Read sensor

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Entry point 14c0.

typedef struct {
         char type;
         char mode;
         short raw;
         short value;
         char boolean;
} sensor_t;

void read_sensor (short code, sensor_t *sensor);

short code	Function opcode.
sensor_t *sensor	Pointer to sensor struct.

Reads the raw value of the sensor specified by code and converts the raw value into a meaningful set of values according to the mode of the sensor, updating the raw, value, and boolean struct members. The raw struct member is set to a number in 0..1023, while value is set according to the sensor mode, as described below. The boolean value is set to either 0 or 1, with the value also dependent on the sensor mode in a manner described below.

Meaningful code values specify which sensor to read:

Code	Description
0x1000	Sensor 1
0x1001	Sensor 2
0x1002	Sensor 3

All other opcodes are ignored.

The sensor mode consists of two portions. Bits 0-4 contain a slope value in 0..31, while bits 5-7 contain the mode, 0..7. The eight modes, which control how value is set, are:

Mode	Name	Output
0	Raw	Value in 0..1023.
1	Boolean	Either 0 or 1.
2	Edge count	Number of boolean transitions.
3	Pulse count	Number of boolean transitions divided by two.
4	Percentage	Raw value scaled to 0..100.
5	Temperature in °C	1/10ths of a degree, -19.8..69.5.
6	Temperature in °F	1/10ths of a degree, -3.6..157.1.
7	Angle	1/16ths of a rotation, represented as a signed short.

The slope value controls 0/1 detection for the three boolean modes as well as the boolean struct member. A slope of 0 causes raw sensor values greater than 562 to cause a transition to 0 and raw sensor values less than 460 to cause a transition to 1. The hysteresis prevents bouncing between 0 and 1 near the transition point. A slope value in 1..31 causes a transition to 0 or to 1 whenever the difference between consecutive raw sensor values exceeds the slope. Increases larger than the slope result in 0 transitions, while decreases larger than the slope result in 1 transitions. Note the inversions: high raw values correspond to a boolean 0, while low raw values correspond to a boolean 1.

Because computing sensor values sometimes requires the use of a sensor's previous values, it is necessary to set value and boolean to the values returned by the most recent previous call to this function for the given sensor.

Set sensor active

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Entry point 1946.

void set_sensor_active (short code);

short code

Function opcode.

Activates the output for sensor specifed by code, with the effect of supplying power to the sensor. Valid values for code are:

Code	Description
0x1000	Sensor 1
0x1001	Sensor 2
0x1002	Sensor 3

All other values are ignored.

In order to use the light and rotation sensors, you must first call this function.

Set sensor passive

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Entry point 19c4.

void set_sensor_passive (short code);

short code

Function opcode.

Deactivates the output for sensor specifed by code, with the effect of shutting off power to the sensor. Valid values for code are:

Code	Description
0x1000	Sensor 1
0x1001	Sensor 2
0x1002	Sensor 3

All other values are ignored.

You should call this function whenever you are finished using the light or rotation sensors.

Shutdown sensors

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Entry point 1a22.

void shutdown_sensors (void);

Shuts down the sensor output pins, turning off power to the sensors.

Init motors

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Entry point 1a4a.

void init_motors (void);

Does nothing.

Initialize the motors by calling init_timer.

Control motor

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Entry point 1a4e.

void control_motor (short code, char mode, char power);

short code	Function opcode.
char mode	Motor mode. 1..4.
char power	Motor power. 0..7.

Sets the mode and power of the motor specified by code. The mode controls the output sent to the motor controller, while the power sets the duty cycle of the output waveform.

Meaningful code values are:

Code	Description
0x2000	Motor A
0x2001	Motor B
0x2002	Motor C

All other values are ignored.

There are four valid motor modes:

Mode	Description
1	Forward
2	Backward
3	Stop
4	Float

Invalid modes are ignored.

Power settings correspond to 1/8ths of a duty cycle, with a power setting of 0 corresponding to a 12.5% duty cycle and a power setting of 7 corresponding to a 100% duty cycle. Set the motor mode to float to get a 0% duty cycle. Power settings are taken modulo 8.

Shutdown motors

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Entry point 1ab4.

void shutdown_motors (void);

Does nothing.

Shut down the motors by calling shutdown_timer. Note that shutdown_timer shuts down more than just the motors.

Init buttons

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Entry point 1aba.

void init_buttons (void);

Initializes the Run, View, and Prgm buttons, and initializes the display.

Specifically, this routine sets the Run, View, and Prgm button pins to input, installs a Run button interrupt handler that does nothing, sets the LCD interface pins to output a high value, and clears some internal state relating to which LCD segments are set.

It is not strictly necessary to call this routine to initialize the display, since refreshing the display performs the proper initialization.

