Revision: 1.

7
PROGRAMMER’S GUIDE Date: Jun 24, 13

CCpilot XM and CrossCore XM

Programmer's guide

www.maximatecc.com
Contents

Revision history ..................................................................................................................................2

1. Introduction ..................................................................................................................................3
1.1. Purpose ........................................................................................................................................ 3
1.2. Conventions and defines ......................................................................................................... 3
1.3. Identification .............................................................................................................................. 3
1.4. References .................................................................................................................................. 4
1.5. Include files and libraries .......................................................................................................... 4
2. Interface overview .......................................................................................................................5
2.1. Standard Libraries ...................................................................................................................... 6
2.2. CCAux library ............................................................................................................................. 6
2.3. Migrating from CCAux 1.x to 2.x libraries .............................................................................. 8
2.4. JIDA 32 Library ............................................................................................................................ 8
2.5. Other Libraries ............................................................................................................................ 8
3. Guidelines for Compact Flash usage ........................................................................................9
3.1. Prevention for device shut down ........................................................................................... 9
3.2. Extend the compact flash lifetime ......................................................................................... 9
4. Windows specifics programming guide..................................................................................11
4.1. Set up the development environment. .............................................................................. 11
4.2. Windows Interfaces specifics ................................................................................................ 11
5. Linux specific programming guide ..........................................................................................12
5.1. Development environment setup ........................................................................................ 12
5.2. Linux Interfaces specifics........................................................................................................ 13
Technical support ............................................................................................................................17
Trademark, etc. ...............................................................................................................................17

Revision history
Rev Date Comments
P1.0 2010-07-06
P1.1 2012-03-26 Minor updates
P1.2 2012-03-27 Corrections
P1.3 2012-05-11 Corrections
Update for CrossCore XM and All-Integrated
P1.4 2012-11-27
functionallity.
P1.5 2012-12-03 Updated after review
P1.6 2013-04-09 Updates: Smart and PowerMgr API.
Updates: API v1 -> APIv2 migration information
P1.7 2013-06-17
Companyname changes.

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1. Introduction

1.1. Purpose
Developing applications for CCpilot XM and CrossCore XM is basically the same as developing any
application under Windows or Linux.
This document contains device specific reference information describing application development
and APIs used when developing applications for the XM device hardware.
These devices are available with both Windows and Linux operating system and this guide is
applicable for both operating systems. Operating system specific information is pointed out in the
text or addressed in the respective operating system sections.
Several functionalities are available using operating system or de-facto standard APIs. These may
be briefly mentioned but not further described within this documentation.
A good prior understanding of Windows and/or Linux programming is needed to fully benefit from
this documentation.

1.2. Conventions and defines

CCpilot XM and CrossCore XM are in most cases identical in functionality and usage. The following
definition is used to separate unit specific details. The observe symbol is also used to highlight such
difference.

Defines Use
CCpilot XM Information that is specific for CCpilot XM
CrossCore XM Information that is specific for CrossCore XM
XM device Information that applies to both CCpilot XM and CrossCore XM

The observe symbol is used to highligt information in this document, such as differences between
product CCpilot and CrossCore product models.
The A symbol is used to highlight information specific for CCpilot XM All-Integrated and CrossCore
XM All-Integrated.
The exclamation symbol is used to highlight important information.
Text formats used in this document.

Format Use
Italics Paths, filenames, definitions.
Bold Command names and important information

1.3. Identification
On the side of the XM device there is a label with version and serial numbers which identify your
unique computer. Take note of them. During service and other contact with the supplier it is
important to be able to provide these numbers.

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1.4. References
For further information on XM device software and the available APIs see the following references.
[1] CCpilot XM and CrossCore XM – Software User Guide
[2] SocketCAN from the Linux kernel,
http://lxr.linux.no/linux+v2.6.31.14/Documentation/networking/can.txt
[3] CCAux API documentation (CC AUX x.x.x.x, available in the CC AUX SDK)
[4] CAN Interface Description (available within the Windows SDK)

1.5. Include files and libraries

The programmers guide may contain references to include files needed when programming the XM
device. Note that these files can be downloaded via the maximatecc support web site as
development packages. Those packages may also include libraries to use for application
development, or in other ways reference to library functions.

