Initial commit of LDCC

README.md

@@ -1,2 +1,15 @@
 # LDCC
  DCC for the Lego MindStorms RCX
+
+Links
+-----
+* [DCC for the RCX](http://home.surewest.net/markril/lego/dcc/)
+* [Beta Zone: DCC for the RCX](http://home.surewest.net/markril/lego/dcc/beta.html)
+* [LDCC and RCX](http://news.lugnet.com/org/us/indylug/?n=618)
+* [DCC and Lego Robotics Creations](http://folk.uio.no/thomasw/robotics/creations.html)
+* [DCC on LeJOS](http://news.lugnet.com/robotics/rcx/legos/?n=3959)
+   * [LeJOS Support for LDCC IR Protocol](http://news.lugnet.com/robotics/rcx/java/?n=259&t=i&v=a)
+* [LGauge DCC](http://www.lgauge.com/trains/dcc/dcc.htm)
+* [Dr. Vegetable’s Full Throttle App](http://www.drvegetable.com/download_throttle.html)
+* [pbForth with DCC Support](http://news.lugnet.com/robotics/rcx/?n=2297)
+* [LDCC Patch for BrickOS](http://news.lugnet.com/org/ca/rtltoronto/?n=14996)

brickOS/ldcc_lnp.c

@@ -0,0 +1,167 @@
+/******************************************************************************
+   Author : Mark Riley
+     File : ldcc_lnp.c
+  Created : 6/29/2003
+  Purpose : Demonstration of BrickOS to LDCC comms using LNP
+******************************************************************************/
+
+#include <unistd.h>
+#include <dsensor.h>
+#include <lnp.h>
+
+/******************************************************************************
+  LDCC Declarations & Functions
+******************************************************************************/
+
+enum
+  {
+  LDCC_CMD_SPEED = 1,
+  LDCC_CMD_FN_OFF,
+  LDCC_CMD_FN_ON,
+  LDCC_CMD_STOP_ALL,
+  LDCC_CMD_POWER_OFF,
+  LDCC_CMD_POWER_ON,
+  LDCC_CMD_SWITCH_CLOSED,
+  LDCC_CMD_SWITCH_THROWN
+  };
+
+unsigned char g_packet[8];
+
+#define LDCC_REPEAT 3
+
+void ldcc_send_packet(unsigned char length, char times)
+  {
+  for ( ; times; times--)
+    lnp_addressing_write(g_packet, length, 0x11, 0x01);
+  }
+
+void ldcc_power(int state)
+  {
+  g_packet[0] = state ? LDCC_CMD_POWER_ON : LDCC_CMD_POWER_OFF;
+  ldcc_send_packet(1, LDCC_REPEAT);
+  }
+
+void ldcc_stop_all()
+  {
+  g_packet[0] = LDCC_CMD_STOP_ALL;
+  ldcc_send_packet(1, LDCC_REPEAT);
+  }
+
+void ldcc_speed(char loco, int speed)
+  {
+  g_packet[0] = LDCC_CMD_SPEED;
+  g_packet[1] = loco;
+  g_packet[2] = speed >> 8;
+  g_packet[3] = speed & 0xFF;
+  ldcc_send_packet(4, 1);
+  }
+
+void ldcc_function(char loco, char fn, int state)
+  {
+  g_packet[0] = state ? LDCC_CMD_FN_ON : LDCC_CMD_FN_OFF;
+  g_packet[1] = loco;
+  g_packet[2] = fn;
+  ldcc_send_packet(3, 1);
+  }
+
+/******************************************************************************
+  Demo
+******************************************************************************/
+
+#define MAX_ANGLE 48
+#define LOCO 3
+
+int main()
+  {
+  int angle = 0;
+  int last_angle = -1;
+  char state = 0;
+  char headlight = 0;
+  char headlight_repeat = LDCC_REPEAT;
+  char speed_repeat = LDCC_REPEAT;
+  int time;
+
+  ds_active(&SENSOR_3);
+  ds_rotation_on(&SENSOR_3);
+  ds_rotation_set(&SENSOR_3, 0);
+
+  ldcc_power(1);
+
+  while (!shutdown_requested())
+    {
+    switch (state)
+      {
+      case 1:
+        if (SENSOR_3 >= 0x4000)
+          {  // button released, toggle headlight;
+          headlight = !headlight;
+          headlight_repeat = LDCC_REPEAT;
+          state = 0;
+          }
+        else
+          {  // button still held down
+          if (time - (int)get_system_up_time() <= 0)
+            {  // 1/4 second elapsed, stop loco
+            ds_rotation_set(&SENSOR_3, 0);
+            angle = 0;
+            speed_repeat = LDCC_REPEAT;
+            state = 2;
+            }
+          }
+        break;
+
+      case 2:
+        if (SENSOR_3 >= 0x4000)
+          // button released, resume
+          state = 0;
+        break;
+
+      default:
+        if (SENSOR_3 >= 0x4000)
+          {  // no button pressed, normal throttle operation
+          angle = ROTATION_3;
+
+          if (angle < -MAX_ANGLE)
+            angle = -MAX_ANGLE;
+          else if (angle > MAX_ANGLE)
+            angle = MAX_ANGLE;
+
+          if (angle != last_angle)
+            {
+            last_angle = angle;
+            speed_repeat = LDCC_REPEAT;
+            }
+          }
+        else
+          {  // button pressed
+          time = (int)get_system_up_time() + 250;  // 1/4 second
+          state = 1;
+          }
+        break;
+      }
+
+    if (speed_repeat)
+      {
+      speed_repeat--;
+      ldcc_speed(LOCO, ((long)angle << 14) / MAX_ANGLE);
+      }
+
+    if (headlight_repeat)
+      {
+      headlight_repeat--;
+      ldcc_function(LOCO, 0, headlight);
+      }
+
+    // so the man will run...
+    msleep(1);
+    }
+
+  ldcc_power(0);
+
+  ds_rotation_off(&SENSOR_3);
+  ds_passive(&SENSOR_3);
+
+  return 0;
+  }
+
+// EOF //

