$B"#(BAppendix3$B!!(BUSB$B%*!<%G%#%*<#6q"#(B

$BI.<T$O:#2s$N6ZEE%;%s%5%7%9%F%`$K8B$i$:!"?7$?$J%^%$%3%s%7%9%F%`$r3+H/$9$k:]$K!"K\Mh$NF~=PNO5!G=$G$OI,MW$J$$>l9g$K$b!"<B83(B/$B%G%P%C%0MQ$N%D!<%k$H$7$F!V%*!<%G%#%*?.9f!W!V%7%j%"%kDL?.!W$J$I$N30It%$%s%?!<%U%'!<%95!G=$r@9$j9~$`$3$H$K$7$F$$$^$9!#:G=*E*$K40@.$7$F$7$^$($PITMW$G$O$"$k$b$N$N!"2a5n$N%^%$%3%s%7%9%F%`$N$h$&$K(BICE(In-Circuit Emulator)$B$J$I$,;H$($:!";H$$$K$/$$%G%P%C%0%b%K%?$J$I$r;E9~$`$h$j$b!"9bEY$G=@Fp$J3+H/4D6-$r;}$D%D!<%k$HD>@\$K$d$j$H$j$7$?J}$,!":G=*E*$J40@.$K;j$k%W%m%;%9$,BgI}$KC;=L$G$-$k!"$HBN83E*$K3N?.$7$F$$$k$+$i$G$9!#(B

$B:#2s$N6ZEE%;%s%5%7%9%F%`$G$O!"$^$:(BNucleoF401RE$B$K<h$jIU$1$k(BArduino$B%7!<%k%IBP1~$N%f%K%P!<%5%k4pHD>e$K!"(B2$B%A%c%s%M%k$N6ZEE%;%s%52sO)$r@=:n$7!"<!$K!VF3EEI[!W%?%$%W$N6ZEEEE6K$r@=:n$7$F!"<B:]$KOS$KEE6K$rE=$jIU$1$F?-=L%Y%k%H$GL)Ce$5$;$k$H!"%*%7%m%9%3!<%V$N?.9fGH7A$H$7$F!"Fk@w$_?<$$?.9f$r3NG'$G$-$^$7$?!#IaDL$G$"$l$P!"$$$h$$$h$3$N6ZEE?.9f$r(BNucleoF401RE$B$N(BA/D$B%3%s%P!<%?F~NOC<;R$K@\B3$7$F!"@8BN>pJs$N?.9f=hM}%W%m%0%i%_%s%0$KFMF~$9$k!&!&!&$H$$$&$H$3$m$G$9!#$7$+$7I.<T$O$=$3$G$A$g$C$H2s$jF;$r$7$F!"H>F|;E;v$G!V(BUSB$B%*!<%G%#%*<#6q!W$r@=:n$7$^$7$?!#(B

$B6ZEE%;%s%5$H$$$&$N$O!"?4EE?^$dG>GH$N7WB,$H0c$C$F!"(B30$BJ,$H$+(B1$B;~4V$H$+$ND9;~4V$N;HMQ$K$OE,$7$F$$$^$;$s!#$=$NM}M3$O!"%"!<%F%#%U%!%/%H$rKI;_$7$F0BDj$J6ZEE?.9f$rF@$k$?$a$K!"EE6K$rHiIf$KL)Ce$5$;$k$?$a$K!"?-=L%Y%k%H$GAjEv$K05Gw$5$;$k$?$a$G$9!#<B83$,$[$s$N(B10$BJ,DxEY$G$b!"<B838e$KEE6K$N!V@W!W$,(B15$B!A(B30$BJ,DxEY;D$k$N$G!"D9;~4V$N05Gw$G]57l$,;}B3$9$k$H!"0e3XE*$K$O!V6I=j$N<B<A:YK&$ODc;@AG>I$N$?$aJQ@-!"0`=L!"2u;`$r5/$3$9!W$H$$$&$h$&$J;v8N$K$J$j$+$M$^$;$s!#(B

$B$=$3$G6ZEE?.9f$r%*!<%G%#%*?.9f$H$7$F!V%l%3!<%G%#%s%0!W$7$F$7$^$$!"8e$G2?EY$G$b!V:F@8!W$G$-$k$h$&$JF;6q$r:n$k$3$H$K$7$^$7$?!#I.<T$,$3$3(B25$BG/$[$I3hMQ$7$F$$$k!V(BMax$B!W$H$$$&%D!<%k$O(BUSB$B%*!<%G%#%*=hM}$KM%$l$F$$$k$N$G!"%Q%=%3%s$N%*!<%G%#%*C<;R$G$J$/!";THN$N(BUSB$B%*!<%G%#%*AuCV$r2~B$$7$F!"(Bmbed$B$N(B+3.3V$B7O$NEE05%l%s%8$KBP1~$7$?!"@lMQ$N!VF;6q!W$r:n$C$?$o$1$G$9!#(B
($B>\$7$/$O"*(B 1-1$B%3%i%`$N!V;29M>pJs(BWeb$B%Z!<%8!W$r;2>H$7$F2<$5$$(B)

