... used PDA 11 12 DSP MMU 32 TMS 320 C55x DSP (instruction cache, SARAM, DARAM, DMA, H/W accelerators) DSP public (shared) peripheral bus 32 16 16 SDRAM memories 32 E M I F F MPU Bus 32 32 32 32 32 32 ... Figure 2 .1 PDA Robot Figure 2. 2 Block diagram of PDABot 16 Chapter / Robotic System Overview Figure 2. 3 MCP 21 5 0 chipset Vishay TFDS4500 Serial Infrared Transceiver The TFDU 410 0, TFDS4500 (Figure 2. 4), ... Instruments, Toshiba, Triscend, Virata, Yamaha, Zarlink, and ZTEIC The SA -1 1 10: An Example of ARM Architecture The SA -1 1 10 is a general-purpose, 3 2- bit RISC microprocessor with a 16 kB instruction...