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2. Interface overview
This section covers basic information on how to access the XM device hardware. Most of the
hardware is accessed using the default Windows or Linux interfaces but some XM device specific
interfaces, such as CAN and Digital In, require additional interfaces to be accessed.
The table below lists the API used to access each interface. These interfaces can be grouped into
four categories. Standard libraries (Standard API), CCAux library (CCAux API), JIDA 32 Library
(JIDA 32 API) and Other Libraries (Other API).
Depending on product model, all interfaces may not be present on your specific model. See also the
operating system specific sections and additional documentation describing the software API.
Standard API

JIDA 32 API
CCAux API

Other API

Functionality Comment

CAN √ √ Depending on operating system.

Ethernet √
USB √
RS232 √
Video In √
Audio In / Out √
Digital In √
Status LED √
Backlight √
Ambient Light
sensor √

Buzzer √
Watchdog √
Power
management √

S.M.A.R.T √
User EEPROM √
WLAN √ √ Power management access through CC AUX API required

GPRS/GSM √ √ Power management access through CC AUX API required

GPS √ √ Power management access through CC AUX API required

Bluetooth √ √ Power management access through CC AUX API required

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2.1. Standard Libraries

Most interfaces are accessed using standard libraries and access methods. Different access methods
can be possible depending on development environment and additional installed frameworks, such
as .Net or Qt.
The standard libraries used for Windows and Linux are described in their respective
documentation sources, such as MAN pages or MSDN.

2.2. CCAux library

The CCAux API gives access to several hardware specific interfaces. The API is the same for both
Windows and Linux. The API functions of this library are documented in the CCAux API reference
documentation, called CCAux, listed as reference [3]. Below is a brief introduction on the API’s
found therein and their function.
All API functions can be used from the CCsettings program as well.
Not all API functions are available in all product instances, and will in those cases return a defined
error code.

2.2.1. About
Contains an API for reading hardware configuration, unit data etc.

2.2.2. Adc
Contains an API for reading built in ADC voltage information.

2.2.3. AuxVersion
Contains an API for reading firmware version information.

2.2.4. Backlight
Contains an API for controlling backlight settings as well as configuring automatic backlight
functionality on CCpilot XM.

2.2.5. Buzzer
Contains an API for controlling the built-in buzzer.

2.2.6. CanSetting
Contains an API for controlling CAN settings. Note that other or similar CAN-related settings are
available through other API’s and in the Windows registry.

2.2.7. Config
Contains an API for controlling internal and external power up and power down settings and time
configurations, including power button and on/off signal configurations.

2.2.8. Diagnostic
Contains API’s for getting run time information about the XM device.

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2.2.9. DigIO
Contains an API to get the current status of the digital input signals.

2.2.10. FirmwareUpgrade
Contains an API that allows for updating of different firmware components of the XM device.
Consider careful usage for these functions, erroneous usage can result in a non-functional XM
device.

2.2.11. FrontLED
Contains an API for overriding the default LED behaviour.

2.2.12. LightSensor
Contains an API for reading the light sensor values and getting raw and/or calculated values.

2.2.13. Power
Contains an API for reading power status and control functions for advanced shut down behaviour.

2.2.14. PowerMgr
Contains an API for delaying OS shutdown or suspend until the application is ready.

2.2.15. Smart
Contains an API for reading the remaining expected lifetime of the compact flash device and
limited device information. The API utilizes the device S.M.A.R.T. data in the background.

2.2.16. TouchScreen
Contains an API for changing the touch screen profile between mouse or touch profile as well as
other touch screen related settings on CCpilot XM.

2.2.17. Video
Contains an API for controlling the analogue video streams in terms of location, size, scaling etc.

2.2.18. Telematics
Contains an API for controlling power to the telematics board, as well as some basic initialization
functions.

