| nxtlibc 0.1 api reference manual |
|---|
#include <nxtlibc.h> int nxt_bluetooth_initialize(char *) void nxt_bluetooth_done() int get_battery_level() char * get_firmware_version() int get_bluetooth_signal_strength() int start_program(char *) int stop_program() int play_sound_file(int, char *) int stop_sound_playback() int play_tone(short int, short int) int keep_alive() int set_brick_name(char *) int delete_user_flash() int list_files(char *) int read_file(char *, char **, int *) int write_file(int, char *, char *, int) int delete_file(char *) int open_read_linear(char *) int clear_screen() int draw_pixel(unsigned char, unsigned char) int clear_pixel(unsigned char, unsigned char) int draw_line(unsigned char, unsigned char, unsigned char, unsigned char) int _set_output_state(unsigned char, signed char, unsigned char, unsigned char, signed char, unsigned char, unsigned long) int _get_output_state(unsigned char, signed char *, unsigned char *, unsigned char *, signed char *, unsigned char *, unsigned long *, int *, int *, int *) int reset_motor_position(unsigned char, unsigned char) void set_touch_sensor(unsigned char) void set_sound_sensor(unsigned char) void set_light_sensor(unsigned char) void set_ultrasonic_sensor(unsigned char) int reset_input_scaled_value(unsigned char) int get_touch_value() int get_sound_db_pct() int get_sound_db_scale() int get_sound_dba_pct() int get_sound_dba_scale() int get_light_active_pct() int get_light_active_scale() int get_light_ambient_pct() int get_light_ambient_scale() int get_light_reflection() int initialize_ultrasonic_sensor() int get_ultrasonic_measurement_units() int get_ultrasonic_measurement_byte(unsigned char byte) int get_ultrasonic_continuous_measurement_interval() int get_ultrasonic_read_command_state() int get_ultrasonic_actual_zero() int get_ultrasonic_actual_scale_factor() int get_ultrasonic_actual_scale_divisor() int set_ultrasonic_single_shot() int set_ultrasonic_continuous_measurement() int set_ultrasonic_event_capture_mode() int ultrasonic_request_warm_reset() int set_ultrasonic_continuous_measurement_interval(unsigned char) int set_ultrasonic_actual_zero(unsigned char) int set_ultrasonic_actual_scale_factor(unsigned char) int set_ultrasonic_actual_scale_divisor(unsigned char) int set_ultrasonic_off() void list_modules(char *) int get_module_id(int) int read_io_map(int, unsigned short int, unsigned short int, unsigned char **) int write_io_map(int, unsigned short int, unsigned short int, unsigned char *) int poll_command_length(unsigned char) int poll_command(unsigned char, unsigned char, char **, int *) int message_write(unsigned char, unsigned char, unsigned char *) int message_read(unsigned char, unsigned char, unsigned char, unsigned char *, unsigned char *, unsigned char **) Private functions: int _get_device_info(char **, int *, int *) int _close_command(unsigned char) unsigned char _find_first(char *) int _find_next(unsigned char) unsigned char _open_read(char *, int *) int _read_command(unsigned char, char *, short int) unsigned char _open_write(char *, int) int _write_command(unsigned char, char *, int) unsigned char _open_write_linear(char *, int) unsigned char _open_write_data(char *, int) unsigned char _open_append_data(char *, int) int _set_input_mode(unsigned char, unsigned char, unsigned char) int _get_input_values(unsigned char, unsigned char *, unsigned char *, unsigned char *, unsigned char *, unsigned short int *, unsigned short int *, signed short int *, signed short int *); int _ls_get_status(unsigned char); int _ls_write(unsigned char, unsigned char, unsigned char, char *); int _ls_read(unsigned char, int *, char **) int _ls_request_response(unsigned char, unsigned char, char *, int, char **, int *) int _close_module_handle(unsigned char) unsigned char _request_first_module(char *) int _request_next_module(unsigned char)
int nxt_bluetooth_initialize(char *) Provide the mac address of the NXT device in the form XX:XX:XX:XX:XX:XX Returns 0 on success, -1 on failure and prints the error to stderr.
int nxt_bluetooth_done() Closes the bluetooth connection.
int get_battery_level() Returns the current battery level in mV or -1 on failure and prints the error to stderr.
char *get_firmware_version() Returns the current firmware and protocol versions in the form: "Protocol: 1.124 Firmware: 1.1". Returns NULL on failure and prints the error to stderr.
