 Prototyping Board Features 47 B 2 Mechanical Dimensions and Layout 49 B 3 Power Supply 50 B 4 Using the Prototypin...

Page 6: ...00 Contact us sales integrated circuit com Website www integrated circuit com User s Manual Appendix E Motor Control Features 89 E 1 Overview 89 E 2 Header J6 90 E 3 Using Parallel Port F 91 E 3 1 Par...

Page 7: ...butor of Digi International Excellent Integrated System Limited Datasheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com RabbitCore R...

Page 8: ...t the Rabbit 3000 I O bus lines parallel ports and serial ports The RCM3100 receives its 3 3 V power from the customer supplied motherboard on which it is mounted The RabbitCore RCM3100 can interface...

Page 9: ...rve your needs other variations can be specified and ordered in production quantities Contact your Rabbit Semiconductor sales representative for details Table 1 below highlights the differences betwee...

Page 10: ...on the RCM3100 mod ule It does not contain detailed information on the Dynamic C development environment 1 4 1 Additional Product Information Information about the RCM3100 and its associated Developm...

Page 11: ...utor of Digi International Excellent Integrated System Limited Datasheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com 4 RabbitCore...

Page 12: ...r and elsewhere to your test and development setup 2 1 Development Kit Contents The RCM3100 Development Kit contains the following items RCM3100 module 512K flash memory and 512K SRAM RCM30 31 32XX Pr...

Page 13: ...fingers along the sides by the connectors and gently work the module up to pull the pins away from the sockets where they are installed Do not remove the module by grasping it at the top and bottom 3...

Page 14: ...SUREMENT OPTION 3 3V 5V 3 3V POWER D1 C13 DS3 L1 C17 C15 POWER GND DC GND J9 2 5 MM JACK GND DC GND GND R17 RN3 RN4 J15 RN1 GND PD0 PD6 PD2 PD4 PG2 PG0 PD5 PC4 PC2 PC0 PF1 PF3 PA1 PA3 PA5 PA7 GND PD1...

Page 15: ...D MOTOR ENCODER RN5 J6 R20 JP1 CURRENT MEASUREMENT OPTION 3 3V 5V 3 3V POWER D1 C13 DS3 L1 C17 C15 POWER GND DC GND J9 2 5 MM JACK GND DC GND GND R17 RN3 RN4 J15 RN1 GND PD0 PD6 PD2 PD4 PG2 PG0 PD5 PC...

Page 16: ...ge when you compile and load the sample program it is possible that your PC cannot handle the higher program loading baud rate Try changing the maximum download rate to a slower baud rate as follows L...

Page 17: ...ograms described in Chapter 3 to get a basic familiarity with Dynamic C and the RCM3100 module s capabilities 2 For further development refer to the RabbitCore RCM3100 User s Manual for details of the...

Page 18: ...n application development tool NOTE The sample programs assume that you have at least an elementary grasp of the C programming language If you do not see the introductory pages of the Dynamic C User s...

Page 19: ...tatements to flash LEDs DS1 and DS2 on the Prototyping Board at different rates Once you have compiled and run this program LEDs DS1 and DS2 will flash on off at different rates TOGGLESWITCH c demonst...

Page 20: ...very other sequence To set up the Prototyping Board you will need to tie TxB and RxC together on the RS 232 header at J5 using the jumpers supplied in the Development Kit as shown in the diagram The D...

Page 21: ...stem with RS 485 and you will also have to add an RS 485 trans ceiver such as the SP483E and bias resistors to the RCM30 31 32XX Prototyping Board The diagram shows the connections You will have to co...

Page 22: ...ty in your application you will need to set the real time clock Set the real time clock using the SETRTCKB C sample program from the Dynamic C SAMPLES RTCLOCK folder using the onscreen prompts The RTC...

Page 23: ...tor of Digi International Excellent Integrated System Limited Datasheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com 16 RabbitCore...