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2.3. Migrating from CCAux 1.x to 2.x libraries

For older maximatecc products, there’s a version of the CCAux library that was written a bit
differently. For the XM devices, the 1.x interfaces are still available, but there’s a new generation of
the API also installed, which has some specific differences that one needs to consider, but also some
benefits. For instance, the API backwards compatibility in the 2.x series will be much better
compared to the 1.x series, and applications shouldn’t need to be recompiled when new versions are
made available, unless specific usage of such functions is required.
The main difference can be seen in this example, which may apply to previously written code on
other maximatecc products:
/ * U sa ge i n CC au x AP I 1 .x * /
# i nc lu de ” Mo du le .h ”
M o du le * pM od ul e = cr o ss co nt ro l : :G et Mo du l e( );
e E rr e rr = p Mo du le -> f un ct io n_ 1( ar g, … );
p M od ul e- >R el ea se () ;

/ * N ew u sa ge i n CC au x A PI 2 .x * /
# i nc lu de ” Mo du le .h ”
M O DU LE HA ND LE p Mo du le = cr os sc on tr ol :: Ge t Mo du le () ;
e E rr e rr = M od ul e_ fu n ct io n_ 1( pM od ul e, a r g, … );
M o du le _r el ea se (p Mo du l e) ;

When porting your application to CC AUX API v 2.X, the above differences is what you will need to
address for all instances calling the API functions in your code.

2.4. JIDA 32 Library

The JIDA 32 API is a third party library that gives access to CPU board specific functionality such
as the watchdog, temperature and user EEPROM access.

2.5. Other Libraries

Custom or third party API may be required to access different interfaces. See the library overview
table for information on the specific library.

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3. Guidelines for Compact Flash usage

A compact flash memory is used for persistent storage in the XM device. Compact flash memories
provide a small sized storage that is nearly insensitive for shocks and vibrations. But flash
memories also have a limited number of write cycles that must be considered during application
design. As with any file system improper shut down of the device may also lead to incomplete file
operations and corrupt flash.
Here are some guidelines that can be used to better assure that the file systems are being kept
consistent, and to prevent pre-mature aging of the CF card.

3.1. Prevention for device shut down

 To prevent data loss due to sudden power disruption, large files shouldn’t be written if
there is a risk for abruption. Keep critical windows short, i.e. compress the files before
writing to storage media if they are retained in RAM memory prior to the write, or divide
the files into smaller pieces.

 The XM device doesn’t deviate from the standard OS model in case when using the
ON/OFF signaling from hardware. Hence, an application that is able to terminate properly
using a normal operating system should be able to use the same solution on the XM device.

 In case of additional prevention, the applications can and should listen to operating system
power management signals and/or power status signals via the CCAux API. The shutdown
process is a quick process and when shutdown signals occur the application shall terminate
quickly, i.e. be able to quickly abrupt a file write in progress and do not write large files
such as log files upon system shut down. A general design guide would be that an
application shouldn’t need more than a few hundred ms to make itself ready for shutdown

 The CCAux PowerMgr API may be used by an application to delay OS shutdown and OS
suspend operations in some use-case scenarios. The application can delay shutdown until it
is ready with its operations.

3.2. Extend the compact flash lifetime

 Application should not excessively write to the file system. Better approach is to use RAM-
based log files and on regular intervals write files to permanent file system. Although use
caution, RAM-files can be lost on sudden power off, so for mission critical data, another
approach can be considered.

 Each write to permanent storage should be forced for synchronization, like (Linux
perspective):
C o mma n d / scri p t s ty le : # s ync
P r o gra mmi n g s ty le 1 : res = f sy cnc (f d );
P r o gra mmi n g s ty le 2 : res = sy s te m (“ s y nc ” );

 It may be possible to add file system locks during startup as a startup script itself, to
prevent unnecessary stress on the flash. This approach needs proper usage on several
levels, making sure writes can be performed when they are supposed to be. File system
locks can also be added as an extra security measure, possibly in combination with file
system checks. But this may lead to longer startup times.

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 For Linux based system the application should follow startup scripts guidelines to make
sure that operating system signals are correctly passed to application, as found in the
Software Guide document.

 The CCAux Smart API can be used by applications to monitor the expected lifetime of the
compact flash. It can be used to warn the user that a replacement is needed before the
compact flash becomes corrupt.

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4. Windows specifics programming guide

4.1. Set up the development environment.

Many development environments are available for Windows application development. This section
describes setting up the environment for Microsoft Visual Studio, it is recommended to use version
2008 or higher. See the Microsoft documentation for Visual Studio installation procedure
information.

