| |
I put together a .html document that sums up the User Level functions
(as opposed to the internal/Kernel housekeeping functions), Constants,
and Macros. I forwarded it to Luis, maybe he'll put it up later on
LegOS.Sourforge.net
In the meantime, I will put up the text versoin. I hope you find it
usefull. Corrections, clarification and additions appreciated.
Dave
Kenneth Johansen wrote:
>
> Hello everybody.
> I am currently looking for the API for legOS 0.2.4.
> I did find one at legos.sourceforge.net (i think it was),
> but it was poorly suited for downloading.
> anyone happend to have the API as a downloadable file ?(html/ps/pdf,
> doesnt matter!)
>
> regards
> kenneth johansen
> kennethj@stud.cs.uit.no
--
dcchen@pacbell.net
LegOS Commands Reference 1.0-0.2.4
(for LegOS Version 0.2.4)
The history and development of LegOS as been a feat of amazing
ingenuity and engineering prowess. However, documentation for LegOS for
the novice user has been difficult to come by since it's inception.
This is probably rooted in the fact that from the beginning, this has
been an "expert's only" development; developed by hardcore
hackers/programmers/hardware gurus for those with the same inclination.
Consequently, much of the documentation available has been through the
automatically generated API docs, which are often difficult to wade
through.
This document hopes to list and outline the main C (User level)
commands available to the LegOS programmer to directly control the RCX
via LegOS. This is a distilled down list obtained from the LegOS File
Members document.
Please consult the LegOS Source Forge Repository as the definitive
reference.
Hopefully, when the new Extreme Mindstorms book is available, this
document will be made obsolete as we will now have a really
professionally written and definitive listing and explanation of the
inner workings of LegOS. In the meantime, this is my humble
contribution to the LegOS community for giving me such an intriguing new
toy to play with.
Enjoy,
Dave Chen 10/29/2000
Display
Display positions
Digit display positions are denumerated from right to left, starting
with 0 for the digit right to the running man. Digit 5 is only
partially present on the RCXs display.
Native segment masks
In these bitmasks, bit 0 toggles the middle segment. Bit 1 toggles
the top right segment, and the remaining segments are
denumerated counterclockwise. The dot isn't encoded.
void cls ();
Clear user portion of screen.: conio.h, conio.c
void cputs (char * s);
Parameters: s the string
Display an ASCIIZ string, only the first 5 characters will be
displayed. if there are less than 5 characters, the remaining
display positions will be cleared. : conio.h, conio.c
void cputw (unsigned word);
Parameters: word the hexword
Display a hexword, position 0 not used.: conio.h, conio.c
void cputc_hex_X (unsigned nibble c);
void cputc_hex (char c, int X);
Parameters: c hex number to display at position X.: conio.h
void lcd_int (int i);
Parameter: i integer to display, position 0 not used.: lcd.h
void lcd_unsigned(unsigned int u);
Parameter: u integer to display, position 0 not used.
Display an unsigned value in decimal.: lcd.h
void lcd_digit(int i);
Parameter: i integer to display at position 0.: lcd.h
void lcd_clock(int i);
Parameter: i will be displayed with the format XX.XX
void lcd_number (int i, lcd_number_style n, lcd_comma_style c);
Number Style: digit, sign, unsign
Comma Style: e0, e_1, e_2, e_3
Parameters: i the integer to be shown, n the number style, c the
comma style.: lcd.h
void lcd_hide(char mask);
void lcd_show(char mask);
Parameters: mask see Mask listing below
Display native mode segment mask at display position X.: lcd.h
LCD mask definitions
LCD_0_BOT, LCD_0_BOTL, LCD_0_BOTR, LCD_0_MID, LCD_0_TOP,
LCD_0_TOPL, LCD_0_TOPR
LCD_1_BOT, LCD_1_BOTL, LCD_1_BOTR, LCD_1_MID, LCD_1_TOP,
LCD_1_TOPL, LCD_1_TOPR
LCD_2_BOT, LCD_2_BOTL, LCD_2_BOTR, LCD_2_MID, LCD_2_TOP,
LCD_2_TOPL, LCD_2_TOPR
LCD_3_BOT, LCD_3_BOTL, LCD_3_BOTR, LCD_3_MID, LCD_3_TOP,
LCD_3_TOPL, LCD_3_TOPR
LCD_4_BOT, LCD_4_BOTL, LCD_4_BOTR, LCD_4_MID, LCD_4_TOP,
LCD_4_TOPL, LCD_4_TOPR
LCD_5_MID
LCD_2_DOT, LCD_3_DOT, LCD_4_DOT
LCD_A_LEFT, LCD_A_RIGHT, LCD_A_SELECT
LCD_B_LEFT, LCD_B_RIGHT, LCD_B_SELECT
LCD_C_LEFT, LCD_C_RIGHT, LCD_C_SELECT
LCD_CIRCLE_0, LCD_CIRCLE_1, LCD_CIRCLE_2, LCD_CIRCLE_3
LCD_BATTERY_X
LCD_ARMS, LCD_1LEG, LCD_2LEGS, LCD_BODY
LCD_DOT_0, LCD_DOT_1, LCD_DOT_2, LCD_DOT_3, LCD_DOT_4,
LCD_IR_LOWER, LCD_IR_UPPER
LCD_EMPTY_1, LCD_EMPTY_2
LNP - LegOS Network Protocol
Don't have much information about this section yet, anyone who can
shed some light on what LNP functions
are present and how they work, please let me know.