Page 24: ...ipal hardware subsystems of the RCM3100 Appendix A RabbitCore RCM3100 Specifications provides complete physical and electrical specifica tions Figure 4 shows these Rabbit based subsystems designed int...

Page 25: ...RabbitCore pinouts for headers J1 and J2 Figure 5 RCM3100 Pinouts Headers J1 and J2 are standard 2 34 headers with a nominal 2 mm pitch The signals labeled PD0 PD3 PD6 and PD7 on header J1 pins 29 34...

Page 26: ...n the RCM3100 are configurable and so the factory defaults can be reconfigured Table 2 lists the Rabbit 3000 factory defaults and the alternate configurations RABBIT 3000 Port A Port B Port D Port E P...

Page 27: ...Output QD2B 13 PF1 Input Output QD1A CLKC 14 PF0 Input Output QD1B CLKD 15 PC0 Output TXD Serial Port D 16 PC1 Input RXD 17 PC2 Output TXC Serial Port C 18 PC3 Input RXC 19 PC4 Output TXB Serial Port...

Page 28: ...al Address 2 Slave port Address 0 6 PB5 Input Output IA3 SA1 External Address 3 Slave port Address 1 7 PB6 Input Output IA4 External Address 4 8 PB7 Input Output IA5 SLAVEATTN External Address 5 Slave...

Page 29: ...nal write strobe 25 IORD Input External read strobe 26 27 SMODE0 SMODE1 0 0 start executing at address zero 0 1 cold boot from slave port 1 0 cold boot from clocked Serial Port A SMODE0 1 SMODE1 1 Col...

Page 30: ...rnal input used to reset the Rabbit 3000 microprocessor and the RabbitCore RCM3100 memory RES is an output from the reset circuitry that can be used to reset other peripheral devices 4 1 3 5 V Toleran...

Page 31: ...29 4 MHz clock speed Serial Ports E and F can also be configured as SDLC HDLC serial ports The IRDA proto col is also supported in SDLC format by these two ports Serial Port A is available only on th...

Page 32: ...The programming cable is used to connect the serial programming port of the RCM3100 to a PC serial COM port The programming cable converts the RS 232 voltage levels used by the PC serial port to the...

Page 33: ...ND GND R17 RN3 RN4 J15 RN1 GND PD0 PD6 PD2 PD4 PG2 PG0 PD5 PC4 PC2 PC0 PF1 PF3 PA1 PA3 PA5 PA7 GND PD1 PD7 PD3 PD5 PG3 PG1 PD4 PC5 PC3 PC1 PF0 PF2 PA0 PA2 PA4 PA6 PE4 GND GND SM0 IOWR PG5 PG7 PE1 PE4...

Page 34: ...be turned off or set to a stronger setting The means for doing so is through a simple configuration macro as shown below NOTE Refer to the Rabbit 3000 Microprocessor User s Manual for more informatio...

Page 35: ...ad define a user block area to store persistent data The functions writeUserBlock and readUserBlock are provided for this A Flash Memory Bank Select jumper configuration option based on 0 surface moun...

Page 36: ...e flash memory or in the static RAM included on the RCM3100 The flash memory and SRAM options are selected via the BIOS Memory Setting in the Options Program Options Compiler menu The advantage of wor...

Page 37: ...r preemptive multitasking Loader utility program to load binary images into Rabbit targets in the absence of Dynamic C Provision for customers to create their own source code libraries and augment on...

Page 38: ...fer based serial functions The PACKET LIB library provides packet based serial functions where packets can be delim ited by the 9th bit by transmission gaps or with user defined special characters Bot...

Page 39: ...have made any changes to the BIOS or to libraries or if you have programs in the old directory folder make these same changes to the BIOS or libraries in the new directory containing the patch Do not...

Page 40: ...asheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com User s Manual 33 APPENDIX A RABBITCORE RCM3100 SPECIFICATIONS Appendix A provid...

