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authorTat-Chee Wan (USM)2011-03-01 17:01:37 +0800
committerTat-Chee Wan (USM)2011-03-01 17:01:37 +0800
commita85e78c4532ad1e9d7c8282334280db5e700b7f0 (patch)
treecfcbf734bb146b8531304e912d91114e914ff831 /AT91SAM7S256
parenteae3f8bdb3de377d5e303bffb84238f0d86beee2 (diff)
parent2234d3c1cae095a3a450e7c5bbf0c7b89bb6c346 (diff)
Merge branch 'master' of ssh://svc.cs.usm.my/~/gitrepo-bare/armdebug
Diffstat (limited to 'AT91SAM7S256')
-rw-r--r--AT91SAM7S256/armdebug/.gitignore4
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModule.cpp133
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModule.h49
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModule.xcodeproj/project.pbxproj295
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModulePriv.h19
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModuleProj.xcconfig6
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModuleTarget.xcconfig11
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModule_Prefix.pch6
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/fantom/iFile.h280
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/fantom/iFileIterator.h133
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/fantom/iModule.h154
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/fantom/iModuleIterator.h123
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/fantom/iNXT.h666
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/fantom/iNXTIterator.h120
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/fantom/platform.h94
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/fantom/tStatus.h458
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/advanceFileIterator.vibin0 -> 52507 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/advanceModuleIterator.vibin0 -> 49641 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/advanceNXTIterator.vibin0 -> 49658 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/bluetoothFactoryReset.vibin0 -> 44169 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/bootSamba.vibin0 -> 30013 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/closeFile.vibin0 -> 42973 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/createFile.vibin0 -> 53398 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/createFileIterator.vibin0 -> 59566 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/createModule.vibin0 -> 60580 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/createModuleIterator.vibin0 -> 59588 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/createNXT.vibin0 -> 77937 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/createNXTIterator.vibin0 -> 61697 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/destroyFile.vibin0 -> 44491 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/destroyFileIterator.vibin0 -> 44715 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/destroyModule.vibin0 -> 44733 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/destroyModuleIterator.vibin0 -> 44657 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/destroyNXT.vibin0 -> 54226 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/destroyNXTIterator.vibin0 -> 44090 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/downloadFirmware.vibin0 -> 51788 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/eraseUserFlash.vibin0 -> 53218 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/findDeviceInFirmwareDownloadMode.vibin0 -> 33424 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/findNXT.vibin0 -> 57487 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getAvailableSize.vibin0 -> 46052 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getDeviceInfo.vibin0 -> 77397 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getFile.vibin0 -> 46879 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getFileName.vibin0 -> 57503 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getFileSize.vibin0 -> 49827 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getFileSizeFromIterator.vibin0 -> 46119 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getFilenameFromIterator.vibin0 -> 50359 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getFirmwareVersion.vibin0 -> 54438 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getIOMapSize.vibin0 -> 47320 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getModule.vibin0 -> 45677 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getModuleID.vibin0 -> 47455 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getModuleName.vibin0 -> 51125 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getModuleNameFromIterator.vibin0 -> 50373 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getModuleSize.vibin0 -> 47365 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getNXTFromIterator.vibin0 -> 45554 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getResourceString.vibin0 -> 50629 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/getStringFromNXTIterator.vibin0 -> 50832 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/isPaired.vibin0 -> 33180 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/nakedRead.vibin0 -> 56833 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/nakedWrite.vibin0 -> 53942 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/nxt.ctlbin0 -> 12924 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/openForRead.vibin0 -> 46847 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/openForWrite.vibin0 -> 61344 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/pairBluetooth.vibin0 -> 37997 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/pollAvailableLength.vibin0 -> 48927 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/read.vibin0 -> 57324 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/readBufferData.vibin0 -> 60250 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/readIOMap.vibin0 -> 56653 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/remove.vibin0 -> 46762 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/sendDirectCommand.vibin0 -> 62289 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/setNXTName.vibin0 -> 46126 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/unpairBluetooth.vibin0 -> 28927 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/write.vibin0 -> 53525 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/macosx/writeIOMap.vibin0 -> 54282 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/advanceFileIterator.vibin0 -> 50807 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/advanceModuleIterator.vibin0 -> 47697 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/advanceNXTIterator.vibin0 -> 47430 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/bluetoothFactoryReset.vibin0 -> 42289 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/bootSamba.vibin0 -> 28245 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/closeFile.vibin0 -> 41293 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/createFile.vibin0 -> 51566 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/createFileIterator.vibin0 -> 57766 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/createModule.vibin0 -> 58556 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/createModuleIterator.vibin0 -> 57524 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/createNXT.vibin0 -> 75773 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/createNXTIterator.vibin0 -> 59605 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/destroyFile.vibin0 -> 42775 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/destroyFileIterator.vibin0 -> 43063 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/destroyModule.vibin0 -> 43017 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/destroyModuleIterator.vibin0 -> 42989 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/destroyNXT.vibin0 -> 52394 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/destroyNXTIterator.vibin0 -> 42110 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/downloadFirmware.vibin0 -> 49704 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/eraseUserFlash.vibin0 -> 50750 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/findDeviceInFirmwareDownloadMode.vibin0 -> 31524 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/findNXT.vibin0 -> 55779 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getAvailableSize.vibin0 -> 43996 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getDeviceInfo.vibin0 -> 73869 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getFile.vibin0 -> 45059 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getFileName.vibin0 -> 55387 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getFileSize.vibin0 -> 47899 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getFileSizeFromIterator.vibin0 -> 44047 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getFilenameFromIterator.vibin0 -> 48447 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getFirmwareVersion.vibin0 -> 52298 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getIOMapSize.vibin0 -> 45256 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getModule.vibin0 -> 43873 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getModuleID.vibin0 -> 45675 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getModuleName.vibin0 -> 49113 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getModuleNameFromIterator.vibin0 -> 48477 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getModuleSize.vibin0 -> 45533 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getNXTFromIterator.vibin0 -> 43762 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getResourceString.vibin0 -> 48689 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getStringFromNXTIterator.vibin0 -> 48664 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/isPaired.vibin0 -> 31428 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/nakedRead.vibin0 -> 55097 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/nakedWrite.vibin0 -> 51866 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/nxt.ctlbin0 -> 12692 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/openForRead.vibin0 -> 44755 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/openForWrite.vibin0 -> 58108 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/pairBluetooth.vibin0 -> 35997 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/pollAvailableLength.vibin0 -> 46951 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/read.vibin0 -> 55444 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/readBufferData.vibin0 -> 58354 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/readIOMap.vibin0 -> 54409 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/remove.vibin0 -> 45010 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/sendDirectCommand.vibin0 -> 60249 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/setNXTName.vibin0 -> 44182 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/unpairBluetooth.vibin0 -> 27139 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/write.vibin0 -> 51589 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/include/labview/win32/writeIOMap.vibin0 -> 52014 bytes
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/pyfantom/__init__.py0
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/setup.py40
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/visatype.h155
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-2.1.0.tar.gzbin0 -> 49769 bytes
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/.project11
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/LICENSE674
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/MANIFEST.in4
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/PKG-INFO168
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/README169
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/examples/alpharex.py151
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/examples/cnc.py53
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/examples/latency.py23
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/examples/mary.py45
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/examples/message_test.py15
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/examples/spin.py14
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/examples/test_sensors.py11
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/install.bat11
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/__init__.py17
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/bluesock.py78
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/brick.py225
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/direct.py216
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/error.py87
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/fantomglue.py55
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/lightblueglue.py53
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/locator.py57
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/motor.py431
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/__init__.py50
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/analog.py41
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/common.py67
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/digital.py227
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/generic.py154
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/hitechnic.py611
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/mindsensors.py815
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/system.py297
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/telegram.py118
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py82
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/utils.py33
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_filer142
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_push47
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_test33
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/setup.py23
169 files changed, 8054 insertions, 0 deletions
diff --git a/AT91SAM7S256/armdebug/.gitignore b/AT91SAM7S256/armdebug/.gitignore
index 1435c9c..8579431 100644
--- a/AT91SAM7S256/armdebug/.gitignore
+++ b/AT91SAM7S256/armdebug/.gitignore
@@ -21,6 +21,10 @@ MASTER-REPO_DO-NOT-DELETE
# Python distutils creates this when building.
pynxt/build/
+# XCode build stuff
+FantomModule/build/
+*mode1v3
+*pbxuser
# SCons cruft
.sconsign.dblite
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModule.cpp b/AT91SAM7S256/armdebug/FantomModule/FantomModule.cpp
new file mode 100644
index 0000000..ff2c6cd
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/FantomModule.cpp
@@ -0,0 +1,133 @@
+/*
+ * FantomModule.cp
+ * FantomModule
+ *
+ * Created by tcmac on 01/03/2011.
+ * Copyright 2011 TC Wan. All rights reserved.
+ *
+ * Based on code from Fantom Driver 1.0.2f0 Example
+ * © Copyright 2006,
+ * National Instruments Corporation.
+ * All rights reserved.
+ *
+ * Originated: 10 March 2006
+ *
+ */
+
+#include <iostream>
+#include <string.h>
+#include "FantomModule.h"
+#include "FantomModulePriv.h"
+
+static PyMethodDef FantomMethods[] = {
+ {"finddevices", fantom_finddevices, METH_VARARGS,
+ "Find a NXT Device"},
+ {"socket", fantom_socket, METH_VARARGS,
+ "Create a Socket for a NXT Brick"},
+ {"connect", fantom_connect, METH_VARARGS,
+ "Connect the Socket to a NXT Brick"},
+ {"send", fantom_send, METH_VARARGS,
+ "Send Data via the Socket to a NXT Brick"},
+ {"recv", fantom_recv, METH_VARARGS,
+ "Receive Data via the Socket from a NXT Brick"},
+ {"close", fantom_close, METH_VARARGS,
+ "Close the Socket to a NXT Brick"},
+ {NULL, NULL, 0, NULL} /* Sentinel */
+};
+
+extern "C" PyMODINIT_FUNC
+initfantom(void)
+{
+ (void) Py_InitModule("fantom", FantomMethods);
+}
+
+extern "C" PyObject *fantom_finddevices(PyObject *py_self, PyObject *py_args)
+{
+ FantomModule *fantomObject;
+ fantomObject = new FantomModule;
+
+ PyObject *list = fantomObject->finddevices(py_self,py_args);
+ delete fantomObject;
+
+ return list;
+}
+extern "C" PyObject *fantom_socket(PyObject *py_self, PyObject *py_args)
+{
+}
+
+extern "C" PyObject *fantom_connect(PyObject *py_self, PyObject *py_args)
+{
+}
+
+extern "C" PyObject *fantom_send(PyObject *py_self, PyObject *py_args)
+{
+}
+
+extern "C" PyObject *fantom_recv(PyObject *py_self, PyObject *py_args)
+{
+}
+
+extern "C" PyObject *fantom_close(PyObject *py_self, PyObject *py_args)
+{
+}
+
+PyObject *FantomModule::finddevices(PyObject *py_self, PyObject *py_args)
+{
+ const char *proto;
+ if (!PyArg_ParseTuple(py_args, "s", &proto))
+ return NULL;
+
+ ViBoolean useBT;
+ useBT = strcmp(proto, FANTOM_BT) ? true : false;
+
+/*
+ const char *command;
+ int sts;
+
+ if (!PyArg_ParseTuple(py_args, "s", &command))
+ return NULL;
+ sts = system(command);
+ return Py_BuildValue("i", sts);
+*/
+
+ // Create an NXT iterator object which is used to find all accessible NXT devices.
+ nxtIteratorPtr = nFANTOM100::iNXT::createNXTIterator(useBT, FANTOM_BT_TIMEOUTSEC, status);
+
+ // Creating the NXT iterator object could fail, better check status before dereferencing a
+ // potentially NULL pointer.
+ if( status.isNotFatal())
+ {
+ ViChar nxtName[FANTOM_NXTNAME_LEN];
+ nxtIteratorPtr->getName(nxtName, status);
+ if( status.isNotFatal())
+ {
+ // FIXME: Append to Python list
+ }
+ nxtIteratorPtr->advance(status);
+
+ }
+ // Destroy the NXT iterator object which we no longer need
+ nFANTOM100::iNXT::destroyNXTIterator( nxtIteratorPtr );
+
+}
+
+PyObject *FantomModule::socket(PyObject *py_self, PyObject *py_args)
+{
+ // Create an NXT object for the first NXT that was found. Note that if a NXT is found
+ // over BT, the computer and the NXT must be paired before an NXT object can be
+ // created. This can be done programatically using the iNXT::pairBluetooth method.
+ // nxtPtr = nxtIteratorPtr->getNXT( status );
+}
+
+void FantomModule::HelloWorld(const char * s)
+{
+ FantomModulePriv *theObj = new FantomModulePriv;
+ theObj->HelloWorldPriv(s);
+ delete theObj;
+};
+
+void FantomModulePriv::HelloWorldPriv(const char * s)
+{
+ std::cout << s << std::endl;
+};
+
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModule.h b/AT91SAM7S256/armdebug/FantomModule/FantomModule.h
new file mode 100644
index 0000000..4266d04
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/FantomModule.h
@@ -0,0 +1,49 @@
+/*
+ * FantomModule.h
+ * FantomModule
+ *
+ * Created by tcmac on 01/03/2011.
+ * Copyright 2011 __MyCompanyName__. All rights reserved.
+ *
+ */
+
+#ifndef FantomModule_
+#define FantomModule_
+
+#include "Python.h"
+#include "fantom/iNXT.h"
+#include "fantom/iNXTIterator.h"
+#include "fantom/tStatus.h"
+
+#define FANTOM_BT "BT"
+#define FANTOM_USB "USB"
+#define FANTOM_BT_TIMEOUTSEC 2
+#define FANTOM_NXTNAME_LEN 256
+
+/* The classes below are exported */
+#pragma GCC visibility push(default)
+
+extern "C" PyMODINIT_FUNC initfantom(void);
+
+extern "C" PyObject *fantom_finddevices(PyObject *py_self, PyObject *py_args);
+extern "C" PyObject *fantom_socket(PyObject *py_self, PyObject *py_args);
+extern "C" PyObject *fantom_connect(PyObject *py_self, PyObject *py_args);
+extern "C" PyObject *fantom_send(PyObject *py_self, PyObject *py_args);
+extern "C" PyObject *fantom_recv(PyObject *py_self, PyObject *py_args);
+extern "C" PyObject *fantom_close(PyObject *py_self, PyObject *py_args);
+
+class FantomModule
+{
+ nFANTOM100::tStatus status;
+ nFANTOM100::iNXTIterator* nxtIteratorPtr;
+ nFANTOM100::iNXT* nxtPtr;
+
+ public:
+ PyObject *finddevices(PyObject *py_self, PyObject *py_args);
+ PyObject *socket(PyObject *py_self, PyObject *py_args);
+
+ void HelloWorld(const char *);
+};
+
+#pragma GCC visibility pop
+#endif
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModule.xcodeproj/project.pbxproj b/AT91SAM7S256/armdebug/FantomModule/FantomModule.xcodeproj/project.pbxproj
new file mode 100644
index 0000000..f4a5ec8
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/FantomModule.xcodeproj/project.pbxproj
@@ -0,0 +1,295 @@
+// !$*UTF8*$!
+{
+ archiveVersion = 1;
+ classes = {
+ };
+ objectVersion = 45;
+ objects = {
+
+/* Begin PBXBuildFile section */
+ 43B531D2131C92690016BF14 /* Python in Frameworks */ = {isa = PBXBuildFile; fileRef = 43B531D1131C92690016BF14 /* Python */; };
+ 43B531F2131C962E0016BF14 /* iFile.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531EA131C962E0016BF14 /* iFile.h */; };
+ 43B531F3131C962E0016BF14 /* iFileIterator.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531EB131C962E0016BF14 /* iFileIterator.h */; };
+ 43B531F4131C962E0016BF14 /* iModule.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531EC131C962E0016BF14 /* iModule.h */; };
+ 43B531F5131C962E0016BF14 /* iModuleIterator.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531ED131C962E0016BF14 /* iModuleIterator.h */; };
+ 43B531F6131C962E0016BF14 /* iNXT.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531EE131C962E0016BF14 /* iNXT.h */; };
+ 43B531F7131C962E0016BF14 /* iNXTIterator.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531EF131C962E0016BF14 /* iNXTIterator.h */; };
+ 43B531F8131C962E0016BF14 /* platform.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531F0131C962E0016BF14 /* platform.h */; };
+ 43B531F9131C962E0016BF14 /* tStatus.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531F1131C962E0016BF14 /* tStatus.h */; };
+ 43B531FB131C963A0016BF14 /* visatype.h in Headers */ = {isa = PBXBuildFile; fileRef = 43B531FA131C963A0016BF14 /* visatype.h */; };
+ 43B5320A131C975B0016BF14 /* Fantom in Frameworks */ = {isa = PBXBuildFile; fileRef = 43B53209131C975B0016BF14 /* Fantom */; };
+ 50149BDA09E781A5002DEE6A /* FantomModule.h in Headers */ = {isa = PBXBuildFile; fileRef = 50149BD909E781A5002DEE6A /* FantomModule.h */; };
+ 5073E0CB09E734E500EC74B6 /* FantomModule.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 5073E0C409E734A800EC74B6 /* FantomModule.cpp */; };
+/* End PBXBuildFile section */
+
+/* Begin PBXFileReference section */
+ 32BAE0B70371A74B00C91783 /* FantomModule_Prefix.pch */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = FantomModule_Prefix.pch; sourceTree = "<group>"; };
+ 43B531D1131C92690016BF14 /* Python */ = {isa = PBXFileReference; lastKnownFileType = "compiled.mach-o.dylib"; name = Python; path = /System/Library/Frameworks/Python.framework/Python; sourceTree = "<absolute>"; };
+ 43B531EA131C962E0016BF14 /* iFile.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = iFile.h; sourceTree = "<group>"; };
+ 43B531EB131C962E0016BF14 /* iFileIterator.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = iFileIterator.h; sourceTree = "<group>"; };
+ 43B531EC131C962E0016BF14 /* iModule.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = iModule.h; sourceTree = "<group>"; };
+ 43B531ED131C962E0016BF14 /* iModuleIterator.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = iModuleIterator.h; sourceTree = "<group>"; };
+ 43B531EE131C962E0016BF14 /* iNXT.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = iNXT.h; sourceTree = "<group>"; };
+ 43B531EF131C962E0016BF14 /* iNXTIterator.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = iNXTIterator.h; sourceTree = "<group>"; };
+ 43B531F0131C962E0016BF14 /* platform.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = platform.h; sourceTree = "<group>"; };
+ 43B531F1131C962E0016BF14 /* tStatus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = tStatus.h; sourceTree = "<group>"; };
+ 43B531FA131C963A0016BF14 /* visatype.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = visatype.h; sourceTree = "<group>"; };
+ 43B53209131C975B0016BF14 /* Fantom */ = {isa = PBXFileReference; lastKnownFileType = "compiled.mach-o.dylib"; name = Fantom; path = /Library/Frameworks/Fantom.framework/Fantom; sourceTree = "<absolute>"; };
+ 43DB2163131CBF18001443AF /* setup.py */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.python; path = setup.py; sourceTree = "<group>"; };
+ 50149BD909E781A5002DEE6A /* FantomModule.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = FantomModule.h; sourceTree = "<group>"; };
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+ 5073E0C609E734A800EC74B6 /* FantomModuleProj.xcconfig */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = text.xcconfig; path = FantomModuleProj.xcconfig; sourceTree = "<group>"; };
+ 5073E0C709E734A800EC74B6 /* FantomModuleTarget.xcconfig */ = {isa = PBXFileReference; fileEncoding = 30; lastKnownFileType = text.xcconfig; path = FantomModuleTarget.xcconfig; sourceTree = "<group>"; };
+ 50B2938909F016FC00694E55 /* FantomModulePriv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = FantomModulePriv.h; sourceTree = "<group>"; };
+ D2AAC09D05546B4700DB518D /* libFantomModule.dylib */ = {isa = PBXFileReference; explicitFileType = "compiled.mach-o.dylib"; includeInIndex = 0; path = libFantomModule.dylib; sourceTree = BUILT_PRODUCTS_DIR; };
+/* End PBXFileReference section */
+
+/* Begin PBXFrameworksBuildPhase section */
+ D2AAC09B05546B4700DB518D /* Frameworks */ = {
+ isa = PBXFrameworksBuildPhase;
+ buildActionMask = 2147483647;
+ files = (
+ 43B531D2131C92690016BF14 /* Python in Frameworks */,
+ 43B5320A131C975B0016BF14 /* Fantom in Frameworks */,
+ );
+ runOnlyForDeploymentPostprocessing = 0;
+ };
+/* End PBXFrameworksBuildPhase section */
+
+/* Begin PBXGroup section */
+ 034768DDFF38A45A11DB9C8B /* Products */ = {
+ isa = PBXGroup;
+ children = (
+ D2AAC09D05546B4700DB518D /* libFantomModule.dylib */,
+ );
+ name = Products;
+ sourceTree = "<group>";
+ };
+ 0867D691FE84028FC02AAC07 /* FantomModule */ = {
+ isa = PBXGroup;
+ children = (
+ 43B531FA131C963A0016BF14 /* visatype.h */,
+ 43B531E9131C962E0016BF14 /* fantom */,
+ 5073E0CA09E734BC00EC74B6 /* Configuration Files */,
+ 08FB77ACFE841707C02AAC07 /* Source */,
+ 0867D69AFE84028FC02AAC07 /* External Frameworks and Libraries */,
+ 034768DDFF38A45A11DB9C8B /* Products */,
+ 43DB2163131CBF18001443AF /* setup.py */,
+ );
+ name = FantomModule;
+ sourceTree = "<group>";
+ };
+ 0867D69AFE84028FC02AAC07 /* External Frameworks and Libraries */ = {
+ isa = PBXGroup;
+ children = (
+ 43B53209131C975B0016BF14 /* Fantom */,
+ 43B531D1131C92690016BF14 /* Python */,
+ );
+ name = "External Frameworks and Libraries";
+ sourceTree = "<group>";
+ };
+ 08FB77ACFE841707C02AAC07 /* Source */ = {
+ isa = PBXGroup;
+ children = (
+ 32BAE0B70371A74B00C91783 /* FantomModule_Prefix.pch */,
+ 50149BD909E781A5002DEE6A /* FantomModule.h */,
+ 50B2938909F016FC00694E55 /* FantomModulePriv.h */,
+ 5073E0C409E734A800EC74B6 /* FantomModule.cpp */,
+ );
+ name = Source;
+ sourceTree = "<group>";
+ };
+ 43B531E9131C962E0016BF14 /* fantom */ = {
+ isa = PBXGroup;
+ children = (
+ 43B531EA131C962E0016BF14 /* iFile.h */,
+ 43B531EB131C962E0016BF14 /* iFileIterator.h */,
+ 43B531EC131C962E0016BF14 /* iModule.h */,
+ 43B531ED131C962E0016BF14 /* iModuleIterator.h */,
+ 43B531EE131C962E0016BF14 /* iNXT.h */,
+ 43B531EF131C962E0016BF14 /* iNXTIterator.h */,
+ 43B531F0131C962E0016BF14 /* platform.h */,
+ 43B531F1131C962E0016BF14 /* tStatus.h */,
+ );
+ path = fantom;
+ sourceTree = "<group>";
+ };
+ 5073E0CA09E734BC00EC74B6 /* Configuration Files */ = {
+ isa = PBXGroup;
+ children = (
+ 5073E0C609E734A800EC74B6 /* FantomModuleProj.xcconfig */,
+ 5073E0C709E734A800EC74B6 /* FantomModuleTarget.xcconfig */,
+ );
+ name = "Configuration Files";
+ sourceTree = "<group>";
+ };
+/* End PBXGroup section */
+
+/* Begin PBXHeadersBuildPhase section */
+ D2AAC09905546B4700DB518D /* Headers */ = {
+ isa = PBXHeadersBuildPhase;
+ buildActionMask = 2147483647;
+ files = (
+ 50149BDA09E781A5002DEE6A /* FantomModule.h in Headers */,
+ 43B531F2131C962E0016BF14 /* iFile.h in Headers */,
+ 43B531F3131C962E0016BF14 /* iFileIterator.h in Headers */,
+ 43B531F4131C962E0016BF14 /* iModule.h in Headers */,
+ 43B531F5131C962E0016BF14 /* iModuleIterator.h in Headers */,
+ 43B531F6131C962E0016BF14 /* iNXT.h in Headers */,
+ 43B531F7131C962E0016BF14 /* iNXTIterator.h in Headers */,
+ 43B531F8131C962E0016BF14 /* platform.h in Headers */,
+ 43B531F9131C962E0016BF14 /* tStatus.h in Headers */,
+ 43B531FB131C963A0016BF14 /* visatype.h in Headers */,
+ );
+ runOnlyForDeploymentPostprocessing = 0;
+ };
+/* End PBXHeadersBuildPhase section */
+
+/* Begin PBXNativeTarget section */
+ D2AAC09C05546B4700DB518D /* FantomModule */ = {
+ isa = PBXNativeTarget;
+ buildConfigurationList = 1DEB916008733D950010E9CD /* Build configuration list for PBXNativeTarget "FantomModule" */;
+ buildPhases = (
+ D2AAC09905546B4700DB518D /* Headers */,
+ D2AAC09B05546B4700DB518D /* Frameworks */,
+ D2AAC09A05546B4700DB518D /* Sources */,
+ );
+ buildRules = (
+ );
+ dependencies = (
+ );
+ name = FantomModule;
+ productName = libFantomModule;
+ productReference = D2AAC09D05546B4700DB518D /* libFantomModule.dylib */;
+ productType = "com.apple.product-type.library.dynamic";
+ };
+/* End PBXNativeTarget section */
+
+/* Begin PBXProject section */
+ 0867D690FE84028FC02AAC07 /* Project object */ = {
+ isa = PBXProject;
+ buildConfigurationList = 1DEB916408733D950010E9CD /* Build configuration list for PBXProject "FantomModule" */;
+ compatibilityVersion = "Xcode 3.1";
+ developmentRegion = English;
+ hasScannedForEncodings = 1;
+ knownRegions = (
+ English,
+ Japanese,
+ French,
+ German,
+ );
+ mainGroup = 0867D691FE84028FC02AAC07 /* FantomModule */;
+ productRefGroup = 034768DDFF38A45A11DB9C8B /* Products */;
+ projectDirPath = "";
+ projectRoot = "";
+ targets = (
+ D2AAC09C05546B4700DB518D /* FantomModule */,
+ );
+ };
+/* End PBXProject section */
+
+/* Begin PBXSourcesBuildPhase section */
+ D2AAC09A05546B4700DB518D /* Sources */ = {
+ isa = PBXSourcesBuildPhase;
+ buildActionMask = 2147483647;
+ files = (
+ 5073E0CB09E734E500EC74B6 /* FantomModule.cpp in Sources */,
+ );
+ runOnlyForDeploymentPostprocessing = 0;
+ };
+/* End PBXSourcesBuildPhase section */
+
+/* Begin XCBuildConfiguration section */
+ 1DEB916108733D950010E9CD /* Debug */ = {
+ isa = XCBuildConfiguration;
+ baseConfigurationReference = 5073E0C709E734A800EC74B6 /* FantomModuleTarget.xcconfig */;
+ buildSettings = {
+ ALWAYS_SEARCH_USER_PATHS = NO;
+ COPY_PHASE_STRIP = NO;
+ GCC_DYNAMIC_NO_PIC = NO;
+ GCC_ENABLE_FIX_AND_CONTINUE = YES;
+ GCC_MODEL_TUNING = G5;
+ GCC_OPTIMIZATION_LEVEL = 0;
+ GCC_PRECOMPILE_PREFIX_HEADER = YES;
+ GCC_PREFIX_HEADER = FantomModule_Prefix.pch;
+ LIBRARY_SEARCH_PATHS = (
+ "$(inherited)",
+ "\"$(SYSTEM_LIBRARY_DIR)/Frameworks/Python.framework\"",
+ "\"$(LOCAL_LIBRARY_DIR)/Frameworks/Fantom.framework\"",
+ );
+ };
+ name = Debug;
+ };
+ 1DEB916208733D950010E9CD /* Release */ = {
+ isa = XCBuildConfiguration;
+ baseConfigurationReference = 5073E0C709E734A800EC74B6 /* FantomModuleTarget.xcconfig */;
+ buildSettings = {
+ ALWAYS_SEARCH_USER_PATHS = NO;
+ DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
+ GCC_MODEL_TUNING = G5;
+ GCC_PRECOMPILE_PREFIX_HEADER = YES;
+ GCC_PREFIX_HEADER = FantomModule_Prefix.pch;
+ LIBRARY_SEARCH_PATHS = (
+ "$(inherited)",
+ "\"$(SYSTEM_LIBRARY_DIR)/Frameworks/Python.framework\"",
+ "\"$(LOCAL_LIBRARY_DIR)/Frameworks/Fantom.framework\"",
+ );
+ STRIP_INSTALLED_PRODUCT = YES;
+ STRIP_STYLE = "non-global";
+ };
+ name = Release;
+ };
+ 1DEB916508733D950010E9CD /* Debug */ = {
+ isa = XCBuildConfiguration;
+ baseConfigurationReference = 5073E0C609E734A800EC74B6 /* FantomModuleProj.xcconfig */;
+ buildSettings = {
+ ARCHS = "$(ARCHS_STANDARD_32_64_BIT)";
+ GCC_C_LANGUAGE_STANDARD = gnu99;
+ GCC_OPTIMIZATION_LEVEL = 0;
+ GCC_WARN_ABOUT_RETURN_TYPE = YES;
+ GCC_WARN_UNUSED_VARIABLE = YES;
+ HEADER_SEARCH_PATHS = /usr/include/python2.6/;
+ ONLY_ACTIVE_ARCH = YES;
+ PREBINDING = NO;
+ SDKROOT = macosx10.6;
+ };
+ name = Debug;
+ };
+ 1DEB916608733D950010E9CD /* Release */ = {
+ isa = XCBuildConfiguration;
+ baseConfigurationReference = 5073E0C609E734A800EC74B6 /* FantomModuleProj.xcconfig */;
+ buildSettings = {
+ ARCHS = "$(ARCHS_STANDARD_32_64_BIT)";
+ GCC_C_LANGUAGE_STANDARD = gnu99;
+ GCC_WARN_ABOUT_RETURN_TYPE = YES;
+ GCC_WARN_UNUSED_VARIABLE = YES;
+ PREBINDING = NO;
+ SDKROOT = macosx10.6;
+ };
+ name = Release;
+ };
+/* End XCBuildConfiguration section */
+
+/* Begin XCConfigurationList section */
+ 1DEB916008733D950010E9CD /* Build configuration list for PBXNativeTarget "FantomModule" */ = {
+ isa = XCConfigurationList;
+ buildConfigurations = (
+ 1DEB916108733D950010E9CD /* Debug */,
+ 1DEB916208733D950010E9CD /* Release */,
+ );
+ defaultConfigurationIsVisible = 0;
+ defaultConfigurationName = Release;
+ };
+ 1DEB916408733D950010E9CD /* Build configuration list for PBXProject "FantomModule" */ = {
+ isa = XCConfigurationList;
+ buildConfigurations = (
+ 1DEB916508733D950010E9CD /* Debug */,
+ 1DEB916608733D950010E9CD /* Release */,
+ );
+ defaultConfigurationIsVisible = 0;
+ defaultConfigurationName = Release;
+ };
+/* End XCConfigurationList section */
+ };
+ rootObject = 0867D690FE84028FC02AAC07 /* Project object */;
+}
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModulePriv.h b/AT91SAM7S256/armdebug/FantomModule/FantomModulePriv.h
new file mode 100644
index 0000000..54e0775
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/FantomModulePriv.h
@@ -0,0 +1,19 @@
+/*
+ * FantomModulePriv.h
+ * FantomModule
+ *
+ * Created by tcmac on 01/03/2011.
