Subject:
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Re: using the remote control with legOS
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Wed, 9 Feb 2000 11:25:28 GMT
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Viewed:
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2987 times
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it would be nice to be able to use both LNP and remote control (advance
tactical robots)
I wrote last night a small win prog to figure out how the remote is talking
and this is it:
+++
// LEGO REMOTE CONTROL (#9738 = ~20 USD) FOR RCX MESSAGE PROTOCOL
/*
0 start 0x55 start of msg
1 nop1 0xFF always FF
2 255 - nop1 0x00 always 00 (FF - FF)
3 nop2 0xD2 always D2
4 255 - nop2 0x2D always 2D (FF - D2)
5 b2 0x80 last 8 buttons state, can be any state from 0
to FF
6 255 - b2 0x7F FF - b2
7 b1 0x00 first 8 buttons state, can be any state from 0
to FF
8 255 - b1 0xFF FF - b1
9 cs 0x52 checksum = 1 + nop1 + nop2 + b2 + b1
10 255 - cs 0xAD FF - checksum
*/
// note:
// as long as 1 or more buttons are pressed the remote control sends
continues data
// a timer should be used to reset the buttons state if one or more buttons
are still active
// (standard lego firmware seems to reset after about 500ms)
// I have 2 of these remote controls, and both send exactly the same datas
// if I use both remotes at the same time I get nothing
// With that type of checking, it is safe to use your robot in a nuclear
plant !!!
// remote control button flags
// comments are for default lego firmware behavior
#define REMOTE_MSG_1 0x0001 // send message to rcx, value = 1
#define REMOTE_MSG_2 0x0002 // value = 2
#define REMOTE_MSG_3 0x0004 // value = 3
#define REMOTE_A_FWD 0x0008 // motor on
#define REMOTE_B_FWD 0x0010 // note:
#define REMOTE_C_FWD 0x0020 // with lego firmware rev as priority
#define REMOTE_A_REV 0x0040 // when pressing fwd and rev
#define REMOTE_B_REV 0x0080
#define REMOTE_C_REV 0x0100
#define REMOTE_PRG_1 0x0200 // stop current prog and start programm 1
#define REMOTE_PRG_2 0x0400
#define REMOTE_PRG_3 0x0800
#define REMOTE_PRG_4 0x1000
#define REMOTE_PRG_5 0x2000
#define REMOTE_STOP 0x4000 // stop current prog
#define REMOTE_BIP 0x8000 // RCX says "I'm here, don't worry, sleep
well...", actually 2 shot bips
static short remote_button_state = 0;
void COnRemoteDlg::OnReceive(const unsigned char* szIn, UINT nLen)
{
static unsigned char pos = 0, cs, lb; // cs: checksum lb: lastbyte
static unsigned char B1 = 0; // first 8 buttons on remote
static unsigned char B2 = 0; // last 8 buttons on remote
for(UINT n = 0; n < nLen; n++)
{
switch(pos++)
{
case 0: // start
cs = 0x01;
if(szIn[n] != 0x55)
pos = 0;
break;
case 1: // nop1
case 3: // nop2
lb = szIn[n];
cs+= lb;
break;
case 5: // b2
lb = B2 = szIn[n];
cs+=lb;
break;
case 7: // b1
lb = B1 = szIn[n];
cs+=lb;
break;
case 9: // cs
lb = szIn[n];
if(cs != lb)
pos = 0;
break;
default:
/*
case 2: // 255 - nop1
case 4: // 255 - nop2
case 6: // 255 - b2
case 8: // 255 - b1
case 10: // 255 - cs
*/
if(lb != 0xFF - szIn[n])
pos = 0;
break;
}
if(pos == 11)
{
pos = 0;
//if(remote_button_state) ResetTimer();
if(LOBYTE(remote_button_state) != B1 || HIBYTE(remote_button_state) !=
B2)
{
remote_button_state = B1 + (B2 << 8);
//if(remote_button_state == 0) KillTimer();
//trigger remote_change
unsigned short flag = 1;
CString s;
while(flag)
{
if(remote_button_state & flag)
s+= '1';
else s+= '0';
flag<<=1;
}
this->SetWindowText(s);
}
}
}
}
+++
Martin Cornelius <cornelius@csd.de> a écrit dans le message :
389FDE4A.4E1A1693@csd.de...
> Marc wrote:
>
> > the LNP stuff is neat, but it seem's that the remote control isn't using
> > either "integrity" or "addressing" protocol
> > how do I access directly the incoming IR buffer ??
>
> with an unpatched legOS-2.3, there's no easy way to do that. The
> incoming buffer is a static array inside function lnp_integrity_byte(),
> it's not accessible from outside.
>
> However, there is a hard way out (i used it during development of lnpd)
> Write your own IRQ handlers for receiving and receive-errors -- you can
> use the legOS-routines as a starting point -- and make the IRQ-Vectors
> in RAM point to your routines. This way you can completely bypass LNP's
> receive routines.
>
> BTW, what kind of remote control are you talking about -- is it a
> LEGO-part ?
> Perhaps we should try to figure out what protocol this remote-control
> uses and add some appropriate code to legOS.
>
> > I didn't see any source code for "lnp_integrity_set_handler" , how does • it
> > work ?
>
> the function is inlined, it's trivial -- from lnp.h:
> file://! set the integrity layer packet handler
> extern inline void lnp_integrity_set_handler(lnp_integrity_handler_t
> handler)
> {
> lnp_integrity_handler = handler;
> }
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Message is in Reply To:
 | | Re: using the remote control with legOS
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| (...) with an unpatched legOS-2.3, there's no easy way to do that. The incoming buffer is a static array inside function lnp_integrity_byte(), it's not accessible from outside. However, there is a hard way out (i used it during development of lnpd) (...) (25 years ago, 8-Feb-00, to lugnet.robotics.rcx.legos)
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