Page 41: ...llimeters enclosed in parentheses All dimensions have a manufacturing tolerance of 0 01 0 25 mm Please refer to the RCM3100 footprint diagram later in this appendix for precise header locations 0 063...

Page 42: ...ut Auxiliary I O Bus 8 data lines and 6 address lines shared with I O plus I O read write Serial Ports 6 shared high speed CMOS compatible ports 6 configurable as asynchronous with IrDA 4 as clocked s...

Page 43: ...cient air flow and will help to minimize any electrical or electromagnetic interference between adjacent boards An exclusion zone of 0 08 2 mm is recommended below the RCM3100 when the RCM3100 is plug...

Page 44: ...th a 2 mm pin spacing J3 the programming port is a 2 5 header with a 2 mm pin spacing Figure A 3 shows the layout of another board for the RCM3100 to be plugged into These values are relative to the m...

Page 45: ...ce for the various RCM3100 I O ports Table A 3 lists the external capacitive bus loading for the various RCM3100 output ports Be sure to add the loads for the devices you are using in your custom syst...

Page 46: ...l I O read and write cycles Figure A 4 External I O Read and Write Cycles No Extra Wait States NOTE IOCSx can be programmed to be active low default or active high Tadr Tadr External I O Read no extra...

Page 47: ...k to I O chip select delay TIORD the clock to I O read strobe delay TIOWR the clock to I O write strobe delay TBUFEN the clock to I O buffer enable delay The data setup time delays are similar for bot...

Page 48: ...bbit 3000 is rated to operate over a voltage range from 3 0 3 6 V the RCM3100 has a more restrictive operating voltage range of 3 15 3 45 V DC Table A 5 3 3 Volt DC Characteristics Symbol Parameter Te...

Page 49: ...uffers when the Rabbit 3000 is used in the RCM3100 Under certain conditions the maximum instantaneous AC DC sourcing or sinking current may be greater than the limits outlined in Table A 6 The maximum...

Page 50: ...of moisture and contaminants over time Figure A 5 RCM3100 Areas Receiving Conformal Coating Any components in the conformally coated area may be replaced using standard soldering procedures for surfa...

Page 51: ...M3100 options via jumpers Figure A 6 Location of RCM3100 Configurable Positions Table A 7 lists the configuration options NOTE The jumper connections are made using 0 surface mounted resistors Table A...

Page 52: ...0 Contact us sales integrated circuit com Website www integrated circuit com User s Manual 45 APPENDIX B PROTOTYPING BOARD Appendix B describes the features and accessories of the Proto typing Board a...

Page 53: ...SM0 IOWR PG5 PG7 PE1 PE4 PE6 PF7 PF5 PB7 PB5 PB3 PB0 VBAT EXT RES IN NC 3 3V VRAM SM1 IORD PG4 PG6 PE0 PE3 PE5 PE7 PF6 PF4 PB6 PB4 PB2 RES RN2 J1 RCM1JA C1 C2 R1 R3 R2 UX10 J3 RCM3000 ETHERNET CORE M...

Page 54: ...ces a hardware reset of the system I O Switches and LEDs Two momentary contact normally open switches are con nected to the PG0 and PG1 pins of the master RCM3100 module and may be read as inputs by s...

Page 55: ...additional details A 10 pin 0 1 inch spacing header strip is installed at J5 to permit connection of a ribbon cable leading to a standard DE 9 serial connector Current Measurement Option Jumpers acro...

Page 56: ...BAT EXT RES IN NC 3 3V VRAM SM1 IORD PG4 PG6 PE0 PE3 PE5 PE7 PF6 PF4 PB6 PB4 PB2 RES RN2 J1 J3 C1 C2 R1 R3 R2 UX10 J14 SLAVE MASTER RCM1 RCM2 RC18 UX11 RC1 RC2 UX2 C4 C5 C8 C6 C7 S3 S2 J13 R14 5V 5V 3...

Page 57: ...ower regulator from which a 3 3 V linear regulator draws its supply Thus both 5 V and 3 3 V are available on the Prototyping Board The Prototyping Board itself is protected against reverse polarity by...