int get_bluetooth_signal_strength Returns the bluetooth signal strength. For some reason this is always 0. Maybe this is different if acting in master/slave mode with 2 nxt bricks. Returns -1 on failure and prints the error to stderr.
int start_program(char *) Starts a program which is on the brick. Returns 0 on success, -1 on failure and prints the error to stderr.
int stop_program() Stops the currently running program. Returns 0 on success, -1 on failure and prints the error to stderr.
int play_sound_file(int, char *) int is a boolean, 1 = loop sound file indefinitely, 0 play only once. char * is the filename. Returns 0 on success, -1 on failure and prints the error to stderr.
int stop_sound_playback() This is pretty self explanatory. Returns 0 on success, -1 on failure and prints the error to stderr.
int play_tone(short int, short int) short int is Frequency in Hz (Range 200-14000Hz). short int is Duration in ms. Returns 0 on success, -1 on failure and prints the error to stderr.
int keep_alive() Returns current sleep time limit in milliseconds. Returns -1 on failure and prints the error to stderr.
int set_brick_name(char *) Sets the name of your NXT brick, of which the default is "NXT". Returns -1 on failure and prints the error to stderr.
int delete_user_flash() I have no idea what this does and it hasn't been tested. Returns -1 on failure and prints the error to stderr.
void list_files(char *)
char * You can provide a search mask or NULL for all files.
You can then access the file list like such:
extern struct fstruct *filefirst;
struct fstruct *fs;
list_files(NULL);
fs = filefirst;
while (fs != NULL) {
printf("%s %d\n", fs->filename, fs->size);
fs = fs->next;
}
Returns 0 on success, -1 on failure and prints the error to stderr.
int read_file(char *, char **, int *) char * is the filename. char ** is the return buffer of the file contents. int * is the return length of the file. Returns 0 on success, -1 on failure and prints the error to stderr.
int write_file(int, char *, char *, int) WARNING: I HAVE NOT TRIED THIS FUNCTION, SO USE AT YOUR OWN RISK. IF YOU TRY IT, PLEASE LET ME KNOW. int is one of FILE_NORMAL, FILE_LINEAR, FILE_DATA, FILE_APPEND_DATA. I am not sure exactly what the last 3 do, but I think they are for system and sepcial files. char * is the filename to write. char * is the file content buffer to write. int is the length of the content buffer to write. Returns 0 on success, -1 on failure and prints the error to stderr.
int delete_file(char *) char * is the filename. Returns 0 on success, -1 on failure and prints the error to stderr.
int open_read_linear(char *) char * is the filename. Returns a pointer to the linear memory segment. Not sure exactly what this does. Returns -1 on failure and prints the error to stderr.
int clear_screen() This clears everything except the bar across the top, and you can write above the bar, but it disappears immediatly. Everything below the bar is writable however. Returns 0 on success, -1 on failure and prints the error to stderr.
int draw_pixel(unsigned char, unsigned char) unsigned char is the x point. unsigned char is the y point. This will draw a pixel at the specified x,y point. The display size is 100x64. Returns 0 on success, -1 on failure and prints the error to stderr.
int clear_pixel(unsigned char, unsigned char) unsigned char is the x point. unsigned char is the y point. This will clear the pixel at the specified x,y point. Returns 0 on success, -1 on failure and prints the error to stderr.
int delete_file(char *) unsigned char is the x0 point. unsigned char is the y0 point. unsigned char is the x1 point. unsigned char is the y1 point. This will draw a line from x0,y0 to x1, y1. Returns 0 on success, -1 on failure and prints the error to stderr.
int _set_output_state(unsigned char, signed char, unsigned char, unsigned char, signed char, unsigned char, unsigned long) See SETOUTPUTSTATE in Bluetooth Appendix 2 for further information. I will have macros for some of these eventually. unsigned char is the output port (0-2) signed char is the power set point (range -100 to 100) unsigned char is the Mode byte (Bit field) MOTOR_ON, BRAKE, REGULATED unsigned char is the regularion mode (enumerated) REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC signed char is the turn ratio (range -100 to 100) unsigned char is the run state (enumerated) MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTOR_RUN_STATE_RAMPDOWN unsigned long is Tacho limit (0 = run forever) Returns 0 on success, -1 on failure and prints the error to stderr.
