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Subject: Arduino-Pi Ramblings: Speeding up the I2C bus on Raspberry Pi and
 Arduino
Date: Wed, 30 Apr 2014 14:59:48 -0300
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<h2 class=3D"date-header"><span>Monday, 31 March 2014</span></h2>

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Speeding up the  I2C bus on Raspberry Pi and Arduino
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From <a href=3D"http://en.wikipedia.org/wiki/I%C2%B2C" target=3D"_blank">Wi=
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<span style=3D"background-color: white; font-family: sans-serif; font-size:=
 13px; line-height: 19.200000762939453px;">The I=C2=B2C=C2=A0</span><a href=
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color: white; font-family: sans-serif; font-size: 13px; line-height: 19.200=
000762939453px;">=C2=A0has a 7-bit or a 10-bit (depending on the device use=
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iki/I%C2%B2C#cite_note-3" style=3D"background-image: none; background-posit=
ion: initial initial; background-repeat: initial initial; color: #0b0080;=
 text-decoration: none; white-space: nowrap;">[3]</a></sup><span style=3D"b=
ackground-color: white; font-family: sans-serif; font-size: 13px; line-heig=
ht: 19.200000762939453px;">=C2=A0Common I=C2=B2C bus speeds are the <b>100=
=C2=A0</b></span><b><a class=3D"mw-redirect" href=3D"http://en.wikipedia.or=
g/wiki/Kbit/s" style=3D"background-color: white; background-image: none; co=
lor: #0b0080; font-family: sans-serif; font-size: 13px; line-height: 19.200=
000762939453px; text-decoration: none;" title=3D"Kbit/s">kbit/s</a><span st=
yle=3D"background-color: white; font-family: sans-serif; font-size: 13px;=
 line-height: 19.200000762939453px;">=C2=A0</span></b><i style=3D"backgroun=
d-color: white; font-family: sans-serif; font-size: 13px; line-height: 19.2=
00000762939453px;">standard mode</i><span style=3D"background-color: white;=
 font-family: sans-serif; font-size: 13px; line-height: 19.200000762939453p=
x;">=C2=A0and the 10 kbit/s=C2=A0</span><i style=3D"background-color: white=
; font-family: sans-serif; font-size: 13px; line-height: 19.200000762939453=
px;">low-speed mode</i><span style=3D"background-color: white; font-family:=
 sans-serif; font-size: 13px; line-height: 19.200000762939453px;">, but arb=
itrarily low clock frequencies are also allowed. Recent revisions of I=C2=
=B2C can host more nodes and run at faster speeds (400 kbit/s=C2=A0</span><=
i style=3D"background-color: white; font-family: sans-serif; font-size: 13p=
x; line-height: 19.200000762939453px;">Fast mode</i><span style=3D"backgrou=
nd-color: white; font-family: sans-serif; font-size: 13px; line-height: 19.=
200000762939453px;">, 1 Mbit/s</span><i style=3D"background-color: white;=
 font-family: sans-serif; font-size: 13px; line-height: 19.200000762939453p=
x;">Fast mode plus</i><span style=3D"background-color: white; font-family:=
 sans-serif; font-size: 13px; line-height: 19.200000762939453px;">=C2=A0or=
 Fm+, and 3.4=C2=A0</span><a class=3D"mw-redirect" href=3D"http://en.wikipe=
dia.org/wiki/Mbit/s" style=3D"background-color: white; background-image: no=
ne; color: #0b0080; font-family: sans-serif; font-size: 13px; line-height:=
 19.200000762939453px; text-decoration: none;" title=3D"Mbit/s">Mbit/s</a><=
span style=3D"background-color: white; font-family: sans-serif; font-size:=
 13px; line-height: 19.200000762939453px;">=C2=A0</span><i style=3D"backgro=
und-color: white; font-family: sans-serif; font-size: 13px; line-height: 19=
.200000762939453px;">High Speed mode</i><span style=3D"background-color: wh=
ite; font-family: sans-serif; font-size: 13px; line-height: 19.200000762939=
453px;">). These speeds are more widely used on embedded systems than on PC=
s.</span></blockquote>
<div style=3D"border: none; outline: none; padding: 12px 0px; vertical-alig=
n: baseline;">