Page 58: ...ng Board provides the user with RCM3100 connection points brought out con veniently to labeled points at headers J2 and J4 on the Prototyping Board Small to medium circuits can be prototyped using poi...

Page 59: ...very one of its pin pads connected to a hole in which a 30 AWG wire can be sol dered standard wire wrap wire can be soldered in for point to point wiring on the Prototyping Board Because the traces ar...

Page 60: ...Refer to Appendix C LCD Keypad Module for complete information The RCM3100 has a 2 channel quadrature decoder and a 10 bit free running PWM counter with four pulse width registers These features allo...

Page 61: ...by I O bus PB6 PB7 Output Not used Pulled up on RCM3100 PC0 Output Not used High disabled PC1 Input Not used Pulled up on RCM3100 PC2 Output TXC Serial Port C High disabled PC3 Input RXC Pulled up on...

Page 62: ...S3 normally open High PG1 Input Switch S2 normally open High PG2 Output TXF IrDA Serial Port F Pulled down PG3 Input RXF IrDA Driven by IrDA driver PG4 Input IrDA MD1 Pulled up on Prototyping Board PG...

Page 63: ...tor of Digi International Excellent Integrated System Limited Datasheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com 56 RabbitCore...

Page 64: ...ypad modules with or without a panel mounted bezel are available for use with the Prototyping Board They are shown in Figure C 1 Figure C 1 LCD Keypad Modules Models Only the version without the bezel...

Page 65: ...0 C to 50 C Storage Range 40 C to 85 C Humidity 5 to 95 noncondensing Power Consumption 1 5 W maximum The backlight adds approximately 650 mW to the power consumption Connections Connects to high ris...

Page 66: ...odule Voltage Settings You can set the contrast on the LCD display of pre 2005 LCD keypad modules by adjust ing the potentiometer at R2 or by setting the voltage for 5 V by removing the jumper across...

Page 67: ...eeds A template is provided in Figure C 4 to allow you to design your own keypad label insert Figure C 4 Keypad Template To replace the keypad legend remove the old legend and insert your new legend p...

Page 68: ...d module are addressed by the CS strobe as explained in Table C 2 Table C 2 LCD Keypad Module Address Assignment Address Function 0xC000 Device select base address CS 0xCxx0 0xCxx7 LCD control 0xCxx8...

Page 69: ...1 IORD PG4 PG6 PE0 PE3 PE5 PE7 PF6 PF4 PB6 PB4 PB2 RES RN2 J1 RCM1JA C1 C2 R1 R3 R2 UX10 J3 RCM3000 ETHERNET CORE MODULE SLAVE MASTER RCM2 RC18 UX11 RC1 RC2 UX2 C4 C5 C8 C6 C7 S3 S2 RCM2JB R14 5V 5V 3...

Page 70: ...lustrates how to bezel mount the LCD keypad module Fol low these steps for bezel mount installation 1 Cut mounting holes in the mounting panel in accordance with the recommended dimen sions in Figure...

Page 71: ...anel Figure C 9 LCD Keypad Module Mounted in Panel rear view Carefully tighten the screws until the gasket is compressed and the plastic bezel face plate is touching the panel Do not tighten each scre...

Page 72: ...6 PB4 PB2 RES RN2 J1 RCM1JA C1 C2 R1 R3 R2 UX10 J3 RCM3000 ETHERNET CORE MODULE SLAVE MASTER RCM2 RC18 UX11 RC1 RC2 UX2 C4 C5 C8 C6 C7 S3 S2 RCM2JB R14 5V 5V 3 3V 5V 5V 3 3V R16 R15 TP1 BT1 C12 C10 C1...

Page 73: ...Initializes the LCD keypad module The keypad is set up using keypadDef or keyConfig after this function call RETURN VALUE None C 7 2 LEDs When power is applied to the LCD keypad module for the first...

