 | | BrickOS & LinuxUSB & lnpd
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(i had a few problems to post, so this msg is a little too late...) Hi, i am new to brickOS, (since christmas) and i have one of those fancy RCX2.0 bricks with an USB IR-Tower. I am using debian and have little experiences with usb and (...) (22 years ago, 4-Jan-03, to lugnet.robotics.rcx.legos)
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| | Re: USB IR tower support in Lunix
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Hi, I got the USB IR-tower to work under linux using the same patch Florian used. I also sent an updated patch that applies to 0.2.6.09 to the original author of the patch. However I have to caution that the said patch only works with UHCI hubs that (...) (22 years ago, 4-Jan-03, to lugnet.robotics.rcx.legos)
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| | Re: Communication between RCX's with BrickOS
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...Problem Solved #include <lnp/lnp-logical.h> lnp_logical_range(1); I set the IR transmission range to far and everything works fine. It seems the issue was that the RCX's are not facing eachother and depend on bouncing mesages off a wall. I'm (...) (22 years ago, 3-Jan-03, to lugnet.robotics.rcx.legos)
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| | makedepend variable in Makefiles
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While attempting to build brickOS under DJGPP I noticed a few discrepancies across the makefiles using the variable makedepend. Under the directories boot, demo, demo/c++ for the .depend rule it uses the variable $(MAKEDEPEND) while the makefiles in (...) (22 years ago, 2-Jan-03, to lugnet.robotics.rcx.legos)
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| | Communication between RCX's with BrickOS
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Hello Everyone, I have been working on a dual RCX robot for quite some time now, and have just recently upgraded to BrickOS. At first I attempted to used the LNP communication functions, such as lnp_adressing_write. I am not an expert, and I got (...) (22 years ago, 2-Jan-03, to lugnet.robotics.rcx.legos)
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| | Re: USB IR tower support in Lunix
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(...) Good! (...) I posted via the web-interface, I guess one needs a javascript browser for that. I like the navigation of the webinterface within threads. (...) Ah, very good! Does it also support the high-speed mode ? (...) Sounds like a good (...) (22 years ago, 2-Jan-03, to lugnet.robotics.rcx.legos)
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| | Re: USB IR tower support in Lunix
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(...) I just got the USB tower to work. At least, for downloading the BrickOS.srec kernel. I think I have to hack some more today to find a way to let 'dll' work with the /dev/tower0 device. I used the devicedriver at (URL) (22 years ago, 2-Jan-03, to lugnet.robotics.rcx.legos)
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| | Re: Float and int
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(...) For most brick projects I can think of, it is. If you want to travel your robot around, you will have to deal with sin, cos, tan and square root. First thing you can do is working with tables to avoid "on the fly" sin calculation. Second, you (...) (22 years ago, 30-Dec-02, to lugnet.robotics.rcx.legos)
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| | RE: Float and int
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(...) I'm doing a seminar at BricksWest on fixed point notation and simple algorithms for square root, trig, etc for BrickOS and pbForth users. The focus will be on the mechanics of the algorithms, the actual code implementation will be a "exercise (...) (22 years ago, 30-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Float and int
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(...) Mabie Fixed Point is an answer. I dont know how it works but I have a book that suggests that a decent Fixed Point library can be faster than Floating Point if there isnt an FPU available. (22 years ago, 30-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Float and int
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(...) You should look in the gnu gcc compiler documentation for this. Float support is not OS but compiler specific. As I recall, gcc uses IEEE float format, the specification should be found somewhere in the net. But doing float with the brick is (...) (22 years ago, 30-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Float and int
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(...) int is 16 bits, big endian, signed. It goes from -32768 to 32767. unsigned int goes from 0 to 65535. char is 8, long is 32, long long is 64, with the standard limits. Floats and doubles are emulated in software, as the H8/300 processor has no (...) (22 years ago, 30-Dec-02, to lugnet.robotics.rcx.legos)
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| | Float and int
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Does anyone know what the maximum and minimum size of integer which can be stored is? Likewise, what is the floating point accuracy of BrickOS for variables of type "float" and "double" (is there such thing in BrickOS?) ? Both of these questions (...) (22 years ago, 29-Dec-02, to lugnet.robotics.rcx.legos)
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| | USB IR tower support in Lunix
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I have seen some past messages in this forum regarding the support for the USB IR tower in the Linux version of BrickOS. However, it seems that nothing have been added recently to the CVS tree at SourceForge. Is somebody working on this project (...) (22 years ago, 20-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: linker segmentation fault
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(...) Workaround attached. Brickos maintainers: Any comments? Maybe put something vaguely like it into CVS? Max. (22 years ago, 17-Dec-02, to lugnet.robotics.rcx.legos)
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| | linker segmentation fault
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I'm running Red Hat Linux 8.0 (gcc 3.2 and binutils 2.13). Whe I try to compile the demos that come with brickOS 0.2.6.09, using binutils 2.12.91 for the cross-linker and gcc 3.2.1 as cross-compiler, the linker crashes. Here is the output of the (...) (22 years ago, 17-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: BrickOS Threading...
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(...) To tell you the truth, I'm not exactly sure how the BrickOS PWM works, but I do know the standard RCX PWM simply switches the motors between ON and FLOAT, which will not slow the motor down, when it switches from a high power, to a lower (...) (22 years ago, 16-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: sys_time (long post)
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Only a suggestion, In any processor architecture (with or without disabling or recursive interrupts) when I need to read timers with more than 1 single instruction I do the following: Read the timer (both low and high value) until I get 2 times the (...) (22 years ago, 16-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: sys_time (long post)
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(...) I went back and read... I was missing something apparently... Note to self... do not skim. -Kekoa (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: sys_time (long post)
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Does the H8 let an interrupt interrupt an interrupt? (Or at least the interrupts that matter in this case?) You two might want to check on that. It would seem the code is safe if the answer to the first question is no... ? Maybe I'm missing (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: BrickOS Threading...
