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I've put together a NQC API file that allows you to use some of the RCX2
features. I don't no whether anyone else has already done this but here is
mine. This is unofficial so is unsupported. All question should go to the
group, not Dave or myself. Don't expect the syntax to be the same in the
official API either.
James Pritchard
-// readme.txt file://-
RCX2 Header file for NQC2.1r2 - 25 April 2000 - James Pritchard
rcx2h.nqh - NQC Header file that contains constant and macros for RCX2
Firmware
sample.nqc - Sample program using some of the new features of RCX2
To use these files you will need to install the Pre-Alpha release of the
RCX2 firmware into your RCX brick. These files have been tested with version
326 that can be found at the Lego Mindstorms website www.legomindstorms.com
Unfortunately I can't implement the event driven features of the new
firmware
fully, we'll have to wait till Dave Baum releases a version of NQC with RCX2
support (Soon please Dave).
Another feature that I've not workout yet is access control. It looks like
you can get a task to take over a resource (Motor or Sound) so that it has
sole control. I think this is where the priority setting comes in allowing
one task to take control off of a lower task. For the time being you should
avoid using the event and access control.
Allot of the stuff in RCX2 is also used in the scout so most of the stuff in
rcx2h.nqh is copied out of Dave's nqc2.nqh file.
YOU MUST UNDERSTAND THAT THIS IS MY VERSION OF THE API AND IS UNOFFICIAL.
WHEN DAVE SORTS OUT AND OFFICIAL API DONT EXPECT EVERYTHING TO BE THE SAME<
OR ANY OF IT FOR THAT MATTER. This is an interim API until an official NQC
one is sorted out.
Functions
ViewSourceValue(decimal_point, data_source) -Setup USER display mode
MuteSound() -Turns off sound buffer PlayTone and PlaySound are ignored
UnMuteSound() -Turns on sound buffer
ClearSound() -Clears sound buffer immediatly ready for next sound
Sleep() -Switchs RCX off immediatly
SelectProgram(program_number) -Switch to program_number and runs,
program_number is from (0-4)
SetPriority(priority) -Sets tasks prioity for access or resources (0-255)
IncCounter(counter) -Increase value of counter by 1 (0 to 2)
DecCounter(counter) -Decrease value of counter by 1 (0 to 2)
ClearCounter(counter) -Clears counter
GSetOutput(motorlist, ON/OFF/FLOAT)
GSetDirection(motorlist, FWD/REV)
GSetPower(motorlist, power)
GOn(motorlist)
GOff(motorlist)
GFloat(motorlist)
GToggle(motorlist)
GFwd(motorlist)
GRev(motorlist)
GOnFwd(motorlist)
GOnRev(motorlist)
GOnFor(motorlist)
Event(event)
WaitEvents(exp)
ClearAllEvents()
StopEvents()
SetEvent(event,eventsensor,eventtype)
ClearEvent(event,eventsensor)
SetEventClicks(event,clicks)
SetEventUT(event, upper_threshold)
SetEventLT(event, lower_threshold)
SetEventHyst(event, hysterisis)
SetEventDur(event, duration)
Expressions
Counter(n) -Read Counter
MotorStatus(n) -Motor Status
GMotorStatus(n) -Global Motor Status
CurrentProgram -Current Program Slot
Battery -Battery level in mV
Version -Firmware version x100
Constants
DISPLAY_USER -Use with SelectDisplay(n) to select USER display mode
EVENT_SENSOR_INPUT1
EVENT_SENSOR_INPUT2
EVENT_SENSOR_INPUT3
EVENT_SENSOR_TIMER1
EVENT_SENSOR_TIMER2
EVENT_SENSOR_TIMER3
EVENT_SENSOR_TIMER4
EVENT_SENSOR_MAILBOX
EVENT_SENSOR_COUNTER1
EVENT_SENSOR_COUNTER2
EVENT_SENSOR_COUNTER3
EVENT_TYPE_PRESS
EVENT_TYPE_RELEASE
EVENT_TYPE_PERIOD
EVENT_TYPE_TRANSITION
EVENT_TYPE_FASTCHANGE
EVENT_TYPE_LOW
EVENT_TYPE_NORMAL
EVENT_TYPE_HIGH
EVENT_TYPE_CLICK
EVENT_TYPE_DOUBLECLICK
EVENT_TYPE_MAILBOX
Contact me either through the nqc newsgroup at lugnet or by email
dungeon@madasafish.com
-// rcx2h.nqh file://-
/*
* rcx2h.nqh - Addition Header file for use with NQC 2.1r2
* Copyright (C) 2000 James Pritchard
*
* This file allows you to use some of the new features of
* RCX2 Firmware Version 326 April 18, 2000 Pre-Alpha
*
*
* The contents of this file are subject to the Mozilla Public License
* Version 1.0 (the "License"); you may not use this file except in
* compliance with the License. You may obtain a copy of the License at
* http://www.mozilla.org/MPL/
*
* Software distributed under the License is distributed on an "AS IS"
* basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the
* License for the specific language governing rights and limitations
* under the License.
*
* Thanks to Dave Baum for creating such an excelent compiler and language.
*
* All Rights Reserved.