4.1.1. SDK needed to start developing (on development computer)

The XM device specific SDK for development is divided into two parts in Windows, the CC AUX
API SDK for hardware access functions and the CC Win32 CAN API for CAN functions. Both should
be installed on the development computer for full access to all functions.

4.1.2. Drivers or packages needed to deploy on the XM device

No additional software needs to be installed on the XM device.

4.1.3. Setting up remote debugging

To enable efficient debugging, remote debugging can be set up where the application is executed on
the XM device and debugged via the development computer. See the Microsoft Visual studio
documentation for set-up information.

4.2. Windows Interfaces specifics

This section covers windows specific details for programming with an XM device.

4.2.1. CAN
In Windows the CAN interfaces is accessed using the proprietary CAN API, see the CAN interface
description documentation within the Win32CAN SDK, reference [4]. The CAN drivers are
installed per default on the XM device but the SDK is needed in the development environment.
Note that settings for CAN are stored in the Windows registry. Some, but not all of these are also
available as settings in the CCAux API.

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5. Linux specific programming guide

5.1. Development environment setup

For developing software for an XM device, a development PC with the following setup is
recommended.

Software Version Description

Ubuntu 10.4 Operating system (binary compatible system is OK)
gcc 4.4.3 C – compiler
g++ 4.4.3 C++ - compiler
gdb 7.1 Debugger
Eclipse 3.5.2 As example. Other IDE or text editors can also be used.

5.1.1. Using correct development headers

For the customer application to utilize the services on the XM device the compiler has to find the
correct development headers and libraries. Paths of those files must be added to the search path in
project settings or the Makefile.

5.1.2. SDK needed to start developing (on development computer)

If the CC Aux API is needed, the following packages should be installed on the target XM device:
# dpk g – i li bcc au x - de v_ x .x .x .x_i 386 .de b li bccau x_x .x . x .x_i 386 .d eb

This can be considered an SDK for the CC AUX API in Linux, and it installs the header files to the
system include file directory, i.e. under /usr/include.

5.1.3. Drivers or packages needed to deploy on the XM device

A set of standard Ubuntu libraries installed, so no additional installation is needed by default. If
additional packages are needed, see the CCpilot XM and CrossCore XM – Software User Guide for
more details on how to perform installation.
For XM device installed packages and libraries, use this command to list all installed packages:
# dpk g - l

Development versions of the appropriate libraries can easily be installed on the development
computer. See the standard Ubuntu documentation for more details.

5.1.4. Setting up remote debugging

To use gdb to debug an application running on the XM device, the application must have been
compiled with the -g flag. Start gdbserver on the XM device:
~ # gdb ser ve r :10000 tes t Ap p l i c a ti on

Then start the host gdb and connect to the server:

# gdb t es t Ap p l i ca ti o n
# (gd b ) t a r ge t re mo t e Y. Y. Y. Y :1 0000

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Above Y.Y.Y.Y is the IP address for the XM device. You can now debug the application normally,
except that rather than to issue the run command one should use continue since the application is
already running on the remote side.
Note that it is possible to fully debug the application but not the system calls made by the
application. Such system calls include calls to the soft float library, like divide, add or multiply on
floating point variables. It is therefore recommended to use next rather than step when such system
calls are being made.

5.2. Linux Interfaces specifics

5.2.1. CAN
In Linux CAN is interfaced using SocketCAN. SocketCAN is a widely used CAN communication
interface for Linux environments, and is a standard used in the Linux kernel.
Usage of SocketCAN requires knowledge of some system specific settings and details described
herein, for additional SocketCAN information see the official SocketCAN documentation.

5.2.1.1. Configuration of the XM device interface

The XM device node files for the four CAN interfaces are can0 to can3, which should be shown
when listing all network interfaces with the ifconfig command. The XM device driver is
implemented as loadable kernel modules, can_dev.ko, xilinx.ko and xilinx_platform_pci.ko. In
addition, there are at least two CAN protocol modules providing access to the CAN protocol
interface. A script handles the loading of the kernel modules upon start-up.
When XM device has finished its start-up, the CAN driver modules are loaded as a part of the
kernel. This can be checked via terminal access using lsmod command:
# l s mo d | e gre p “c an |xi li nx ”
c an_r a w 75 52 0
c an 23656 1 c an_r a w
xi li nx_p l a tfor m 284 8 0
xi li nx 6080 1 xi li nx_ p la tf or m
c an_ de v 15616 1 xi li nx