void lnp_logical_fflush();
Flush the Input Buffer: lnp-logical.h
void lnp_logical_range(int i);
Parameter: i sets Range for IR: 0 = Short Range, 1 = Long Range.:
lnp-logical.h
int lnp_logical_range_is_far()
Returns the IR Range setting.: lnp-logical.h
int lnp_logical_write(const void* buf,size_t len);
Parameter: buf string of length len is written to the IR Port:
lnp-logical.h
Memory Management and String Operations
void free(void *the_ptr);
Free block of memory pointed to by the_ptr.: stdlib.h, mm.c
void *calloc(size_t nmemb, size_t size);
Allocate adjacent blocks of memory, nmemb number of blocks of size
individual block size.: stdlib.h, mm.c
void *malloc(size_t size);
Allocate a block of memory.: stdlib.h, mm.c
void *memcpy(void *dest, const void *src, size_t size);
dest = destionation address, src = source address, size number of
bytes to copy : string.h
void *memset(void *s, int c, size_t n);
Fill memory block at address s with byte value c, n is the number of
bytes of c to fill. string.h
int strcmp(const char *s1, const char *s2)
Compare two NULL terminated strings, returns: <0: s1<s2, = 0:
s1==s2, >0: s1>s2 : string.h
char *strcpy(char *dest, const char *src);
Copy NULL-terminated string from src to dest, returns pointer to
dest.: string.h
int strlen(const char *s)
Returns length of NULL-terminated string s : string.h
NULL
Null memory pointer constant.: mem.h
Motor Control
void motor_a_dir(enum MotorDir)
void motor_b_dir(enum MotorDir)
void motor_c_dir(enum MotorDir)
Parameter: MotorDir Enumerated as: off = 0, fwd = 1, rev = 2, brake
= 3
Set the motor direction.: dmotor.h
void motor_a_speed(int speed)
void motor_b_speed(int speed)
void motor_c_speed(int speed)
Parameter: speed sets the PWM output to the specified motor.
MAX_SPEED = Constant for upper limit of motor speed
MIN_SPEED = Constant for lower limit of motor speed.: dmotor.h
RCX Button Input
char getchar()
Returns one of the Enumerated KEY types: KEY_ONOFF, KEY_PRGM,
KEY_RUN, KEY_VIEW
Input is debounced in dkey routines (unlike dbutton).: dkey.h,
dkey.c
event wakeup_t dkey_pressed(); : dkey.h, dkey.c
event wakeup_t dkey_released(); : dkey.h, dkey.c
Enumerated KEY types: KEY_ANY, KEY_ONOFF, KEY_PRGM, KEY_RUN,
KEY_VIEW
Semaphores
I'm not really familiar with Posix Semaphores, if someone is willing
to shed light on this it would be helpfull.
sem_destroy() : semaphore.h
sem_event_wait() : semaphore.c
sem_getvalue() : semaphore.h
sem_init() : semaphore.h
sem_post() : semaphore.h, semaphore.c
sem_t : semaphore.h
sem_trywait() : semaphore.h, semaphore.c
sem_wait() : semaphore.h, semaphore.c
Sensors
Defined Constants: LIGHT_RAW_BLACK = 0xffc0 (active light sensor raw
black value), LIGHT_RAW_WHITE =
0x5080 (active light sensor raw white value). LIGHT_MAX = maximum
decoded value at LIGHT_RAW_WHITE using the
formula SCALED_LIGHT_READING = (147 - (RAW_LIGHT_READING >> 6) / 7).