<span style=3D"background-color: white;"><span style=3D"font-family: Verdan=
a, Georgia, serif;"><span style=3D"line-height: 22px;">So by default the I2=
C bus is running at 100kHz. Not bad, but no blazing speed=C2=A0demon=C2=A0e=
ither.=C2=A0</span></span></span><br>
<span style=3D"background-color: white;"><span style=3D"font-family: Verdan=
a, Georgia, serif;"><span style=3D"line-height: 22px;"><br></span></span></=
span>
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white;">Most I2C devices can readily run=
 at 400khz, if you keep the lines short.</span></div>
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white;"><br></span></div>
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white;"><span style=3D"font-size: large;">=
<b>On the Raspberry Pi</b></span>, the bcm2708 chip manages I2C (smbus)=C2=
=A0</span></div>
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white;">From the <a href=3D"https://github=
.com/raspberrypi/linux/blob/rpi-3.6.y/drivers/i2c/busses/i2c-bcm2708.c#L73"=
 target=3D"_blank">=C2=A0</a></span><span style=3D"background-color: white;=
 color: #999988; font-family: Consolas, 'Liberation Mono', Courier, monospa=
ce; font-style: italic; line-height: 18px; white-space: pre;"><a href=3D"ht=
tps://github.com/raspberrypi/linux/blob/rpi-3.6.y/drivers/i2c/busses/i2c-bc=
m2708.c#L73" target=3D"_blank">Driver for Broadcom BCM2708 BSC Controllers<=
/a></span></div>
<pre style=3D"box-sizing: border-box; color: #333333; font-family: Consolas=
, 'Liberation Mono', Courier, monospace; line-height: 18px;"><div class=3D"=
line" id=3D"LC69" style=3D"box-sizing: border-box; font-size: 12px; height:=
 18px; padding-left: 10px;">
</div>
<div>
<span class=3D"p" style=3D"box-sizing: border-box;"></span><br>
<div class=3D"codecolorer-container text twitlight" style=3D"border: 1px so=
lid rgb(159, 159, 159); color: black; font-family: Monaco, 'Lucida Console'=
, monospace; font-size: 13px; line-height: 1.4em; margin: 0px 0px 10px; out=
line: none; overflow: auto; padding: 0px; vertical-align: baseline; white-s=
pace: nowrap; width: 520px;">
<pre style=3D"box-sizing: border-box; color: #333333; font-family: Consolas=
, 'Liberation Mono', Courier, monospace; font-size: 12px; line-height: 18px=
;"><div class=3D"line" id=3D"LC69" style=3D"box-sizing: border-box; height:=
 18px; padding-left: 10px;">
<span class=3D"p" style=3D"box-sizing: border-box;"><span class=3D"cp" styl=
e=3D"box-sizing: border-box; color: #999999; font-weight: bold;">#define I2=
C_TIMEOUT_MS 150</span></span></div>
<span class=3D"p" style=3D"box-sizing: border-box;"><div class=3D"line" id=
=3D"LC70" style=3D"box-sizing: border-box; height: 18px; padding-left: 10px=
;">
</div>
<div class=3D"line" id=3D"LC71" style=3D"box-sizing: border-box; height: 18=
px; padding-left: 10px;">
<span class=3D"cp" style=3D"box-sizing: border-box; color: #999999; font-we=
ight: bold;">#define DRV_NAME "bcm2708_i2c"</span></div>
<div class=3D"line" id=3D"LC72" style=3D"box-sizing: border-box; height: 18=
px; padding-left: 10px;">
</div>
<div class=3D"line" id=3D"LC73" style=3D"background-color: #ffffcc; box-siz=
ing: border-box; height: 18px; padding-left: 10px;">
<span class=3D"k" style=3D"box-sizing: border-box; font-weight: bold;">stat=
ic</span> <span class=3D"kt" style=3D"box-sizing: border-box; color: #44558=
8; font-weight: bold;">unsigned</span> <span class=3D"kt" style=3D"box-sizi=
ng: border-box; color: #445588; font-weight: bold;">int</span> <span class=
=3D"n" style=3D"box-sizing: border-box;">baudrate</span> <span class=3D"o"=
 style=3D"box-sizing: border-box; font-weight: bold;">=3D</span> <span clas=
s=3D"n" style=3D"box-sizing: border-box;">CONFIG_I2C_BCM2708_BAUDRATE</span=
><span class=3D"p" style=3D"box-sizing: border-box;">;</span></div>
<div class=3D"line" id=3D"LC74" style=3D"box-sizing: border-box; height: 18=
px; padding-left: 10px;">
<span class=3D"n" style=3D"box-sizing: border-box;">module_param</span><spa=