*/
// Some new data sources
#define MotorStatus(n) @(0x30000 + (n)) // Needs some refining to extract
PWR, DIR, ON/OFF/FLOAT
#define GMotorStatus(n) @(0x110000 + (n)) // Needs some refining to extract
PWR, DIR, ON/OFF/FLOAT
#define CurrentProgram @(0x80000) // Current Selected Program Slot 0-4
#define Battery @(0x220000) // Battery level in mV
#define Version @(0x230000) // Firmware Version Number x100
#define EVENT_SENSOR_INPUT1 0
#define EVENT_SENSOR_INPUT2 1
#define EVENT_SENSOR_INPUT3 2
#define EVENT_SENSOR_TIMER1 3
#define EVENT_SENSOR_TIMER2 4
#define EVENT_SENSOR_TIMER3 5
#define EVENT_SENSOR_TIMER4 6
#define EVENT_SENSOR_MAILBOX 7
#define EVENT_SENSOR_COUNTER1 8
#define EVENT_SENSOR_COUNTER2 9
#define EVENT_SENSOR_COUNTER3 10
#define EVENT_TYPE_PRESS 0
#define EVENT_TYPE_RELEASE 1
#define EVENT_TYPE_PERIOD 2
#define EVENT_TYPE_TRANSITION 3
#define EVENT_TYPE_FASTCHANGE 7
#define EVENT_TYPE_LOW 8
#define EVENT_TYPE_NORMAL 9
#define EVENT_TYPE_HIGH 10
#define EVENT_TYPE_CLICK 11
#define EVENT_TYPE_DOUBLECLICK 12
#define EVENT_TYPE_MAILBOX 14
// Use with SelectDisplay
#define DISPLAY_USER 7 // User display mode that will show most sources
// Set user display data source
void ViewSourceValue(const int p, const int &v) { asm { 0xE5, 0, p, &v }; }
// RCX2 Sound Buffer Control
void MuteSound() { asm { 0xD0 }; } // Makes RCX Ignore all PlayTone and
PlaySound commands
void UnMuteSound() { asm { 0xE0 }; }
void ClearSound() { asm { 0x80 }; } // Clears Sound Buffer Ready for next
sound.
// Turn off Brick
void Sleep() { asm { 0x60 }; } // Switch brick off immediately
// Change Program Slot
// Slot numbers 0 - 4
void SelectProgram(const int p) { asm { 0x91, p }; }
// These are Dave Baum's not mine (There from the scout code in RCX2.NQH)
// Set Global Motor Controls
void GSetOutput(const int o, const int m) { asm { 0x67, (o) + (m) }; }
void GSetDirection(const int o, const int d) { asm { 0x77, (o) + (d) }; }
void GSetPower(const int o, const int &p) { asm { 0xa3, (o), &p :
0x1000015}; }
void GOn(const int o) { GSetOutput(o, OUT_ON); }
void GOff(const int o) { GSetOutput(o, OUT_OFF); }
void GFloat(const int o) { GSetOutput(o, OUT_FLOAT); }
void GToggle(const int o) { GSetDirection(o, OUT_TOGGLE); }
void GFwd(const int o) { GSetDirection(o, OUT_FWD); }
void GRev(const int o) { GSetDirection(o, OUT_REV); }
void GOnFwd(const int o) { GFwd(o); GOn(o); }
void GOnRev(const int o) { GRev(o); GOn(o); }
void GOnFor(const int o, const int &t) { GOn(o); Wait(t); GOff(o); }
// This will be used to decide which task can control a resource. The lower
the value the more important the task. (0-255)
void SetPriority(const int p) { asm { 0xD7, p }; }
// counter support
void IncCounter(const int c) { asm { 0x97, c }; }
void DecCounter(const int c) { asm { 0xA7, c }; }
void ClearCounter(const int c) { asm { 0xb7, c}; }
// use this to read a counter
//
// x = Counter(0);
//
#define Counter(n) @(0x150000 + (n))
// events
void Event(const int e) { asm { 0x03, 0, e, e>>8 }; } // Mimics event
void WaitEvents(const int &mask) { asm { 0xb4, &mask : 0x0015, 3, 0x27,
0x81 }; }
// End of Dave's scout code
// Clear all events use with extream caution.
void ClearAllEvents() { asm { 0x06 }; }
void StopEvents() { asm { 0xB0 }; } // Stops event monitoring in the current
task
// SetEvent( righthit, EVENT_SENSOR_INPUT1, EVENT_TYPE_PRESSED) - Sets up
event ready for monitoring
void SetEvent(const int e, const int s, const int t) { asm { 0x93, e, s,
t }; }
void ClearEvent(const int e, const int s) { asm { 0x93, e, s, 16 }; }
void SetEventClicks(const int e, const int c) { asm { 0x05, 0x1B, 0x02,
c }; }
void SetEventUT(const int e, const int c) { asm { 0x05, 0x1C, 0x02, c }; }
void SetEventLT(const int e, const int c) { asm { 0x05, 0x1D, 0x02, c }; }
void SetEventHyst(const int e, const int c) { asm { 0x05, 0x1E, 0x02, c }; }
void SetEventDur(const int e, const int c) { asm { 0x05, 0x1F, 0x02, c }; }
-// sample.nqc file://-
#include "../rcx2h/rcx2h.nqh" // Change this to the appropriate place on
your system
int foo;
task main()
{
foo = Battery; // Put battery level into varible foo
ViewSourceValue(0,foo); // Set USER mode data source to varible foo and
decimal places to zero
SelectDisplay(DISPLAY_USER); // Change LCD Display into USER mode
Wait(500);
foo = CurrentProgram; // Show current selected program slot
Wait(500);
foo = Version; // Show the firmware version (should be 321 to 326)
Wait(500);
foo = 2782; // Show the value 2782
Wait(500);
PlaySound(SOUND_CLICK); // PlaySound
Wait(200);
MuteSound(); // Turn off sound buffer
PlaySound(SOUND_CLICK); // PlaySound but can't hear
UnMuteSound(); // Turn sound buffer back on
Wait(500);
Sleep(); // Turn brick off
}
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