+ * Copyright 2011 __MyCompanyName__. All rights reserved.
+ *
+ */
+
+/* The classes below are not exported */
+#pragma GCC visibility push(hidden)
+
+class FantomModulePriv
+{
+ public:
+ void HelloWorldPriv(const char *);
+};
+
+#pragma GCC visibility pop
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModuleProj.xcconfig b/AT91SAM7S256/armdebug/FantomModule/FantomModuleProj.xcconfig
new file mode 100644
index 0000000..363b2d1
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/FantomModuleProj.xcconfig
@@ -0,0 +1,6 @@
+ PREBINDING = NO;
+ GCC_WARN_ABOUT_RETURN_TYPE = YES;
+ GCC_WARN_UNUSED_VARIABLE = YES;
+ GCC_MODEL_TUNING = G5;
+ GCC_INCREASE_PRECOMPILED_HEADER_SHARING = YES;
+ GCC_GENERATE_DEBUGGING_SYMBOLS = YES;
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModuleTarget.xcconfig b/AT91SAM7S256/armdebug/FantomModule/FantomModuleTarget.xcconfig
new file mode 100644
index 0000000..63f1a7e
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/FantomModuleTarget.xcconfig
@@ -0,0 +1,11 @@
+ PRODUCT_NAME = libFantomModule;
+ INSTALL_PATH = /usr/local/lib;
+ MACH_O_TYPE = mh_dylib;
+ DYLIB_COMPATIBILITY_VERSION = 1;
+ DYLIB_CURRENT_VERSION = 1;
+ GCC_PRECOMPILE_PREFIX_HEADER = YES;
+ GCC_PREFIX_HEADER = FantomModule_Prefix.pch;
+ GCC_ENABLE_CPP_EXCEPTIONS = YES;
+ GCC_ENABLE_CPP_RTTI = YES;
+ STANDARD_C_PLUS_PLUS_LIBRARY_TYPE = Dynamic;
+ GCC_SYMBOLS_PRIVATE_EXTERN = YES;
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModule_Prefix.pch b/AT91SAM7S256/armdebug/FantomModule/FantomModule_Prefix.pch
new file mode 100644
index 0000000..031204e
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/FantomModule_Prefix.pch
@@ -0,0 +1,6 @@
+//
+// Prefix header for all source files of the 'FantomModule' target in the 'FantomModule' project.
+//
+
+
+#include <iostream>
diff --git a/AT91SAM7S256/armdebug/FantomModule/fantom/iFile.h b/AT91SAM7S256/armdebug/FantomModule/fantom/iFile.h
new file mode 100644
index 0000000..d9884f9
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/fantom/iFile.h
@@ -0,0 +1,280 @@
+/*!
+ \file iFile.h
+ \brief Interface for a file on a LEGO MINDSTORMS NXT.
+*/
+/*
+ © Copyright 2005-2006,
+ National Instruments Corporation.
+ All rights reserved.
+
+ File: iFile.h
+ Originated: 12 May 2005
+*/
+
+#ifndef ___fantom_iFile_h___
+#define ___fantom_iFile_h___
+
+// includes...
+
+#ifndef ___fantom_platform_h___
+ #include "platform.h"
+#endif
+
+#ifndef ___fantom_tStatus_h___
+ #include "tStatus.h"
+#endif
+
+
+// defines...
+
+
+namespace nFANTOM100
+{
+ // forward declarations...
+
+ // typedefs...
+
+ // classes...
+
+ /*!
+ \class iFile
+ \brief Interface to a file on a LEGO MINDSTORMS NXT.
+ */
+ class iFile
+ {
+ friend class tNXT;
+
+ // methods
+ protected:
+
+ //! Destructor
+ virtual ~iFile() = 0;
+
+ public:
+
+ //! Retrieves the name of this file.
+ /*!
+ \param fileName Populated with the name of this file. The file name character array
+ must be able to accomodate a NULL-terminated, 15.3 formatted module name. That
+ is, it must have a capacity of 20 bytes.
+ */
+ virtual void getName( ViChar fileName[] ) const = 0;
+
+ //! Retrieves the total size of this file in bytes.
+ /*!
+ The returned size is undefined if the specified status is fatal.
+
+ \param status Status chaining object.
+ \return The total size of this file in bytes.
+ */
+ virtual ViUInt32 getSize( tStatus& status ) = 0;
+
+ //! Retrieves the remaining available size, in bytes, in this file.
+ /*!
+ This number is only helpful for data logging files, which can contain variable
+ amounts of data.
+ The returned size is undefined if the specified status is fatal.
+
+ \param status Status chaining object.
+ \return The remaining available size, in bytes, in this file.
+ */
+ virtual ViUInt32 getAvailableSize( tStatus& status ) = 0;
+
+
+ //! Opens this file for reading.
+ /*!
+ Opens, for reading, the file that corresponds to this object on the associated NXT.
+ The file is not opened if the specified status is fatal.
+
+ \param status Status chaining object.
+ */
+ virtual void openForRead( tStatus& status ) = 0;
+
+
+ //! Open this file for writing.
+ /*!
+ Opens, for writing, the file that corresponds to this object on the associated NXT.
+ If this file doesn't exist on the NXT, it is created. If this file does exist on
+ the NXT, an error is generated.
+ The file is not opened if the specified status is fatal.
+
+ \param sizeInBytes Size of the data, in bytes, that will be written to this file.
+ \param status Status chaining object.
+ */
+ virtual void openForWrite( ViUInt32 sizeInBytes, tStatus& status ) = 0;
+
+
+ //! Open this file for linear (contiguous) writing.
+ /*!
+ Opens, for linear (contiguous) writing, the file that corresponds to this object on
+ the associated NXT. If this file doesn't exist on the NXT, it is created. If this
+ file does exist on the NXT, an error is generated.
+ The file is not opened if the specified status is fatal.
+
+ \param sizeInBytes Size of the data, in bytes, that will be written to the file.
+ \param status Status chaining object.
+ */
+ virtual void openForLinearWrite( ViUInt32 sizeInBytes, tStatus& status ) = 0;
+
+
+ //! Open this data file for writing.
+ /*!
+ Opens, for writing, the data file that corresponds to this object on the associated
+ NXT. This data file differs from normal files in that a data file can be closed
+ before the entire file has been written. If this file doesn't exist on the NXT,
+ it is created. If this file does exist on the NXT, an error is generated.
+ The file is not opened if the specified status is fatal.
+
+ \param sizeInBytes Size of the data, in bytes, that may be written to the file.
+ \param status Status chaining object.
+ */
+ virtual void openForDataWrite( ViUInt32 sizeInBytes, tStatus& status ) = 0;
+
+
+ //! Open this data file for appending additional data.
+ /*!
+ Opens, for appending additional data, the data file that corresponds to this object
+ on the associated NXT. If this file doesn't exist on the NXT, the behavior is
+ undefined. If this file does exist on the NXT, the data that is written is
+ appended to the end of the exiting data.
+ The file is not opened if the specified status is fatal.
+
+ \param status Status chaining object.
+ */
+ virtual void openForDataAppend( tStatus& status ) = 0;
+
+
+ //! Closes this file.
+ /*!
+ Closes the file that corresponds to this object on the associated NXT.
+ The file is not closed if the specified status is fatal.
+
+ \param status Status chaining object.
+ */
+ virtual void close( tStatus& status ) = 0;
+
+
+ //! Reads from this file
+ /*!
+ Reads the specified number of bytes from this file into the specified buffer. No data
+ is read if the specified status is fatal. The ownership of the buffer is not
+ transferred to this file object.
+
+ \param bufferPtr A pointer to the buffer that will be populated with the data that is
+ read. The capacity of the specified buffer must be at least the specified number
+ of bytes.
+ \param numberOfBytes Number of bytes to read.
+ \param status Status chaining object.
+ \return The number of bytes actually read from this file.
+
+ \pre This file must have been opened for reading with the iFile::openForRead method.
+ \post The specified buffer may be deallocated.
+ */
+ virtual ViUInt32 read( ViPBuf bufferPtr, ViUInt32 numberOfBytes, tStatus& status ) = 0;
+
+
+ //! Writes to this file
+ /*!
+ Writes the specified number of bytes from the specified buffer to this file. No data
+ is written if the specified status is fatal. The ownership of the buffer is not
+ transferred to this file object.
+
+ \param bufferPtr A pointer to the buffer that contains the data that will be written.
+ The capacity of the specified buffer must be at least the specified number of
+ bytes.
+ \param numberOfBytes Number of bytes to write to this file.
+ \param status Status chaining object.
+ \return The number of bytes actually written to this file.
+
+ \pre This file must have previously been opened for writing.
+ \post The specified buffer may be deallocated.
+ */
+ virtual ViUInt32 write( const ViByte bufferPtr[], ViUInt32 numberOfBytes,
+ tStatus& status ) = 0;
+
+
+ //! Removes this file
+ /*!
+ Removes the file that corresponds to this object on the associated NXT.
+ The file is not removed if the specified status is fatal.
+
+ \param status Status chaining object.
+ */
+ virtual void remove( tStatus& status ) = 0;
+
+ };
+
+
+ // constants...
+ const ViUInt8 kProtocolFilenameLength = 19; // 15 basename + 1 dot + 3 extension = 19
+
+} // namespace nFANTOM100
+
+
+ // declarations for globally-scoped globals...
+
+ // typedefs...
+ typedef ViObject nFANTOM100_iFile;
+
+ // prototypes...
+ extern "C"
+ {
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_getName(
+ nFANTOM100_iFile filePtr,
+ ViChar fileName[],
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iFile_getSize(
+ nFANTOM100_iFile filePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iFile_getAvailableSize(
+ nFANTOM100_iFile filePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForRead(
+ nFANTOM100_iFile filePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForWrite(
+ nFANTOM100_iFile filePtr,
+ ViUInt32 sizeInBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForLinearWrite(
+ nFANTOM100_iFile filePtr,
+ ViUInt32 sizeInBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForDataWrite(
+ nFANTOM100_iFile filePtr,
+ ViUInt32 sizeInBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_openForDataAppend(
+ nFANTOM100_iFile filePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_close(
+ nFANTOM100_iFile filePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_read(
+ nFANTOM100_iFile filePtr,
+ ViPBuf bufferPtr,
+ ViUInt32 numberOfBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_write(
+ nFANTOM100_iFile filePtr,
+ const ViByte bufferPtr[],
+ ViUInt32 numberOfBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFile_remove(
+ nFANTOM100_iFile filePtr,
+ ViStatus* status );
+
+ }
+
+#endif // ___fantom_iFile_h___
diff --git a/AT91SAM7S256/armdebug/FantomModule/fantom/iFileIterator.h b/AT91SAM7S256/armdebug/FantomModule/fantom/iFileIterator.h
new file mode 100644
index 0000000..5803be8
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/fantom/iFileIterator.h
@@ -0,0 +1,133 @@
+/*!
+ \file iFileIterator.h
+ \brief Interface for an iterator for files on a LEGO MINDSTORMS NXT.
+*/
+/*
+ © Copyright 2005-2006,
+ National Instruments Corporation.
+ All rights reserved.
+
+ File: iFileIterator.h
+ Originated: 12 May 2005
+*/
+
+#ifndef ___fantom_iFileIterator_h___
+#define ___fantom_iFileIterator_h___
+
+
+// includes...
+
+#ifndef ___fantom_platform_h___
+ #include "platform.h"
+#endif
+
+#ifndef ___fantom_iFile_h___
+ #include "iFile.h"
+#endif
+
+#ifndef ___fantom_tStatus_h___
+ #include "tStatus.h"
+#endif
+
+
+// defines...
+
+
+namespace nFANTOM100
+{
+ // forward declarations...
+
+ // typedefs...
+
+ // classes...
+
+ /*!
+ \class iFileIterator
+ \brief Interface to an iterator for files on a LEGO MINDSTORMS NXT.
+ */
+ class iFileIterator
+ {
+ friend class tNXT;
+
+ // methods
+ protected:
+
+ //! Destructor
+ virtual ~iFileIterator() = 0;
+
+ public:
+
+ //! Creates a file object for the file referenced by this iterator.
+ /*!
+ Creates file object for the file referenced by this iterator. An object is not
+ created if the specified status is fatal or if this iterator refers to the end of
+ the list. The returned file object should be destroyed using the
+ iNXT::destroyFile method.
+
+ \param status Status chaining object.
+ \return A pointer to the iFile object that was created.
+ */
+ virtual iFile* getFile( tStatus& status ) = 0;
+
+ //! Advances this iterator.
+ /*!
+ Advances this iterator to the next file that matches the previously specified file
+ name pattern. If no more files match, this iterator is advanced to the end of the
+ list.
+ The iterator is not advanced if the specified status is fatal.
+ If this iterator is already at the end of the list, a fatal status will be generated.
+
+ \param status Status chaining object.
+ */
+ virtual void advance( tStatus& status ) = 0;
+
+ //! Retrieves the name of the file to which this iterator refers.
+ /*!
+ \param fileName Populated with the name of the file to which this iterator refers.
+ The file name character array must be able to accomodate a NULL-terminated, 15.3
+ formatted file name. This is, it must have a capacity of 20 bytes.
+ \param status Status chaining object.
+ */
+ virtual void getName( ViChar fileName[], tStatus& status ) = 0;
+
+ //! Retrieves the total size, in bytes, of the file to which this iterator refers.
+ /*!
+ \param status Status chaining object.
+ \return The total size of the file in bytes.
+ */
+ virtual ViUInt32 getSize( tStatus& status ) = 0;
+
+ };
+
+
+ // constants...
+
+} // namespace nFANTOM100
+
+
+ // declarations for globally-scoped globals...
+
+ // typedefs
+ typedef ViObject nFANTOM100_iFileIterator;
+
+ extern "C"
+ {
+ nFANTOM100_kExport nFANTOM100_iFile _VI_FUNCC nFANTOM100_iFileIterator_getFile(
+ nFANTOM100_iFileIterator iteratorPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFileIterator_advance(
+ nFANTOM100_iFileIterator iteratorPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iFileIterator_getName(
+ nFANTOM100_iFileIterator iteratorPtr,
+ ViChar filename[],
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iFileIterator_getSize(
+ nFANTOM100_iFileIterator iteratorPtr,
+ ViStatus* status );
+ }
+
+#endif // ___fantom_iFileIterator_h___
diff --git a/AT91SAM7S256/armdebug/FantomModule/fantom/iModule.h b/AT91SAM7S256/armdebug/FantomModule/fantom/iModule.h
new file mode 100644
index 0000000..1f03849
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/fantom/iModule.h
@@ -0,0 +1,154 @@
+/*!
+ \file iModule.h
+ \brief Interface for a firmware module on a LEGO MINDSTORMS NXT.
+*/
+/*
+ © Copyright 2005-2006,
+ National Instruments Corporation.
+ All rights reserved.
+
+ File: iModule.h
+ Originated: 8 Aug 2005
+*/
+
+#ifndef ___fantom_iModule_h___
+#define ___fantom_iModule_h___
+
+#ifndef ___fantom_platform_h___
+ #include "platform.h"
+#endif
+
+#ifndef ___fantom_tStatus_h___
+ #include "tStatus.h"
+#endif
+
+
+// defines...
+
+
+namespace nFANTOM100
+{
+
+ /*!
+ \class iModule
+ \brief Interface to a firmware module on a LEGO MINDSTORMS NXT.
+ */
+ class iModule
+ {
+ friend class tNXT;
+
+ // methods
+ protected:
+
+ //! Destructor
+ virtual ~iModule() = 0;
+
+ public:
+
+ //! Retrieves the name of this module.
+ /*!
+ \param moduleName Populated with the name of this module. The module name character
+ array must be able to accomodate a NULL-terminated, 15.3 formatted module name.
+ That is, it must have a capacity of 20 bytes.
+ */
+ virtual void getName( ViChar moduleName[] ) const = 0;
+
+ //! Retrieves the internal module ID of this module.
+ /*!
+ \return The internal module ID of this module.
+ */
+ virtual ViUInt32 getModuleID( void ) const = 0;
+
+ //! Retrieves the size in bytes of this module.
+ /*!
+ \return The size in bytes of this module.
+ */
+ virtual ViUInt32 getModuleSize( void ) const = 0;
+
+ //! Retrieves the size in bytes of the I/O map associated with this module.
+ /*!
+ \return The size in bytes of the I/O map associated with this module.
+ */
+ virtual ViUInt32 getModuleIOMapSize( void ) const = 0;
+
+ //! Reads a portion of this module's I/O map.
+ /*!
+ Reads the data located at [I/O map address] + [specified offset in bytes] into the
+ specified data buffer. The read will attempt to copy the specified number of
+ bytes. No read occurs if the specified status is fatal. The ownership of data
+ buffer is not transferred to this module object.
+
+ \param offsetInBytes The index of the byte in the I/O map at which to start the read.
+ \param numberOfBytes The number of bytes that should be read from the I/O map.
+ \param dataBufferPtr A pointer to the data buffer that will be populated with the
+ data that is read. The capacity of the specified data buffer must be at least the
+ specified number of bytes.
+ \param status Status chaining object.
+ \return The number of bytes actually read from the I/O map.
+
+ \post The specified data buffer may be deallocated.
+ */
+ virtual ViUInt32 readIOMap( ViUInt32 offsetInBytes, ViUInt32 numberOfBytes,
+ ViPBuf dataBufferPtr, tStatus& status ) = 0;
+
+ //! Writes a portion of this module's I/O map.
+ /*!
+ Writes the specified data into this module's I/O map. The write starts at [I/O map
+ address] + [specified offset in bytes] and stops after the specified number of
+ bytes have been written. No write occurs if the specified status is fatal. The
+ ownership of data buffer is not transferred to this module object.
+
+ \param offsetInBytes The index of the byte in the I/O map at which to start the write.
+ \param numberOfBytes The number of bytes to write into the I/O map.
+ \param dataBufferPtr A pointer to the data buffer that contains the data that will be
+ written. The capacity of the specified data buffer must be at least the specified
+ number of bytes.
+ \param status Status chaining object.
+ \return The number of bytes actually written into the I/O map.
+
+ \post The specified data buffer may be deallocated.
+ */
+ virtual ViUInt32 writeIOMap( ViUInt32 offsetInBytes, ViUInt32 numberOfBytes,
+ const ViByte dataBufferPtr[], tStatus& status ) = 0;
+
+ };
+
+}; // nFANTOM100
+
+typedef ViObject nFANTOM100_iModule;
+
+extern "C"
+{
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iModule_getName(
+ nFANTOM100_iModule modulePtr,
+ ViChar moduleName[],
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_getModuleID(
+ nFANTOM100_iModule modulePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_getModuleSize(
+ nFANTOM100_iModule modulePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_getIOMapSize(
+ nFANTOM100_iModule modulePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_readIOMap(
+ nFANTOM100_iModule modulePtr,
+ ViUInt32 offset,
+ ViUInt32 numberBytesToRead,
+ ViPBuf dataBuffer,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iModule_writeIOMap(
+ nFANTOM100_iModule modulePtr,
+ ViUInt32 offset,
+ ViUInt32 numberBytesToWrite,
+ const ViByte dataBuffer[],
+ ViStatus* status );
+}
+
+#endif // ___fantom_iModule_h___
diff --git a/AT91SAM7S256/armdebug/FantomModule/fantom/iModuleIterator.h b/AT91SAM7S256/armdebug/FantomModule/fantom/iModuleIterator.h
new file mode 100644
index 0000000..402bf1a
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/fantom/iModuleIterator.h
@@ -0,0 +1,123 @@
+/*!
+ \file iModuleIterator.h
+ \brief Interface for an iterator for firmware modules on a LEGO MINDSTORMS NXT.
+*/
+/*
+ © Copyright 2005-2006,
+ National Instruments Corporation.
+ All rights reserved.
+
+ File: iModuleIterator.h
+ Originated: 8 Aug 2005
+*/
+
+#ifndef ___fantom_iModuleIterator_h___
+#define ___fantom_iModuleIterator_h___
+
+
+// includes...
+
+#ifndef ___fantom_platform_h___
+ #include "platform.h"
+#endif
+
+#ifndef ___fantom_iModule_h___
+ #include "iModule.h"
+#endif
+
+#ifndef ___fantom_tStatus_h___
+ #include "tStatus.h"
+#endif
+
+
+// defines...
+
+
+namespace nFANTOM100
+{
+ // forward declarations...
+
+ // typedefs...
+
+ // classes...
+
+ /*!
+ \class iModuleIterator
+ \brief Interface to an iterator for firmware modules on a LEGO MINDSTORMS NXT.
+ */
+ class iModuleIterator
+ {
+ friend class tNXT;
+
+ // methods
+ protected:
+
+ //! Destructor
+ virtual ~iModuleIterator() = 0;
+
+ public:
+
+ //! Creates a module object for the module referenced by this iterator.
+ /*!
+ Creates a module object for the module referenced by this iterator. An object is not
+ created if the specified status is fatal or if this iterator refers to the end of
+ the list. The returned module object should be destroyed using the
+ iNXT::destroyModule method.
+
+ \param status Status chaining object.
+ \return A pointer to the iModule object that was created.
+ */
+ virtual iModule* getModule( tStatus& status ) = 0;
+
+ //! Advances this iterator.
+ /*!
+ Advances this iterator to the next module that matches the previously specified
+ module name pattern. If no more modules match, this iterator is advanced to the
+ end of the list.
+ The iterator is not advanced if the specified status is fatal.
+ If this iterator is already at the end of the list, a fatal status will be generated.
+
+ \param status Status chaining object.
+ */
+ virtual void advance( tStatus& status ) = 0;
+
+ //! Retrieves the name of the module to which this iterator refers.
+ /*!
+ \param moduleName Populated with the name of the module to which this iterator
+ refers. The module name character array must be able to accomodate a
+ NULL-terminated, 15.3 formatted module name. This is, it must have a capacity of
+ 20 bytes.
+ \param status Status chaining object.
+ */
+ virtual void getName( ViChar moduleName[], tStatus& status ) = 0;
+
+ };
+
+
+ // constants...
+
+} // namespace nFANTOM100
+
+
+ // declarations for globally-scoped globals...
+
+ // typedefs
+ typedef ViObject nFANTOM100_iModuleIterator;
+
+ extern "C"
+ {
+ nFANTOM100_kExport nFANTOM100_iModule _VI_FUNCC nFANTOM100_iModuleIterator_getModule(
+ nFANTOM100_iModuleIterator iteratorPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iModuleIterator_advance(
+ nFANTOM100_iModuleIterator iteratorPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iModuleIterator_getName(
+ nFANTOM100_iModuleIterator iteratorPtr,
+ ViChar moduleName[],
+ ViStatus* status );
+ }
+
+#endif // ___fantom_iModuleIterator_h___
diff --git a/AT91SAM7S256/armdebug/FantomModule/fantom/iNXT.h b/AT91SAM7S256/armdebug/FantomModule/fantom/iNXT.h
new file mode 100644
index 0000000..ba61db8
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/fantom/iNXT.h
@@ -0,0 +1,666 @@
+/*!
+ \file iNXT.h
+ \brief Interface for a LEGO MINDSTORMS NXT and declaration of its factory.
+*/
+/*
+ © Copyright 2005-2006,
+ National Instruments Corporation.
+ All rights reserved.
+
+ File: iNXT.h
+ Originated: 12 May 2005
+*/
+
+#ifndef ___fantom_iNXT_h___
+#define ___fantom_iNXT_h___
+
+
+// includes...
+
+#ifndef ___fantom_platform_h___
+ #include "platform.h"
+#endif
+
+#ifndef ___fantom_iFile_h___
+ #include "iFile.h"
+#endif
+
+#ifndef ___fantom_iFileIterator_h___
+ #include "iFileIterator.h"
+#endif
+
+#ifndef ___fantom_iModule_h___
+ #include "iModule.h"
+#endif
+
+#ifndef ___fantom_iModuleIterator_h___
+ #include "iModuleIterator.h"
+#endif
+
+#ifndef ___fantom_iNXTIterator_h___
+ #include "iNXTIterator.h"
+#endif
+
+#ifndef ___fantom_tStatus_h___
+ #include "tStatus.h"
+#endif
+
+// defines...
+
+
+namespace nFANTOM100
+{
+ // forward declarations...
+
+ // typedefs...
+
+ // classes...
+
+ /*!
+ \class iNXT
+ \brief Interface to a LEGO MINDSTORMS NXT.
+ */
+ class iNXT
+ {
+ // methods
+ protected:
+
+ //! Destructor
+ virtual ~iNXT() = 0;
+
+ public:
+
+ //! Enumeration of buffer types on the NXT
+ enum tBuffer
+ {
+ // The buffer associated with the standard port.