Play view button sound

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Entry point 1b32.

void play_view_button_sound (short code);

short code

Function opcode.

Calls another ROM function to play system sound 1 (beep beep) unqueued. The value of code must be 0x301e, otherwise the call will be ignored.

This function is somewhat useless. It is recommended that play_system_sound be used instead.

Set lcd segment

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Entry point 1b62.

void set_lcd_segment (short code);

short code

Function opcode.

Sets internal state to activate the LCD segments specified by code. In order to actually send the changes to the display, you must also call refresh_display.

Meaningful code values are:

Code	Description
0x3006	Standing figure
0x3007	Walking figure
0x3008	Sensor 1 view selected
0x3009	Sensor 1 pressed
0x300a	Sensor 2 view selected
0x300b	Sensor 2 pressed
0x300c	Sensor 3 view selected
0x300d	Sensor 3 pressed
0x300e	Motor A view selected
0x300f	Motor A backward arrow
0x3010	Motor A forward arrow
0x3011	Motor B view selected
0x3012	Motor B backward arrow
0x3013	Motor B forward arrow
0x3014	Motor C view selected
0x3015	Motor C backward arrow
0x3016	Motor C forward arrow
0x3018	Datalog indicator (*)
0x3019	Download in progress (*)
0x301a	Upload in progress (*)
0x301b	Battery low
0x301c	Short range indicator
0x301d	Long range indicator
0x3020	All segments

All other values are ignored.

Short, long range: partial segments, or complete ones?

Clear lcd segment

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Entry point 1e4a.

void clear_lcd_segment (short code);

short code

Function opcode.

Read buttons

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Entry point 1fb6.

void read_buttons (short code, short *ptr);

short code	Function opcode.
short *ptr	Pointer to location to store button data.

Set lcd number

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Entry point 1ff2.

void set_lcd_number (short code, short value, short pointcode);

short code	Function opcode.
short value	Value to display.
short pointcode	Function opcode.

Clear display

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Entry point 27ac.

void clear_display (void);

Refresh display

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Entry point 27c8.

void refresh_display (void);

Shutdown buttons

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Entry point 27f4.

void shutdown_buttons (void);

Does not clear the display! You have to do that manually.

Init power

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Entry point 2964.

void init_power (void);

Play system sound

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Entry point 299a.

void play_system_sound (short code, short sound);

short code	Function opcode.
short sound	Sound index. 0..5.

Get power status

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Entry point 29f2.

void get_power_status (short code, short *ptr);

short code	Function opcode.
short *ptr	Pointer thingy.

Shutdown power

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Entry point 2a62.

void shutdown_power (void);

Init serial

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Entry point 30d0.

void init_serial (void *ptr0, void *ptr1, short code0, short code1);

void *ptr0	Pointer thingy.
void *ptr1	Pointer thingy.
short code0	Function opcode.
short code1	Function opcode.

Set range long

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Entry point 3250.

void set_range_long (short code);

short code

Function opcode.

Set range short

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Entry point 3266.

void set_range_short (short code);

short code

Function opcode.

Play sound or set data pointer

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Entry point 327c.

void play_sound_or_set_data_pointer (short code, short param0, short param1);

short code	Function opcode.
short param0	Parameter thingy.
short param1	Parameter thingy.

Reset minute timer

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Entry point 339a.

void reset_minute_timer (short code);

short code

Function opcode.

Receive data

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Entry point 33b0.

void receive_data (void *data, char maxlen, char *len);

void *data	Data buffer to receive data into.
char maxlen	Length of data buffer.
char *len	Pointer to length of data copied into buffer.

Check for data

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Entry point 3426.

void check_for_data (char *valid, char **nextbyte);

char *valid	Pointer to byte for return value.
char **nextbyte	Pointer to pointer to next transfer byte.

argument and store the result in variable index. The absolute value of the largest negative number, -32768, is defined to be the largest positive number, 32767.

Send data

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Entry point 343e.

char send_data (short code, short param, void *data, short len);

short code	Code thing.
byte opcode	Opcode to use to send.
void *data	Data to send.
short len	Send data length.

Shutdown serial

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Entry point 3636.

void shutdown_serial (void);

Init port 6 bit 3

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Entry point 3692.

void init_port_6_bit_3 (void);

Sets port 6 bit 3 to output, high. Nobody seems to know what port 6 bit 3 does.

Shutdown port 6 bit 3

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Entry point 36aa.

void shutdown_port_6_bit_3 (void);

Sets port 6 bit 3 to input. Nobody seems to know what port 6 bit 3 does.