Page 74: ...klight glSetContrast glPlotDot glBlock glPlotDot glPlotPolygon glPlotCircle glHScroll glVScroll glXFontInit glPrintf glPutChar glSetBrushType glBuffLock glBuffUnlock glPlotLine Turns the display backl...

Page 75: ...LSO glBlock glBlankScreen glPlotPolygon glPlotCircle Blanks the LCD display screen sets LCD display screen to white RETURN VALUE None SEE ALSO glFillScreen glBlock glPlotPolygon glPlotCircle Draws a r...

Page 76: ...s x1 y1 x2 y2 x3 y3 RETURN VALUE None SEE ALSO glPlotPolygon glFillPolygon glFillVPolygon Plots the outline of a polygon in the LCD page buffer and on the LCD if the buffer is unlocked Any portion of...

Page 77: ...splay area will be clipped If fewer than 3 vertices are specified the function will return without doing anything PARAMETERS n is the number of vertices x1 is the x coordinate of the first vertex y1 i...

Page 78: ...is a pointer to the font descriptor to be initialized pixWidth is the width in pixels of each font item pixHeight is the height in pixels of each font item startChar is the value of the first printab...

Page 79: ...tf printing step direction The x and y step directions are independent signed values The actual step increments depend on the height and width of the font being displayed which are multi plied by the...

Page 80: ...descriptor pointer RETURN VALUE None SEE ALSO glPrintf glPutFont doprnt Prints a formatted string much like printf on the LCD screen Only the character codes that exist in the font set are printed all...

Page 81: ...RETURN VALUE None SEE ALSO glBuffUnlock glSwap Decrements the LCD screen locking counter The contents of the LCD buffer are transferred to the LCD if the counter goes to zero RETURN VALUE None SEE ALS...

Page 82: ...not be plotted PARAMETERS x is the x coordinate of the dot y is the y coordinate of the dot RETURN VALUE None SEE ALSO glPlotline glPlotPolygon glPlotCircle Draws a line in the LCD buffer and on the...

Page 83: ...current pixel type color PARAMETERS left is the top left corner of bitmap must be evenly divisible by 8 otherwise truncates top is the top left corner of the bitmap cols is the number of columns in th...

Page 84: ...rolled window will be filled in with white pixels The window must be byte aligned Parameters will be verified for the following 1 The left and cols parameters will be verified that they are evenly div...

Page 85: ...y 8 top is the top left corner of the bitmap cols is the number of columns in the window must be evenly divisible by 8 rows is the number of rows in the window nPix is the number of pixels to scroll w...

Page 86: ...LSO glXPutBitmap glPrintf Defines a text only display window This function provides a way to display characters within the text window using only character row and column coordinates The text window f...

Page 87: ...e TextWindowFrame function before using this function PARAMETERS window is a pointer to a font descriptor col is a pointer to cursor column variable row is a pointer to cursor row variable RETURN VALU...

Page 88: ...ver for example b and t will print if they exist in the font set but will not have any effect as control characters The text window feature provides end of line wrapping and clipping after the charact...

Page 89: ...ARAMETERS cRaw is a raw key code index 1x7 keypad matrix with raw key code index assignments in brackets User Keypad Interface cPress is a key press code An 8 bit value is returned when a key is press...

Page 90: ...N VALUE None SEE ALSO keyProcess keyGet keypadDef Scans and processes keypad data for key assignment debouncing press and release and repeat NOTE This function is also able to process an 8 8 matrix ke...

Page 91: ...eft Scroll Example Do the followingfor the above physical vs ASCII return key codes keyConfig 3 R 0 0 0 0 0 keyConfig 6 E 0 0 0 0 0 keyConfig 2 D 0 0 0 0 0 keyConfig 4 0 0 0 0 0 keyConfig 1 U 0 0 0 0...

Page 92: ...e RCM3100 must be in Program mode see Section 4 3 Serial Programming Cable and must be connected to a PC using the programming cable as described in Chapter 2 More complete information on Dynamic C is...

