Subject:
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Re: more ROM info
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 5 Nov 1998 02:01:55 GMT
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Original-From:
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Kekoa Proudfoot <kekoa@Graphics.Stanford.EDU>
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Viewed:
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2933 times
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On Oct 26, Allen Martin wrote:
> 14c0 - Read sensors, takes 2 arguments, arg1 in r6 has 0x10 in high byte and
> sensor number (0-2) in low byte. arg2 on stack has a pointer to the
> following data structure:
>
> typedef struct {
> word type;
> word raw;
> word cooked;
> } RS_SensorData;
I passed over the 828c handler last night, and did a first pass over 14c0
in the process. The struct is really like this:
struct {
byte type; // sensor type, same as for set sensor type opcode
byte mode; // sensor mode, same as for set sensor mode opcode
word raw; // raw sensor value, same as source 12
word value; // sensor value, same as source 9
byte active; // sensor active flag, same as source 13
}
> The raw and cooked values are written by ROM to the appropriate places in
> the structure. Returns 0 in r6l if successful, or non-zero if there was an
> error.
The active flag is also updated by the 14c0 routine.
More info (lots more) at http://graphics.stanford.edu/~kekoa/rcx/#Rom.
I'm at six and a half full days and am 95% done with the firmware and 25%
done with the ROM. I imagine I only need to sort through around 15% more
of the ROM to document all of the "obvious" entry points.
-Kekoa
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