n class=3D"p" style=3D"box-sizing: border-box;">(</span><span class=3D"n"=
 style=3D"box-sizing: border-box;">baudrate</span><span class=3D"p" style=
=3D"box-sizing: border-box;">,</span> <span class=3D"n" style=3D"box-sizing=
: border-box;">uint</span><span class=3D"p" style=3D"box-sizing: border-box=
;">,</span> <span class=3D"n" style=3D"box-sizing: border-box;">S_IRUSR</sp=
an> <span class=3D"o" style=3D"box-sizing: border-box; font-weight: bold;">=
|</span> <span class=3D"n" style=3D"box-sizing: border-box;">S_IWUSR</span>=
 <span class=3D"o" style=3D"box-sizing: border-box; font-weight: bold;">|</=
span> <span class=3D"n" style=3D"box-sizing: border-box;">S_IRGRP</span> <s=
pan class=3D"o" style=3D"box-sizing: border-box; font-weight: bold;">|</spa=
n> <span class=3D"n" style=3D"box-sizing: border-box;">S_IWGRP</span><span=
 class=3D"p" style=3D"box-sizing: border-box;">);</span></div>
<div class=3D"line" id=3D"LC75" style=3D"box-sizing: border-box; height: 18=
px; padding-left: 10px;">
<span class=3D"n" style=3D"box-sizing: border-box;">MODULE_PARM_DESC</span>=
<span class=3D"p" style=3D"box-sizing: border-box;">(</span><span class=3D"=
n" style=3D"box-sizing: border-box;">baudrate</span><span class=3D"p" style=
=3D"box-sizing: border-box;">,</span> <span class=3D"s" style=3D"box-sizing=
: border-box; color: #dd1144;">"The I2C baudrate"</span><span class=3D"p"=
 style=3D"box-sizing: border-box;">);</span></div>
<div class=3D"line" id=3D"LC75" style=3D"box-sizing: border-box; height: 18=
px; padding-left: 10px;">
</div>
</span></pre>
</div>
<span class=3D"p" style=3D"box-sizing: border-box;">
<div style=3D"border: none; color: black; font-family: Verdana, Georgia, se=
rif; line-height: 22px; outline: none; padding: 12px 0px; vertical-align:=
 baseline; white-space: normal;">
To increase the speed on the Raspberry Pi, you can pass an <a href=3D"http:=
//www.raspberrypi.org/phpBB3/viewtopic.php?t=3D18852" target=3D"_blank">opt=
ional baudrate parameter via modprobe to the I2C module</a></div>
</span></div>
</pre>
</div>
<div class=3D"codecolorer-container text twitlight" style=3D"border: 1px so=
lid rgb(159, 159, 159); font-family: Monaco, 'Lucida Console', monospace;=
 font-size: 13px; line-height: 1.4em; margin: 0px 0px 10px; outline: none;=
 overflow: auto; padding: 0px; vertical-align: baseline; white-space: nowra=
p; width: 520px;">
<span style=3D"background-color: #f7f7f9; color: #8b8b8b; font-family: Mona=
co, 'Andale Mono', 'Courier New', Courier, mono; font-size: 12px; line-heig=
ht: 15.210000038146973px; white-space: normal;">=C2=A0 =C2=A0 =C2=A0 =C2=A0=
 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=
=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0=
 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=
=A0 =C2=A0</span><span style=3D"background-color: #f7f7f9; font-family: Mon=
aco, 'Andale Mono', 'Courier New', Courier, mono; font-size: 12px; line-hei=
ght: 15.210000038146973px; white-space: normal;">sudo modprobe -r i2c_bcm27=
08 &amp;&amp; sudo modprobe i2c_bcm2708 baudrate=3D400000 =C2=A0</span></di=
v>
<div style=3D"border: none; font-family: Verdana, Georgia, serif; line-heig=
ht: 22px; outline: none; padding: 12px 0px; vertical-align: baseline;">
<span style=3D"background-color: white;">To make that change permanent, you=
 have to create <a href=3D"http://www.raspberrypi.org/phpBB3/viewtopic.php?=
t=3D18852#" target=3D"_blank">a new i2c.conf file</a>:</span></div>
<div class=3D"codecolorer-container text twitlight" style=3D"border: 1px so=
lid rgb(159, 159, 159); font-family: Monaco, 'Lucida Console', monospace;=
 font-size: 13px; line-height: 1.4em; margin: 0px 0px 10px; outline: none;=
 overflow: auto; padding: 0px; vertical-align: baseline; white-space: nowra=
p; width: 520px;">
<table style=3D"border-collapse: collapse; border-spacing: 0px; border: 0px=
; font-size: 13px; line-height: 1.4em; margin: 18px 0px; outline: none; pad=
ding: 0px; vertical-align: baseline; width: 520px;" cellpadding=3D"0" cells=