Page 93: ...tor of Digi International Excellent Integrated System Limited Datasheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com 86 RabbitCore...

Page 94: ...draws 75 mA The RCM3100 will consume an additional 10 mA when the programming cable is used to connect the programming header J3 to a PC D 1 1 Battery Backup Circuits The RCM3100 does not have a batt...

Page 95: ...capacity of the battery The RCM3100 does not drain the battery while it is powered up normally Cycle the main power off on on the RCM3100 after you install a backup battery for the first time and when...

Page 96: ...ble stepper motor control board at this time this appendix provides additional information about Parallel Port F on the Rabbit 3000 microprocessor to enable you to develop your own application E 1 Ove...

Page 97: ...t voltage will exceed the 5 V tolerance of the processor pins Usually a simple resistive divider with catching diodes will suffice if higher voltage inputs are required If the outputs are configured f...

Page 98: ...x3F write only default value on reset 00000000 For each bit position write a 1 to make the corresponding port line an output or 0 to produce an input Drive Control Register PFDCR address 00111110 0x3E...

Page 99: ...le transfer clock is Timer A1 10 Lower nibble transfer clock is Timer B1 11 Lower nibble transfer clock is Timer B2 2 3 xx These bits are ignored 4 5 00 Upper nibble transfer clock is CLK 2 01 Upper n...

Page 100: ...integrated circuit com Website www integrated circuit com User s Manual 93 Port F Data Direction Register PFDDR 00111111 0x3F W 00000000 Bits Value Description 0 7 0 Corresponding port bit is an input...

Page 101: ...uivalent to dividing the contents of the pulse width register by four and using this value in each quadrant To get the exact high time the Pulse Width Modulator uses the two LSBs of the pulse width re...

Page 102: ...0 0x8C PWL3R 10001110 0x8E Bit s Value Description 7 6 Write The least significant two bits for the Pulse Width Modulator count are stored 5 1 These bits are ignored 0 0 PWM output High for single blo...

Page 103: ...put on an even numbered port bit There is also a disable selection which is guaranteed not to generate a count increment or decrement on either entering or exiting the disable state The operation of t...

Page 104: ...1 Quadrature Decoder 2 incremented from 0xFF to 0x00 This bit is cleared by a read of this register 6 rd only 0 Quadrature Decoder 2 did not decrement from 0x00 1 Quadrature Decoder 2 decremented from...

Page 105: ...These bits are ignored 3 2 0x Disable Quadrature Decoder 1 inputs Writing a new value to these bits will not cause Quadrature Decoder 1 to increment or decrement 10 Quadrature Decoder 1 inputs from Po...

Page 106: ...sses user blocks 28 H hardware connections 6 install RCM3100 on Prototyp ing Board 6 power supply 8 programming cable 7 hardware reset 8 I I O address assignments LCD keypad module 61 I O buffer sourc...

Page 107: ...trol option 89 motor encoder connector pi nout 53 mounting RCM3100 6 power supply 50 power supply connections 8 prototyping area 51 specifications 50 use of parallel ports 54 PWM outputs 94 PWM regist...

Page 108: ...41 digital I O buffer sourcing and sinking limits 42 timing diagram 39 RCM3100 33 bus loading 38 dimensions 34 electrical mechanical and environmental 35 exclusion zone 36 header footprint 37 headers...

Page 109: ...tor of Digi International Excellent Integrated System Limited Datasheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com 102 RabbitCore...

Page 110: ...100 Schematic www rabbit com documentation schemat 090 0144 pdf 090 0137 RCM3000 RCM3100 RCM3200 Prototyping Board Schematic www rabbit com documentation schemat 090 0137 pdf 090 0156 LCD Keypad Modul...

Page 111: ...ional Excellent Integrated System Limited Datasheet of 101 0533 KIT DEV RABBIT3000 RCM3100 Contact us sales integrated circuit com Website www integrated circuit com Powered by TCPDF www tcpdf org Pow...

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