+ kBufferStandard,
+
+ // The buffer associated with the high-speed port.
+ kBufferHighSpeed
+ };
+
+ //! Creates a file object for the file with the specified name on this NXT.
+ /*!
+ Invoking this method does not actually create a file on the NXT. Rather, this method
+ creates a file object which may be used to open a file on this NXT, for reading or
+ writing, or may be used to delete a file on the NXT.
+ A file is not created if the specified status is fatal.
+ The returned file object should be destroyed using the iNXT::destroyFile method.
+
+ \param fileName Name of the file. The file name must conform to the 15.3 naming
+ convention and be NULL-terminated.
+ \param status Status chaining object.
+ \return A pointer to the iFile object that was created.
+ */
+ virtual iFile* createFile( ViConstString fileName, tStatus& status ) = 0;
+
+
+ //! Destroys the specified file object.
+ /*!
+ Invoking this method does not actually delete a file on the NXT. Rather, this method
+ destroys a file object which may have been used to open a file on this NXT for
+ reading or writing, or may have been used to delete a file on the NXT.
+
+ \param filePtr Pointer to the file object to destroy.
+ */
+ virtual void destroyFile( iFile* filePtr ) = 0;
+
+
+ //! Creates an iterator to the files on this NXT.
+ /*!
+ The iterator traverses those files on this NXT that match the specified file name
+ pattern.
+ The iterator is not created if the specified status is fatal.
+ The returned file iterator object should be destroyed using the
+ iNXT::destroyFileIterator method.
+
+ \param fileNamePattern The file name pattern against which to match when iterating
+ over the files on this NXT. The file name pattern may contain wildcards. The
+ wildcards may be used in the following manner: *.* (all files on this NXT);
+ fileBaseName.* (all files on this NXT with the specified base name regardless of
+ extension); *.fileExtension (all files on this NXT with the specified extension,
+ regardless of basename); fileBaseName.fileExtension (the file on this NXT with the
+ specified base name and extension).
+ \param status Status chaining object.
+ \return A pointer to the iFileIterator object that was created.
+ */
+ virtual iFileIterator* createFileIterator( ViConstString fileNamePattern,
+ tStatus& status ) = 0;
+
+
+ //! Destroys the specified file iterator.
+ /*!
+ \param fileIteratorPtr A pointer to the file iterator to destroy.
+ */
+ virtual void destroyFileIterator( iFileIterator* fileIteratorPtr ) = 0;
+
+ //! Creates a module object for the module with the specified name on this NXT.
+ /*!
+ Invoking this method does not actually create a module on the NXT. Rather, this
+ method creates a module object which may be used to access an I/O map on this NXT.
+ A module is not created if the specified status is fatal.
+ The returned module object should be destroyed using the iNXT::destroyModule method.
+
+ \param moduleName The name of the module. The module name must conform to the 15.3
+ naming convention and be NULL-terminated.
+ \param moduleID The NXT-internal ID of the module.
+ \param moduleSizeInBytes The number of bytes the module occupies.
+ \param ioMapSizeInBytes The number of bytes the module's I/O map occupies.
+ \param status Status chaining object.
+ \return A pointer to the iModule object that was created.
+ */
+ virtual iModule* createModule( ViConstString moduleName, ViUInt32 moduleID,
+ ViUInt32 moduleSizeInBytes, ViUInt32 ioMapSizeInBytes, tStatus& status ) = 0;
+
+ //! Destroys the specified module object.
+ /*!
+ Invoking this method does not actually delete a module on this NXT. Rather, this
+ method destroys a module object which may have been used to access an I/O map on
+ this NXT.
+
+ \param modulePtr Pointer to the module object to destroy.
+ */
+ virtual void destroyModule( iModule* modulePtr ) = 0;
+
+
+ //! Creates an iterator to the modules on this NXT.
+ /*!
+ The iterator traverses those modules on this NXT that match the specified module name
+ pattern.
+ The iterator is not created if the specified status is fatal.
+ The returned module iterator object should be destroyed using the
+ iNXT::destroyModuleIterator method.
+
+ \param moduleNamePattern The module name pattern against which to match. The module
+ name pattern may contain wildcards. Since extensions are implicit in the case of
+ modules, a wildcard may only be used for the module name, as in "*.mod".
+ \param status Status chaining object.
+ \return A pointer to an iModuleIterator object that was created.
+ */
+ virtual iModuleIterator* createModuleIterator( ViConstString moduleNamePattern,
+ tStatus& status ) = 0;
+
+
+ //! Destroys the specified module iterator.
+ /*!
+ \param moduleIteratorPtr A pointer to the module iterator object to destroy.
+ */
+ virtual void destroyModuleIterator( iModuleIterator* moduleIteratorPtr ) = 0;
+
+ //! Retrieves the firmware version of this NXT.
+ /*!
+ Returns the protocol and firmware versions installed on this NXT.
+ The current version of this driver supports a protocol major version number of 1 and a
+ firmware major version number of 1. If either of these major version numbers is a
+ value other than 1, the driver will not attempt to communicate to the NXT.
+ The returned versions are undefined if the specified status is fatal.
+
+ \param protocolVersionMajorRef Reference to parameter that will be populated with the
+ major protocol version.
+ \param protocolVersionMinorRef Reference to parameter that will be populated with the
+ minor protocol version.
+ \param firmwareVersionMajorRef Reference to parameter that will be populated with the
+ major firmware verison.
+ \param firmwareVersionMinorRef Reference to parameter that will be populated with the
+ minor firmware verison.
+ \param status Status chaining object.
+ */
+ virtual void getFirmwareVersion( ViUInt8& protocolVersionMajorRef,
+ ViUInt8& protocolVersionMinorRef, ViUInt8& firmwareVersionMajorRef,
+ ViUInt8& firmwareVersionMinorRef, tStatus& status ) = 0;
+
+
+ //! Sends the specified direct command to this NXT.
+ /*!
+ For more information on direct commands, refer to the LEGO MINDSTORMS NXT Direct
+ commands document.
+ The command is not sent if the specified status is fatal.
+ The command buffer must be non-NULL and the command buffer size in bytes must be
+ non-zero.
+ If require response is set to true, the response buffer must be non-NULL and the
+ response buffer size in bytes must be non-zero.
+ If require response is set to false, the response buffer must be NULL and the
+ response buffer size in bytes must be zero.
+ Both of the buffer size parameters must be small enough to fit in one packet for
+ whichever bus the NXT is connected over (USB or Bluetooth). This means the
+ maximum length for a direct command over USB is 63 bytes; over Bluetooth, 65,533
+ bytes.
+ If any of these requirements are violated, VI_ERROR_USER_BUF will be returned.
+
+ \param requireResponse Boolean flag indicating if a response is required.
+ \param commandBufferPtr Buffer containing the direct command to send to the NXT.
+ \param commandBufferSizeInBytes Number of bytes in the command buffer.
+ \param responseBufferPtr Buffer that will be populated with the response to the direct
+ command.
+ \param responseBufferSizeInBytes Capacity of the response buffer in bytes.
+ \param status Status chaining object.
+ \return Number of bytes written to the response buffer.
+ */
+ virtual ViUInt32 sendDirectCommand( ViBoolean requireResponse, const ViByte commandBufferPtr[],
+ ViUInt32 commandBufferSizeInBytes, ViPBuf responseBufferPtr,
+ ViUInt32 responseBufferSizeInBytes, tStatus& status ) = 0;
+
+ //! Downloads firmware to this NXT.
+ /*!
+ The NXT must already be in firmware-download mode.
+
+ \param firmwareBufferPtr The buffer containing the new firmware binary image.
+ \param firmwareBufferSizeInBytes The number of bytes in the new firmware image.
+ \param status Status chaining object.
+ */
+ virtual void downloadFirmware( const ViByte firmwareBufferPtr[],
+ ViUInt32 firmwareBufferSizeInBytes, tStatus& status ) = 0;
+
+
+ //! Writes, in a generic fashion, to this NXT.
+ /*!
+ Writes a command directly to this NXT. In general, this method isn't used and,
+ instead, the sendDirectCommand and other more specific methods are invoked when
+ communication to the NXT.
+ The write doesn not occur if the specified status is fatal.
+
+ \param bufferPtr A pointer to the buffer that contains the command that will be
+ written.
+ \param numberOfBytes Size of the buffer.
+ \param status Status chaining object.
+ \return The number of bytes actually written to the NXT.
+ */
+ virtual ViUInt32 write( const ViByte bufferPtr[], ViUInt32 numberOfBytes,
+ tStatus& status ) = 0;
+
+ //! Reads, in a generic fashion, from this NXT.
+ /*!
+ Reads a response directly from this NXT. In general, this method isn't used and,
+ instead, the sendDirectCommand and other more specific methods are invoked when
+ communication to the NXT.
+ The command is not sent if the specified status is fatal.
+
+ \param bufferPtr A pointer to the buffer that will be populated with the response.
+ \param numberOfBytes Number of bytes expected to be read from this NXT.
+ \param status Status chaining object.
+ \return The number of bytes actually read from this NXT.
+ */
+ virtual ViUInt32 read ( ViPBuf bufferPtr, ViUInt32 numberOfBytes, tStatus& status ) = 0;
+
+ //! Reboots this NXT into firmware-download mode.
+ /*!
+ This is required before invoking the downloadFirmware method.
+ The reboot does not occur is the specified status is fatal.
+
+ \param status Status chaining object.
+ */
+ virtual void bootIntoFirmwareDownloadMode( tStatus& status ) = 0;
+
+ //! Sets the name of this NXT.
+ /*!
+ The specified name will be displayed on the NXT, show up during Bluetooth scans, and
+ returned when the getDeviceInfo method is called.
+
+ \param newName The name for the NXT. The name can be at most 15 characters. However,
+ the NXT can only display 8 characters. The string must be NULL terminated.
+ \param status Status chaining object.
+ */
+ virtual void setName( ViConstString newName, tStatus& status ) = 0;
+
+ //! Retrieves basic information about this NXT.
+ /*!
+ Retrieves the name of this NXT, its Bluetooth address, the Bluetooth signal strength,
+ and the number of bytes available.
+ Information retrieval is not done if specified status is fatal.
+
+ \param name Populated with the name of this NXT. The name character array must be
+ able to accomodate a NULL-terminated 15 character name. That is, it must have a
+ capacity of 16 bytes.
+ \param bluetoothAddress Populated with this NXT's Bluetooth address. The bluetooth
+ address array must have a capacity of six bytes.
+ \param signalStrength Populated with strength of the signal for this NXT's four
+ Bluetooth conenctions. The signal strength array must have a capacity of four
+ bytes.
+ \param availableFlash Populated with the amount of memory in bytes that is not
+ occupied by firmware or user files.
+ \param status Status chaining object.
+ */
+ virtual void getDeviceInfo( ViChar name[], ViByte bluetoothAddress[],
+ ViUInt8 signalStrength[], ViUInt32 &availableFlash, tStatus& status ) = 0;
+
+ //! Erases all files from this NXT, leaving only the firmware.
+ /*!
+ All programs, sounds, and data logs are erased.
+ The erasure does not occur if specified status is fatal.
+
+ \param status Status chaining object.
+ */
+ virtual void eraseUserFlash( tStatus& status ) = 0;
+
+ //! Polls the data buffer on this NXT for the number of bytes available to be read.
+ /*
+ The data buffer is not polled if the specified status is fatal.
+
+ \param bufferSelector The buffer from which to read.
+ \param status Status chaining object.
+ \return The number of bytes in the buffer available to be read.
+ */
+ virtual ViUInt32 pollAvailableLength( tBuffer bufferSelector, tStatus& status ) = 0;
+
+ //! Reads data from the data buffer on this NXT.
+ /*!
+ Data is not read if the specified status is fatal.
+
+ \param dataBuffer Populated with the data that is read from the specified buffer.
+ \param bufferSelector The buffer from which to read.
+ \param numberOfBytesToRead The number of bytes to read from the data buffer.
+ \param status Status chaining object.
+ \return The number of bytes actually read from the data buffer.
+ */
+ virtual ViUInt32 readBufferData( ViPBuf dataBuffer, tBuffer bufferSelector,
+ ViUInt32 numberOfBytesToRead, tStatus& status ) = 0;
+
+ //! Retrieves the resource string for this NXT's session.
+ /*
+ An example resource string could look like the one of the following:
+ BTH::LEGOBrick::00:16:53:04:05:06::5
+ BTH::LEGOBrick::00:16:53:04:05:06::1
+ BTH::Brick2::00:16:53:44:FF:66
+ USB0::0x0694::0x0002::0016535127BA::RAW
+
+ \param resourceString Populated with the resource string. The resource string must
+ have a capacity of 256 bytes.
+ \param status Status chaining object.
+ */
+ virtual void getResourceString( ViChar resourceString[], tStatus& status ) = 0;
+
+ //! Resets the Bluetooth module on this NXT to its factory settings.
+ /*
+ \param status Status chaining object.
+ */
+ virtual void bluetoothFactoryReset( tStatus& status ) = 0;
+
+ //! Creates an NXT object
+ /*!
+ Creates an NXT object representing the specified NXT.
+ The NXT object is not created if the specified status is fatal.
+ The returned NXT object should be destroyed using the iNXT::destroyNXT method.
+
+ \param resourceString A string identifying which resource should be opened. A list
+ of possible strings can be obtained using an iNXTIterator (refer to the
+ createNXTIterator method).
+ \param status Status chaining object.
+ \param checkFirmwareVersion A boolean flag that specifies whether version validation
+ should occur (defaults to true).
+ \return A pointer to the iNXT object that was created.
+ */
+ nFANTOM100_kExport static iNXT* _VI_FUNCC createNXT( ViConstString resourceString,
+ tStatus& status, ViBoolean checkFirmwareVersion = true );
+
+ //! Destroys an NXT object
+ /*!
+ \param nxtPtr A pointer to the NXT object to destroy; may be NULL
+ */
+ nFANTOM100_kExport static void _VI_FUNCC destroyNXT( iNXT* nxtPtr );
+
+ //! Creates an NXT iterator.
+ /*!
+ The NXT iterator can be used to find all NXTs that are connected (USB) or in range
+ (Bluetooth).
+ The NXT iterator is not created if the specified status is fatal.
+ The returned NXT iterator object should be destroyed using the
+ iNXT::destroyNXTIterator method.
+
+ \param searchBluetooth A boolean flag that specifies if the iterator should traverse
+ NXTs via Bluetooth.
+ \param bluetoothSearchTimeoutInSeconds The minimum number of seconds that should be
+ spent waiting for Bluetooth devices to respond.
+ \param status Status chaining object.
+ \return A pointer to the iNXTIterator object that was created.
+ */
+ nFANTOM100_kExport static iNXTIterator* _VI_FUNCC createNXTIterator(
+ ViBoolean searchBluetooth, ViUInt32 bluetoothSearchTimeoutInSeconds,
+ tStatus& status );
+
+ //! Destroys an NXT iterator object.
+ /*
+ \param iterPtr A pointer to the iNXTIterator object to destroy.
+ */
+ nFANTOM100_kExport static void _VI_FUNCC destroyNXTIterator( iNXTIterator* iterPtr );
+
+ //! Pairs with an NXT via Bluetooth.
+ /*!
+ Programmatically pairs the specified NXT to this computer and, on Windows, creates a
+ virtual serial port to use for communication with that NXT. However, clients
+ should not depend on the creation of this virtual serial port.
+ The pairing is not done if the specified status is fatal.
+
+ \param resourceName The resource string that specifies the NXT with which to pair.
+ \param passkey A string containing the passkey the computer should exchange with the
+ device. The passkey cannot be longer than 15 characters and must be
+ NULL-terminated.
+ \param pairedResourceName A Bluetooth resource string representing the paired device.
+ On Windows, the specified resourceName is suffixed with the COM port; On Mac OS X,
+ the RFCOMM channel identifier. The resource string must have a capacity of 256
+ bytes.
+ \param status Status chaining object.
+ */
+ nFANTOM100_kExport static void _VI_FUNCC pairBluetooth( ViConstString resourceName,
+ ViConstString passkey, ViChar pairedResourceName[], tStatus& status );
+
+ //! Unpairs with an NXT via Bluetooth.
+ /*!
+ Programmatically destroys the Bluetooth pairing that was previously established
+ between this computer and the specified NXT. On Mac OS X, this method has no
+ effect and doesn't generate a fatal status.
+ The unpairing is not done if the specified status is fatal.
+
+ \param resourceName The resource string that specifies the NXT with which to unpair.
+ \param status Status chaining object.
+ */
+ nFANTOM100_kExport static void _VI_FUNCC unpairBluetooth( ViConstString resourceName,
+ tStatus& status );
+
+ //! Determines if the NXT associated with the specified resource string is paired.
+ /*!
+ The determination is not done if the specified status is fatal.
+
+ \param resourceName A resource string that specifies the NXT for which to check its
+ pairing status.
+ \param status Status chaining object.
+ \return VI_TRUE if the NXT is paired with this computer (or if it is connected via
+ USB); VI_FALSE otherwise.
+ */
+ nFANTOM100_kExport static ViBoolean _VI_FUNCC isPaired( ViConstString resourceName,
+ tStatus& status );
+
+ //! Finds the NXT that is currently in firmware-download mode.
+ /*!
+ Note that only a single NXT may be in firmware-download mode at a time.
+
+ \param resourceName Populated with the resource string. The resource string must
+ have a capacity of 256 bytes.
+ \param status Status chaining object.
+ */
+ nFANTOM100_kExport static void findDeviceInFirmwareDownloadMode( ViChar resourceName[],
+ tStatus& status );
+
+
+ private:
+
+ };
+
+ // constants...
+
+} // namespace nFANTOM100
+
+
+ // declarations for globally-scoped globals...
+
+ // typedefs...
+ typedef ViObject nFANTOM100_iNXT;
+
+ // prototypes...
+ extern "C"
+ {
+
+ nFANTOM100_kExport nFANTOM100_iNXTIterator _VI_FUNCC nFANTOM100_createNXTIterator(
+ ViBoolean searchBluetooth,
+ ViUInt32 bluetoothSearchTimeoutInSeconds,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_destroyNXTIterator(
+ nFANTOM100_iNXTIterator iterPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_pairBluetooth(
+ ViConstString resourceName,
+ ViConstString passkey,
+ ViChar pairedResourceName[],
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_unpairBluetooth(
+ ViConstString resourceName,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViBoolean _VI_FUNCC nFANTOM100_isPaired(
+ ViConstString resourceName,
+ ViStatus* status );
+
+ nFANTOM100_kExport nFANTOM100_iNXT _VI_FUNCC nFANTOM100_createNXT(
+ ViConstString resourceString,
+ ViStatus* status,
+ ViBoolean checkFirmwareVersion );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_destroyNXT(
+ nFANTOM100_iNXT nxtPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport nFANTOM100_iFile _VI_FUNCC nFANTOM100_iNXT_createFile(
+ nFANTOM100_iNXT nxtPtr,
+ ViConstString fileName,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_destroyFile(
+ nFANTOM100_iNXT nxtPtr,
+ nFANTOM100_iFile filePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport nFANTOM100_iFileIterator _VI_FUNCC nFANTOM100_iNXT_createFileIterator(
+ nFANTOM100_iNXT nxtPtr,
+ ViConstString fileNamePattern,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_destroyFileIterator(
+ nFANTOM100_iNXT nxtPtr,
+ nFANTOM100_iFileIterator fileIteratorPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport nFANTOM100_iModule _VI_FUNCC nFANTOM100_iNXT_createModule(
+ nFANTOM100_iNXT nxtPtr,
+ ViConstString moduleName,
+ ViUInt32 moduleID,
+ ViUInt32 moduleSize,
+ ViUInt32 ioMapSizeInBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_destroyModule(
+ nFANTOM100_iNXT nxtPtr,
+ nFANTOM100_iModule modulePtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport nFANTOM100_iModuleIterator _VI_FUNCC nFANTOM100_iNXT_createModuleIterator(
+ nFANTOM100_iNXT nxtPtr,
+ ViConstString moduleNamePattern,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_destroyModuleIterator(
+ nFANTOM100_iNXT nxtPtr,
+ nFANTOM100_iModuleIterator moduleIteratorPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_getFirmwareVersion(
+ nFANTOM100_iNXT nxtPtr,
+ ViUInt8* protocolVersionMajorPtr,
+ ViUInt8* protocolVersionMinorPtr,
+ ViUInt8* firmwareVersionMajorPtr,
+ ViUInt8* firmwareVersionMinorPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_sendDirectCommand(
+ nFANTOM100_iNXT nxtPtr,
+ ViBoolean requireResponse,
+ const ViByte commandBufferPtr[],
+ ViUInt32 commandBufferSizeInBytes,
+ ViPBuf responseBufferPtr,
+ ViUInt32 responseBufferSizeInBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_findDeviceInFirmwareDownloadMode(
+ ViChar resourceString[],
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_downloadFirmware(
+ nFANTOM100_iNXT nxtPtr,
+ const ViByte firmwareBufferPtr[],
+ ViUInt32 firmwareBufferSize,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_write(
+ nFANTOM100_iNXT nxtPtr,
+ const ViByte bufferPtr[],
+ ViUInt32 numberOfBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_read(
+ nFANTOM100_iNXT nxtPtr,
+ ViPBuf bufferPtr,
+ ViUInt32 numberOfBytes,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_bootIntoFirmwareDownloadMode(
+ ViConstString resouceName,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_setName(
+ nFANTOM100_iNXT nxtPtr,
+ ViConstString newName,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_getDeviceInfo(
+ nFANTOM100_iNXT nxtPtr,
+ ViChar name[],
+ ViByte bluetoothAddress[],
+ ViUInt8 signalStrength[],
+ ViUInt32* availableFlash,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_eraseUserFlash(
+ nFANTOM100_iNXT nxtPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_pollAvailableLength(
+ nFANTOM100_iNXT nxtPtr,
+ ViUInt32 bufferIndex,
+ ViStatus* status );
+
+ nFANTOM100_kExport ViUInt32 _VI_FUNCC nFANTOM100_iNXT_readBufferData(
+ nFANTOM100_iNXT nxtPtr,
+ ViPBuf dataBuffer,
+ ViUInt32 bufferIndex,
+ ViUInt32 numberOfBytesToRead,
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_getResourceString(
+ nFANTOM100_iNXT nxtPtr,
+ ViChar resourceString[],
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXT_bluetoothFactoryReset(
+ nFANTOM100_iNXT nxtPtr,
+ ViStatus* status );
+
+
+ } // extern "C"
+
+
+// inline functions and function macros...
+
+
+#endif // ___fantom_iNXT_h___
diff --git a/AT91SAM7S256/armdebug/FantomModule/fantom/iNXTIterator.h b/AT91SAM7S256/armdebug/FantomModule/fantom/iNXTIterator.h
new file mode 100644
index 0000000..6f43537
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/fantom/iNXTIterator.h
@@ -0,0 +1,120 @@
+/*!
+ \file iNXTIterator.h
+ \brief Interface used for searching for LEGO MINDSTORMS NXTs.
+*/
+/*
+ © Copyright 2005-2006,
+ National Instruments Corporation.
+ All rights reserved.
+
+ File: iNXTIterator.h
+ Originated: 17 Oct 2005
+*/
+
+#ifndef ___fantom_iNXTIterator_h___
+#define ___fantom_iNXTIterator_h___
+
+
+// includes...
+
+#ifndef ___fantom_platform_h___
+ #include "platform.h"
+#endif
+
+#ifndef ___fantom_tStatus_h___
+ #include "tStatus.h"
+#endif
+
+
+// defines...
+
+
+namespace nFANTOM100
+{
+ // forward declarations...
+ class iNXT;
+
+ // typedefs...
+
+ // classes...
+
+ /*!
+ \class iNXTIterator
+ \brief Interface to an iterator for LEGO MINDSTORMS NXTs.
+ */
+ class iNXTIterator
+ {
+ friend class iNXT;
+
+ // methods
+ protected:
+
+ //! Destructor
+ virtual ~iNXTIterator() = 0;
+
+ public:
+
+ //! Retrieves the name of the NXT to which this iterator refers.
+ /*
+ \param resourceName Populated with the name of the NXT to which this iterator
+ currently refers. The resource name character array must have a capacity of 256
+ bytes.
+ \param status Status chaining object.
+ */
+ virtual void getName( ViChar resourceName[], tStatus& status ) const = 0;
+
+ //! Advances this iterator.
+ /*!
+ Advances this iterator to the next NXT that was found. If no more NXTs are found,
+ this iterator is advanced to the end of the list.
+ The iterator is not advanced if the specified status is fatal.
+ If this iterator is already at the end of the list, a fatal status will be generated.
+
+ \param status Status chaining object.
+ */
+ virtual void advance( tStatus& status ) = 0;
+
+ //! Creates an NXT object for the NXT referenced by this iterator.
+ /*
+ Creates an NXT object for the NXT referenced by this iterator. An object is not
+ created if the specified status is fatal or if this iterator refers to the end of
+ the list. The returned iNXT object should be destroyed using the iNXT::destroyNXT
+ method.
+
+ \param status Status chaining object.
+ \return A pointer to the iNXT object that was created.
+ */
+ virtual iNXT* getNXT( tStatus& status ) = 0;
+ };
+
+
+ // constants...
+
+} // namespace nFANTOM100
+
+
+ // declarations for globally-scoped globals...
+
+ // typedefs
+ typedef ViObject nFANTOM100_iNXTIterator;
+
+ // we must duplicate this typedef for the getNXT C wrapper
+ typedef ViObject nFANTOM100_iNXT;
+
+ extern "C"
+ {
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXTIterator_getName(
+ nFANTOM100_iNXTIterator iteratorPtr,
+ ViChar resourceName[],
+ ViStatus* status );
+
+ nFANTOM100_kExport void _VI_FUNCC nFANTOM100_iNXTIterator_advance(
+ nFANTOM100_iNXTIterator iteratorPtr,
+ ViStatus* status );
+
+ nFANTOM100_kExport nFANTOM100_iNXT _VI_FUNCC nFANTOM100_iNXTIterator_getNXT(
+ nFANTOM100_iNXTIterator iteratorPtr,
+ ViStatus* status );
+ }
+
+#endif // ___fantom_iNXTIterator_h___
diff --git a/AT91SAM7S256/armdebug/FantomModule/fantom/platform.h b/AT91SAM7S256/armdebug/FantomModule/fantom/platform.h
new file mode 100644
index 0000000..7455796
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/fantom/platform.h
@@ -0,0 +1,94 @@
+/*!
+ \file platform.h
+ \brief This file contains platform-related defines.
+*/
+/*
+ © Copyright 2005,
+ National Instruments Corporation.
+ All rights reserved.
+
+ File: platform.h
+ Originated: 23 June 2005
+*/
+
+
+#ifndef ___fantom_platform_h___
+#define ___fantom_platform_h___
+
+#ifndef __VISATYPE_HEADER__
+ #include "visatype.h"
+#endif
+
+
+#define nFANTOM100_kOSMacOSX 0
+#define nFANTOM100_kOSWin32 0
+
+#define nFANTOM100_kProcessorI386 0
+#define nFANTOM100_kProcessorPPC 0
+
+#define nFANTOM100_kCompilerMSVC 0
+#define nFANTOM100_kCompilerApple 0
+
+
+#if (( defined( __GNUG__ ) || defined( __GNUC__ )) && defined( __APPLE__ ))
+
+ #undef nFANTOM100_kOSMacOSX
+ #define nFANTOM100_kOSMacOSX 1
+
+ #undef nFANTOM100_kCompilerApple
+ #define nFANTOM100_kCompilerApple ( __GNUC__ * 10000 \
+ + __GNUC_MINOR__ * 100 \
+ + __GNUC_PATCHLEVEL__ )
+
+ #if ( defined( __ppc__ ))
+ #undef nFANTOM100_kProcessorPPC
+ #define nFANTOM100_kProcessorPPC 1
+
+ #define nFANTOM100_kBigEndian 1
+ #define nFANTOM100_kLittleEndian 0
+ #elif ( defined( __i386__ ))
+ #undef nFANTOM100_kProcessorI386
+ #define nFANTOM100_kProcessorI386 1
+
+ #define nFANTOM100_kBigEndian 0
+ #define nFANTOM100_kLittleEndian 1
+ #else
+ #error Unknown processor.