int _get_input_state(unsigned char, signed char *, unsigned char *, unsigned char *, signed char *, unsigned char *, unsigned long *, int *, int *, int *) See GETETOUTPUTSTATE in Bluetooth Appendix 2 for further information. I will have macros for some of these eventually. unsigned char is the output port (0-2) signed char * returns the power set point (rangre -100 to 100) unsigned char * returns the mode (bit field, see above) unsigned char * returns the regulation mode (enumerated, see above) signed char * returns the turn ration (range -100 to 100) unsigned char * returns the run state (enumerated, see above) unsigned long * returns the tacho limit (current limit on a movement in progress, if any) int * returns the tacho count (internal count, number of counts since last reset of the motor counter) int * returns the block tacho count (current position relative to the last programmed movement) int * returns the rotation count (current position relative to the last reset of the rotation sensor for this motor) Returns 0 on success, -1 on failure and prints the error to stderr.
int reset_motor_position(unsigned char, unsigned char) unsigned char is output port (range 0-2) unsigned char is boolean (1 = position relative to last movement, 0 = absolute position) Returns 0 on success, -1 on failure and prints the error to stderr.
void set_touch_sensor(unsigned char) Set the touch sensor port. This must be done before the sensor port can be used. NXT_SENSOR1, NXT_SENSOR2, NXT_SENSOR3, NXT_SENSOR4.
void set_sound_sensor(unsigned char) Set the sound sensor port. This must be done before the sensor port can be used. NXT_SENSOR1, NXT_SENSOR2, NXT_SENSOR3, NXT_SENSOR4.
void set_light_sensor(unsigned char) Set the light sensor port. This must be done before the sensor port can be used. NXT_SENSOR1, NXT_SENSOR2, NXT_SENSOR3, NXT_SENSOR4.
void set_ultrasonic_sensor(unsigned char) Set the ultrasonicsensor port. This must be done before the sensor port can be used. NXT_SENSOR1, NXT_SENSOR2, NXT_SENSOR3, NXT_SENSOR4.
void reset_input_scaled_value(unsigned char) unsigned char is the sensor port. I am not exactly sure what this does. NXT_SENSOR1, NXT_SENSOR2, NXT_SENSOR3, NXT_SENSOR4.
void get_touch_value() Returns the touch sensor value, 1 = pressed, 0 = unpressed. Returns -1 on failure and prints the error to stderr.
int get_sound_db_pct() Returns audible range in a percentage, 0 - 100. Need to find more info on this. Returns -1 on failure and prints the error to stderr.
int get_sound_db_scale() Returns audible range in a scale, 0 - 1023. Need to find more info on this. Returns -1 on failure and prints the error to stderr.
int get_sound_dba_pct() Returns audible + non-audible range in a percentage, 0 - 100. Need to find more info on this. Returns -1 on failure and prints the error to stderr.
int get_sound_dba_scale() Returns audible + non-audible range in a scale, 0 - 1023. Need to find more info on this. Returns -1 on failure and prints the error to stderr.
int get_light_active_pct() I think this returns reflected light, in a percentage, 0 - 100. Need more info on this. Returns -1 on failure and prints the error to stderr.
int get_light_active_scale() I think this returns reflected light, in a scale, 0 - 1023. Returns -1 on failure and prints the error to stderr.
int get_light_ambient_pct() Returns the amount of detected light (the light sensor is off) in a percentage, 0 - 100. Returns -1 on failure and prints the error to stderr.
int get_light_ambient_scale() Returns the amount of detected light (the light sensor is off) in a scale, 0 - 1023. Returns -1 on failure and prints the error to stderr.
int get_light_reflection() This doesn't work. I think this has to do with attaching the old RCX light sensor to the NXT. Returns -1 on failure and prints the error to stderr.
int initialize_ultrasonic_sensor() You must call this after set_ultrasonic_sensor before using any of the other ultrasonic calls. Returns 0 on success, -1 on failure and prints the error to stderr.
int get_ultrasonic_measurement_units() This returns different data every time, it's supposed to return whether your sensor is set to inches or centimeters. At this point it just does below till I can fix it. Returns 0 on success, -1 on failure and prints the error to stderr.
int get_ultrasonic_measurement_byte(unsigned char byte) Returns the distance reading from the NXT from register $byte. $byte should be a value 0-7 indicating the measurement register in the ultrasound sensor. In continuous measurement mode, measurements are stored in register 0 only, however in one-shot mode, each time one-shot is called a value will be stored in a new register. Returns -1 on failure and prints the error to stderr.
int get_ultrasonic_continuous_measurement_interval() Returns the period between ultrasonic measurements, I think this is in milliseconds? Returns -1 on failure and prints the error to stderr.