brickOS/programs/dccdemo.c

@@ -0,0 +1,123 @@
+/******************************************************************************
+
+  The contents of this file are subject to the Mozilla Public License
+  Version 1.1 (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. 
+
+  The Original Code is DCC Library for the RCX.
+
+  The Initial Developer of the Original Code is Mark Riley. Portions
+  created by Mark Riley are Copyright (C) 2003 Mark Riley. All Rights
+  Reserved. 
+
+     File : dccdemo.c
+  Created : 6/12/2003
+  Purpose : DCC demonstration program for DCC library
+
+******************************************************************************/
+
+#include <unistd.h>
+#include <dmotor.h>
+#include <dsensor.h>
+#include <dcc.h>
+
+#define MASK (MOTOR_A_MASK | MOTOR_B_MASK | MOTOR_C_MASK)
+
+#define MAX_ANGLE 48
+
+#define ADDR 3
+
+// state of decoder functions FL through F4
+unsigned char funcs = 0;
+
+int main()
+  {
+  unsigned char old_dm_mask = dm_mask;
+  int angle = 0;
+  char state = 0;
+  int time;
+
+  dm_mask &= ~MASK;
+  dcc_mask = MASK;
+
+  ds_active(&SENSOR_3);
+  ds_rotation_on(&SENSOR_3);
+  ds_rotation_set(&SENSOR_3, 0);
+
+  dcc_power_on();
+
+  while (!shutdown_requested())
+    {
+    switch (state)
+      {
+      case 1:
+        if (SENSOR_3 >= 0x4000)
+          {  // button released, toggle headlight;
+          funcs ^= DCC_FL;
+          state = 0;
+          }
+        else
+          {  // button still held down
+          if (time - (int)get_system_up_time() <= 0)
+            {  // 1/4 second elapsed, stop loco
+            angle = 0;
+            ds_rotation_set(&SENSOR_3, 0);
+            state = 2;
+            }
+          }
+        break;
+
+      case 2:
+        if (SENSOR_3 >= 0x4000)
+          // button released, resume
+          state = 0;
+        break;
+
+      default:
+        if (SENSOR_3 >= 0x4000)
+          {  // no button pressed, normal throttle operation
+          angle = ROTATION_3;
+
+          if (angle < -MAX_ANGLE)
+            angle = -MAX_ANGLE;
+          else if (angle > MAX_ANGLE)
+            angle = MAX_ANGLE;
+          }
+        else
+          {  // button pressed
+          time = (int)get_system_up_time() + 250;  // 1/4 second
+          state = 1;
+          }
+        break;
+      }
+
+    //dcc_speed14(ADDR, angle * 14 / MAX_ANGLE, funcs & DCC_FL);
+    //dcc_speed28(ADDR, angle * 28 / MAX_ANGLE);
+    dcc_speed126(ADDR, angle * 126 / MAX_ANGLE);
+
+    dcc_idle();
+    dcc_idle();
+
+    dcc_FL_F4(ADDR, funcs);
+
+    dcc_idle();
+    dcc_idle();
+    }
+
+  dcc_power_off();
+
+  ds_rotation_off(&SENSOR_3);
+  ds_passive(&SENSOR_3);
+
+  dm_mask = old_dm_mask;
+
+  return 0;
+  }
+
+// EOF //