pacing=3D"0"><tbody style=3D"border: none; line-height: 1.4em; margin: 0px;=
 outline: none; padding: 0px; vertical-align: baseline;">
<tr style=3D"border: none; line-height: 1.4em; margin: 0px; outline: none;=
 padding: 0px; vertical-align: baseline;"><td class=3D"line-numbers" style=
=3D"border-right-color: rgb(159, 159, 159); border-right-style: solid; bord=
er-width: 0px 1px 0px 0px; line-height: 1.4em; margin: 0px; outline: none;=
 padding: 5px; text-align: right; vertical-align: top;"><div style=3D"borde=
r: none; line-height: 1.4em; margin: 0px; outline: none; padding: 0px; vert=
ical-align: baseline; width: 23px;">
<span style=3D"background-color: white;">1</span><br>
<span style=3D"background-color: white;">2</span><br>
<span style=3D"background-color: white;">3</span><br>
<span style=3D"background-color: white;">4</span><br>
<span style=3D"background-color: white;">5</span></div>
</td><td style=3D"border: 0px; line-height: 1.4em; margin: 0px; outline: no=
ne; padding: 0px; vertical-align: top;"><div class=3D"text codecolorer" sty=
le=3D"border: none; line-height: 1.4em; margin: 0px; outline: none; padding=
: 5px; vertical-align: baseline;">
<span style=3D"background-color: white;">sudo na</span><span style=3D"backg=
round-color: white; line-height: 1.4em; white-space: nowrap;">no=C2=A0</spa=
n><span style=3D"background-color: white; line-height: 1.4em; white-space:=
 nowrap;">/etc/modprobe.d/i2c.conf</span><br>
<span style=3D"background-color: white;">=C2=A0 =C2=A0=C2=A0</span><br>
<span style=3D"background-color: white;">type =C2=A0 =C2=A0</span><span sty=
le=3D"background-color: white; line-height: 1.4em; white-space: nowrap;">op=
tions i2c_bcm2708 baudrate=3D400000</span><br>
=C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=
=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0=
 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0 =C2=A0ctrl-=
x to save (answer yes)</div>
</td></tr>
</tbody></table>
</div>
<div style=3D"border: none; outline: none; padding: 12px 0px; vertical-alig=
n: baseline;">
<div style=3D"font-family: Verdana, Georgia, serif; font-size: 12px; line-h=
eight: 22px;">
<span style=3D"background-color: white; font-size: small;">This will force=
 your Raspberry Pi to initiate communications at 400k baud.</span></div>
<div style=3D"font-family: Verdana, Georgia, serif; font-size: 12px; line-h=
eight: 22px;">
<span style=3D"background-color: white; font-size: small;"><br></span></div>
<hr style=3D"font-family: Verdana, Georgia, serif; font-size: 12px; line-he=
ight: 22px;">
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white; font-size: small;"><br></span></div>
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white; font-size: small;"><br></span></div>
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white; font-size: small;"><br></span><span=
 style=3D"background-color: white; font-size: large;"><b>On the Arduino sid=
e</b></span><span style=3D"background-color: white; font-size: small;">,</s=
pan><span style=3D"background-color: white; font-size: small;"> you have to=
 locate the file twi.h=C2=A0</span></div>
<div style=3D"font-family: Verdana, Georgia, serif; font-size: 12px; line-h=
eight: 22px; text-align: center;">
<span style=3D"background-color: white; font-size: small;"><span style=3D"c=
olor: blue;"><br></span></span></div>
<div style=3D"font-family: Verdana, Georgia, serif; font-size: 12px; line-h=
eight: 22px; text-align: center;">
<span style=3D"background-color: white; font-size: small;"><span style=3D"c=
olor: blue;">sudo nano /usr/share/arduino/libraries/Wire/utility/twi.h</spa=
n></span></div>
</div>
<div style=3D"border: none; font-family: Verdana, Georgia, serif; line-heig=
ht: 22px; outline: none; padding: 12px 0px; vertical-align: baseline;">
<span style=3D"background-color: white;">find the string =E2=80=9C#define=
 TWI_FREQ 100000L=E2=80=9D and change it to:</span></div>
<div class=3D"codecolorer-container text twitlight" style=3D"border: 1px so=