+ #endif
+
+ #ifdef nFANTOM100_kExportSymbols
+ #define nFANTOM100_kExport __attribute__ ((section ("__TEXT,__export")))
+ #else
+ #define nFANTOM100_kExport
+ #endif
+
+
+#elif ( defined( _MSC_VER ) && ( defined( _M_IX86 ) || defined( _M_I86 )))
+
+ #undef nFANTOM100_kOSWin32
+ #define nFANTOM100_kOSWin32 1
+
+ #undef nFANTOM100_kCompilerMSVC
+ #define nFANTOM100_kCompilerMSVC _MSC_VER
+
+ #undef nFANTOM100_kProcessorI386
+ #define nFANTOM100_kProcessorI386 1
+
+ #ifdef nFANTOM100_kExportSymbols
+ #define nFANTOM100_kExport __declspec(dllexport)
+ #else
+ #define nFANTOM100_kExport __declspec(dllimport)
+ #endif
+
+ #define nFANTOM100_kBigEndian 0
+ #define nFANTOM100_kLittleEndian 1
+
+#else
+
+ #error Unknown platform.
+
+#endif
+
+
+#endif // ___fantom_platform_h___
+
diff --git a/AT91SAM7S256/armdebug/FantomModule/fantom/tStatus.h b/AT91SAM7S256/armdebug/FantomModule/fantom/tStatus.h
new file mode 100644
index 0000000..7622c63
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/fantom/tStatus.h
@@ -0,0 +1,458 @@
+/*!
+ \file tStatus.h
+ \brief Status code class
+*/
+/*
+ © Copyright 2005-2006,
+ National Instruments Corporation.
+ All rights reserved.
+
+ File: tStatus.h
+ Originated: 10 March 2005
+*/
+
+#ifndef ___fantom_tStatus_h___
+#define ___fantom_tStatus_h___
+
+// includes ...
+
+#ifndef ___fantom_platform_h___
+ #include "platform.h"
+#endif
+
+#include <string.h>
+
+
+// defines...
+
+#define nFANTOM_mLocation __FILE__, __LINE__
+
+#define nFANTOM_ForceToWarning(s) (((s) >= 0 ) ? (s) : -(s))
+#define nFANTOM_ForceToFatal(s) (((s) <= 0 ) ? (s) : -(s))
+
+/*!
+ \brief The namespace for Fantom 1.0.
+*/
+namespace nFANTOM100
+{
+ // forward declarations...
+
+ // typedefs...
+
+ // classes...
+ const ViInt32 kStatusOffset = -142000; // 0xFFFDD550
+ const ViStatus kStatusSuccess = VI_SUCCESS;
+
+ /*!
+ \brief Enumeration of Fantom-specific status codes. NI-VISA status codes may also be
+ returned. These are documented in the NI-VISA Programmer Reference Manual which is
+ available from <http://ni.com/>.
+ */
+ enum tFANTOMStatus
+ {
+ kStatusFirst = (kStatusOffset + 0),
+
+ //! Error: Bluetooth pairing operation failed.
+ //! Warning: You have already paired with that Bluetooth device.
+ kStatusPairingFailed = (kStatusOffset + -5), // 0x54B
+
+ //! Error: Bluetooth search failed.
+ kStatusBluetoothSearchFailed = (kStatusOffset + -6), // 0x54A
+
+ //! Error: System library not found.
+ kStatusSystemLibraryNotFound = (kStatusOffset + -7), // 0x549
+
+ //! Error: Bluetooth unpairing operation failed.
+ kStatusUnpairingFailed = (kStatusOffset + -8), // 0x548
+
+ //! Error: Invalid filename specified.
+ kStatusInvalidFilename = (kStatusOffset + -9), // 0x547
+
+ //! Error: Invalid iterator dereference. (No object to get.)
+ kStatusInvalidIteratorDereference = (kStatusOffset + -10), // 0x546
+
+ //! Error: Resource locking operation failed.
+ kStatusLockOperationFailed = (kStatusOffset + -11), // 0x545
+
+ //! Error: Could not determine the requested size.
+ kStatusSizeUnknown = (kStatusOffset + -12), // 0x544
+
+ //! Error: Cannot open two objects at once.
+ kStatusDuplicateOpen = (kStatusOffset + -13), // 0x543
+
+ //! Error: File is empty.
+ //! Warning: The requested file is empty.
+ kStatusEmptyFile = (kStatusOffset + -14), // 0x542
+
+ //! Error: Firmware download failed.
+ kStatusFirmwareDownloadFailed = (kStatusOffset + -15), // 0x541
+
+ //! Error: Could not locate virtual serial port.
+ kStatusPortNotFound = (kStatusOffset + -16), // 0x540
+
+ //! Error: No more items found.
+ kStatusNoMoreItemsFound = (kStatusOffset + -17), // 0x53F
+
+ //! Error: Too many unconfigured devices.
+ kStatusTooManyUnconfiguredDevices = (kStatusOffset + -18), // 0x53E
+
+ //! Error: Command mismatch in firmware response.
+ kStatusCommandMismatch = (kStatusOffset + -19), // 0x53D
+
+ //! Error: Illegal operation.
+ kStatusIllegalOperation = (kStatusOffset + -20), // 0x53C
+
+ //! Error: Could not update local Bluetooth cache with new name.
+ //! Warning: Could not update local Bluetooth cache with new name.
+ kStatusBluetoothCacheUpdateFailed = (kStatusOffset + -21), // 0x53B
+
+ //! Error: Selected device is not an NXT.
+ kStatusNonNXTDeviceSelected = (kStatusOffset + -22), // 0x53A
+
+ //! Error: Communication error. Retry the operation.
+ kStatusRetryConnection = (kStatusOffset + -23), // 0x539
+
+ //! Error: Could not connect to NXT. Turn the NXT off and then back on before continuing.
+ kStatusPowerCycleNXT = (kStatusOffset + -24), // 0x538
+
+ //! Error: This feature is not yet implemented.
+ kStatusFeatureNotImplemented = (kStatusOffset + -99), // 0x4ED
+
+ //! Error: Firmware reported an illegal handle.
+ kStatusFWIllegalHandle = (kStatusOffset + -189), // 0x493
+
+ //! Error: Firmware reported an illegal file name.
+ kStatusFWIllegalFileName = (kStatusOffset + -190), // 0x492
+
+ //! Error: Firmware reported an out of bounds reference.
+ kStatusFWOutOfBounds = (kStatusOffset + -191), // 0x491
+
+ //! Error: Firmware could not find module.
+ kStatusFWModuleNotFound = (kStatusOffset + -192), // 0x490
+
+ //! Error: Firmware reported that the file already exists.
+ kStatusFWFileExists = (kStatusOffset + -193), // 0x48F
+
+ //! Error: Firmware reported that the file is full.
+ kStatusFWFileIsFull = (kStatusOffset + -194), // 0x48E
+
+ //! Error: Firmware reported the append operation is not possible.
+ kStatusFWAppendNotPossible = (kStatusOffset + -195), // 0x48D
+
+ //! Error: Firmware has no write buffers available.
+ kStatusFWNoWriteBuffers = (kStatusOffset + -196), // 0x48C
+
+ //! Error: Firmware reported that file is busy.
+ kStatusFWFileIsBusy = (kStatusOffset + -197), // 0x48B
+
+ //! Error: Firmware reported the undefined error.
+ kStatusFWUndefinedError = (kStatusOffset + -198), // 0x48A
+
+ //! Error: Firmware reported that no linear space is available.
+ kStatusFWNoLinearSpace = (kStatusOffset + -199), // 0x489
+
+ //! Error: Firmware reported that handle has already been closed.
+ kStatusFWHandleAlreadyClosed = (kStatusOffset + -200), // 0x488
+
+ //! Error: Firmware could not find file.
+ kStatusFWFileNotFound = (kStatusOffset + -201), // 0x487
+
+ //! Error: Firmware reported that the requested file is not linear.
+ kStatusFWNotLinearFile = (kStatusOffset + -202), // 0x486
+
+ //! Error: Firmware reached the end of the file.
+ kStatusFWEndOfFile = (kStatusOffset + -203), // 0x485
+
+ //! Error: Firmware expected an end of file.
+ kStatusFWEndOfFileExpected = (kStatusOffset + -204), // 0x484
+
+ //! Error: Firmware cannot handle more files.
+ kStatusFWNoMoreFiles = (kStatusOffset + -205), // 0x483
+
+ //! Error: Firmware reported the NXT is out of space.
+ kStatusFWNoSpace = (kStatusOffset + -206), // 0x482
+
+ //! Error: Firmware could not create a handle.
+ kStatusFWNoMoreHandles = (kStatusOffset + -207), // 0x481
+
+ //! Error: Firmware reported an unknown error code.
+ kStatusFWUnknownErrorCode = (kStatusOffset + -208), // 0x480
+
+ kStatusLast = (kStatusOffset + -999)
+ };
+
+ /*!
+ \brief Class that contains a status code and the file name and line number where that
+ status code was generated.
+ */
+ class tStatus
+ {
+ public:
+
+ // methods
+
+ //! constructor
+ /*!
+ Creates a tStatus object intialized to success.
+
+ \post The status code is set to VI_SUCCESS.
+ */
+ inline tStatus( void ) :
+ _code( VI_SUCCESS ),
+ _lineNumber( 0 )
+ {
+ _fileName[0] = '\0';
+ }
+
+
+ //! copy constructor
+ /*!
+ Copies the code, line number, and file name from the specified tStatus object.
+
+ \param status The status object to copy.
+ */
+ inline tStatus( const tStatus& status ) :
+ _code( status._code ),
+ _lineNumber( status._lineNumber )
+ {
+ ::strcpy( _fileName, "" );
+ ::strncat( _fileName, status._fileName, kMaxFileNameLength - 1 );
+ }
+
+
+ //! constructor with code, filename, and line number
+ /*!
+ Creates a tStatus object initialized to the specified code, file name, and line number.
+ Note that the nFANTOM_mLocation macro can be used to pass the fileName and lineNumber
+ parameters.
+
+ \param code A status code.
+ \param fileName The name of the file in which the status code was generated.
+ \param lineNumber The line number in the file at which the status code was generated.
+ */
+ inline tStatus( ViStatus code, const char* fileName, ViUInt32 lineNumber ) :
+ _code( code ),
+ _lineNumber( lineNumber )
+ {
+ ::strcpy( _fileName, "" );
+ ::strncat( _fileName, reinterpret_cast<const char*>( fileName ), kMaxFileNameLength - 1 );
+ }
+
+
+ //! destructor
+ inline ~tStatus()
+ {
+ }
+
+
+ //! Returns the status code for this status object.
+ /*!
+ \return The status code for this status object.
+ */
+ inline ViStatus getCode( void ) const
+ {
+ return _code;
+ }
+
+
+ //! Returns the file name in which the status code, for this status object, was generated.
+ /*!
+ \return The file name in which the status code, for this status object, was generated.
+ */
+ inline const char* getFileName( void ) const
+ {
+ return _fileName;
+ }
+
+
+ //! Returns the line number at which the status code, for this status object, was
+ // generated.
+ /*!
+ \return The line number at which the status code, for this status object, was
+ generated.
+ */
+ inline ViUInt32 getLineNumber( void ) const
+ {
+ return _lineNumber;
+ }
+
+
+ //! Sets the status code, file name, and line number for this status object, if
+ // appropriate.
+ /*!
+ Stores the specified status code, file name, and line number in this status object if
+ this status object contains a successful status code or if this status object
+ contains a warning status code and the specified status code is fatal. A fatal
+ status code is denoted by a negative value. A successful status code is denoted
+ by VI_SUCCESS.
+
+ \param code A status code.
+ \param fileName The name of the file in which the status code was generated.
+ \param lineNumber The line number in the file at which the status code was generated.
+ */
+ inline void setCode( ViStatus code, const char* fileName, ViUInt32 lineNumber )
+ {
+ if(( isSuccess() && code != VI_SUCCESS ) || ( isNotFatal() && code < VI_SUCCESS ))
+ {
+ _code = code;
+ _lineNumber = lineNumber;
+ ::strcpy( _fileName, "" );
+ ::strncat( _fileName, fileName, kMaxFileNameLength - 1 );
+ }
+ }
+
+
+ //! Assigns the specified status object to this status object, if appropriate.
+ /*!
+ Stores the status code, file name, and line number of the specified status object in
+ this status object if this status object contains a successful status code or if
+ this status object contains a warning status code and the status code of the
+ speciied status object is fatal. A fatal status code is denoted by a negative
+ value. A successful status code is denoted by VI_SUCCESS.
+
+ \param status The status object to assign.
+ */
+ inline void assign( const tStatus& status )
+ {
+ setCode( status.getCode(), status.getFileName(), status.getLineNumber());
+ }
+
+
+ //! Clears the status code for this status object.
+ /*!
+ \post status The code is set to VI_SUCCESS.
+ */
+ inline void clear( void )
+ {
+ _code = VI_SUCCESS;
+ _lineNumber = 0;
+ _fileName[0] = '\0';
+ }
+
+
+ //! Returns true if this status object contains a status code that is fatal.
+ /*!
+ A status code with a negative value is considered fatal.
+
+ \return true if this status object contains a status code that is
+ fatal; false otherwise.
+ */
+ inline bool isFatal( void ) const
+ {
+ return ( _code < VI_SUCCESS );
+ }
+
+ //! Returns true if this status object contains a status code that is not fatal.
+ /*!
+ Any status code with a non-negative (including zero) value is considered non-fatal.
+
+ \return true if this status object contains a non-fatal status code;
+ false otherwise.
+ */
+ inline bool isNotFatal( void ) const
+ {
+ return !isFatal();
+ }
+
+
+ //! Returns true if this status object contains a status code that is a warning.
+ /*!
+ A status code with a non-zero, positive value is considered a warning.
+
+ \return true if this status object contains a status code that is a warning; false
+ otherwise.
+ */
+ inline bool isWarning( void ) const
+ {
+ return ( _code > VI_SUCCESS );
+ }
+
+
+ //! Returns true if this status object contains the status code for success.
+ /*!
+ A value of VI_SUCCESS represents success.
+
+ \return true if this status object contains the status code for success; false
+ otherwise.
+ */
+ inline bool isSuccess( void ) const
+ {
+ return ( _code == VI_SUCCESS );
+ }
+
+ private:
+
+ // declared private to prevent assignment
+ tStatus& operator=(const tStatus& rhs);
+
+ enum
+ {
+ kMaxFileNameLength = 101
+ };
+
+ ViStatus _code;
+ ViChar _fileName[ kMaxFileNameLength ];
+ ViUInt32 _lineNumber;
+ };
+
+
+ // declarations for globally-scoped globals...
+ inline ViStatus convertStatus( ViUInt8 firmwareStatus )
+ {
+ ViStatus status;
+ switch (firmwareStatus)
+ {
+ // each of these cases corresponds to a unique status code returned by the firmware
+ case 0x00 : status = kStatusSuccess;
+ break;
+ case 0x81 : status = kStatusFWNoMoreHandles; // No more available handles
+ break;
+ case 0x82 : status = kStatusFWNoSpace; // No space
+ break;
+ case 0x83 : status = kStatusFWNoMoreFiles; // No more files
+ break;
+ case 0x84 : status = kStatusFWEndOfFileExpected; // End of file expected
+ break;
+ case 0x85 : status = kStatusFWEndOfFile; // End of file reached
+ break;
+ case 0x86 : status = kStatusFWNotLinearFile; // Not a linear file
+ break;
+ case 0x87 : status = kStatusFWFileNotFound; // File not found
+ break;
+ case 0x88 : status = kStatusFWHandleAlreadyClosed; // Handle is already closed
+ break;
+ case 0x89 : status = kStatusFWNoLinearSpace; // No linear space available
+ break;
+ case 0x8A : status = kStatusFWUndefinedError; // Undefined error
+ break;
+ case 0x8B : status = kStatusFWFileIsBusy; // File is busy
+ break;
+ case 0x8C : status = kStatusFWNoWriteBuffers; // No write buffers available
+ break;
+ case 0x8D : status = kStatusFWAppendNotPossible; // Append not possible
+ break;
+ case 0x8E : status = kStatusFWFileIsFull; // File is full
+ break;
+ case 0x8F : status = kStatusFWFileExists; // File already exists
+ break;
+ case 0x90 : status = kStatusFWModuleNotFound; // Module not found
+ break;
+ case 0x91 : status = kStatusFWOutOfBounds; // Out of module I/O map boundary
+ break;
+ case 0x92 : status = kStatusFWIllegalFileName; // Illegal file name
+ break;
+ case 0x93 : status = kStatusFWIllegalHandle; // Illegal handle
+ break;
+ default :
+ status = kStatusFWUnknownErrorCode;
+ }
+ return status;
+ }
+
+ // prototypes...
+
+} // namespace nFANTOM100
+
+// inline functions and function macros...
+
+#endif // ___fantom_tStatus_h___
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diff --git a/AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getFirmwareVersion.vi b/AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getFirmwareVersion.vi
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diff --git a/AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getResourceString.vi b/AT91SAM7S256/armdebug/FantomModule/include/labview/win32/getResourceString.vi
new file mode 100644
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diff --git a/AT91SAM7S256/armdebug/FantomModule/include/labview/win32/openForRead.vi b/AT91SAM7S256/armdebug/FantomModule/include/labview/win32/openForRead.vi
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diff --git a/AT91SAM7S256/armdebug/FantomModule/include/labview/win32/sendDirectCommand.vi b/AT91SAM7S256/armdebug/FantomModule/include/labview/win32/sendDirectCommand.vi
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diff --git a/AT91SAM7S256/armdebug/FantomModule/pyfantom/__init__.py b/AT91SAM7S256/armdebug/FantomModule/pyfantom/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/pyfantom/__init__.py
diff --git a/AT91SAM7S256/armdebug/FantomModule/setup.py b/AT91SAM7S256/armdebug/FantomModule/setup.py
new file mode 100644
index 0000000..e713d2f
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/setup.py
@@ -0,0 +1,40 @@
+from distutils.core import setup, Extension
+import sys
+import os
+
+def getextensions():
+ mac_ext = Extension("FantomModule",
+ define_macros=[('PYFANTOM_DEBUG', '0')], # set to '1' to print debug messges
+ include_dirs=['.'],
+ extra_compile_args=["-Wno-strict-prototypes"],
+ extra_link_args=["-framework Fantom"],
+ sources=["FantomModule.cpp"]
+ )
+ return [mac_ext]
+
+# Must specify i386 arch via environment variable since Fantom libraries are i386 only
+# Order of gcc flags is important, it can't be specified via Extension() module
+os.environ['ARCHFLAGS'] = '-arch i386'
+
+# install the main library
+setup(name="pyfantom",
+ version="0.1",
+ author="Tat-Chee Wan",
+ author_email="tcwan@cs.usm.my",
+ url="",
+ description="Python Extension to call Fantom Driver",
+ long_description="Python Wrapper for Fantom Driver on Mac OS X.",
+ license="GPL",
+ packages=["pyfantom"],
+ ext_modules=getextensions(),
+ classifiers = [ "Development Status :: 3 - Alpha",
+ "Intended Audience :: Developers",
+ # Need to confirm Fantom / NI-VISA license compatibility
+ # "License :: OSI Approved :: GNU General Public License (GPL)",
+ # "License :: OSI Approved :: GNU General Public License v2",
+ "Programming Language :: C++",
+ "Topic :: Software Development :: Libraries",
+ "Topic :: System :: Networking",
+ "Topic :: Communications",
+ "Operating System :: MacOS :: MacOS X" ]
+ )
diff --git a/AT91SAM7S256/armdebug/FantomModule/visatype.h b/AT91SAM7S256/armdebug/FantomModule/visatype.h
new file mode 100644
index 0000000..a667ff1
--- /dev/null
+++ b/AT91SAM7S256/armdebug/FantomModule/visatype.h
@@ -0,0 +1,155 @@
+/*---------------------------------------------------------------------------*/
+/* Distributed by VXIplug&play Systems Alliance */
+/* */
+/* Do not modify the contents of this file. */
+/*---------------------------------------------------------------------------*/
+/* */
+/* Title : VISATYPE.H */
+/* Date : 08-01-98 */
+/* Purpose : Fundamental VISA data types and macro definitions */
+/* */
+/*---------------------------------------------------------------------------*/
+
+#ifndef __VISATYPE_HEADER__
+#define __VISATYPE_HEADER__
+
+#if (defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)) && !defined(_NI_mswin16_)
+#define _VI_FAR
+#define _VI_FUNC __stdcall
+#define _VI_FUNCC __cdecl
+#define _VI_FUNCH __stdcall
+#define _VI_SIGNED signed
+#elif defined(_CVI_) && defined(_NI_i386_)
+#define _VI_FAR
+#define _VI_FUNC _pascal
+#define _VI_FUNCC
+#define _VI_FUNCH _pascal
+#define _VI_SIGNED signed
+#elif (defined(_WINDOWS) || defined(_Windows)) && !defined(_NI_mswin16_)
+#define _VI_FAR _far
+#define _VI_FUNC _far _pascal _export
+#define _VI_FUNCC _far _cdecl _export
+#define _VI_FUNCH _far _pascal
+#define _VI_SIGNED signed
+#elif (defined(hpux) || defined(__hpux)) && (defined(__cplusplus) || defined(__cplusplus__))
+#define _VI_FAR
+#define _VI_FUNC
+#define _VI_FUNCC
+#define _VI_FUNCH
+#define _VI_SIGNED
+#else
+#define _VI_FAR
+#define _VI_FUNC
+#define _VI_FUNCC
+#define _VI_FUNCH
+#define _VI_SIGNED signed
+#endif
+
+#define _VI_ERROR (-2147483647L-1) /* 0x80000000 */
+#define _VI_PTR _VI_FAR *
+
+/*- VISA Types --------------------------------------------------------------*/
+
+typedef unsigned long ViUInt32;
+typedef ViUInt32 _VI_PTR ViPUInt32;
+typedef ViUInt32 _VI_PTR ViAUInt32;
+
+typedef _VI_SIGNED long ViInt32;
+typedef ViInt32 _VI_PTR ViPInt32;
+typedef ViInt32 _VI_PTR ViAInt32;
+
+typedef unsigned short ViUInt16;
+typedef ViUInt16 _VI_PTR ViPUInt16;
+typedef ViUInt16 _VI_PTR ViAUInt16;
+
+typedef _VI_SIGNED short ViInt16;
+typedef ViInt16 _VI_PTR ViPInt16;
+typedef ViInt16 _VI_PTR ViAInt16;
+
+typedef unsigned char ViUInt8;
+typedef ViUInt8 _VI_PTR ViPUInt8;
+typedef ViUInt8 _VI_PTR ViAUInt8;
+
+typedef _VI_SIGNED char ViInt8;
+typedef ViInt8 _VI_PTR ViPInt8;
+typedef ViInt8 _VI_PTR ViAInt8;
+
+typedef char ViChar;
+typedef ViChar _VI_PTR ViPChar;
+typedef ViChar _VI_PTR ViAChar;
+
+typedef unsigned char ViByte;
+typedef ViByte _VI_PTR ViPByte;
+typedef ViByte _VI_PTR ViAByte;
+
+typedef void _VI_PTR ViAddr;
+typedef ViAddr _VI_PTR ViPAddr;
+typedef ViAddr _VI_PTR ViAAddr;
+
+typedef float ViReal32;
+typedef ViReal32 _VI_PTR ViPReal32;
+typedef ViReal32 _VI_PTR ViAReal32;
+
+typedef double ViReal64;
+typedef ViReal64 _VI_PTR ViPReal64;
+typedef ViReal64 _VI_PTR ViAReal64;
+
+typedef ViPByte ViBuf;
+typedef ViPByte ViPBuf;
+typedef ViPByte _VI_PTR ViABuf;
+
+typedef ViPChar ViString;
+typedef ViPChar ViPString;
+typedef ViPChar _VI_PTR ViAString;
+
+typedef ViString ViRsrc;
+typedef ViString ViPRsrc;
+typedef ViString _VI_PTR ViARsrc;
+
+typedef ViUInt16 ViBoolean;
+typedef ViBoolean _VI_PTR ViPBoolean;
+typedef ViBoolean _VI_PTR ViABoolean;
+
+typedef ViInt32 ViStatus;
+typedef ViStatus _VI_PTR ViPStatus;
+typedef ViStatus _VI_PTR ViAStatus;
+
+typedef ViUInt32 ViVersion;
+typedef ViVersion _VI_PTR ViPVersion;
+typedef ViVersion _VI_PTR ViAVersion;
+
+typedef ViUInt32 ViObject;
+typedef ViObject _VI_PTR ViPObject;
+typedef ViObject _VI_PTR ViAObject;
+
+typedef ViObject ViSession;
+typedef ViSession _VI_PTR ViPSession;
+typedef ViSession _VI_PTR ViASession;
+
+typedef ViUInt32 ViAttr;
+
+#ifndef _VI_CONST_STRING_DEFINED
+typedef const ViChar * ViConstString;
+#define _VI_CONST_STRING_DEFINED
+#endif
+
+/*- Completion and Error Codes ----------------------------------------------*/
+
+#define VI_SUCCESS (0L)
+
+/*- Other VISA Definitions --------------------------------------------------*/
+
+#define VI_NULL (0)
+
+#define VI_TRUE (1)
+#define VI_FALSE (0)
+
+/*- Backward Compatibility Macros -------------------------------------------*/
+
+#define VISAFN _VI_FUNC
+#define ViPtr _VI_PTR
+
+#endif
+
+/*- The End -----------------------------------------------------------------*/
+
diff --git a/AT91SAM7S256/armdebug/nxt-python-2.1.0.tar.gz b/AT91SAM7S256/armdebug/nxt-python-2.1.0.tar.gz
new file mode 100644
index 0000000..014132b
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-2.1.0.tar.gz
Binary files differ
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/.project b/AT91SAM7S256/armdebug/nxt-python-fantom/.project
new file mode 100644
index 0000000..1b06536
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/.project
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>nxt-python-fantom</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ </buildSpec>
+ <natures>
+ </natures>
+</projectDescription>
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/LICENSE b/AT91SAM7S256/armdebug/nxt-python-fantom/LICENSE
new file mode 100644
index 0000000..818433e
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received. You must make sure that they, too, receive
+or can get the source code. And you must show them these terms so they
+know their rights.
+
+ Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+ For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+ Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so. This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software. The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable. Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products. If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+ Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary. To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ TERMS AND CONDITIONS
+
+ 0. Definitions.
+
+ "This License" refers to version 3 of the GNU General Public License.
+
+ "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+ "The Program" refers to any copyrightable work licensed under this
+License. Each licensee is addressed as "you". "Licensees" and
+"recipients" may be individuals or organizations.
+
+ To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy. The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+ A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+ To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy. Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+ To "convey" a work means any kind of propagation that enables other
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diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/MANIFEST.in b/AT91SAM7S256/armdebug/nxt-python-fantom/MANIFEST.in
new file mode 100644
index 0000000..9dd36e1
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/MANIFEST.in
@@ -0,0 +1,4 @@
+include docs/*.html *.url *.css *.txt
+include README LICENSE install.bat MANIFEST.in
+include examples/*.py
+exclude arduino/*
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/PKG-INFO b/AT91SAM7S256/armdebug/nxt-python-fantom/PKG-INFO
new file mode 100644
index 0000000..1e0e361
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/PKG-INFO
@@ -0,0 +1,168 @@
+Metadata-Version: 1.0
+Name: nxt-python
+Version: 2.1.0
+Summary: LEGO Mindstorms NXT Control Package
+Home-page: http://code.google.com/p/nxt-python/
+Author: Marcus Wanner
+Author-email: marcusw@cox.net
+License: Gnu GPL v3
+Description: NXT-Python is a package for controlling a LEGO NXT robot using the Python
+ programming language. It can communicate using either USB or Bluetooth. It is
+ available under the Gnu GPL license. It is based on NXT_Python, where releases
+ halted in May 2007.