int get_ultrasonic_read_command_state() Returns whether the sensor is in one-off mode or continuous measurement mode (the default). Returns -1 on failure and prints the error to stderr.
int get_ultrasonic_actual_zero() Returns the calibrated zero-distance value for the sensor. Returns -1 on failure and prints the error to stderr.
int get_ultrasonic_actual_scale_factor() Returns the scale factor used to compute distances. Returns -1 on failure and prints the error to stderr.
int get_ultrasonic_actual_scale_divisor() Returns the scale divisor used to compute distances. Returns -1 on failure and prints the error to stderr.
int set_ultrasonic_continuous_measurement() Puts the sensor in continuous measurement mode (the default). Returns -1 on failure and prints the error to stderr.
int set_ultrasonic_single_shot() Puts the sensor in single shot mode, it will only store a value in a register once each time this function is called. Returns -1 on failure and prints the error to stderr.
int set_ultrasonic_event_capture_mode() In this mode the US sensor will detect only other ultrasound sensors in the vicinity. Returns -1 on failure and prints the error to stderr.
int ultrasonic_request_warm_reset() Maybe this does a warm reset? Hmmmmmm... Returns 0 on success, -1 on failure and prints the error to stderr.
int set_ultrasonic_continuous_measurement_interval(unsigned char) Sets the sampling interval for the range sensor. Not sure of timing. Returns 0 on success, -1 on failure and prints the error to stderr.
int set_ultrasonic_actual_zero(unsigned char) Sets the calibrated zero value for the sensor. Returns 0 on success, -1 on failure and prints the error to stderr.
int set_ultrasonic_actual_scale_factor(unsigned char) Sets the scale factor used in computing range. Returns 0 on success, -1 on failure and prints the error to stderr.
int set_ultrasonic_actual_scale_divisor(unsigned char) Sets the scale divisor used in computing range. Returns 0 on success, -1 on failure and prints the error to stderr.
int set_ultrasonic_off() Turn the ultrasonic sensor off. Returns 0 on success, -1 on failure and prints the error to stderr.
void int list_modules(char *)
char * is the mask or NULL for all modules.
You can access the mdoules list like such:
extern struct fstruct *modulefirst;
struct fstruct *fs;
list_modules(NULL);
fs = modulefirst;
while (fs != NULL) {
printf("%s %d %d\n", fs->filename, fs->moduleid, fs->module);
fs = fs->next;
}
int get_module_id(int) int is the module request, they are prefaced with MODULE_ in nxtlibc.h Returns the module id for use with read_io_map, and write_io_map. Returns -1 on failure and prints the error to stderr.
int read_io_map(int, unsigned short int, unsigned short int, unsigned char **) int is the moduleid (from get_module_id). unsigned short int is the index position. unsigned short int is the length (I think this is 110 max). unsigned char **data is the return buffer of the data read. Returns length read on success, -1 on failure and prints the error to stderr.
int write_io_map(int, unsigned short int, unsigned short int, unsigned char *) int is the moduleid (from get_module_id). unsigned short int is the index position. unsigned short int is the length (I think this is 110 max). unsigned char *data is the data to write. Returns 0 on success, -1 on failure and prints the error to stderr.
int poll_command_length(unsigned char) unsigned char is one of POLL_BUFFER or HS_BUFFER (highspeed buffer?). Not exactly sure what this does. Returns number of bytes for the command ready in the buffer. (0 = no command ready) Returns -1 on failure and prints the error to stderr.
int poll_command_length(unsigned char, unsigned char, char **, int *) unsigned char is one of POLL_BUFFER or HS_BUFFER (highspeed buffer?). unsigned char is the command length char ** is the return data buffer. int * is the return data length. Not exactly sure what this does. Returns the data length read. Returns -1 on failure and prints the error to stderr.
int message_write(unsigned char, unsigned char, unsigned char *) unsigned char is the inbox. unsigned char is the data size to write. unsigned char * is the data to write. From what I understand this is to communicate with running programs on the NXT. Returns 0 on success, -1 on failure and prints the error to stderr.
int message_read(unsigned char, unsigned char, unsigned char, unsigned char *, unsigned char *, unsigned char **) unsigned char is the remote inbox (0-9). unsigned char is the local inbox (0-9). unsigned char is remove boolean. (1 = clear message, 0 = keep message in inbox) unsigned char * is the return inbox number. (one byte) unsigned char * is the return message size. (one byte) unsigned char ** is the return data. From what I understand this is to communicate with running programs on the NXT. Returns 0 on success, -1 on failure and prints the error to stderr.