Since the driver is compiled as modules, unnecessary protocols may be removed or new modules
inserted according to user needs.
The CAN bus itself is not initialized during start-up, it only loads the drivers. Before any
communications can be executed, user must set correct bus speed (as an example 250kbit/s) by
first writing value into bitrate parameter:
# ech o 2500 00 > / s ys /cl a ss /ne t/c an 0/c an_bi ttimi n g/ bi tr a te

and then setting interface up with ifconfig:

# su d o i fco nfi g ca n0 up

After this, ifconfig should show can0 as a network interface:

# i fconfi g
c an0 Li nk en ca p :U NS P E C H Wa d d r 00 -00 -00-0 0-00- 00
U P R U NNI NG NOAR P M TU :16 M etri c :1
RX p acke ts :0 erro rs :0 dro p pe d :0 o ver run s :0 fra me :0

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TX p acke t s :0 erro rs :0 dro p pe d :0 o ver run s :0 c arri er :0

co lli si ons :0 tx queue len :10
RX by t es :0 (0 .0 B) TX b y te s :0 (0 .0 B )
I nt errup t :49

Same applies to the other CAN interfaces by changing can0 to can1, can2 or can3.

5.2.1.2. Bus recovery options

There are two options for implementing bus recovery after bus off has occurred: manual and
automatic.
Manual recovery is initiated by writing a non-zero value to can_restart variable under sysfs:
s u do sh –c “ ec ho 1 > / sy s /cl a ss/ ne t/c an0/c an_re s tar t ”

Bus restart is then scheduled through kernel and implemented through can-core.
In automatic bus recovery, can-core detects state changes and re-initializes controller after the
specified time period.
Automatic bus recovery from bus off state is by default turned off. It can be turned on via sysfs
setting, where the wanted restart period in milliseconds is set into using the can_restart_ms
variable. For example, a 100ms restart period for can0 is set from command line like this:
s u do i fc onfi g ca n0 d own
s u do sh –c “ ec ho 100 > /s ys /cl a ss /ne t/c an0 /ca n_re s tar t_ ms ”
s u do i fc onfi g ca n0 u p

Same commands apply for can1 by replacing can0 appropriately. Period is possible to set as needed
from application perspective. Value zero turns automatic bus recovery off.
Warning: Enabling automatic bus recovery may disturb other nodes on bus, if CAN interface is
incorrectly initialized.

5.2.1.3. Error interrupt options

Error interrupts are disabled by default. By enabling error interrupts user can receive error frames.
Bus off errors will come through even if the error interrupts are not enabled.
Enable them by giving module parameter errorirq=1 during module loading
# su d o mo d pr o be xi li nx errori r q= 1

Or, by editing xilinx.conf under /ro/etc/modprobe.d/ directory.

# xi li nx .con f : Ad d n ew o p ti o ns t o e n d o f ne x t li ne
o p ti o ns xi li nx erro ri rq =1

Warning: Enabling error interrupts and sending frames when module is not connected to active
bus may cause CAN acknowledge errors to overload CPU. User caution required. It is
recommended to avoid sending until one frame is received.

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5.2.1.4. SocketCAN Example

Below is an example of a SocketCAN application code. This example is not a complete and may or
may not compile as an application but it shows the nature of SocketCAN programming and the
usage of standard socket programming.
#i nc lu de <s ys / ty pe s .h >
#i nc lu de <s ys /s ocke t .h>
#i nc lu de <s ys /i oc tl .h >
#i nc lu de <ne t/i f .h >

#i nc lu de <li nux /ca n .h>

#i nc lu de <li nux /ca n/ra w .h >
#i nc lu de <s tri n g.h >

/ * De fi ne co ns t an t s , i f n o t defi ne d i n the h ead er s */

#i fn de f P F_C AN
# d efi ne P F_C AN 2 9
# en di f

#i fn de f AF _ C AN
# d efi ne AF _ C AN P F _ C AN
# en di f

/ * ... */

/ * S o me w here i n y our ap p */

/ * C rea t e th e s ocke t */
i n t sk t = soc ke t ( P F _C AN , S O C K_R AW, C AN _R AW );
c on st i nt l oo p ba ck = 0 ;