+
+ Requirements:
+
+ * Python 2.6 (http://www.python.org)
+ And at least one comm library:
+ * Bluetooth communications:
+ Linux/Windows: PyBluez (http://code.google.com/p/pybluez/)
+ (package python-bluez in deb-based linuxes)
+ Mac: LightBlue (http://lightblue.sourceforge.net/)
+ * USB communications:
+ PyUSB (http://sourceforge.net/projects/pyusb/)
+
+ Installation (if using source package):
+
+ * Untar/unzip source package
+ * In package directory, run "python setup.py install" (as root), or if
+ under windows, double-click install.bat.
+ * To use USB on Linux as non-superuser, at a root terminal type:
+ groupadd lego
+ usermod -a -G lego [username]
+ echo 'BUS=="usb", SYSFS{idVendor}=="0694", GROUP="lego", MODE="0660"' \
+ > /etc/udev/rules.d/70-lego.rules
+
+ Getting Started:
+
+ Take a look at the examples directory. Feel free to copy that code into your
+ scripts and don't be afraid to experiment! If you are having trouble with
+ something, you may find the solution in the docstrings (for example,
+ help('nxt.sensor.Ultrasonic')) or even in the source code (especially for
+ digital sensors).
+
+ Notes/FAQ:
+ (I have tried to put the most important stuff first, but it would be a good
+ idea to read the whole section. In any case, read it all the way through
+ before asking for help. Thanks!)
+
+ -=-=-About v2-=-=-
+ This version is part of the 2.x series of releases. Programs designed for
+ NXT_Python or for the 1.x series of nxt-python will not work with this version.
+ If you are trying to get an old program to work, it most likely needs a 1.x
+ series release, which can be downloaded from the nxt-python downloads page at
+ googlecode. New projects should use a 2.x series release (hint: this is one!)
+ due to the new features and API improvements. Converting old projects is
+ somewhat difficult and not officially supported, though as always you're
+ welcome to ask for help.
+ -=-=-Problems and Their Solutions-=-=-
+ Support for a number of sensors has not been tested at all, due to lack of
+ hardware. I have started a project to test this code, but the going is slow
+ and I have decided to go ahead and release rather than waiting several more
+ months. If you have a problem with a digital sensor, see the troubleshooting
+ guide below and don't forget to report your trouble!
+ The Synchronized Motor support has not been extensively tested for accuracy.
+ It seems to mostly work well but the accuracy of the braking function and the
+ closeness of the two motors to each other have not been assesed.
+ NXT-Python has not been tested and may not work with custom nxt firmware
+ versions (if you don't know what that means, you don't need to worry about it).
+ However, if the firmware uses the standard USB/BT communications protocol,
+ everything should more or less work. NXT-Python has been tested with bricks
+ using LEGO firmware version up to 1.29 and is compatible with protocol version
+ 1.124 (used by most if not all of the official firmwares). It has also been
+ reported working with LeJOS.
+ -=-=-If you co'd the SVN...-=-=-
+ The Arduino directory of an svn checkout (not included with release
+ packages) contains a digital sensor unit test system called nxtduemu. It is
+ intended for developers and advanced users who are looking to experiment with
+ sensors and the digital sensor framework and classes. See Arduino/README for
+ more info and usage instructions.
+
+ Specific Stability Status:
+ nxt.brick, nxt.telegram, nxt.direct, and nxt.system:
+ Hardly changed since NXT_Python; very, very stable.
+ USB Communication System (nxt.usbsock)
+ On Linux: Very stable and extensively tested.
+ On Windows: Somewhat tested; seems to work pretty well.
+ On Mac: Should be working, though I have not heard either way.
+ BlueTooth Communication System (nxt.bluesock, nxt.lightblueglue)
+ On Linux: Stable; well tested.
+ On Windows: Stable; working last I checked.
+ On Mac: Reported working.
+ nxt.locator:
+ Stable, somewhat tested. One developer reported problems.
+ nxt.motor:
+ Stable except for Synchronized Motor support, which is experimental at
+ this stage and has not been extensively tested.
+ nxt.sensor:
+ Code not specific to a particular sensor is well tested and working
+ great. More than half of the sensor classes were last reported working;
+ the rest have not to my knowlege been tested and were written blindly
+ from the manuacturers' specifications.
+ nxt.error:
+ If there's a problem with this one, I'm gonna cry.
+
+ Contact:
+
+ NXT-Python's Head Developer:
+ Marcus Wanner (marcusw@cox.net)
+ The support and development mailing list:
+ http://groups.google.com/group/nxt-python
+ Report bugs and suggest new features at:
+ http://code.google.com/p/nxt-python/issues/list
+
+ Thanks to:
+
+ Doug Lau for writing NXT_Python, our starting point.
+ rhn for creating what would become v2, making lots of smaller changes, and
+ reviewing tons of code.
+ mindsensors.com (esp. Ryan Kneip) for helping out with the code for a lot of
+ their sensors and expanding the sensors covered by the type checking
+ database.
+ HiTechnic for providing identification information for their sensors. I note
+ that they have now included this information in their website. ;)
+ Linus Atorf, Samuel Leeman-Munk, melducky, Simon Levy, Steve Castellotti,
+ Paulo Vieira, zonedabone, migpics, and anyone else I forgot for various
+ fixes and additions.
+ All our users for their interest and support!
+
+
+
+ Troubleshooting Digital Sensors (don't read unless you have problems):
+ If you are getting errors, strange behavor, or incorrect values from a digital
+ sensor, chances are that there is a bug in our code. Follow these instructions
+ to try and find out what's wrong:
+ 1. Test the sensor with a different access library to make sure it's working
+ right.
+ 2. Check your code again. There are some weird "features" in the interfaces
+ of some of the sensors; make sure you are doing things right.
+ 3. Locate the sensor class's source code in nxt-python. It should be
+ somewhere in nxt/sensor/<manufacturer>.py, under the heading "class SensorName(
+ BaseDigitalSensor):". Read any comments for instructions on certain things.
+
+ If you get to here and are still having a problem, you can either go ahead and
+ report it now or continue to try and find and fix the problem and then report
+ it (or not report it at all, but that wouldn't be very nice...).
+ Python experience required beyond this point.
+
+ 4. Get the sensor's specifications from the manufacturer's website. Make
+ sure it includes a table of I2C registers and instructions for using them.
+ 5. Pick one of the following depending on what the problem is:
+ ####Errors:
+ Cause: We screwed up.
+ Solution: Check the line mentioned in the error for incorrect syntax or
+ other problem. A bit of python experience and maybe some googling is needed
+ here.
+ ####Strange Behavior (in sensors with modes/commands):
+ Cause: nxt-python's command enumerations are incorrect.
+ Solution: Verify them using the sensor's specs, and correct any problems.
+ See "Incorrect Values" for more.
+ ####Incorrect Values:
+ Cause: nxt-python is processing the value wrong.
+ Solution: Check what goes on in the sampling method against what the spec
+ says should be done. If there is an inconsistency, try to fix it.
+ Cause: nxt-python has an incorrect register number or type in I2C_ADDRESS.
+ Solution: Verify the address (the number) and the string (the struct format
+ string). To verify the address, use the spec. To verify the struct format, you
+ wil
+Platform: UNKNOWN
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/README b/AT91SAM7S256/armdebug/nxt-python-fantom/README
new file mode 100644
index 0000000..5d9a214
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/README
@@ -0,0 +1,169 @@
+NXT-Python is a package for controlling a LEGO NXT robot using the Python
+programming language. It can communicate using either USB or Bluetooth. It is
+available under the Gnu GPL license. It is based on NXT_Python, where releases
+halted in May 2007.
+
+Requirements:
+
+ * Python 2.6 (http://www.python.org)
+ And at least one comm library:
+ * Bluetooth communications:
+ Linux/Windows: PyBluez (http://code.google.com/p/pybluez/)
+ (package python-bluez in deb-based linuxes)
+ Mac: LightBlue (http://lightblue.sourceforge.net/)
+ * USB communications:
+ PyUSB (http://sourceforge.net/projects/pyusb/)
+
+Installation (if using source package):
+
+ * Untar/unzip source package
+ * In package directory, run "python setup.py install" (as root), or if
+ under windows, double-click install.bat.
+ * To use USB on Linux as non-superuser, at a root terminal type:
+ groupadd lego
+ usermod -a -G lego [username]
+ echo 'BUS=="usb", SYSFS{idVendor}=="0694", GROUP="lego", MODE="0660"' \
+ > /etc/udev/rules.d/70-lego.rules
+
+Getting Started:
+
+ Take a look at the examples directory. Feel free to copy that code into your
+scripts and don't be afraid to experiment! If you are having trouble with
+something, you may find the solution in the docstrings (for example,
+help('nxt.sensor.Ultrasonic')) or even in the source code (especially for
+digital sensors).
+
+Notes/FAQ:
+ (I have tried to put the most important stuff first, but it would be a good
+ idea to read the whole section. In any case, read it all the way through
+ before asking for help. Thanks!)
+
+ -=-=-About v2-=-=-
+ This version is part of the 2.x series of releases. Programs designed for
+NXT_Python or for the 1.x series of nxt-python will not work with this version.
+If you are trying to get an old program to work, it most likely needs a 1.x
+series release, which can be downloaded from the nxt-python downloads page at
+googlecode. New projects should use a 2.x series release (hint: this is one!)
+due to the new features and API improvements. Converting old projects is
+somewhat difficult and not officially supported, though as always you're
+welcome to ask for help.
+ -=-=-Problems and Their Solutions-=-=-
+ Support for a number of sensors has not been tested at all, due to lack of
+hardware. I have started a project to test this code, but the going is slow
+and I have decided to go ahead and release rather than waiting several more
+months. If you have a problem with a digital sensor, see the troubleshooting
+guide below and don't forget to report your trouble!
+ The Synchronized Motor support has not been extensively tested for accuracy.
+It seems to mostly work well but the accuracy of the braking function and the
+closeness of the two motors to each other have not been assesed.
+ NXT-Python has not been tested and may not work with custom nxt firmware
+versions (if you don't know what that means, you don't need to worry about it).
+However, if the firmware uses the standard USB/BT communications protocol,
+everything should more or less work. NXT-Python has been tested with bricks
+using LEGO firmware version up to 1.29 and is compatible with protocol version
+1.124 (used by most if not all of the official firmwares). It has also been
+reported working with LeJOS.
+ -=-=-If you co'd the SVN...-=-=-
+ The Arduino directory of an svn checkout (not included with release
+packages) contains a digital sensor unit test system called nxtduemu. It is
+intended for developers and advanced users who are looking to experiment with
+sensors and the digital sensor framework and classes. See Arduino/README for
+more info and usage instructions.
+
+Specific Stability Status:
+ nxt.brick, nxt.telegram, nxt.direct, and nxt.system:
+ Hardly changed since NXT_Python; very, very stable.
+ USB Communication System (nxt.usbsock)
+ On Linux: Very stable and extensively tested.
+ On Windows: Somewhat tested; seems to work pretty well.
+ On Mac: Should be working, though I have not heard either way.
+ BlueTooth Communication System (nxt.bluesock, nxt.lightblueglue)
+ On Linux: Stable; well tested.
+ On Windows: Stable; working last I checked.
+ On Mac: Reported working.
+ nxt.locator:
+ Stable, somewhat tested. One developer reported problems.
+ nxt.motor:
+ Stable except for Synchronized Motor support, which is experimental at
+ this stage and has not been extensively tested.
+ nxt.sensor:
+ Code not specific to a particular sensor is well tested and working
+ great. More than half of the sensor classes were last reported working;
+ the rest have not to my knowlege been tested and were written blindly
+ from the manuacturers' specifications.
+ nxt.error:
+ If there's a problem with this one, I'm gonna cry.
+
+Contact:
+
+ NXT-Python's Head Developer:
+ Marcus Wanner (marcusw@cox.net)
+ The support and development mailing list:
+ http://groups.google.com/group/nxt-python
+ Report bugs and suggest new features at:
+ http://code.google.com/p/nxt-python/issues/list
+
+Thanks to:
+
+ Doug Lau for writing NXT_Python, our starting point.
+ rhn for creating what would become v2, making lots of smaller changes, and
+ reviewing tons of code.
+ mindsensors.com (esp. Ryan Kneip) for helping out with the code for a lot of
+ their sensors and expanding the sensors covered by the type checking
+ database.
+ HiTechnic for providing identification information for their sensors. I note
+ that they have now included this information in their website. ;)
+ Linus Atorf, Samuel Leeman-Munk, melducky, Simon Levy, Steve Castellotti,
+ Paulo Vieira, zonedabone, migpics, and anyone else I forgot for various
+ fixes and additions.
+ All our users for their interest and support!
+
+
+
+Troubleshooting Digital Sensors (don't read unless you have problems):
+If you are getting errors, strange behavor, or incorrect values from a digital
+sensor, chances are that there is a bug in our code. Follow these instructions
+to try and find out what's wrong:
+ 1. Test the sensor with a different access library to make sure it's working
+right.
+ 2. Check your code again. There are some weird "features" in the interfaces
+of some of the sensors; make sure you are doing things right.
+ 3. Locate the sensor class's source code in nxt-python. It should be
+somewhere in nxt/sensor/<manufacturer>.py, under the heading "class SensorName(
+BaseDigitalSensor):". Read any comments for instructions on certain things.
+
+If you get to here and are still having a problem, you can either go ahead and
+report it now or continue to try and find and fix the problem and then report
+it (or not report it at all, but that wouldn't be very nice...).
+Python experience required beyond this point.
+
+ 4. Get the sensor's specifications from the manufacturer's website. Make
+sure it includes a table of I2C registers and instructions for using them.
+ 5. Pick one of the following depending on what the problem is:
+####Errors:
+ Cause: We screwed up.
+ Solution: Check the line mentioned in the error for incorrect syntax or
+other problem. A bit of python experience and maybe some googling is needed
+here.
+####Strange Behavior (in sensors with modes/commands):
+ Cause: nxt-python's command enumerations are incorrect.
+ Solution: Verify them using the sensor's specs, and correct any problems.
+ See "Incorrect Values" for more.
+####Incorrect Values:
+ Cause: nxt-python is processing the value wrong.
+ Solution: Check what goes on in the sampling method against what the spec
+says should be done. If there is an inconsistency, try to fix it.
+ Cause: nxt-python has an incorrect register number or type in I2C_ADDRESS.
+ Solution: Verify the address (the number) and the string (the struct format
+string). To verify the address, use the spec. To verify the struct format, you
+will need to read this: <http://docs.python.org/library/struct.html#format-
+strings> or have experience with struct.
+Read the spec for the sensor to determine how the given value should be read,
+then start at the sample method and read through it, checking for problems as
+you go. If it seems right, go back to the I2C_ADDRESS chunk (near the top of the
+class) and make sure that the correct struct format string is being used. The
+most common problem here is values that are off by plus or minus 128 or 32768
+because of an incorrect signed/unsigned setting. This can be fixed by switching
+the case (as in upper or lower) of the letter in the string. Other problems
+could include the wrong size (B, H, or L) being used, or, in the two latter
+ones, the wrong byte order (< or >). As always, common sense required.
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/examples/alpharex.py b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/alpharex.py
new file mode 100644
index 0000000..13c5979
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/alpharex.py
@@ -0,0 +1,151 @@
+r'''Alpha Rex API
+
+ A high-level, object-oriented programming interface to Lego MINDSTORMS
+ NXT's "Alpha Rex" model (see [1] for assembling instructions), along with a
+ small collection of functions demonstrating obvious usage scenarios.
+
+ 1. http://www.active-robots.com/products/mindstorms4schools/building-instructions.shtml
+'''
+
+from time import sleep
+
+from nxt.brick import Brick
+from nxt.locator import find_one_brick
+from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
+from nxt.sensor import Light, Sound, Touch, Ultrasonic
+from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
+
+
+FORTH = 100
+BACK = -100
+
+
+class AlphaRex(object):
+ r'''A high-level controller for the Alpha Rex model.
+
+ This class implements methods for the most obvious actions performable
+ by Alpha Rex, such as walk, wave its arms, and retrieve sensor samples.
+ Additionally, it also allows direct access to the robot's components
+ through public attributes.
+ '''
+ def __init__(self, brick='NXT'):
+ r'''Creates a new Alpha Rex controller.
+
+ brick
+ Either an nxt.brick.Brick object, or an NXT brick's name as a
+ string. If omitted, a Brick named 'NXT' is looked up.
+ '''
+ if isinstance(brick, basestring):
+ brick = find_one_brick(name=brick)
+
+ self.brick = brick
+ self.arms = Motor(brick, PORT_A)
+ self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
+
+ self.touch = Touch(brick, PORT_1)
+ self.sound = Sound(brick, PORT_2)
+ self.light = Light(brick, PORT_3)
+ self.ultrasonic = Ultrasonic(brick, PORT_4)
+
+ def echolocate(self):
+ r'''Reads the Ultrasonic sensor's output.
+ '''
+ return self.ultrasonic.get_sample()
+
+ def feel(self):
+ r'''Reads the Touch sensor's output.
+ '''
+ return self.touch.get_sample()
+
+ def hear(self):
+ r'''Reads the Sound sensor's output.
+ '''
+ return self.sound.get_sample()
+
+ def say(self, line, times=1):
+ r'''Plays a sound file named (line + '.rso'), which is expected to be
+ stored in the brick. The file is played (times) times.
+
+ line
+ The name of a sound file stored in the brick.
+
+ times
+ How many times the sound file will be played before this method
+ returns.
+ '''
+ for i in range(0, times):
+ self.brick.play_sound_file(False, line + '.rso')
+ sleep(1)
+
+ def see(self):
+ r'''Reads the Light sensor's output.
+ '''
+ return self.light.get_sample()
+
+ def walk(self, secs, power=FORTH):
+ r'''Simultaneously activates the leg motors, causing Alpha Rex to walk.
+
+ secs
+ How long the motors will rotate.
+
+ power
+ The strength effected by the motors. Positive values will cause
+ Alpha Rex to walk forward, while negative values will cause it
+ to walk backwards. If you are unsure about how much force to
+ apply, the special values FORTH and BACK provide reasonable
+ defaults. If omitted, FORTH is used.
+ '''
+ for motor in self.legs:
+ motor.run(power=power)
+
+ sleep(secs)
+
+ for motor in self.legs:
+ motor.idle()
+
+ def wave(self, secs, power=100):
+ r'''Make Alpha Rex move its arms.
+
+ secs
+ How long the arms' motor will rotate.
+
+ power
+ The strength effected by the motor. If omitted, (100) is used.
+ '''
+ self.arms.run(power=power)
+ sleep(secs)
+ self.arms.idle()
+
+
+def wave_and_talk():
+ r'''Connects to a nearby Alpha Rex, then commands it to wave its arms and
+ play the sound file 'Object.rso'.
+ '''
+ robot = AlphaRex()
+ robot.wave(1)
+ robot.say('Object')
+
+
+def walk_forth_and_back():
+ r'''Connects to a nearby Alpha Rex, then commands it to walk forward and
+ then backwards.
+ '''
+ robot = AlphaRex()
+ robot.walk(10, FORTH)
+ robot.walk(10, BACK)
+
+
+def walk_to_object():
+ r'''Connects to a nearby Alpha Rex, then commands it to walk until it
+ approaches an obstacle, then stop and say 'Object' three times.
+ '''
+ robot = AlphaRex()
+ while robot.echolocate() > 10:
+ robot.walk(1, FORTH)
+
+ robot.say('Object', 3)
+
+
+if __name__ == '__main__':
+ walk_to_object()
+
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/examples/cnc.py b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/cnc.py
new file mode 100644
index 0000000..456cf92
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/cnc.py
@@ -0,0 +1,53 @@
+#Script to control a NXT 2-axis CNC "Pancake maker"
+#Illustrates controlling more than one motor at the same time without trying to
+#sync them. Uses the thread module.
+#Written 2/3/11 by Marcus Wanner
+#
+#For more info and warnings see:
+#http://groups.google.com/group/nxt-python/browse_thread/thread/f6ef0865ae768ef
+
+import nxt, thread, time
+b = nxt.find_one_brick(name = 'MyNXT')
+mx = nxt.Motor(b, nxt.PORT_A)
+my = nxt.Motor(b, nxt.PORT_B)
+motors = [mx, my]
+
+def turnmotor(m, power, degrees):
+ m.turn(power, degrees)
+
+#here are the instructions...
+#the first value is the time to start the instruction
+#the second is the axis (0 for x, 1 for y)
+#the third is the power
+#the fourth is the degrees
+#it's probably not a good idea to run simultaneous turn
+#functions on a single motor, so be careful with this
+instructions = (
+ [0, 0, 80, 180],
+ [0, 1, -40, 1080],
+ [1, 0, -80, 180],
+ [2, 0, 80, 180],
+ [3, 1, 100, 360],
+ [3, 0, -100, 360],
+)
+#how long from start until the last instruction is ended
+length = 5
+
+def runinstruction(i):
+ motorid, speed, degrees = i
+ #THIS IS THE IMPORTANT PART!
+ thread.start_new_thread(
+ turnmotor,
+ (motors[motorid], speed, degrees))
+
+#main loop
+seconds = 0
+while 1:
+ print "Tick %d" % seconds
+ for i in instructions:
+ if i[0] == seconds:
+ runinstruction(i[1:])
+ seconds = seconds + 1
+ if seconds >= length:
+ break
+ time.sleep(1)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/examples/latency.py b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/latency.py
new file mode 100644
index 0000000..b4b1f26
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/latency.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+
+import time
+import nxt.locator
+from nxt.sensor import *
+
+b = nxt.locator.find_one_brick()
+
+#Touch sensor latency test
+touch = Touch(b, PORT_1)
+start = time.time()
+for i in range(100):
+ touch.get_sample()
+stop = time.time()
+print 'touch latency: %s ms' % (1000 * (stop - start) / 100.0)
+
+#Ultrasonic sensor latency test
+ultrasonic = Ultrasonic(b, PORT_4)
+start = time.time()
+for i in range(100):
+ ultrasonic.get_sample()
+stop = time.time()
+print 'ultrasonic latency: %s ms' % (1000 * (stop - start) / 100.0)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/examples/mary.py b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/mary.py
new file mode 100644
index 0000000..907cc23
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/mary.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python
+#
+# Converted from mary.rb found in ruby_nxt package
+# Plays "Mary Had A Little Lamb"
+# Author: Christopher Continanza <christopher.continanza@villanova.edu>
+
+from time import sleep
+import nxt.locator
+
+FREQ_C = 523
+FREQ_D = 587
+FREQ_E = 659
+FREQ_G = 784
+
+b = nxt.locator.find_one_brick()
+
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_C, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+sleep(0.5)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+sleep(0.5)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_G, 500)
+b.play_tone_and_wait(FREQ_G, 500)
+sleep(0.5)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_C, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_C, 750)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/examples/message_test.py b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/message_test.py
new file mode 100644
index 0000000..c2fbda7
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/message_test.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+#During this test you need to run any program on the brick
+#which doesn't use the messaging system. Most programs fit
+#this requirement.
+
+import nxt.locator
+
+b = nxt.locator.find_one_brick()
+for box in range(10):
+ b.message_write(box, 'message test %d' % box)
+for box in range(10):
+ local_box, message = b.message_read(box, box, True)
+ print local_box, message
+print 'Test succeeded!'
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/examples/spin.py b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/spin.py
new file mode 100644
index 0000000..fc7cb2c
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/spin.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+import nxt.locator
+from nxt.motor import *
+
+def spin_around(b):
+ m_left = Motor(b, PORT_B)
+ m_left.turn(100, 360)
+ m_right = Motor(b, PORT_C)
+ m_right.turn(-100, 360)
+
+b = nxt.locator.find_one_brick()
+spin_around(b)
+
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/examples/test_sensors.py b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/test_sensors.py
new file mode 100644
index 0000000..4c8d249
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/examples/test_sensors.py
@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+import nxt.locator
+from nxt.sensor import *
+
+b = nxt.locator.find_one_brick()
+
+print 'Touch:', Touch(b, PORT_1).get_sample()
+print 'Sound:', Sound(b, PORT_2).get_sample()
+print 'Light:', Light(b, PORT_3).get_sample()
+print 'Ultrasonic:', Ultrasonic(b, PORT_4).get_sample()
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/install.bat b/AT91SAM7S256/armdebug/nxt-python-fantom/install.bat
new file mode 100644
index 0000000..afa7bfc
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/install.bat
@@ -0,0 +1,11 @@
+@echo off
+@call setup.py install
+if errorlevel 1 goto error
+goto end
+:error
+echo -=-=-=-=-=-=-=-=-=-=-
+echo There was an error during the installation.
+echo Please check the above text for more information.
+pause
+:end
+@echo on
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/__init__.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/__init__.py
new file mode 100644
index 0000000..01be052
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/__init__.py
@@ -0,0 +1,17 @@
+# nxt.__init__ module -- LEGO Mindstorms NXT python package
+# Copyright (C) 2006 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+from .locator import find_one_brick
+from .motor import *
+from .sensor import *
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/bluesock.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/bluesock.py
new file mode 100644
index 0000000..c57894d
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/bluesock.py
@@ -0,0 +1,78 @@
+# nxt.bluesock module -- Bluetooth socket communication with LEGO Minstorms NXT
+# Copyright (C) 2006, 2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+try:
+ import bluetooth
+except ImportError:
+ import lightblueglue as bluetooth
+import os
+from .brick import Brick
+
+class BlueSock(object):
+
+ bsize = 118 # Bluetooth socket block size
+ PORT = 1 # Standard NXT rfcomm port
+
+ def __init__(self, host):
+ self.host = host
+ self.sock = None
+ self.debug = False
+
+ def __str__(self):
+ return 'Bluetooth (%s)' % self.host
+
+ def connect(self):
+ if self.debug:
+ print 'Connecting via Bluetooth...'
+ sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
+ sock.connect((self.host, BlueSock.PORT))
+ self.sock = sock
+ if self.debug:
+ print 'Connected.'
+ return Brick(self)
+
+ def close(self):
+ if self.debug:
+ print 'Closing Bluetooth connection...'
+ self.sock.close()
+ if self.debug:
+ print 'Bluetooth connection closed.'
+
+ def send(self, data):
+ if self.debug:
+ print 'Send:',
+ print ':'.join('%02x' % ord(c) for c in data)
+ l0 = len(data) & 0xFF
+ l1 = (len(data) >> 8) & 0xFF
+ d = chr(l0) + chr(l1) + data
+ self.sock.send(d)
+
+ def recv(self):
+ data = self.sock.recv(2)
+ l0 = ord(data[0])
+ l1 = ord(data[1])
+ plen = l0 + (l1 << 8)
+ data = self.sock.recv(plen)
+ if self.debug:
+ print 'Recv:',
+ print ':'.join('%02x' % ord(c) for c in data)
+ return data
+
+def _check_brick(arg, value):
+ return arg is None or arg == value
+
+def find_bricks(host=None, name=None):
+ for h, n in bluetooth.discover_devices(lookup_names=True):
+ if _check_brick(host, h) and _check_brick(name, n):
+ yield BlueSock(h)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/brick.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/brick.py
new file mode 100644
index 0000000..740ccbd
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/brick.py
@@ -0,0 +1,225 @@
+# nxt.brick module -- Classes to represent LEGO Mindstorms NXT bricks
+# Copyright (C) 2006 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, rhn
+# Copyright (C) 2010 rhn, Marcus Wanner, zonedabone
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+from time import sleep
+from threading import Lock
+from .error import FileNotFound, ModuleNotFound
+from .telegram import OPCODES, Telegram
+from .sensor import get_sensor
+
+def _make_poller(opcode, poll_func, parse_func):
+ def poll(self, *args, **kwargs):
+ ogram = poll_func(opcode, *args, **kwargs)
+ with self.lock:
+ self.sock.send(str(ogram))
+ igram = Telegram(opcode=opcode, pkt=self.sock.recv())
+ return parse_func(igram)
+ return poll
+
+class _Meta(type):
+ 'Metaclass which adds one method for each telegram opcode'
+
+ def __init__(cls, name, bases, dict):
+ super(_Meta, cls).__init__(name, bases, dict)
+ for opcode in OPCODES:
+ poll_func, parse_func = OPCODES[opcode]
+ m = _make_poller(opcode, poll_func, parse_func)
+ setattr(cls, poll_func.__name__, m)
+
+
+class FileFinder(object):
+ 'A generator to find files on a NXT brick.'