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Joe, (...) Maybe a special kernel build for testing purposes that increments the lower sys_time word by 0x4000 instead of 1. This will greatly increase the opportunity for this glitch to occur (from once every 65 seconds to once every 4ms.) You (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: BrickOS Threading...
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Steve, I checked in some changes this morning (into cvs) to put the motor controller back at the 1 ms interval. However, I want to complete the get_sys_time() updates that Mark Riley has proposed; so that can be tested as well. I am not sure when (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: sys_time (long post)
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(...) It turns out that the nature of the glitch depends on the order you read the upper and lower 16-bits of sys_time. If the compiler generates code that reads the high word first (which it seems to do), then your example will work. However, if (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: BrickOS Threading...
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(...) In trying to balance an RCX on two wheels, every little bit makes a difference. I didn't think it would matter quite that much, but my robot really shakes more with the new version. Thanks for the work, Steve (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | setjmp/longjmp for brickOS
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Hi all, I am currently attending to a lecture in real time system on my university and we were assigned the homework to do exception handling in C on the RCX using setjmp and longjmp. Of course those are not available in brickOS so that task (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: BrickOS Threading...
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(...) <snip> (...) Steve, Yes, infact I had tested a couple different applications with the motor controller being called every 1 ms and the same ones with a 2 ms interval. I didn't see a difference with those applications, but did recognize the (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: BrickOS Threading...
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(...) ... (...) This change seem to improve things. Can I change it back to the way it was before? Thanks Steve (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: sys_time (long post)
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Mark, Excellent Post ! Ok, I will admit it; I was the one that put the sys_time handler on the NMI. 8-) I guess I will want to think about this a bit; but I see that you have done a good bit of that yourself. ... Could the 'Get' function do the (...) (22 years ago, 12-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Win98 cygwin USB installation
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Hi Collin, This post by John Hansen fixed things for me: (URL) Spencer" <cspencer@andrew.cmu.edu> wrote in message news:H71CzB.Ipu@lugnet.com... (...) USB (...) them or (...) to (...) the (...) the (...) USB (...) that (...) the (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Win98 cygwin USB installation
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Ok, I think I figured it out...I don't completely understand the logistics of makefiles, but I changed the following line in Makefile.common: Before: CFLAGS = -O2 -Wall After: CFLAGS += -O2 -Wall I suspect that a later assignment to CFLAGS was (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Win98 cygwin USB installation
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Hello, I recently bought the LEGO mindstorms Invention System kit and I am trying to get brickOS v0.2.6 working on my PC (Win98). I also have the USB tower. So far, I have found 4 bugs in the current script. I was able to fix 3 them or work around (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: BrickOS Threading...
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The motor handler is only called once ever 2ms in the latest version of BrickOS (as opposed to every 1ms in earlier versions). This is a fairly recent change and it could be causing a "granularity" type problem with certain speed settings in your (...) (22 years ago, 12-Dec-02, to lugnet.robotics.rcx.legos)
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| | BrickOS Threading...
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I'm having a problem, and I hope someone can help me. I've been running winLegOS, and I've switched to the latest version of BrickOS. I created a way to control the motors, which will reliably speed them up, and slow them down by using different (...) (22 years ago, 12-Dec-02, to lugnet.robotics.rcx.legos)
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| | sys_time (long post)
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As I was poking around in the BrickOS kernel, it occurred to me that using the sys_time variable isn't entirely safe. Since sys_time is 32-bits and the processor can only read 16-bits at a time into a register, there is a period of time between the (...) (22 years ago, 12-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Cygwin under Virtual PC on OS X
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(...) David, I was not sure how you tried to build the cross compiler but I know that Apple provides several gnu tools that work under Darwin. Darwin from my understanding is the underlying code for the Mac OS X (See FAQ at (URL) So one might be (...) (22 years ago, 12-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Cygwin under Virtual PC on OS X
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Oops, Sorry if I accidentally gave anyone false hope, I ment to say: I have not found any cross compiler packages for LegOS or the Hitachi H8 that are buildable under OS X (but would love to find one). Anyone know of any? (...) (22 years ago, 12-Dec-02, to lugnet.robotics.rcx.legos)
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| | RE: Installation Help!
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Max, Aha! I did that and it got a lot further this time, but still failed. I'll have to wade through the log file to try and pinpoint where it went wrong as I don't want to post the whole 180k. Thanks for your help! Andy -----Original Message----- (...) (22 years ago, 10-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Installation Help!
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(...) You need to install the Cygwin gcc package. You need the normal Cygwin gcc to build the Cygwin->H8300 cross-compiler gcc. Max. (22 years ago, 9-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: installation of cygwin and legos/brickos
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John, It looks as if you don't have the cross compiler or it is is not in a known directory. Try searching your entire hard drive for h8300. That might bring something up. You should have either tired to build the cross compiler or downloaded it (...) (22 years ago, 9-Dec-02, to lugnet.robotics.rcx.legos)
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| | Re: Installation Help!
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Thanks for the info! I checked and I do have grep installed. But I did not install anything other than was listed. I initially tried to install everything but the download died after a couple of hours on my T1 connection. Would some kind person with (...) (22 years ago, 9-Dec-02, to lugnet.robotics.rcx.legos)
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