lid rgb(159, 159, 159); font-family: Monaco, 'Lucida Console', monospace;=
 font-size: 13px; line-height: 1.4em; margin: 0px 0px 10px; outline: none;=
 overflow: auto; padding: 0px; vertical-align: baseline; white-space: nowra=
p; width: 520px;">
<table style=3D"border-collapse: collapse; border-spacing: 0px; border: 0px=
; font-size: 13px; line-height: 1.4em; margin: 18px 0px; outline: none; pad=
ding: 0px; vertical-align: baseline; width: 520px;" cellpadding=3D"0" cells=
pacing=3D"0"><tbody style=3D"border: none; line-height: 1.4em; margin: 0px;=
 outline: none; padding: 0px; vertical-align: baseline;">
<tr style=3D"border: none; line-height: 1.4em; margin: 0px; outline: none;=
 padding: 0px; vertical-align: baseline;"><td class=3D"line-numbers" style=
=3D"border-right-color: rgb(159, 159, 159); border-right-style: solid; bord=
er-width: 0px 1px 0px 0px; line-height: 1.4em; margin: 0px; outline: none;=
 padding: 5px; text-align: right; vertical-align: top;"><div style=3D"borde=
r: none; line-height: 1.4em; margin: 0px; outline: none; padding: 0px; vert=
ical-align: baseline; width: 23px;">
<span style=3D"background-color: white;">1</span></div>
</td><td style=3D"border: 0px; line-height: 1.4em; margin: 0px; outline: no=
ne; padding: 0px; vertical-align: top;"><div class=3D"text codecolorer" sty=
le=3D"border: none; line-height: 1.4em; margin: 0px; outline: none; padding=
: 5px; vertical-align: baseline;">
<span style=3D"background-color: white;">#define TWI_FREQ 400000L (was 1000=
00L)</span></div>
</td></tr>
</tbody></table>
</div>
<div style=3D"border: none; font-family: Verdana, Georgia, serif; line-heig=
ht: 22px; outline: none; padding: 12px 0px; vertical-align: baseline;">
<span style=3D"background-color: white;"><b><br></b></span>
<span style=3D"background-color: white;"><b>This should speed up your I2C=
 communications sufficiently, without breaking anything.</b></span><br>
<div style=3D"font-size: 12px;">
<br></div>
</div>
<div style=3D"border: none; outline: none; padding: 12px 0px; vertical-alig=
n: baseline;">
<div style=3D"font-family: Verdana, Georgia, serif; font-size: 12px; line-h=
eight: 22px;">
<span style=3D"background-color: white;"><br></span>
<span style=3D"background-color: white;"><br></span></div>
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white;"><b><span style=3D"font-size: large=
;">References:</span></b></span></div>
<div style=3D"font-family: Verdana, Georgia, serif; line-height: 22px;">
<span style=3D"background-color: white;"><b><span style=3D"font-size: large=
;"><br></span></b></span></div>
<span style=3D"background-color: white; font-size: 12px; line-height: 22px;=
"><span style=3D"font-family: Verdana, Georgia, serif;">http://en.wikipedia=
.org/wiki/I%C2%B2C</span></span><br>
<span style=3D"background-color: white; font-size: 12px; line-height: 22px;=
"><span style=3D"font-family: Verdana, Georgia, serif;">http://www.raspberr=
ypi.org/phpBB3/viewtopic.php?t=3D18852</span></span><br>
<span style=3D"background-color: white; font-size: 12px; line-height: 22px;=
"><span style=3D"font-family: Verdana, Georgia, serif;">http://neophob.com/=
2013/04/i2c-communication-between-a-rpi-and-a-arduino/</span></span><br>
<span style=3D"background-color: white; font-size: 12px; line-height: 22px;=
"><span style=3D"font-family: Verdana, Georgia, serif;">http://raspberrypi.=
znix.com/hipidocs/topic_i2cdev.htm</span></span><br>
<span style=3D"background-color: white; font-family: Verdana, Georgia, seri=
f; font-size: 12px; line-height: 22px;">https://github.com/raspberrypi/linu=
x/blob/rpi-3.6.y/drivers/i2c/busses/i2c-bcm2708.c#L73</span></div>
<div style=3D"clear: both;"></div>
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<h2>Relevant Links:</h2>
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<li><a href=3D"http://http//www.ca.diigiit.com/">Diigiit  Robotics Canada</=
a></li>
<li><a href=3D"http://lightware.co.za/shop/en/laser-sensors/24-oslrf-01.htm=