+
+ def __init__(self, brick, pattern):
+ self.brick = brick
+ self.pattern = pattern
+ self.handle = None
+
+ def _close(self):
+ if self.handle is not None:
+ self.brick.close(self.handle)
+ self.handle = None
+
+ def __del__(self):
+ self._close()
+
+ def __iter__(self):
+ results = []
+ self.handle, fname, size = self.brick.find_first(self.pattern)
+ results.append((fname, size))
+ while True:
+ try:
+ handle, fname, size = self.brick.find_next(self.handle)
+ results.append((fname, size))
+ except FileNotFound:
+ self._close()
+ break
+ for result in results:
+ yield result
+
+
+def File(brick, name, mode='r', size=None):
+ """Opens a file for reading/writing. Mode is 'r' or 'w'. If mode is 'w',
+ size must be provided.
+ """
+ if mode == 'w':
+ if size is not None:
+ return FileWriter(brick, name, size)
+ else:
+ return ValueError('Size not specified')
+ elif mode == 'r':
+ return FileReader(brick, name)
+ else:
+ return ValueError('Mode ' + str(mode) + ' not supported')
+
+
+class FileReader(object):
+ """Context manager to read a file on a NXT brick. Do use the iterator or
+ the read() method, but not both at the same time!
+ The iterator returns strings of an arbitrary (short) length.
+ """
+
+ def __init__(self, brick, fname):
+ self.brick = brick
+ self.handle, self.size = brick.open_read(fname)
+
+ def read(self, bytes=None):
+ if bytes is not None:
+ remaining = bytes
+ else:
+ remaining = self.size
+ bsize = self.brick.sock.bsize
+ data = []
+ while remaining > 0:
+ handle, bsize, buffer_ = self.brick.read(self.handle,
+ min(bsize, remaining))
+ remaining -= len(buffer_)
+ data.append(buffer_)
+ return ''.join(data)
+
+ def close(self):
+ if self.handle is not None:
+ self.brick.close(self.handle)
+ self.handle = None
+
+ def __del__(self):
+ self.close()
+
+ def __enter__(self):
+ return self
+
+ def __exit__(self, etp, value, tb):
+ self.close()
+
+ def __iter__(self):
+ rem = self.size
+ bsize = self.brick.sock.bsize
+ while rem > 0:
+ handle, bsize, data = self.brick.read(self.handle,
+ min(bsize, rem))
+ yield data
+ rem -= len(data)
+
+
+class FileWriter(object):
+ "Object to write to a file on a NXT brick"
+
+ def __init__(self, brick, fname, size):
+ self.brick = brick
+ self.handle = self.brick.open_write(fname, size)
+ self._position = 0
+ self.size = size
+
+ def __del__(self):
+ self.close()
+
+ def close(self):
+ if self.handle is not None:
+ self.brick.close(self.handle)
+ self.handle = None
+
+ def tell(self):
+ return self._position
+
+ def write(self, data):
+ remaining = len(data)
+ if remaining > self.size - self._position:
+ raise ValueError('Data will not fit into remaining space')
+ bsize = self.brick.sock.bsize
+ data_position = 0
+
+ while remaining > 0:
+ batch_size = min(bsize, remaining)
+ next_data_position = data_position + batch_size
+ buffer_ = data[data_position:next_data_position]
+
+ handle, size = self.brick.write(self.handle, buffer_)
+
+ self._position += batch_size
+ data_position = next_data_position
+ remaining -= batch_size
+
+
+class ModuleFinder(object):
+ 'Iterator to lookup modules on a NXT brick'
+
+ def __init__(self, brick, pattern):
+ self.brick = brick
+ self.pattern = pattern
+ self.handle = None
+
+ def _close(self):
+ if self.handle:
+ self.brick.close(self.handle)
+ self.handle = None
+
+ def __del__(self):
+ self._close()
+
+ def __iter__(self):
+ self.handle, mname, mid, msize, miomap_size = \
+ self.brick.request_first_module(self.pattern)
+ yield (mname, mid, msize, miomap_size)
+ while True:
+ try:
+ handle, mname, mid, msize, miomap_size = \
+ self.brick.request_next_module(
+ self.handle)
+ yield (mname, mid, msize, miomap_size)
+ except ModuleNotFound:
+ self._close()
+ break
+
+
+class Brick(object): #TODO: this begs to have explicit methods
+ 'Main object for NXT Control'
+
+ __metaclass__ = _Meta
+
+ def __init__(self, sock):
+ self.sock = sock
+ self.lock = Lock()
+
+ def play_tone_and_wait(self, frequency, duration):
+ self.play_tone(frequency, duration)
+ sleep(duration / 1000.0)
+
+ def __del__(self):
+ self.sock.close()
+
+ find_files = FileFinder
+ find_modules = ModuleFinder
+ open_file = File
+ get_sensor = get_sensor
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/direct.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/direct.py
new file mode 100644
index 0000000..50b7f2a
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/direct.py
@@ -0,0 +1,216 @@
+# nxt.direct module -- LEGO Mindstorms NXT direct telegrams
+# Copyright (C) 2006, 2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+'Use for direct communication with the NXT ***EXTREMELY ADVANCED USERS ONLY***'
+
+def _create(opcode):
+ 'Create a simple direct telegram'
+ from telegram import Telegram
+ return Telegram(True, opcode)
+
+def start_program(opcode, fname):
+ tgram = _create(opcode)
+ tgram.add_filename(fname)
+ return tgram
+
+def _parse_simple(tgram):
+ tgram.check_status()
+
+def stop_program(opcode):
+ return _create(opcode)
+
+def play_sound_file(opcode, loop, fname):
+ tgram = _create(opcode)
+ tgram.add_u8(loop)
+ tgram.add_filename(fname)
+ return tgram
+
+def play_tone(opcode, frequency, duration):
+ 'Play a tone at frequency (Hz) for duration (ms)'
+ tgram = _create(opcode)
+ tgram.add_u16(frequency)
+ tgram.add_u16(duration)
+ return tgram
+
+def set_output_state(opcode, port, power, mode, regulation, turn_ratio,
+ run_state, tacho_limit):
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ tgram.add_s8(power)
+ tgram.add_u8(mode)
+ tgram.add_u8(regulation)
+ tgram.add_s8(turn_ratio)
+ tgram.add_u8(run_state)
+ tgram.add_u32(tacho_limit)
+ return tgram
+
+def set_input_mode(opcode, port, sensor_type, sensor_mode):
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ tgram.add_u8(sensor_type)
+ tgram.add_u8(sensor_mode)
+ return tgram
+
+def get_output_state(opcode, port):
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ return tgram
+
+def _parse_get_output_state(tgram):
+ tgram.check_status()
+ port = tgram.parse_u8()
+ power = tgram.parse_s8()
+ mode = tgram.parse_u8()
+ regulation = tgram.parse_u8()
+ turn_ratio = tgram.parse_s8()
+ run_state = tgram.parse_u8()
+ tacho_limit = tgram.parse_u32()
+ tacho_count = tgram.parse_s32()
+ block_tacho_count = tgram.parse_s32()
+ rotation_count = tgram.parse_s32()
+ return (port, power, mode, regulation, turn_ratio, run_state,
+ tacho_limit, tacho_count, block_tacho_count, rotation_count)
+
+def get_input_values(opcode, port):
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ return tgram
+
+def _parse_get_input_values(tgram):
+ tgram.check_status()
+ port = tgram.parse_u8()
+ valid = tgram.parse_u8()
+ calibrated = tgram.parse_u8()
+ sensor_type = tgram.parse_u8()
+ sensor_mode = tgram.parse_u8()
+ raw_ad_value = tgram.parse_u16()
+ normalized_ad_value = tgram.parse_u16()
+ scaled_value = tgram.parse_s16()
+ calibrated_value = tgram.parse_s16()
+ return (port, valid, calibrated, sensor_type, sensor_mode, raw_ad_value,
+ normalized_ad_value, scaled_value, calibrated_value)
+
+def reset_input_scaled_value(opcode, port):
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ return tgram
+
+def message_write(opcode, inbox, message):
+ tgram = _create(opcode)
+ tgram.add_u8(inbox)
+ tgram.add_u8(len(message) + 1)
+ tgram.add_string(len(message), message)
+ tgram.add_u8(0)
+ return tgram
+
+def reset_motor_position(opcode, port, relative):
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ tgram.add_u8(relative)
+ return tgram
+
+def get_battery_level(opcode):
+ return _create(opcode)
+
+def _parse_get_battery_level(tgram):
+ tgram.check_status()
+ millivolts = tgram.parse_u16()
+ return millivolts
+
+def stop_sound_playback(opcode):
+ return _create(opcode)
+
+def keep_alive(opcode):
+ return _create(opcode)
+
+def _parse_keep_alive(tgram):
+ tgram.check_status()
+ sleep_time = tgram.parse_u32()
+ return sleep_time
+
+def ls_get_status(opcode, port):
+ 'Get status of low-speed sensor (ultrasonic)'
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ return tgram
+
+def _parse_ls_get_status(tgram):
+ tgram.check_status()
+ n_bytes = tgram.parse_u8()
+ return n_bytes
+
+def ls_write(opcode, port, tx_data, rx_bytes):
+ 'Write a low-speed command to a sensor (ultrasonic)'
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ tgram.add_u8(len(tx_data))
+ tgram.add_u8(rx_bytes)
+ tgram.add_string(len(tx_data), tx_data)
+ return tgram
+
+def ls_read(opcode, port):
+ 'Read a low-speed sensor value (ultrasonic)'
+ tgram = _create(opcode)
+ tgram.add_u8(port)
+ return tgram
+
+def _parse_ls_read(tgram):
+ tgram.check_status()
+ n_bytes = tgram.parse_u8()
+ contents = tgram.parse_string()
+ return contents[:n_bytes]
+
+def get_current_program_name(opcode):
+ return _create(opcode)
+
+def _parse_get_current_program_name(tgram):
+ tgram.check_status()
+ fname = tgram.parse_string()
+ return fname
+
+def message_read(opcode, remote_inbox, local_inbox, remove):
+ tgram = _create(opcode)
+ tgram.add_u8(remote_inbox)
+ tgram.add_u8(local_inbox)
+ tgram.add_u8(remove)
+ return tgram
+
+def _parse_message_read(tgram):
+ tgram.check_status()
+ local_inbox = tgram.parse_u8()
+ n_bytes = tgram.parse_u8()
+ message = tgram.parse_string()
+ return (local_inbox, message[:n_bytes])
+
+OPCODES = {
+ 0x00: (start_program, _parse_simple),
+ 0x01: (stop_program, _parse_simple),
+ 0x02: (play_sound_file, _parse_simple),
+ 0x03: (play_tone, _parse_simple),
+ 0x04: (set_output_state, _parse_simple),
+ 0x05: (set_input_mode, _parse_simple),
+ 0x06: (get_output_state, _parse_get_output_state),
+ 0x07: (get_input_values, _parse_get_input_values),
+ 0x08: (reset_input_scaled_value, _parse_simple),
+ 0x09: (message_write, _parse_simple),
+ 0x0A: (reset_motor_position, _parse_simple),
+ 0x0B: (get_battery_level, _parse_get_battery_level),
+ 0x0C: (stop_sound_playback, _parse_simple),
+ 0x0D: (keep_alive, _parse_keep_alive),
+ 0x0E: (ls_get_status, _parse_ls_get_status),
+ 0x0F: (ls_write, _parse_simple),
+ 0x10: (ls_read, _parse_ls_read),
+ 0x11: (get_current_program_name, _parse_get_current_program_name),
+ 0x13: (message_read, _parse_message_read),
+}
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/error.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/error.py
new file mode 100644
index 0000000..3d14497
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/error.py
@@ -0,0 +1,87 @@
+# nxt.error module -- LEGO Mindstorms NXT error handling
+# Copyright (C) 2006, 2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+'Declarations for the errors'
+
+class ProtocolError(Exception):
+ pass
+
+class SysProtError(ProtocolError):
+ pass
+
+class FileExistsError(SysProtError):
+ pass
+
+class FileNotFound(SysProtError):
+ pass
+
+class ModuleNotFound(SysProtError):
+ pass
+
+class DirProtError(ProtocolError):
+ pass
+
+class I2CError(DirProtError):
+ pass
+
+class I2CPendingError(I2CError):
+ pass
+
+CODES = {
+ 0x00: None,
+ 0x20: I2CPendingError('Pending communication transaction in progress'),
+ 0x40: DirProtError('Specified mailbox queue is empty'),
+ 0x81: SysProtError('No more handles'),
+ 0x82: SysProtError('No space'),
+ 0x83: SysProtError('No more files'),
+ 0x84: SysProtError('End of file expected'),
+ 0x85: SysProtError('End of file'),
+ 0x86: SysProtError('Not a linear file'),
+ 0x87: FileNotFound('File not found'),
+ 0x88: SysProtError('Handle already closed'),
+ 0x89: SysProtError('No linear space'),
+ 0x8A: SysProtError('Undefined error'),
+ 0x8B: SysProtError('File is busy'),
+ 0x8C: SysProtError('No write buffers'),
+ 0x8D: SysProtError('Append not possible'),
+ 0x8E: SysProtError('File is full'),
+ 0x8F: FileExistsError('File exists'),
+ 0x90: ModuleNotFound('Module not found'),
+ 0x91: SysProtError('Out of bounds'),
+ 0x92: SysProtError('Illegal file name'),
+ 0x93: SysProtError('Illegal handle'),
+ 0xBD: DirProtError('Request failed (i.e. specified file not found)'),
+ 0xBE: DirProtError('Unknown command opcode'),
+ 0xBF: DirProtError('Insane packet'),
+ 0xC0: DirProtError('Data contains out-of-range values'),
+ 0xDD: DirProtError('Communication bus error'),
+ 0xDE: DirProtError('No free memory in communication buffer'),
+ 0xDF: DirProtError('Specified channel/connection is not valid'),
+ 0xE0: I2CError('Specified channel/connection not configured or busy'),
+ 0xEC: DirProtError('No active program'),
+ 0xED: DirProtError('Illegal size specified'),
+ 0xEE: DirProtError('Illegal mailbox queue ID specified'),
+ 0xEF: DirProtError('Attempted to access invalid field of a structure'),
+ 0xF0: DirProtError('Bad input or output specified'),
+ 0xFB: DirProtError('Insufficient memory available'),
+ 0xFF: DirProtError('Bad arguments'),
+}
+
+def check_status(status):
+ if status:
+ ex = CODES.get(status)
+ if ex:
+ raise ex
+ else:
+ raise ProtocolError, status
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/fantomglue.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/fantomglue.py
new file mode 100644
index 0000000..4a2497a
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/fantomglue.py
@@ -0,0 +1,55 @@
+# fantom.py module -- Glue code from NXT_Python to Fantom, allowing
+# NXT_Python to run on Mac without modification. Supports subset of
+# PyBluez/bluetooth.py used by NXT_Python.
+#
+# Copyright (C) 2011 Tat-Chee Wan
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+import pyfantom
+
+FANTOM_BT='BT'
+FANTOM_USB='USB'
+
+
+def discover_devices(lookup_names=False): # parameter is ignored
+ pairs = []
+ d = pyfantom.finddevices(proto = FANTOM_BT)
+ for p in d:
+ h = p[0]
+ n = p[1]
+ pairs.append((h, n))
+ return pairs
+
+class BluetoothSocket:
+
+ def __init__(self, proto = FANTOM_BT, _sock=None):
+ if _sock is None:
+ _sock = pyfantom.socket(proto)
+ self._sock = _sock
+ self._proto = proto
+
+ def connect(self, addrport):
+ addr, port = addrport
+ self._sock.connect( (addr, port ))
+
+ def send(self, data):
+ return self._sock.send( data )
+
+ def recv(self, numbytes):
+ return self._sock.recv( numbytes )
+
+ def close(self):
+ return self._sock.close()
+
+class BluetoothError(IOError):
+ pass
+
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/lightblueglue.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/lightblueglue.py
new file mode 100644
index 0000000..f2ab92f
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/lightblueglue.py
@@ -0,0 +1,53 @@
+# bluetooth.py module -- Glue code from NXT_Python to Lightblue, allowing
+# NXT_Python to run on Mac without modification. Supports subset of
+# PyBluez/bluetooth.py used by NXT_Python.
+#
+# Copyright (C) 2007 Simon D. Levy
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+import lightblue
+
+RFCOMM=11
+
+def discover_devices(lookup_names=False): # parameter is ignored
+ pairs = []
+ d = lightblue.finddevices()
+ for p in d:
+ h = p[0]
+ n = p[1]
+ pairs.append((h, n))
+ return pairs
+
+class BluetoothSocket:
+
+ def __init__(self, proto = RFCOMM, _sock=None):
+ if _sock is None:
+ _sock = lightblue.socket(proto)
+ self._sock = _sock
+ self._proto = proto
+
+ def connect(self, addrport):
+ addr, port = addrport
+ self._sock.connect( (addr, port ))
+
+ def send(self, data):
+ return self._sock.send( data )
+
+ def recv(self, numbytes):
+ return self._sock.recv( numbytes )
+
+ def close(self):
+ return self._sock.close()
+
+class BluetoothError(IOError):
+ pass
+
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/locator.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/locator.py
new file mode 100644
index 0000000..4adc680
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/locator.py
@@ -0,0 +1,57 @@
+# nxt.locator module -- Locate LEGO Minstorms NXT bricks via USB or Bluetooth
+# Copyright (C) 2006, 2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+class BrickNotFoundError(Exception):
+ pass
+
+class NoBackendError(Exception):
+ pass
+
+def find_bricks(host=None, name=None, silent=False):
+ """Used by find_one_brick to look for bricks ***ADVANCED USERS ONLY***"""
+
+ try:
+ import usbsock
+ usb_available = True
+ socks = usbsock.find_bricks(host, name)
+ for s in socks:
+ yield s
+ except ImportError:
+ usb_available = False
+ import sys
+ if not silent: print >>sys.stderr, "USB module unavailable, not searching there"
+
+ try:
+ import bluesock
+ try:
+ socks = bluesock.find_bricks(host, name)
+ for s in socks:
+ yield s
+ except (bluesock.bluetooth.BluetoothError, IOError): #for cases such as no adapter, bluetooth throws IOError, not BluetoothError
+ pass
+ except ImportError:
+ import sys
+ if not silent: print >>sys.stderr, "Bluetooth module unavailable, not searching there"
+ if not usb_available:
+ raise NoBackendError("Neither USB nor Bluetooth could be used! Did you install PyUSB or PyBluez?")
+
+
+def find_one_brick(host=None, name=None, silent=False):
+ """Use to find one brick. After it returns a usbsock object or a bluesock
+object, it automatically connects to it. The host and name args limit
+the search to a given MAC or brick name. Set silent to True to stop
+nxt-python from printing anything during the search."""
+ for s in find_bricks(host, name, silent):
+ return s.connect()
+ raise BrickNotFoundError
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/motor.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/motor.py
new file mode 100644
index 0000000..f29a5a5
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/motor.py
@@ -0,0 +1,431 @@
+# nxt.motor module -- Class to control LEGO Mindstorms NXT motors
+# Copyright (C) 2006 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, rhn
+# Copyright (C) 2010 rhn
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+"""Use for motor control"""
+
+import time
+import warnings
+
+PORT_A = 0x00
+PORT_B = 0x01
+PORT_C = 0x02
+PORT_ALL = 0xFF
+
+MODE_IDLE = 0x00
+MODE_MOTOR_ON = 0x01
+MODE_BRAKE = 0x02
+MODE_REGULATED = 0x04
+
+REGULATION_IDLE = 0x00
+REGULATION_MOTOR_SPEED = 0x01
+REGULATION_MOTOR_SYNC = 0x02
+
+RUN_STATE_IDLE = 0x00
+RUN_STATE_RAMP_UP = 0x10
+RUN_STATE_RUNNING = 0x20
+RUN_STATE_RAMP_DOWN = 0x40
+
+LIMIT_RUN_FOREVER = 0
+
+class BlockedException(Exception):
+ pass
+
+class OutputState(object):
+ """An object holding the internal state of a motor, not including rotation
+ counters.
+ """
+ def __init__(self, values):
+ (self.power, self.mode, self.regulation,
+ self.turn_ratio, self.run_state, self.tacho_limit) = values
+
+ def to_list(self):
+ """Returns a list of properties that can be used with set_output_state.
+ """
+ return [self.power, self.mode, self.regulation,
+ self.turn_ratio, self.run_state, self.tacho_limit]
+
+ def __str__(self):
+ modes = []
+ if self.mode & MODE_MOTOR_ON:
+ modes.append('on')
+ if self.mode & MODE_BRAKE:
+ modes.append('brake')
+ if self.mode & MODE_REGULATED:
+ modes.append('regulated')
+ if not modes:
+ modes.append('idle')
+ mode = '&'.join(modes)
+ regulation = 'regulation: ' + \
+ ['idle', 'speed', 'sync'][self.regulation]
+ run_state = 'run state: ' + {0: 'idle', 0x10: 'ramp_up',
+ 0x20: 'running', 0x40: 'ramp_down'}[self.run_state]
+ return ', '.join([mode, regulation, str(self.turn_ratio), run_state] + [str(self.tacho_limit)])
+
+
+class TachoInfo:
+ """An object containing the information about the rotation of a motor"""
+ def __init__(self, values):
+ self.tacho_count, self.block_tacho_count, self.rotation_count = values
+
+ def get_target(self, tacho_limit, direction):
+ """Returns a TachoInfo object which corresponds to tacho state after
+ moving for tacho_limit ticks. Direction can be 1 (add) or -1 (subtract)
+ """
+ # TODO: adjust other fields
+ if abs(direction) != 1:
+ raise ValueError('Invalid direction')
+ new_tacho = self.tacho_count + direction * tacho_limit
+ return TachoInfo([new_tacho, None, None])
+
+ def is_greater(self, target, direction):
+ return direction * (self.tacho_count - target.tacho_count) > 0
+
+ def is_near(self, target, threshold):
+ difference = abs(target.tacho_count - self.tacho_count)
+ return difference < threshold
+
+ def __str__(self):
+ return str((self.tacho_count, self.block_tacho_count,
+ self.rotation_count))
+
+
+class SynchronizedTacho(object):
+ def __init__(self, leader_tacho, follower_tacho):
+ self.leader_tacho = leader_tacho
+ self.follower_tacho = follower_tacho
+
+ def get_target(self, tacho_limit, direction):
+ """This method will leave follower's target as None"""
+ leader_tacho = self.leader_tacho.get_target(tacho_limit, direction)
+ return SynchronizedTacho(leader_tacho, None)
+
+ def is_greater(self, other, direction):
+ return self.leader_tacho.is_greater(other.leader_tacho, direction)
+
+ def is_near(self, other, threshold):
+ return self.leader_tacho.is_near(other.leader_tacho, threshold)
+
+ def __str__(self):
+ if self.follower_tacho is not None:
+ t2 = str(self.follower_tacho.tacho_count)
+ else:
+ t2 = 'None'
+ t1 = str(self.leader_tacho.tacho_count)
+ return 'tacho: ' + t1 + ' ' + t2
+
+
+def get_tacho_and_state(values):
+ """A convenience function. values is the list of values from
+ get_output_state. Returns both OutputState and TachoInfo.
+ """
+ return OutputState(values[1:7]), TachoInfo(values[7:])
+
+
+class BaseMotor(object):
+ """Base class for motors"""
+ debug = 0
+ def _debug_out(self, message):
+ if self.debug:
+ print message
+
+ def turn(self, power, tacho_units, brake=True, timeout=1, emulate=True):
+ """Use this to turn a motor. The motor will not stop until it turns the
+ desired distance. Accuracy is much better over a USB connection than
+ with bluetooth...
+ power is a value between -127 and 128 (an absolute value greater than
+ 64 is recommended)
+ tacho_units is the number of degrees to turn the motor. values smaller
+ than 50 are not recommended and may have strange results.
+ brake is whether or not to hold the motor after the function exits
+ (either by reaching the distance or throwing an exception).
+ timeout is the number of seconds after which a BlockedException is
+ raised if the motor doesn't turn
+ emulate is a boolean value. If set to False, the motor is aware of the
+ tacho limit. If True, a run() function equivalent is used.
+ Warning: motors remember their positions and not using emulate
+ may lead to strange behavior, especially with synced motors
+ """
+
+ tacho_limit = tacho_units
+
+ if tacho_limit < 0:
+ raise ValueError, "tacho_units must be greater than 0!"
+
+ if self.method == 'bluetooth':
+ threshold = 70
+ elif self.method == 'usb':
+ threshold = 5
+ else:
+ threshold = 30 #compromise
+
+ tacho = self.get_tacho()
+ state = self._get_new_state()
+
+ # Update modifiers even if they aren't used, might have been changed
+ state.power = power
+ if not emulate:
+ state.tacho_limit = tacho_limit
+
+ self._debug_out('Updating motor information...')
+ self._set_state(state)
+
+ direction = 1 if power > 0 else -1
+ self._debug_out('tachocount: ' + str(tacho))
+ current_time = time.time()
+ tacho_target = tacho.get_target(tacho_limit, direction)
+
+ blocked = False
+ try:
+ while True:
+ time.sleep(self._eta(tacho, tacho_target, power) / 2)
+
+ if not blocked: # if still blocked, don't reset the counter
+ last_tacho = tacho
+ last_time = current_time
+
+ tacho = self.get_tacho()
+ current_time = time.time()
+ blocked = self._is_blocked(tacho, last_tacho, direction)
+ if blocked:
+ self._debug_out(('not advancing', last_tacho, tacho))
+ # the motor can be up to 80+ degrees in either direction from target when using bluetooth
+ if current_time - last_time > timeout:
+ if tacho.is_near(tacho_target, threshold):
+ break
+ else:
+ raise BlockedException("Blocked!")
+ else:
+ self._debug_out(('advancing', last_tacho, tacho))
+ if tacho.is_near(tacho_target, threshold) or tacho.is_greater(tacho_target, direction):
+ break
+ finally:
+ if brake:
+ self.brake()
+ else:
+ self.idle()
+
+
+class Motor(BaseMotor):
+ def __init__(self, brick, port):
+ self.brick = brick
+ self.port = port
+ self._read_state()
+ self.sync = 0
+ self.turn_ratio = 0
+ if str(type(self.brick.sock)) == "<class 'nxt.bluesock.BlueSock'>":
+ self.method = 'bluetooth'
+ elif str(type(self.brick.sock)) == "<class 'nxt.usbsock.USBSock'>":
+ self.method = 'usb'
+ else:
+ print "Warning: Socket object does not of a known type."
+ print "The name is: " + str(type(self.brick.sock))
+ print "Please report this problem to the developers!"
+ print "For now, turn() accuracy will not be optimal."
+ print "Continuing happily..."
+ self.method = None
+
+ def _set_state(self, state):
+ self._debug_out('Setting brick output state...')
+ list_state = [self.port] + state.to_list()
+ self.brick.set_output_state(*list_state)
+ self._debug_out(state)
+ self._state = state
+ self._debug_out('State set.')
+
+ def _read_state(self):
+ self._debug_out('Getting brick output state...')
+ values = self.brick.get_output_state(self.port)
+ self._debug_out('State got.')
+ self._state, tacho = get_tacho_and_state(values)
+ return self._state, tacho
+
+ #def get_tacho_and_state here would allow tacho manipulation
+
+ def _get_state(self):
+ """Returns a copy of the current motor state for manipulation."""
+ return OutputState(self._state.to_list())
+
+ def _get_new_state(self):
+ state = self._get_state()
+ if self.sync:
+ state.mode = MODE_MOTOR_ON | MODE_REGULATED
+ state.regulation = REGULATION_MOTOR_SYNC
+ state.turn_ratio = self.turn_ratio
+ else:
+ state.mode = MODE_MOTOR_ON | MODE_REGULATED
+ state.regulation = REGULATION_MOTOR_SPEED
+ state.run_state = RUN_STATE_RUNNING
+ state.tacho_limit = LIMIT_RUN_FOREVER
+ return state
+
+ def get_tacho(self):
+ return self._read_state()[1]
+
+ def reset_position(self, relative):
+ """Resets the counters. Relative can be True or False"""
+ self.brick.reset_motor_position(self.port, relative)
+
+ def run(self, power=100, regulated=False):
+ '''Tells the motor to run continuously. If regulated is True, then the
+ synchronization starts working.