$B;HMQ$7$?$N$O?^(BAppendix3-1$B$N$h$&$J!"0B2A$KF~<j$7$?(B($B%a!<%+L>$b@=IJL>$b2sO)?^$bITL@(B)$B!"%9%F%l%*%_%K$N%*!<%G%#%*=PNO$H!"%9%$%C%A$G%l%Y%k(B($B%i%$%s(B/$B%^%$%/(B)$B$,@Z$jBX$($G$-$k%9%F%l%*%_%K$N%*!<%G%#%*F~NO$r;}$C$?(BUSB$B%*!<%G%#%*AuCV$G$9!#%A%C%WItIJ$G4pHD>e$+$i?.9f$r0z$-=P$9$N$O:$Fq$H$_$F!"?^(BAppendix3-2$B$N$h$&$K$=$N$^$^%f%K%P!<%5%k4pHD$N>e$K:\$;$F!"%8%c%C%/$K:9$79~$s$@%9%F%l%*%_%K%W%i%0$+$iD>@\!"?.9f$r0z$-=P$7$^$7$?!#(B

($B?^(BAppendix3-1$B!!(BUSB$B%*!<%G%#%*AuCV$rJ,2r!&2~B$$9$k(B)

($B?^(BAppendix3-2$B!!%f%K%P!<%5%k4pHD$K:\$;$F2sO)$rA}@_$9$k(B)

USB$B7PM3$G(BPC$B$K9T$/%*!<%G%#%*F~NO$K$D$$$F$O!"6ZEE%;%s%52sO)$N=PNO$K$OD>N.@.J,$,:\$C$F$$$k$N$G!"(B47$B&L(BF$B$N(BBP($B%P%$%]!<%i(B)$B%3%s%G%s%5$rF~$l$F8rN.7k9g$7$^$7$?!#<B:]$K7WB,$7$F$_$k$H!"(BMac$B$N%*!<%G%#%*F~NOC<;R$OFbIt$K<h$j9~$`%*%U%;%C%HEE05$r0u2C$7$F$$$^$7$?$,!"$H$j$"$($:!VD>N.7k9g$rJ,N%!W$9$k;v$K0UL#$O$"$j$^$9!#(B

$B$^$?!"(BUSB$B7PM3$G(BPC$B$+$i%*!<%G%#%*=PNO$5$l$k%i%$%s$r(BNucleoF401RE$B$H@\B3$9$k$?$a$K$O!"AG;RGK2u$rHr$1$k$?$a!"?.9f$r!V(B0V$B!A(B+3.3V$B!W$NHO0O$K$7$J$1$l$P$J$j$^$;$s!#$=$3$G(BUSB$B$+$i<h$C$?(B+5V$B%i%$%s$K(B3$BC<;R%l%.%e%l!<%?(B+$BJ?3j2sO)$rMQ$$$F(B+3.3V$BEE8;$r:n$j!"F0:nEE05%.%j%.%j(BOK(+3.0V$B0J>e(B)$B$N(BOP$B%"%s%W(BLM324$B$NC1EE8;2sO)$H$7$F!"!VEE8;$NCfE@EE05(B $B!](B 47$B&L(BF$B$N(BBP$B$G8rN.7k9g$7$?F~NOEE05!W$rEyG\=PNO$9$kH?E>2C;;A}I}4o$+$i!"(BNucleoF401RE$B$N(BA/D$B%3%s%P!<%??.9f$H$7$FM?$($k$h$&$K$7$^$7$?!#@=:n$7$?;~$K$O2?$bIA$+$:$K:n$C$F$$$^$7$?$,!"2sO)?^$O?^(BAppendix3-3$B$N$h$&$K$J$j$^$9!#(B

($B?^(BAppendix3-3$B!!!V(BUSB$B%*!<%G%#%*<#6q!W$N2sO)?^(B)

$B7k6I!"$3$N!V(BUSB$B%*!<%G%#%*<#6q!W$O?^(BAppendix3-4$B$N$h$&$K40@.$7$^$7$?!#?^(BAppendix3-5$B$O!"$3$N<#6q$r(BMac$B$K7R$$$G!"(BUSB$B7PM3$G!V(BMax$B!W$+$i=PNO$7$?%5%$%sGH$,(BNucleoF401RE$B$N(BA/D$BC<;R$K9T$/?.9f$r%*%7%m%9%3!<%W$G8+$F$$$k$H$3$m$G$9!#$^$??^(BAppendix3-6$B$O!"6ZEE%;%s%5EE6K$rOS$KE=$C$F?-=L%Y%k%H$GL)Ce$5$;!"6ZEE%;%s%52sO)$N=PNO?.9f$r$3$N<#6q$KF~NO$7$F!"Bh(B1$B>O$N?^(B1-2-1$B$H$7$F>R2p$7$?6ZEE?.9f$r5-O?$7$F$$$k$H$3$m$G$9!#(B

($B?^(BAppendix3-4$B!!!V(BUSB$B%*!<%G%#%*<#6q!W$N304Q(B)

($B?^(BAppendix3-5$B!!!V(BUSB$B%*!<%G%#%*<#6q!W$r;H$C$?<B83$NMM;R(B)

($B?^(BAppendix3-6$B!!!V(BUSB$B%*!<%G%#%*<#6q!W$G6ZEE?.9f$r5-O?$7$F$$$kMM;R(B)