DS_ALL_ACTIVE
Macro to set all Sensors ACTIVE: dsensor.c
DS_ALL_PASSIVE
Macro to set all Sensors PASSIVE: dsensor.c
void ds_active(SENSOR);
void ds_passive(SENSOR);
Parameter: SENSOR = (&SENSOR_1, &SENSOR_2, &SENSOR_3) to active or
passive type: dsensor.h
void ds_rotation_off(SENSOR);
void ds_rotation_on(SENSOR);
Parameter: SENSOR = (&SENSOR_1, &SENSOR_2, &SENSOR_3) turns Rotation
track off/on: dsensor.h
void ds_rotation_set(SENSOR, int i);
Sets Rotation SENSOR to arbitrary reading i : dsensor.h, dsensor.c
boolean TOUCH_1, TOUCH_2, TOUCH_3
Processed Touch Sensor reading: dsensor.h
int LIGHT_1, int LIGHT_2, int LIGHT_3
Scaled SENSOR reading.: dsensor.h
int ROTATION_1, ROTATION_2, ROTATION_3
Processed Rotation Sensor reading: dsensor.h
int SENSOR_1, SENSOR_2, SENSOR_3
Raw Sensor Input reading: dsensor.h
int get_battery_mv();
Get Battery level in XXXX mV: battery.h, battery.c
int BATTERY
Raw Battery Voltage level: dsensor.h
Sound
void dsound_system(SOUND);
Pre Defined System SOUND: DSOUND_BEEP : dsound.h
Event dsound_finished()
Returns a Non-Zero if sound has finished playing.: dsound.h
int dsound_playing()
Returns nonzero value if a sound is playing: dsound.h
void dsound_stop();
Stop playing current sound/song.: dsound.h
void dsound_play(const note_t *notes);
Parameter: notes array of note_t as defined below:
Note Data Type:
typedef struct {
unsigned char pitch; //!< note pitch, 0 ^= A_0 (~55 Hz)
unsigned char length; //!< note length in 1/16ths
} note_t;: dsound.h
Pre Defined Note Lengths: WHOLE, HALF, QUARTER, EIGHTH
Pre Defined Pitches (Octave X = 0-7):
PITCH_AX, PITCH_AmX, PITCH_CX, PITCH_CmX, PITCH_DX, PITCH_DmX,
PITCH_EX, PITCH_FX,
PITCH_FmX, PITCH_GX, PITCH_GmX, PITCH_HX, PITCH_END, PITCH_MAX,
PITCH_PAUSE : dsound.h
Task Management
void tm_start();
Start Task Manager: tm.h, tm.c
(int)pid execi(&PROCESS_NAME, int argc, char **argv, priority_t
priority, size_t stack_size)
Place function PROCESS_NAME into the Process queue, returns the
Process's assigned PID.: unistd.h, tm.c
void exit(int code);
Exits Process, returning code.: unistd.h, tm.c
void kill(int PID);
Kill Process associated with PID as assigned when it was started by
execi(): unistd.h, tm.c
void killall(priority_t p);
Kill all Processes with a Priority less than p: unistd.h, tm.c
wakeup_t wait_event(wakeup_t(*wakeup) (wakeup_t), wakeup_t
data);
Suspend current Process until Event wakeup function is non-null:
unistd.h, tm.c
void yield();
Yield the rest of the current Process's timeslice.: unistd.h, tm.c
Predefined Priority Levels: P_DEAD, P_RUNNING, P_SLEEPING,
P_WAITING, P_ZOMBIE, PRIO_HIGHEST,
PRIO_LOWEST, PRIO_NORMAL : tm.h
Miscellaneous
void main();
Main entry point into the User Program.: kmain.c
int sleep(int sec);
Pause for sec seconds ...
int msleep(int msec);
Pause for msec milliseconds before executing next commands in
current task, other tasks will continue to
execute commands uneffected.
(NOT IMPLEMENTED: Returns 0 if interrupted, otherwise returns number
of msec until interrupted): unistd.h, tm.c
void power_off();
Initiates Software Standby/Low Power mode. On/Off button will
reactivate.: system.h
void program_run(unsigned P);
Execute Program in slot number P.: program.c
void reset();
Returns control to ROM, ie. Cold Boot.: system.h
int random()
Returns a random integer.: stdlib.h
void srandom(int seed);
Seeds the Random Number Generator.: stdlib.h
long int sys_time
Current System Time (Time up from last firmware d/l and boot up) in
msec.
This is a 32 bit value which will overflow after 49.7 days of
continuous operation: time.h, systime.c
legOS-0.2.4 is released under the Mozilla Public License. Original code
copyright 1998-1999 by the authors.
Command Reference copyright 2000 by David C. Chen.
|
|
Message has 1 Reply:
 | | Re: 0.2.4 API (Long)
|
| I'll look at this and probably post it tomorrow (very, very long day, which you'd think would be surprising on a Saturday :| On first glance, it looks like a very useful document. Unfortunately, the autogenerated API docs have become more and more (...) (24 years ago, 29-Oct-00, to lugnet.robotics.rcx.legos)
|
Message is in Reply To:
| | 0.2.4 API
|
| Hello everybody. I am currently looking for the API for legOS 0.2.4. I did find one at legos.sourceforge.net (i think it was), but it was poorly suited for downloading. anyone happend to have the API as a downloadable file ?(html/ps/pdf, doesnt (...) (24 years ago, 3-Oct-00, to lugnet.robotics.rcx.legos)
|
4 Messages in This Thread:
  
- Entire Thread on One Page:
- Nested:
All | Brief | Compact | Dots
Linear:
All | Brief | Compact
This Message and its Replies on One Page:
- Nested:
All | Brief | Compact | Dots
Linear:
All | Brief | Compact
|
|
|
|