+ '''
+ state = self._get_new_state()
+ state.power = power
+ if not regulated:
+ state.mode = MODE_MOTOR_ON
+ self._set_state(state)
+
+ def brake(self):
+ """Holds the motor in place"""
+ state = self._get_new_state()
+ state.power = 0
+ state.mode = MODE_MOTOR_ON | MODE_BRAKE | MODE_REGULATED
+ self._set_state(state)
+
+ def idle(self):
+ '''Tells the motor to stop whatever it's doing. It also desyncs it'''
+ state = self._get_new_state()
+ state.power = 0
+ state.mode = MODE_IDLE
+ state.regulation = REGULATION_IDLE
+ state.run_state = RUN_STATE_IDLE
+ self._set_state(state)
+
+ def weak_turn(self, power, tacho_units):
+ """Tries to turn a motor for the specified distance. This function
+ returns immediately, and it's not guaranteed that the motor turns that
+ distance. This is an interface to use tacho_limit without
+ REGULATION_MODE_SPEED
+ """
+ tacho_limit = tacho_units
+ tacho = self.get_tacho()
+ state = self._get_new_state()
+
+ # Update modifiers even if they aren't used, might have been changed
+ state.mode = MODE_MOTOR_ON
+ state.regulation = REGULATION_IDLE
+ state.power = power
+ state.tacho_limit = tacho_limit
+
+ self._debug_out('Updating motor information...')
+ self._set_state(state)
+
+ def _eta(self, current, target, power):
+ """Returns time in seconds. Do not trust it too much"""
+ tacho = abs(current.tacho_count - target.tacho_count)
+ return (float(tacho) / abs(power)) / 5
+
+ def _is_blocked(self, tacho, last_tacho, direction):
+ """Returns if any of the engines is blocked"""
+ return direction * (last_tacho.tacho_count - tacho.tacho_count) >= 0
+
+
+class SynchronizedMotors(BaseMotor):
+ """The object used to make two motors run in sync. Many objects may be
+ present at the same time but they can't be used at the same time.
+ Warning! Movement methods reset tacho counter.
+ THIS CODE IS EXPERIMENTAL!!!
+ """
+ def __init__(self, leader, follower, turn_ratio):
+ """Turn ratio can be >= 0 only! If you want to have it reversed,
+ change motor order.
+ """
+ if follower.brick != leader.brick:
+ raise ValueError('motors belong to different bricks')
+ self.leader = leader
+ self.follower = follower
+ self.method = self.leader.method #being from the same brick, they both have the same com method.
+
+ if turn_ratio < 0:
+ raise ValueError('Turn ratio <0. Change motor order instead!')
+
+ if self.leader.port == self.follower.port:
+ raise ValueError("The same motor passed twice")
+ elif self.leader.port > self.follower.port:
+ self.turn_ratio = turn_ratio
+ else:
+ self._debug_out('reversed')
+ self.turn_ratio = -turn_ratio
+
+ def _get_new_state(self):
+ return self.leader._get_new_state()
+
+ def _set_state(self, state):
+ self.leader._set_state(state)
+ self.follower._set_state(state)
+
+ def get_tacho(self):
+ leadertacho = self.leader.get_tacho()
+ followertacho = self.follower.get_tacho()
+ return SynchronizedTacho(leadertacho, followertacho)
+
+ def reset_position(self, relative):
+ """Resets the counters. Relative can be True or False"""
+ self.leader.reset_position(relative)
+ self.follower.reset_position(relative)
+
+ def _enable(self): # This works as expected. I'm not sure why.
+ #self._disable()
+ self.reset_position(True)
+ self.leader.sync = True
+ self.follower.sync = True
+ self.leader.turn_ratio = self.turn_ratio
+ self.follower.turn_ratio = self.turn_ratio
+
+ def _disable(self): # This works as expected. (tacho is reset ok)
+ self.leader.sync = False
+ self.follower.sync = False
+ #self.reset_position(True)
+ self.leader.idle()
+ self.follower.idle()
+ #self.reset_position(True)
+
+ def run(self, power=100):
+ """Warning! After calling this method, make sure to call idle. The
+ motors are reported to behave wildly otherwise.
+ """
+ self._enable()
+ self.leader.run(power, True)
+ self.follower.run(power, True)
+
+ def brake(self):
+ self._disable() # reset the counters
+ self._enable()
+ self.leader.brake() # brake both motors at the same time
+ self.follower.brake()
+ self._disable() # now brake as usual
+ self.leader.brake()
+ self.follower.brake()
+
+ def idle(self):
+ self._disable()
+
+ def turn(self, power, tacho_units, brake=True, timeout=1):
+ self._enable()
+ # non-emulation is a nightmare, tacho is being counted differently
+ try:
+ if power < 0:
+ self.leader, self.follower = self.follower, self.leader
+ BaseMotor.turn(self, power, tacho_units, brake, timeout, emulate=True)
+ finally:
+ if power < 0:
+ self.leader, self.follower = self.follower, self.leader
+
+ def _eta(self, tacho, target, power):
+ return self.leader._eta(tacho.leader_tacho, target.leader_tacho, power)
+
+ def _is_blocked(self, tacho, last_tacho, direction):
+ # no need to check both, they're synced
+ return self.leader._is_blocked(tacho.leader_tacho, last_tacho.leader_tacho, direction)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/__init__.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/__init__.py
new file mode 100644
index 0000000..8f2a337
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/__init__.py
@@ -0,0 +1,50 @@
+# nxt.sensor module -- Classes to read LEGO Mindstorms NXT sensors
+# Copyright (C) 2006,2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
+# Copyright (C) 2010 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+from .common import *
+from .analog import BaseAnalogSensor
+from .digital import BaseDigitalSensor, find_class
+from .generic import Touch, Light, Sound, Ultrasonic, Color20
+import mindsensors
+MSSumoEyes = mindsensors.SumoEyes
+MSCompassv2 = mindsensors.Compassv2
+MSDIST = mindsensors.DIST
+MSRTC = mindsensors.RTC
+MSACCL = mindsensors.ACCL
+MSServo = mindsensors.Servo
+MSMTRMUX = mindsensors.MTRMUX
+MSLineLeader = mindsensors.LineLeader
+MSMMX = mindsensors.MMX
+MSPS2 = mindsensors.PS2
+MSHID = mindsensors.HID
+import hitechnic
+HTCompass = hitechnic.Compass
+HTAccelerometer = hitechnic.Accelerometer
+HTGyro = hitechnic.Gyro
+HTColorv2 = hitechnic.Colorv2
+HTEOPD = hitechnic.EOPD
+HTIRReceiver = hitechnic.IRReceiver
+HTIRSeekerv2 = hitechnic.IRSeekerv2
+HTPrototype = hitechnic.Prototype
+
+
+def get_sensor(brick, port):
+ """Tries to detect the sensor type and return the correct sensor
+object. Does not work for sensors with no identification information (such as
+all analog sensors or the MindSensors RTC.
+ """
+ base_sensor = BaseDigitalSensor(brick, port, False)
+ info = base_sensor.get_sensor_info()
+ return find_class(info)(brick, port, check_compatible=False)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/analog.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/analog.py
new file mode 100644
index 0000000..e8d9b7b
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/analog.py
@@ -0,0 +1,41 @@
+# nxt.sensor.analog module -- submodule for use with analog sensors
+# Copyright (C) 2006,2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+from common import *
+
+
+class RawReading: # can be converted to the old version
+ """A pseudo-structure holding the raw sensor values as returned by the NXT
+ brick.
+ """
+ def __init__(self, values):
+ (self.port, self.valid, self.calibrated, self.sensor_type, self.mode,
+ self.raw_ad_value, self.normalized_ad_value, self.scaled_value,
+ self.calibrated_value) = values
+
+ def __repr__(self):
+ return str((self.port, self.valid, self.calibrated, self.sensor_type, self.mode,
+ self.raw_ad_value, self.normalized_ad_value, self.scaled_value,
+ self.calibrated_value))
+
+
+class BaseAnalogSensor(Sensor):
+ """Object for analog sensors."""
+ def get_input_values(self):
+ """Returns the raw sensor values as returned by the NXT brick."""
+ return RawReading(self.brick.get_input_values(self.port))
+
+ def reset_input_scaled_value(self):
+ self.brick.reset_input_scaled_value()
+
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/common.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/common.py
new file mode 100644
index 0000000..5afd6c8
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/common.py
@@ -0,0 +1,67 @@
+# nxt.sensor.common module -- submodule with stuff useful in all sensors
+# Copyright (C) 2006,2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+PORT_1 = 0x00
+PORT_2 = 0x01
+PORT_3 = 0x02
+PORT_4 = 0x03
+
+class Type(object):
+ 'Namespace for enumeration of the type of sensor'
+ # NOTE: just a namespace (enumeration)
+ NO_SENSOR = 0x00
+ SWITCH = 0x01 # Touch sensor
+ TEMPERATURE = 0x02
+ REFLECTION = 0x03
+ ANGLE = 0x04
+ LIGHT_ACTIVE = 0x05 # Light sensor (illuminated)
+ LIGHT_INACTIVE = 0x06 # Light sensor (ambient)
+ SOUND_DB = 0x07 # Sound sensor (unadjusted)
+ SOUND_DBA = 0x08 # Sound sensor (adjusted)
+ CUSTOM = 0x09
+ LOW_SPEED = 0x0A
+ LOW_SPEED_9V = 0x0B # Low-speed I2C (Ultrasonic sensor)
+ HIGH_SPEED = 0x0C #Possibly other mode for I2C; may be used by future sensors.
+ COLORFULL = 0x0D #NXT 2.0 color sensor in full color mode (color sensor mode)
+ COLORRED = 0x0E #NXT 2.0 color sensor with red light on (light sensor mode)
+ COLORGREEN = 0x0F #NXT 2.0 color sensor with green light on (light sensor mode)
+ COLORBLUE = 0x10 #NXT 2.0 color sensor in with blue light on (light sensor mode)
+ COLORNONE = 0x11 #NXT 2.0 color sensor in with light off (light sensor mode)
+ COLOREXIT = 0x12 #NXT 2.0 color sensor internal state (not sure what this is for yet)
+
+
+class Mode(object):
+ 'Namespace for enumeration of the mode of sensor'
+ # NOTE: just a namespace (enumeration)
+ RAW = 0x00
+ BOOLEAN = 0x20
+ TRANSITION_CNT = 0x40
+ PERIOD_COUNTER = 0x60
+ PCT_FULL_SCALE = 0x80
+ CELSIUS = 0xA0
+ FAHRENHEIT = 0xC0
+ ANGLE_STEPS = 0xE0
+ MASK = 0xE0
+ MASK_SLOPE = 0x1F # Why isn't this slope thing documented?
+
+
+class Sensor(object):
+ 'Main sensor object'
+
+ def __init__(self, brick, port):
+ self.brick = brick
+ self.port = port
+
+ def set_input_mode(self, type_, mode):
+ self.brick.set_input_mode(self.port, type_, mode)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/digital.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/digital.py
new file mode 100644
index 0000000..dbc730f
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/digital.py
@@ -0,0 +1,227 @@
+# nxt.sensor module -- Classes to read LEGO Mindstorms NXT sensors
+# Copyright (C) 2006,2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
+# Copyright (C) 2010,2011 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+from nxt.error import I2CError, I2CPendingError, DirProtError
+
+from common import *
+from time import sleep, time
+import struct
+
+
+class SensorInfo:
+ def __init__(self, version, product_id, sensor_type):
+ self.version = version
+ self.product_id = product_id
+ self.sensor_type = sensor_type
+
+ def clarifybinary(self, instr, label):
+ outstr = ''
+ outstr += (label + ': `' + instr + '`\n')
+ for char in instr:
+ outstr += (hex(ord(char))+', ')
+ outstr += ('\n')
+ return outstr
+
+ def __str__(self):
+ outstr = ''
+ outstr += (self.clarifybinary(str(self.version), 'Version'))
+ outstr += (self.clarifybinary(str(self.product_id), 'Product ID'))
+ outstr += (self.clarifybinary(str(self.sensor_type), 'Type'))
+ return outstr
+
+class BaseDigitalSensor(Sensor):
+ """Object for digital sensors. I2C_ADDRESS is the dictionary storing name
+ to i2c address mappings. It should be updated in every subclass. When
+ subclassing this class, make sure to call add_compatible_sensor to add
+ compatible sensor data.
+ """
+ I2C_DEV = 0x02
+ I2C_ADDRESS = {'version': (0x00, '8s'),
+ 'product_id': (0x08, '8s'),
+ 'sensor_type': (0x10, '8s'),
+# 'factory_zero': (0x11, 1), # is this really correct?
+ 'factory_scale_factor': (0x12, 'B'),
+ 'factory_scale_divisor': (0x13, 'B'),
+ }
+
+ def __init__(self, brick, port, check_compatible=True):
+ """Creates a BaseDigitalSensor. If check_compatible is True, queries
+ the sensor for its name, and if a wrong sensor class was used, prints
+ a warning.
+ """
+ super(BaseDigitalSensor, self).__init__(brick, port)
+ self.set_input_mode(Type.LOW_SPEED_9V, Mode.RAW)
+ self.last_poll = time()
+ self.poll_delay = 0.01
+ sleep(0.1) # Give I2C time to initialize
+ #Don't do type checking if this class has no compatible sensors listed.
+ try: self.compatible_sensors
+ except AttributeError: check_compatible = False
+ if check_compatible:
+ sensor = self.get_sensor_info()
+ if not sensor in self.compatible_sensors:
+ print ('WARNING: Wrong sensor class chosen for sensor ' +
+ str(sensor.product_id) + ' on port ' + str(port) + '. ' + """
+You may be using the wrong type of sensor or may have connected the cable
+incorrectly. If you are sure you're using the correct sensor class for the
+sensor, this message is likely in error and you should disregard it and file a
+bug report, including the output of get_sensor_info(). This message can be
+suppressed by passing "check_compatible=False" when creating the sensor object.""")
+
+ def _ls_get_status(self, n_bytes):
+ for n in range(10):
+ try:
+ b = self.brick.ls_get_status(self.port)
+ if b >= n_bytes:
+ return b
+ except I2CPendingError:
+ pass
+ raise I2CError, 'ls_get_status timeout'
+
+ def _i2c_command(self, address, value, format):
+ """Writes an i2c value to the given address. value must be a string. value is
+ a tuple of values corresponding to the given format.
+ """
+ value = struct.pack(format, *value)
+ msg = chr(self.I2C_DEV) + chr(address) + value
+ if self.last_poll+self.poll_delay > time():
+ diff = time() - self.last_poll
+ sleep(self.poll_delay - diff)
+ self.last_poll = time()
+ self.brick.ls_write(self.port, msg, 0)
+
+ def _i2c_query(self, address, format):
+ """Reads an i2c value from given address, and returns a value unpacked
+ according to the given format. Format is the same as in the struct
+ module. See http://docs.python.org/library/struct.html#format-strings
+ """
+ n_bytes = struct.calcsize(format)
+ msg = chr(self.I2C_DEV) + chr(address)
+ if self.last_poll+self.poll_delay > time():
+ diff = time() - self.last_poll
+ sleep(self.poll_delay - diff)
+ self.last_poll = time()
+ self.brick.ls_write(self.port, msg, n_bytes)
+ try:
+ self._ls_get_status(n_bytes)
+ finally:
+ #we should clear the buffer no matter what happens
+ data = self.brick.ls_read(self.port)
+ if len(data) < n_bytes:
+ raise I2CError, 'Read failure: Not enough bytes'
+ data = struct.unpack(format, data[-n_bytes:])
+ return data
+
+ def read_value(self, name):
+ """Reads a value from the sensor. Name must be a string found in
+ self.I2C_ADDRESS dictionary. Entries in self.I2C_ADDRESS are in the
+ name: (address, format) form, with format as in the struct module.
+ Be careful on unpacking single variables - struct module puts them in
+ tuples containing only one element.
+ """
+ address, fmt = self.I2C_ADDRESS[name]
+ for n in range(3):
+ try:
+ return self._i2c_query(address, fmt)
+ except DirProtError:
+ pass
+ raise I2CError, "read_value timeout"
+
+ def write_value(self, name, value):
+ """Writes value to the sensor. Name must be a string found in
+ self.I2C_ADDRESS dictionary. Entries in self.I2C_ADDRESS are in the
+ name: (address, format) form, with format as in the struct module.
+ value is a tuple of values corresponding to the format from
+ self.I2C_ADDRESS dictionary.
+ """
+ address, fmt = self.I2C_ADDRESS[name]
+ self._i2c_command(address, value, fmt)
+
+ def get_sensor_info(self):
+ version = self.read_value('version')[0].split('\0')[0]
+ product_id = self.read_value('product_id')[0].split('\0')[0]
+ sensor_type = self.read_value('sensor_type')[0].split('\0')[0]
+ return SensorInfo(version, product_id, sensor_type)
+
+ @classmethod
+ def add_compatible_sensor(cls, version, product_id, sensor_type):
+ """Adds an entry in the compatibility table for the sensor. If version
+ is None, then it's the default class for this model. If product_id is
+ None, then this is the default class for this vendor.
+ """
+ try:
+ cls.compatible_sensors
+ except AttributeError:
+ cls.compatible_sensors = []
+ finally:
+ cls.compatible_sensors.append(SCompatibility(version, product_id,
+ sensor_type))
+ add_mapping(cls, version, product_id, sensor_type)
+
+
+class SCompatibility(SensorInfo):
+ """An object that helps manage the sensor mappings"""
+ def __eq__(self, other):
+ if self.product_id is None:
+ return self.product_id == other.product_id
+ elif self.version is None:
+ return (self.product_id == other.product_id and
+ self.sensor_type == other.sensor_type)
+ else:
+ return (self.version == other.version and
+ self.product_id == other.product_id and
+ self.sensor_type == other.sensor_type)
+
+sensor_mappings = {}
+
+
+def add_mapping(cls, version, product_id, sensor_type):
+ "None means any other value"
+ if product_id not in sensor_mappings:
+ sensor_mappings[product_id] = {}
+ models = sensor_mappings[product_id]
+
+ if sensor_type is None:
+ if sensor_type in models:
+ raise ValueError('Already registered!')
+ models[sensor_type] = cls
+ return
+
+ if sensor_type not in models:
+ models[sensor_type] = {}
+ versions = models[sensor_type]
+
+ if version in versions:
+ raise ValueError('Already registered!')
+ else:
+ versions[version] = cls
+
+
+class SearchError(Exception):
+ pass
+
+
+def find_class(info):
+ """Returns an appropriate class for the given SensorInfo"""
+ dic = sensor_mappings
+ for val, msg in zip((info.product_id, info.sensor_type, info.version),
+ ('Vendor', 'Model', 'Version')):
+ if val in dic:
+ dic = dic[val]
+ elif None in dic:
+ dic = dic[None]
+ else:
+ raise SearchError(msg + ' not found')
+ return dic[info.sensor_type][None]
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/generic.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/generic.py
new file mode 100644
index 0000000..b3d792f
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/generic.py
@@ -0,0 +1,154 @@
+# nxt.sensor.generic module -- Classes to read LEGO Mindstorms NXT sensors
+# Copyright (C) 2006,2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
+# Copyright (C) 2010 melducky, Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+from .common import *
+from .digital import BaseDigitalSensor
+from .analog import BaseAnalogSensor
+
+
+class Touch(BaseAnalogSensor):
+ """The LEGO touch sensor"""
+
+ def __init__(self, brick, port):
+ super(Touch, self).__init__(brick, port)
+ self.set_input_mode(Type.SWITCH, Mode.BOOLEAN)
+
+ def is_pressed(self):
+ return bool(self.get_input_values().scaled_value)
+
+ get_sample = is_pressed
+
+
+class Light(BaseAnalogSensor):
+ """Object for light sensors. It automatically turns off light when it's not
+ used.
+ """
+ def __init__(self, brick, port, illuminated=True):
+ super(Light, self).__init__(brick, port)
+
+ def set_illuminated(self, active):
+ if active:
+ type_ = Type.LIGHT_ACTIVE
+ else:
+ type_ = Type.LIGHT_INACTIVE
+ self.set_input_mode(type_, Mode.RAW)
+
+ def get_lightness(self):
+ return self.get_input_values().scaled_value
+
+ get_sample = get_lightness
+
+
+class Sound(BaseAnalogSensor):
+ 'Object for sound sensors'
+
+ def __init__(self, brick, port, adjusted=True):
+ super(Sound, self).__init__(brick, port)
+ self.set_adjusted(adjusted)
+
+ def set_adjusted(self, active):
+ if active:
+ type_ = Type.SOUND_DBA
+ else:
+ type_ = Type.SOUND_DB
+ self.set_input_mode(type_, Mode.RAW)
+
+ def get_loudness(self):
+ return self.get_input_values().scaled_value
+
+ get_sample = get_loudness
+
+
+class Ultrasonic(BaseDigitalSensor):
+ """Object for ultrasonic sensors"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'measurement_units': (0x14, '7s'),
+ 'continuous_measurement_interval': (0x40, 'B'),
+ 'command': (0x41, 'B'),
+ 'measurement_byte_0': (0x42, 'B'),
+ 'measurements': (0x42, '8B'),
+ 'actual_scale_factor': (0x51, 'B'),
+ 'actual_scale_divisor': (0x52, 'B'),
+ })
+
+ class Commands:
+ 'These are for passing to command()'
+ OFF = 0x00
+ SINGLE_SHOT = 0x01
+ CONTINUOUS_MEASUREMENT = 0x02
+ EVENT_CAPTURE = 0x03 #Optimize results when other Ultrasonic sensors running
+ REQUEST_WARM_RESET = 0x04
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(Ultrasonic, self).__init__(brick, port, check_compatible)
+ self.set_input_mode(Type.LOW_SPEED_9V, Mode.RAW)
+
+ def get_distance(self):
+ 'Function to get data from the ultrasonic sensor'
+ return self.read_value('measurement_byte_0')[0]
+
+ get_sample = get_distance
+
+ def get_measurement_units(self):
+ return self.read_value('measurement_units')[0].split('\0')[0]
+
+ def get_all_measurements(self):
+ "Returns all the past readings in measurement_byte_0 through 7"
+ return self.read_value('measurements')
+
+ def get_measurement_no(self, number):
+ "Returns measurement_byte_number"
+ if not 0 <= number < 8:
+ raise ValueError('Measurements are numbered 0 to 7, not ' + str(number))
+ base_address, format = self.I2C_ADDRESS['measurement_byte_0']
+ return self._i2c_query(base_address + number, format)[0]
+
+ def command(self, command):
+ self.write_value('command', (command, ))
+
+ def get_interval(self):
+ 'Get the sample interval for continuous measurement mode -- Unknown units'
+ return self.read_value('continuous_measurement_interval')
+
+ def set_interval(self, interval):
+ """Set the sample interval for continuous measurement mode.
+Unknown units; default is 1"""
+ self.write_value('continuous_measurement_interval', interval)
+
+Ultrasonic.add_compatible_sensor(None, 'LEGO', 'Sonar') #Tested with version 'V1.0'
+
+
+class Color20(BaseAnalogSensor):
+ def __init__(self, brick, port):
+ super(Color20, self).__init__(brick, port)
+ self.set_light_color(Type.COLORFULL)
+
+ def set_light_color(self, color):
+ """color should be one of the COLOR* Type namespace values, e.g. Type.COLORBLUE"""
+ self.set_input_mode(color, Mode.RAW)
+
+ def get_light_color(self):
+ """Returns one of the COLOR* Type namespace values, e.g. Type.COLORRED"""
+ return self.get_input_values().sensor_type
+
+ def get_reflected_light(self, color):
+ self.set_light_color(color)
+ return self.get_input_values().scaled_value
+
+ def get_color(self):
+ self.get_reflected_light(Type.COLORFULL)
+ return self.get_input_values().scaled_value
+
+ get_sample = get_color
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/hitechnic.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/hitechnic.py
new file mode 100644
index 0000000..d2bd8ec
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/hitechnic.py
@@ -0,0 +1,611 @@
+# nxt.sensor.hitechnic module -- Classes to read HiTechnic sensors
+# Copyright (C) 2006,2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
+# Copyright (C) 2010 rhn, Marcus Wanner, melducky, Samuel Leeman-Munk
+# Copyright (C) 2011 jerradgenson, Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+from .common import *
+from .digital import BaseDigitalSensor
+from .analog import BaseAnalogSensor
+
+
+class Compass(BaseDigitalSensor):
+ """Hitechnic compass sensor."""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'mode': (0x41, 'B'),
+ 'heading': (0x42, 'B'),
+ 'adder' : (0x43, 'B'),
+ })
+
+ class Modes:
+ MEASUREMENT = 0x00
+ CALIBRATION = 0x43
+ CALIBRATION_FAILED = 0x02
+
+ def get_heading(self):
+ """Returns heading from North in degrees."""
+
+ two_degree_heading = self.read_value('heading')[0]
+ adder = self.read_value('adder')[0]
+ heading = two_degree_heading * 2 + adder
+
+ return heading
+
+ get_sample = get_heading
+
+ def get_relative_heading(self,target=0):
+ rheading = self.get_sample()-target
+ if rheading > 180:
+ rheading -= 360
+ elif rheading < -180:
+ rheading += 360
+ return rheading
+
+ def is_in_range(self,minval,maxval):
+ """This deserves a little explanation:
+if max > min, it's straightforward, but
+if min > max, it switches the values of max and min
+and returns true if heading is NOT between the new max and min
+ """
+ if minval > maxval:
+ (maxval,minval) = (minval,maxval)
+ inverted = True
+ else:
+ inverted = False
+ heading = self.get_sample()
+ in_range = (heading > minval) and (heading < maxval)
+ #an xor handles the reversal
+ #a faster, more compact way of saying
+ #if !reversed return in_range
+ #if reversed return !in_range
+ return bool(inverted) ^ bool(in_range)
+
+ def get_mode(self):
+ return self.read_value('mode')[0]
+
+ def set_mode(self, mode):
+ if mode != self.Modes.MEASUREMENT and \
+ mode != self.Modes.CALIBRATION:
+ raise ValueError('Invalid mode specified: ' + str(mode))
+ self.write_value('mode', (mode, ))
+
+Compass.add_compatible_sensor(None, 'HiTechnc', 'Compass ') #Tested with version '\xfdV1.23 '
+Compass.add_compatible_sensor(None, 'HITECHNC', 'Compass ') #Tested with version '\xfdV2.1 '
+
+
+class Accelerometer(BaseDigitalSensor):
+ 'Object for Accelerometer sensors. Thanks to Paulo Vieira.'
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'x_axis_high': (0x42, 'b'),
+ 'y_axis_high': (0x43, 'b'),
+ 'z_axis_high': (0x44, 'b'),
+ 'xyz_short': (0x42, '3b'),
+ 'all_data': (0x42, '3b3B')
+ })
+
+ class Acceleration:
+ def __init__(self, x, y, z):
+ self.x, self.y, self.z = x, y, z
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(Accelerometer, self).__init__(brick, port, check_compatible)
+
+ def get_acceleration(self):
+ """Returns the acceleration along x, y, z axes. Units are unknown to me.
+ """
+ xh, yh, zh, xl, yl, zl = self.read_value('all_data')
+ x = xh << 2 + xl
+ y = yh << 2 + yl
+ z = zh << 2 + yl
+ return self.Acceleration(x, y, z)
+
+ get_sample = get_acceleration
+
+Accelerometer.add_compatible_sensor(None, 'HiTechnc', 'Accel. ')
+Accelerometer.add_compatible_sensor(None, 'HITECHNC', 'Accel. ') #Tested with version '\xfdV1.1 '
+
+
+class IRReceiver(BaseDigitalSensor):
+ """Object for HiTechnic IRReceiver sensors for use with LEGO Power Functions IR
+Remotes. Coded to HiTechnic's specs for the sensor but not tested. Please report
+whether this worked for you or not!
+ """
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({
+ 'm1A': (0x42, 'b'),
+ 'm1B': (0x43, 'b'),
+ 'm2A': (0x44, 'b'),
+ 'm2B': (0x45, 'b'),
+ 'm3A': (0x46, 'b'),
+ 'm3B': (0x47, 'b'),
+ 'm4A': (0x48, 'b'),
+ 'm4B': (0x49, 'b'),
+ 'all_data': (0x42, '8b')
+ })
+
+ class SpeedReading:
+ def __init__(self, m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B):
+ self.m1A, self.m1B, self.m2A, self.m2B, self.m3A, self.m3B, self.m4A, self.m4B = m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B
+ self.channel_1 = (m1A, m1B)
+ self.channel_2 = (m2A, m2B)
+ self.channel_3 = (m3A, m3B)
+ self.channel_4 = (m4A, m4B)
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(IRReceiver, self).__init__(brick, port, check_compatible)
+
+ def get_speeds(self):
+ """Returns the motor speeds for motors A and B on channels 1-4.