Init timer

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Entry point 3b9a.

typedef struct {
         char sensors;
         char motors;
         char buttons;
         char power;
         char interpreter;
         char unused;
} dispatch_t;

typedef struct {
         short receiver_timeout;
         short firmware_timers[4];
         short clock_minutes;
         short shutoff_minutes;
         short task_wakeup[10];
         short motor_wakeup[3];
} counters_t;

void init_timer (void *ptr0, void *ptr1);

void *ptr0	Rom data struct.
void *ptr1	Dispatch priority table.

Get sound playing flag

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Entry point 3ccc.

void get_sound_playing_flag (short code, char *ptr);

short code	Function opcode.
char *ptr	Pointer thingy.

Control output

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Entry point 3de0.

void control_output (short code, short param0, short param1, short param2);

short code	Function opcode.
short param0	Parameter thingy.
short param1	Parameter thingy.
short param2	Parameter thingy.

Shutdown timer

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Entry point 3ed4.

void shutdown_timer (void);

Runtime routines:

Sensors:

• [14c0] read_sensors
• [1946] set_sensor_active
• [19c4] set_sensor_passive
• (3de0) control_output

Motors:

• [1a4e] control_motor

Buttons:

• [1fb6] read_buttons

LCD:

• [1b62] set_lcd_segment
• [1e4a] clear_lcd_segment
• [1ff2] set_lcd_number
• [27ac] clear_display
• [27c8] refresh_display
• [283c] write_lcd_outputs

Sounds:

• (1b32) play_view_button_sound
• [299a] play_system_sound
• [327c] play_sound_or_set_data_pointer (for tones)
• (3de0) control_output

All of these vectors can be overridden simply by writing a function pointer to the proper vector's address.

Several of the ROM routines use handlers. The handlers set up by the ROM routines are as follows:

Handler	Description
IRQ0	Set up but not used. Does nothing.
IRQ1	Used to wake up processor after going to sleep.
TEI	Used for IR communication.
TXI	Used for IR communication.
RXI	Used for IR communication.
ERI	Used for IR communication.
OCIA	Asynchronous millisecond update.
A/D	Stops A/D conversion after sensors have been read.

I/O port connections

I/O ports are connected as follows:

Port   Bit   Description Notes 1 * Address bus 2 * Address bus 3 * Data bus 4 0 Transmitter range output 0 if long, 1 if short. 4 1 On/off button input (IRQ1) 0 if pressed. 4 2 Run button input (IRQ0) 0 if pressed. 4 3 Bus read 4 4 Bus write 4 5 Bus address strobe 4 6 System clock 4 7 Bus wait Probably unused. 5 0 Transmit data (TxD) Configure as input. 5 1 Receive data (RxD) 5 2 On/off button output 6 0 Sensor 3 output 1 if active. 6 1 Sensor 2 output 1 if active. 6 2 Sensor 1 output 1 if active. 6 3 Unknown 6 4 Speaker (TMO0) 6 5 LCD input/output 6 6 LCD input/output 6 7 Infrared carrier (TMO1) 26µs square wave. 7 0 Sensor 3 input (AN0) 7 1 Sensor 2 input (AN1) 7 2 Sensor 1 input (AN2) 7 3 Battery voltage input (AN3) 7 4 Unused 7 5 Unused 7 6 View button input 0 if pressed. 7 7 Prgm button input 0 if pressed.

The ROM accesses these I/O ports as follows...

The control registers are described in the H8 documentation...

When changing some of these control registers, you must also change the corresponding shadow registers...

Shadow data direction registers

The data direction registers on the H8 are write-only. The ROM uses a set of variables to shadow the data direction registers; typically, bits in the shadow registers are read and modified, then new values are stored to both the shadow and real registers. The shadow registers provide a common area to store information about the contents of the data direction registers.

ROM functions that modify the data direction registers expect to find the correct data direction settings in the shadow registers. Therefore, when writing code that modifies the data direction registers, you should also modify the shadow registers.

The most notable shadow register is for port 6. Whenever the display is updated, the ROM uses the port 6 data direction shadow register to maintain the state of port 6 while communicating with the LCD controller. If the shadow register for port 6 does not reflect the actual state of the port, then the port state will get corrupted.

The shadow registers are as follows:

Name Description Shadow   address   Actual address P1DDR   Port 1 data direction register fd80 ffb0 P2DDR Port 2 data direction register fd81 ffb1 P3DDR Port 3 data direction register fd82 ffb4 P4DDR Port 4 data direction register fd83 ffb5 P5DDR Port 5 data direction register fd84 ffb8 P6DDR Port 6 data direction register fd85 ffb9

Motor control

The motors are memory mapped to addresses f000-fb7f. Any write to an address in this range affects the motors. The 0xc0 bits control motor A, the 0x0c bits control motor B, and the 0x03 bits control motor C. Within each pair of bits, 0x01=forward, 0x02=backward, 0x00=stop, 0x03=float.