/ * L oca t e the i nt erface y ou wi sh to use */

s truc t i freq i fr ;
s trcp y (i fr .i fr_n a me , "c an0 " );
i oc t l (s k t , SI O CGI FI NDE X , &i fr); / * i f r .i fr_i fi ndex ge ts f i ll e d
* wi th th a t X M de vi ce ' s i n de x */

/ * S e lec t th a t C AN i nt erf ace , a n d bi n d the socke t to i t. */

s truc t sock a d dr_c an a d dr ;
a d dr .c an_f a mi ly = AF _C AN ;
a d dr .c an_i fi nde x = i fr .i fr_i fi nde x ;
bi nd ( s k t , (s t r uc t sock a d dr *)& a d dr , si ze of (a d d r ) );

/ * Di s a bl e fi l ter s an d loo p b ack fe a ture . */

se ts ock o pt (s k t , SO L_C AN_ R AW, C AN_ R AW_ F I LTER , NULL , 0 );
se ts ock o pt (s k t , SO L_C AN_ R AW, C AN_ R AW_ L O O PB AC K ,
&l o op b ack , si ze of (l o o p b ack ));

/ * S en d a me s sa ge to the C AN b u s */
s truc t c an_fr a me fr ame ;
fr a me .c an_i d = 0 x123 ;

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s trcp y ( & fr a me .d a ta , "f oo " );

fr a me .c an_ d lc = s trlen ( &fr a me .d a ta );
i n t by t es_ sen t = w ri te ( s k t , &fr a me , si ze of (f ra me ) );

/ * Re a d a me ss a ge b ac k fr o m the C AN b us */
i n t by t es_re a d = re ad ( s k t , &fr a me , si ze of (f ra me ) );

5.2.2. Serial Number Broadcast interface

The XM device has Serial Number Broadcast service. SNB does not have programming interface at
the XM device end, but the broadcasted data output can be handled elsewhere, even in another XM
device if required.
The message sent is a multicast UDP datagram to address 224.0.0.27. The message contains a char
array with three values separated by tabs; Serial number, Firmware version and XM Device type.
The sender’s IP address is available in datagram headers.
Example data contents (without quotes):
“ PR01 < t ab >0 .3 .0 < t ab >0”

An example implementation of the data listener is available in development package in

example_src/snb/snb_reader.c

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Technical support
Contact your reseller or supplier for help with possible problems with your XM device. In order to
get the best help, you should have access to your XM device and be prepared with the following
information before you contact support.

 The part number and serial number of the XM device, which you find on the brand label

 Date of purchase, which is found on the invoice

 The conditions and circumstances under which the problem arises

 LED indicator flash patterns.

 The XM Device log files (if possible)

 Prepare a system report on the XM device, from within CCsettings (if possible).

 Description of external equipment which is connected to the XM device.

Trademark, etc.
© 2011 CrossControl AB
All trademarks sighted in this document are the property of their respective owners.
CCpilot is a trademark which is the property of CrossControl AB.
Intel is a registered trademark which is the property of Intel Corporation in the USA and/or other
countries. Linux is a registered trademark of Linus Torvalds. Microsoft and Windows are registered
trademarks which belong to Microsoft Corporation in the USA and/or other countries.
CrossControl AB is not responsible for editing errors, technical errors or for material which has
been omitted in this document. CrossControl is not responsible for unintentional damage or for
damage which occurs as a result of supplying, handling or using of this material including the
devices and software referred to herein. The information in this handbook is supplied without any
guarantees and can change without prior notification.
CrossControl respects the intellectual property of others, and we ask our users to do the same.
Where software based on CrossControl software or products is distributed, the software may only
be distributed in accordance with the terms and conditions provided by the reproduced licensors.
For end-user license agreements (EULAs), copyright notices, conditions, and disclaimers,
regarding certain third-party components used in the XM device, refer to the copyright notices
documentation.

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P.O. Box 83 • SE-822 22 Alfta • Sweden
Phone: +46 271 75 76 00• info@maximatecc • www.maximatecc.com