| |
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 incorrect or incomprehensible as the size
of legOS has grown. So this sorting and structuring of the list (at least
at first glance) looks like it ought to be a very useful replacement for
those docs. Thanks, Dave.
Luis
On Sat, 28 Oct 2000, David Chen wrote:
> Date: Sat, 28 Oct 2000 23:05:12 GMT
> From: David Chen <dcchen@pacbell.net>
> To: lugnet.robotics.rcx.legos@lugnet.com
> Subject: 0.2.4 API (Long)
>
> 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.
>
>
-----------------------------------------------------------------------
"It's clear to us that Microsoft isn't the competition anymore.
They are our environment."
WordPerfect manager, talking about Word
-----------------------------------------------------------------------
|
|
Message is in Reply To:
 | | 0.2.4 API (Long)
|
| 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 (...) (24 years ago, 28-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
|
|
|
|