l">LightWare Optoelectronics - Open Source Laser Range Finder</a></li>
<li><a href=3D"http://www.myrobots.com/Robot/robbie-robot">MyRobots.com Cha=
nnel Feeds for my project</a></li>
<li><a href=3D"http://dlnmh9ip6v2uc.cloudfront.net/learn/materials/8/Arduin=
o_Cheat_Sheet.pdf">Arduino Cheat Sheet</a></li>
<li><a href=3D"https://github.com/michaeljball">GITHUB for this project</a>=
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<li><a href=3D"http://letsmakerobots.com/">LetsMakeRobots</a></li>
<li><a href=3D"http://www.societyofrobots.com/robotforum/index.php">Society=
 of Robots</a></li>
<li><a href=3D"http://myrobotlab.org/">MyRobotLab</a></li>
<li><a href=3D"http://pub1.willowgarage.com/%7Ekonolige/cs225B/docs/quigley=
-icra2009-ros.pdf">ROS - Robot Operating System</a></li>
<li><a href=3D"http://robots.stanford.edu/probabilistic-robotics/">Book: Pr=
obabilistic Robotics</a></li>
<li><a href=3D"http://en.wikipedia.org/wiki/Subsumption_architecture">wikip=
edia: Subsumption_architecture</a></li>
<li><a href=3D"http://openslam.org/">Open: Simultaneous Location and Mappin=
g</a></li>
<li><a href=3D"http://playground.arduino.cc/Main/RotaryEncoders">Arduino Pl=
ayground: Reading Rotary Encoders</a></li>
<li><a href=3D"http://tronixstuff.com/tutorials/">Arduino Tutorials (50+)</=
a></li>
<li><a href=3D"http://www.robotc.net/">robotc.net:  A C programming languag=
e for Robots</a></li>
<li><a href=3D"http://www.raspberrypi.org/">Raspberry Pi Home</a></li>
<li><a href=3D"http://www.arduino.cc/">Arduino Home</a></li>
<li><a href=3D"http://fritzing.org/">Fritzing - Open Source Circuit Design<=
/a></li>
<li><a href=3D"http://www.newmicros.com/store/product_manual/NMEA_Manual.pd=
f">SIRF GPS: NMEA Manual  (GPS Strings)</a></li>
<li><a href=3D"https://solarbotics.com/product/lmr-sh/">Solarbotics</a></li>
<li><a href=3D"http://creatroninc.com/">Creatroninc</a></li>
<li><a href=3D"http://www.dfrobot.com/index.php">DFRobot - Drive the Future=
</a></li>
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<li><a href=3D"http://arduino-pi.blogspot.com.br/2014/03/mounting-oslrf-on-=
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n...</a></li>
<li><a href=3D"http://arduino-pi.blogspot.com.br/2014/03/success-oslrf01-li=
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<li><a href=3D"http://arduino-pi.blogspot.com.br/2014/03/short-post-on-data=
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<li><a href=3D"http://arduino-pi.blogspot.com.br/2014/03/prototype-of-oslrf=
01-arduino-scanning.html">Prototype of OSLRF01 Arduino Scanning LIDAR (Unde=
r...</a></li>
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<dd class=3D"profile-textblock"><div><a href=3D"https://twitter.com/Unix_Gu=
ru">@Unix_Guru on Twitter</a></div>
<div>=C2=A0</div>
<div>Have survived various roles in the IT field for the past 25+ years fro=
m Hardware developer with the National Research Council, through Network Ad=
ministrator, and teaching Computer Science,=C2=A0to Network Architect and=
 CISO of a prominent Insurance company. </div>
<div>=C2=A0</div>
<div>Most recently, I am currently in the Position of Information Security=
 Architect for a Canadian Financial Institution.</div>
<div>=C2=A0</div>
<div>Ideas and opinions here are my own, and probably do not reflect those=
 of my employer...</div>
<div>=C2=A0</div></dd>
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<a class=3D"profile-link" href=3D"https://plus.google.com/11512301540516545=
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<h2>Let's Make Robots! blogs</h2>
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m-title"><a target=3D"_blank" href=3D"http://letsmakerobots.com/blog/redwat=
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pan></li><li><span class=3D"item-title"><a target=3D"_blank" href=3D"http:/=
/letsmakerobots.com/blog/k120189/beware-sainsmart">beware of sainsmart!</a>=
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