+Values are -128, -100, -86, -72, -58, -44, -30, -16, 0, 16, 30, 44, 58, 72, 86
+and 100. -128 specifies motor brake mode. Note that no motors are actually
+being controlled here!
+ """
+ m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B = self.read_value('all_data')
+ return self.SpeedReading(m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B)
+
+ get_sample = get_speeds
+
+IRReceiver.add_compatible_sensor(None, 'HiTechnc', 'IRRecv ')
+IRReceiver.add_compatible_sensor(None, 'HITECHNC', 'IRRecv ')
+
+
+class IRSeekerv2(BaseDigitalSensor):
+ """Object for HiTechnic IRSeeker sensors. Coded to HiTechnic's specs for the sensor
+but not tested. Please report whether this worked for you or not!
+ """
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({
+ 'dspmode': (0x41, 'B'),
+ 'DC_direction': (0x42, 'B'),
+ 'DC_sensor_1': (0x43, 'B'),
+ 'DC_sensor_2': (0x44, 'B'),
+ 'DC_sensor_3': (0x45, 'B'),
+ 'DC_sensor_4': (0x46, 'B'),
+ 'DC_sensor_5': (0x47, 'B'),
+ 'DC_sensor_mean': (0x48, 'B'),
+ 'all_DC': (0x42, '7B'),
+ 'AC_direction': (0x49, 'B'),
+ 'AC_sensor_1': (0x4A, 'B'),
+ 'AC_sensor_2': (0x4B, 'B'),
+ 'AC_sensor_3': (0x4C, 'B'),
+ 'AC_sensor_4': (0x4D, 'B'),
+ 'AC_sensor_5': (0x4E, 'B'),
+ 'all_AC': (0x49, '6B')
+ })
+ I2C_DEV = 0x10 #different from standard 0x02
+
+ class DSPModes:
+ #Modes for modulated (AC) data.
+ AC_DSP_1200Hz = 0x00
+ AC_DSP_600Hz = 0x01
+
+ class _data:
+ def get_dir_brightness(self, direction):
+ "Gets the brightness of a given direction (1-9)."
+ if direction%2 == 1: #if it's an odd number
+ exec("val = self.sensor_%d" % ((direction-1)/2+1))
+ else:
+ exec("val = (self.sensor_%d+self.sensor_%d)/2" % (direction/2, (direction/2)+1))
+ return val
+
+ class DCData(_data):
+ def __init__(self, direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean):
+ self.direction, self.sensor_1, self.sensor_2, self.sensor_3, self.sensor_4, self.sensor_5, self.sensor_mean = direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean
+
+ class ACData(_data):
+ def __init__(self, direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5):
+ self.direction, self.sensor_1, self.sensor_2, self.sensor_3, self.sensor_4, self.sensor_5 = direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5
+
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(IRSeekerv2, self).__init__(brick, port, check_compatible)
+
+ def get_dc_values(self):
+ """Returns the unmodulated (DC) values.
+ """
+ direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean = self.read_value('all_DC')
+ return self.DCData(direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean)
+
+ def get_ac_values(self):
+ """Returns the modulated (AC) values. 600Hz and 1200Hz modes can be selected
+between by using the set_dsp_mode() function.
+ """
+ direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5 = self.read_value('all_AC')
+ return self.ACData(direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5)
+
+ def get_dsp_mode(self):
+ return self.read_value('dspmode')[0]
+
+ def set_dsp_mode(self, mode):
+ self.write_value('dspmode', (mode, ))
+
+ get_sample = get_ac_values
+
+IRSeekerv2.add_compatible_sensor(None, 'HiTechnc', 'NewIRDir')
+IRSeekerv2.add_compatible_sensor(None, 'HITECHNC', 'NewIRDir')
+
+
+class EOPD(BaseAnalogSensor):
+ """Object for HiTechnic Electro-Optical Proximity Detection sensors.
+ """
+
+ # To be divided by processed value.
+ _SCALE_CONSTANT = 250
+
+ # Maximum distance the sensor can detect.
+ _MAX_DISTANCE = 1023
+
+ def __init__(self, brick, port):
+ super(EOPD, self).__init__(brick, port)
+ from math import sqrt
+ self.sqrt = sqrt
+
+ def set_range_long(self):
+ ''' Choose this mode to increase the sensitivity
+ of the EOPD sensor by approximately 4x. May
+ cause sensor overload.
+ '''
+
+ self.set_input_mode(Type.LIGHT_ACTIVE, Mode.RAW)
+
+ def set_range_short(self):
+ ''' Choose this mode to prevent the EOPD sensor from
+ being overloaded by white objects.
+ '''
+
+ self.set_input_mode(Type.LIGHT_INACTIVE, Mode.RAW)
+
+ def get_raw_value(self):
+ '''Unscaled value read from sensor.'''
+
+ return self._MAX_DISTANCE - self.get_input_values().raw_ad_value
+
+ def get_processed_value(self):
+ '''Derived from the square root of the raw value.'''
+
+ return self.sqrt(self.get_raw_value())
+
+ def get_scaled_value(self):
+ ''' Returns a value that will scale linearly as distance
+ from target changes. This is the method that should
+ generally be called to get EOPD sensor data.
+ '''
+
+ try:
+ result = self._SCALE_CONSTANT / self.get_processed_value()
+ return result
+
+ except ZeroDivisionError:
+ return self._SCALE_CONSTANT
+
+ get_sample = get_scaled_value
+
+
+class Colorv2(BaseDigitalSensor):
+ """Object for HiTechnic Color v2 Sensors. Coded to HiTechnic's specs for the sensor
+but not tested. Please report whether this worked for you or not!"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({
+ 'mode': (0x41, 'B'),
+ 'number': (0x42, 'B'),
+ 'red': (0x43, 'B'),
+ 'green': (0x44, 'B'),
+ 'blue': (0x45, 'B'),
+ 'white': (0x46, 'B'),
+ 'index': (0x47, 'B'),
+ 'normred': (0x48, 'B'),
+ 'normgreen': (0x49, 'B'),
+ 'normblue': (0x4A, 'B'),
+ 'all_data': (0x42, '9B'),
+ 'rawred': (0x42, '<H'),
+ 'rawgreen': (0x44, '<H'),
+ 'rawblue': (0x46, '<H'),
+ 'rawwhite': (0x48, '<H'),
+ 'all_raw_data': (0x42, '<4H')
+ })
+
+ class Modes:
+ ACTIVE = 0x00 #get measurements using get_active_color
+ PASSIVE = 0x01 #get measurements using get_passive_color
+ RAW = 0x03 #get measurements using get_passive_color
+ BLACK_CALIBRATION = 0x42 #hold away from objects, results saved in EEPROM
+ WHITE_CALIBRATION = 0x43 #hold in front of white surface, results saved in EEPROM
+ LED_POWER_LOW = 0x4C #saved in EEPROM, must calibrate after using
+ LED_POWER_HIGH = 0x48 #saved in EEPROM, must calibrate after using
+ RANGE_NEAR = 0x4E #saved in EEPROM, only affects active mode
+ RANGE_FAR = 0x46 #saved in EEPROM, only affects active mode, more susceptable to noise
+ FREQ_50 = 0x35 #saved in EEPROM, use when local wall power is 50Hz
+ FREQ_60 = 0x36 #saved in EEPROM, use when local wall power is 60Hz
+
+ class ActiveData:
+ def __init__(self, number, red, green, blue, white, index, normred, normgreen, normblue):
+ self.number, self.red, self.green, self.blue, self.white, self.index, self.normred, self.normgreen, self.normblue = number, red, green, blue, white, index, normred, normgreen, normblue
+
+ class PassiveData:
+ #also holds raw mode data
+ def __init__(self, red, green, blue, white):
+ self.red, self.green, self.blue, self.white = red, green, blue, white
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(Colorv2, self).__init__(brick, port, check_compatible)
+
+ def get_active_color(self):
+ """Returns color values when in active mode.
+ """
+ number, red, green, blue, white, index, normred, normgreen, normblue = self.read_value('all_data')
+ return self.ActiveData(number, red, green, blue, white, index, normred, normgreen, normblue)
+
+ get_sample = get_active_color
+
+ def get_passive_color(self):
+ """Returns color values when in passive or raw mode.
+ """
+ red, green, blue, white = self.read_value('all_raw_data')
+ return self.PassiveData(red, green, blue, white)
+
+ def get_mode(self):
+ return self.read_value('mode')[0]
+
+ def set_mode(self, mode):
+ self.write_value('mode', (mode, ))
+
+Colorv2.add_compatible_sensor(None, 'HiTechnc', 'ColorPD')
+Colorv2.add_compatible_sensor(None, 'HITECHNC', 'ColorPD')
+Colorv2.add_compatible_sensor(None, 'HiTechnc', 'ColorPD ')
+Colorv2.add_compatible_sensor(None, 'HITECHNC', 'ColorPD ')
+
+
+class Gyro(BaseAnalogSensor):
+ 'Object for gyro sensors'
+#This class is for the hitechnic gryo sensor. When the gryo is not
+#moving there will be a constant offset that will change with
+#temperature and other ambient factors. The calibrate() function
+#takes the currect value and uses it to offset subsequesnt ones.
+
+ def __init__(self, brick, port):
+ super(Gyro, self).__init__(brick, port)
+ self.set_input_mode(Type.ANGLE, Mode.RAW)
+ self.offset = 0
+
+ def get_rotation_speed(self):
+ return self.get_input_values().scaled_value - self.offset
+
+ def set_zero(self, value):
+ self.offset = value
+
+ def calibrate(self):
+ self.set_zero(self.get_rotation_speed())
+
+ get_sample = get_rotation_speed
+
+
+class Prototype(BaseDigitalSensor):
+ """Object for HiTechnic sensor prototype boards. Coded to HiTechnic's specs but not
+tested. Please report whether this worked for you or not!
+ """
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({
+ 'A0': (0x42, '<H'),
+ 'A0': (0x44, '<H'),
+ 'A0': (0x46, '<H'),
+ 'A0': (0x48, '<H'),
+ 'A0': (0x4A, '<H'),
+ 'all_analog': (0x42, '<5H'),
+ 'digital_in': (0x4C, 'B'),
+ 'digital_out': (0x4D, 'B'),
+ 'digital_cont': (0x4E, 'B'),
+ 'sample_time': (0x4F, 'B'),
+ })
+
+ class Digital_Data():
+ """Container for 6 bits of digital data. Takes an integer or a list of six bools
+and can be converted into a list of bools or an integer."""
+ def __init__(self, pins):
+ if isinstance(pins, int):
+ self.dataint = pins
+ self.datalst = self.tolist(pins)
+ else:
+ self.dataint = self.toint(pins)
+ self.datalst = pins
+ self.d0, self.d1, self.d2, self.d3, self.d4, self.d5 = self.datalst
+
+ def tolist(self, val):
+ lst = []
+ for i in range(6):
+ lst.append(bool(val & 2**i))
+ return lst
+
+ def toint(self, lst):
+ val = 0
+ for i in range(6):
+ val += int(bool(lst[i])) * (2**i)
+ return val
+
+ def __int__(self):
+ return self.dataint
+
+ def __iter__(self):
+ return iter(self.datalst)
+
+ def __getitem__(self, i):
+ return self.datalst[i]
+
+ class Analog_Data():
+ def __init__(self, a0, a1, a2, a3, a4):
+ self.a0, self.a1, self.a2, self.a3, self.a4 = a0, a1, a2, a3, a4
+
+ def get_analog(self):
+ return Analog_Data(self.read_value('all_analog'))
+
+ def get_digital(self):
+ return Digital_Data(self.read_value('digital_in')[0])
+
+ def set_digital(self, pins):
+ """Can take a Digital_Data() object"""
+ self.write_value('digital_out', (int(pins), ))
+
+ def set_digital_modes(self, modes):
+ """Sets input/output mode of digital pins. Can take a Digital_Data() object."""
+ self.write_value('digital_cont', (int(modes), ))
+
+Prototype.add_compatible_sensor(None, 'HiTechnc', 'Proto ')
+
+
+class ServoCon(BaseDigitalSensor):
+ """Object for HiTechnic FIRST Servo Controllers. Coded to HiTechnic's specs for
+the sensor but not tested. Please report whether this worked for you or not!"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({
+ 'status': (0x40, 'B'),
+ 'steptime': (0x41, 'B'),
+ 's1pos': (0x42, 'B'),
+ 's2pos': (0x43, 'B'),
+ 's3pos': (0x44, 'B'),
+ 'p4pos': (0x45, 'B'),
+ 'p5pos': (0x46, 'B'),
+ 'p6pos': (0x47, 'B'),
+ 'pwm': (0x46, 'B'),
+ })
+
+ class Status:
+ RUNNING = 0x00 #all motors stopped
+ STOPPED = 0x01 #motor(s) moving
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(ServoCon, self).__init__(brick, port, check_compatible)
+
+ def get_status(self):
+ """Returns the status of the motors. 0 for all stopped, 1 for
+some running.
+ """
+ return self.read_value('status')[0]
+
+ def set_step_time(self, time):
+ """Sets the step time (0-15).
+ """
+ self.write_value('steptime', (time, ))
+
+ def set_pos(self, num, pos):
+ """Sets the position of a server. num is the servo number (1-6),
+pos is the position (0-255).
+ """
+ self.write_value('s%dpos' % num, (pos, ))
+
+ def get_pwm(self):
+ """Gets the "PWM enable" value. The function of this value is
+nontrivial and can be found in the documentation for the sensor.
+ """
+ return self.read_value('pwm')[0]
+
+ def set_pwm(self, pwm):
+ """Sets the "PWM enable" value. The function of this value is
+nontrivial and can be found in the documentation for the sensor.
+ """
+ self.write_value('pwm', (pwm, ))
+
+ServoCon.add_compatible_sensor(None, 'HiTechnc', 'ServoCon')
+
+
+class MotorCon(BaseDigitalSensor):
+ """Object for HiTechnic FIRST Motor Controllers. Coded to HiTechnic's specs for
+the sensor but not tested. Please report whether this worked for you or not!"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({
+ 'm1enctarget': (0x40, '>l'),
+ 'm1mode': (0x44, 'B'),
+ 'm1power': (0x45, 'b'),
+ 'm2power': (0x46, 'b'),
+ 'm2mode': (0x47, 'B'),
+ 'm2enctarget': (0x48, '>l'),
+ 'm1enccurrent': (0x4c, '>l'),
+ 'm2enccurrent': (0x50, '>l'),
+ 'batteryvoltage': (0x54, '2B'),
+ 'm1gearratio': (0x56, 'b'),
+ 'm1pid': (0x57, '3B'),
+ 'm2gearratio': (0x5a, 'b'),
+ 'm2pid': (0x5b, '3B'),
+ })
+
+ class PID_Data():
+ def __init__(self, p, i, d):
+ self.p, self.i, self.d = p, i, d
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(MotorCon, self).__init__(brick, port, check_compatible)
+
+ def set_enc_target(self, mot, val):
+ """Set the encoder target (-2147483648-2147483647) for a motor
+ """
+ self.write_value('m%denctarget'%mot, (val, ))
+
+ def get_enc_target(self, mot):
+ """Get the encoder target for a motor
+ """
+ return self.read_value('m%denctarget'%mot)[0]
+
+ def get_enc_current(self, mot):
+ """Get the current encoder value for a motor
+ """
+ return self.read_value('m%denccurrent'%mot)[0]
+
+ def set_mode(self, mot, mode):
+ """Set the mode for a motor. This value is a bit mask and you can
+find details about it in the sensor's documentation.
+ """
+ self.write_value('m%dmode'%mot, (mode, ))
+
+ def get_mode(self, mot):
+ """Get the mode for a motor. This value is a bit mask and you can
+find details about it in the sensor's documentation.
+ """
+ return self.read_value('m%dmode'%mot)[0]
+
+ def set_power(self, mot, power):
+ """Set the power (-100-100) for a motor
+ """
+ self.write_value('m%dpower'%mot, (power, ))
+
+ def get_power(self, mot):
+ """Get the power for a motor
+ """
+ return self.read_value('m%dpower'%mot)[0]
+
+ def set_gear_ratio(self, mot, ratio):
+ """Set the gear ratio for a motor
+ """
+ self.write_value('m%dgearratio'%mot, (ratio, ))
+
+ def get_gear_ratio(self, mot):
+ """Get the gear ratio for a motor
+ """
+ return self.read_value('m%dgearratio'%mot)[0]
+
+ def set_pid(self, mot, piddata):
+ """Set the PID coefficients for a motor. Takes data in
+MotorCon.PID_Data(p, i, d) format.
+ """
+ self.write_value('m%dpid'%mot, (piddata.p, piddata.i, piddata.d))
+
+ def get_pid(self, mot):
+ """Get the PID coefficients for a motor. Returns a PID_Data() object.
+ """
+ p, i, d = self.read_value('m%dpid'%mot)
+ return self.PID_Data(p, i, d)
+
+ def get_battery_voltage(self):
+ """Gets the battery voltage (in millivolts/20)
+ """
+ high, low = self.read_value('bateryvoltage')[0]
+ return high << 2 + low
+
+MotorCon.add_compatible_sensor(None, 'HiTechnc', 'MotorCon')
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/mindsensors.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/mindsensors.py
new file mode 100644
index 0000000..de6c7ee
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/sensor/mindsensors.py
@@ -0,0 +1,815 @@
+# nxt.sensor.mindsensors module -- Classes implementing Mindsensors sensors
+# Copyright (C) 2006,2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
+# Copyright (C) 2010 Marcus Wanner, MindSensors
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+
+from .common import *
+from .digital import BaseDigitalSensor, SensorInfo
+from .analog import BaseAnalogSensor
+
+
+class SumoEyes(BaseAnalogSensor):
+ """The class to control Mindsensors Sumo sensor. Warning: long range not
+ working for my sensor.
+ """
+ #range: 5-10cm
+ class Reading:
+ """Contains the reading of SumoEyes sensor. left and right can be True or
+ False. If True, then there is something there, if False, then it's empty
+ there.
+ """
+ def __init__(self, raw_reading):
+ self.raw = raw_reading
+ val = raw_reading.normalized_ad_value # FIXME: make it rely on raw_ad_value
+ right = 600 < val < 700
+ both = 700 <= val < 900
+ left = 300 < val < 400
+ self.left = left or both
+ self.right = right or both
+
+ def __str__(self):
+ return '(left: ' + str(self.left) + ', right: ' + str(self.right) + ')'
+
+ def __init__(self, brick, port, long_range=False):
+ super(SumoEyes, self).__init__(brick, port)
+ self.set_long_range(long_range)
+
+ def set_long_range(self, val):
+ """Sets if the sensor should operate in long range mode (12 inches) or
+ the short range mode (6 in). val should be True or False.
+ """
+ if val:
+ type_ = Type.LIGHT_INACTIVE
+ else:
+ type_ = Type.LIGHT_ACTIVE
+ self.set_input_mode(type_, Mode.RAW)
+
+ def get_sample(self):
+ """Returns the processed meaningful values of the sensor"""
+ return self.Reading(self.get_input_values())
+
+
+class Compassv2(BaseDigitalSensor):
+ """Class for the now-discontinued CMPS-Nx sensor. Also works with v1.1 sensors.
+Note that when using a v1.x sensor, some of the commands are not supported!
+To determine your sensor's version, use get_sensor_info().version"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'command': (0x41, '<B'),
+ 'heading': (0x42, '<H'),
+ 'x_offset': (0x44, '<h'), #unsure about signedness for this one
+ 'y_offset': (0x46, '<h'), #and this one
+ 'x_range': (0x48, '<H'),
+ 'y_range': (0x4A, '<H'),
+ 'x_raw': (0x4C, '<H'), #and this one
+ 'y_raw': (0x4E, '<H'), #and this one
+ })
+
+ class Commands:
+ AUTO_TRIG_ON = 'A'
+ AUTO_TRIG_OFF = 'S'
+ MAP_HEADING_BYTE = 'B' # map heading to 0-255 range
+ MAP_HEADING_INTEGER = 'I' # map heading to 0-36000 (or 3600) range
+ SAMPLING_50_HZ = 'E' # set sampling frequency to 50 Hz
+ SAMPLING_60_HZ = 'U' # set sampling frequency to 60 Hz
+ SET_ADPA_MODE_ON = 'N' # set ADPA mode on
+ SET_ADPA_MODE_OFF = 'O' # set ADPA mode off
+ BEGIN_CALIBRATION = 'C' # begin calibration
+ DONE_CALIBRATION = 'D' # done with calibration
+ LOAD_USER_CALIBRATION = 'L' # load user calibration value
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(Compassv2, self).__init__(brick, port, check_compatible)
+ self.command(self.Commands.MAP_HEADING_INTEGER)
+
+ def command(self, command):
+ value = ord(command)
+ self.write_value('command', (value, ))
+
+ def get_heading(self):
+ return self.read_value('heading')[0]
+
+ get_sample = get_heading
+
+Compassv2.add_compatible_sensor(None, 'mndsnsrs', 'CMPS')
+
+
+class DIST(BaseDigitalSensor):
+ """Class for the Distance Infrared Sensor"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'command': (0x41, '<B'),
+ 'distance': (0x42, '<H'),
+ 'voltage': (0x44, '<H'),
+ 'type': (0x50, '<B'),
+ 'no_of_data_points': (0x51, '<B'),
+ 'min_distance': (0x52, '<H'),
+ 'max_distance': (0x54, '<H'),
+ })
+
+ class Commands:
+ TYPE_GP2D12 = '1' #GP2D12 sensor Module
+ TYPE_GP2D120 = '2' #Short range sensor Module
+ TYPE_GP2Y0A21YK = '3' #Medium range sensor Module
+ TYPE_GP2Y0A02YK = '4' #Long range sensor Module
+ TYPE_CUSTOM = '5' #Custom sensor Module
+ POWER_ON = 'E' #Sensor module power on
+ POWER_OFF = 'D' #Sensor module power offset
+ ADPA_ON = 'N' #ADPA mode on
+ ADPA_OFF = 'O' #ADPA mode off (default)
+
+ def command(self, command):
+ value = ord(command)
+ self.write_value('command', (value, ))
+
+ def get_distance(self):
+ return self.read_value('distance')[0]
+
+ get_sample = get_distance
+
+ def get_type(self):
+ return self.read_value('type')[0]
+
+ def get_voltage(self):
+ return self.read_value('voltage')[0]
+
+ def get_min_distance(self):
+ return self.read_value('min_distance')[0]
+
+ def get_max_distance(self):
+ return self.read_value('max_distance')[0]
+
+DIST.add_compatible_sensor(None, 'mndsnsrs', 'DIST')
+
+
+class RTC(BaseDigitalSensor):
+ """Class for the RealTime Clock sensor"""
+ #TODO: Create a function to set the clock
+ #Has no indentification
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'seconds': (0x00, '<B'),
+ 'minutes': (0x01, '<B'),
+ 'hours': (0x02, '<B'),
+ 'day': (0x03, '<B'),
+ 'date': (0x04, '<B'),
+ 'month': (0x05, '<B'),
+ 'year': (0x06, '<B'),
+ })
+ I2C_DEV = 0xD0
+
+ def __init__(self, brick, port, check_compatible=False): #check_compatible must remain false due to no identification!
+ super(RTC, self).__init__(brick, port, check_compatible)
+
+ def get_seconds(self):
+ gs = self.read_value('seconds')[0]
+ gs2 = gs & 0xf # bitmasks
+ gs3 = gs & 0x70
+ gs3 = gs3 >> 4
+ return str(gs3) + str(gs2)
+
+ def get_minutes(self):
+ gm = self.read_value('minutes')[0]
+ gm2 = gm & 0xf
+ gm3 = gm & 0x70
+ gm3 = gm3 >> 4
+ return str(gm3) + str(gm2)
+
+ def get_hours(self):
+ gh = self.read_value('hours')[0]
+ gh2 = gh & 0xf
+ gh3 = gh & 0x30
+ gh3 = gh3 >> 4
+ return str(gh3) + str(gh2)
+
+ def get_day(self):
+ gwd = self.read_value('day')[0]
+ gwd = gwd & 0x07
+ return gwd
+
+ def get_month(self):
+ gmo = self.read_value('month')[0]
+ gmo2 = gmo & 0xf
+ gmo3 = gmo & 0x10
+ gmo3 = gmo3 >> 4
+ return str(gmo3) + str(gmo2)
+
+ def get_year(self):
+ """Last two digits (10 for 2010)"""
+ gy = self.read_value('year')[0]
+ gy2 = gy & 0xf
+ gy3 = gy & 0xF0
+ gy3 = gy3 >> 4
+ return str(gy3) + str(gy2)
+
+ def get_date(self):
+ gd = self.read_value('date')[0]
+ gd2 = gd & 0xf
+ gd3 = gd & 0x60
+ gd3 = gd3 >> 4
+ return str(gd3) + str(gd2)
+
+ def hour_mode(self, mode):
+ """Writes mode bit and re-enters hours, which is required"""
+ if mode == 12 or 24:
+ hm = self.read_value('hours')[0]
+ hm2 = hm & 0x40
+ hm2 = hm2 >> 6
+ if mode == 12 and hm2 == 0: #12_HOUR = 1
+ hm3 = hm + 64
+ self.write_value('hours', (hm3, ))
+ elif mode == 24 and hm2 == 1: #24_HOUR = 0
+ hm3 = hm - 64
+ self.write_value('hours', (hm3, ))
+ else:
+ print 'That mode is already selected!'
+ else:
+ raise ValueError('Must be 12 or 24!')
+
+ def get_mer(self):
+ mer = self.read_value('hours')[0]
+ mer2 = mer & 0x40
+ mer2 = mer2 >> 6
+ if mer2 == 1:
+ mer3 = mer & 0x20
+ mer3 = mer3 >> 0x10
+ return mer3
+ else:
+ print 'Cannot get mer! In 24-hour mode!'
+
+ def get_sample(self):
+ """Returns a struct_time() tuple which can be processed by the time module."""
+ import time
+ return time.struct_time((
+ int(self.get_year())+2000,
+ int(self.get_month()),
+ int(self.get_date()),
+ int(self.get_hours()),
+ int(self.get_minutes()),
+ int(self.get_seconds()),
+ int(self.get_day()),
+ 0, #Should be the Julian Day, but computing that is hard.
+ 0 #No daylight savings time to worry about here.
+ ))
+
+
+class ACCL(BaseDigitalSensor):
+ """Class for Accelerometer sensor"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'sensitivity': (0x19, 'B'),
+ 'command': (0x41, 'B'),
+ 'x_tilt': (0x42, 'b'),
+ 'y_tilt': (0x43, 'b'),
+ 'z_tilt': (0x44, 'b'),
+ 'all_tilt': (0x42, '3b'),
+
+ 'x_accel': (0x45, '<h'),
+ 'y_accel': (0x47, '<h'),
+ 'z_accel': (0x49, '<h'),
+ 'all_accel': (0x45, '<3h'),
+
+ 'x_offset': (0x4B, '<h'),
+ 'x_range': (0x4D, '<h'),
+
+ 'y_offset': (0x4F, '<h'),
+ 'y_range': (0x51, '<h'),
+
+ 'z_offset': (0x53, '<h'),
+ 'z_range': (0x55, '<h'),
+ })
+
+ class Commands:
+ SENS_15G = '1' #that's 1.5...Alt. 2.5G (sensors older than V3.20)
+ SENS_2G = '2' #Alt .3.3G
+ SENS_4G = '3' #Alt. 6.7G
+ SENS_6G = '4' #Alt. 10G
+ X_CALIBRATION = 'X' #Acquire X point calibration
+ X_CAL_AND_END = 'x' #X point calibration and end calibration
+ Y_CALIBRATION = 'Y' #Acquire Y point calibration
+ Y_CAL_AND_END = 'y' #Y point calibration and end calibration
+ Z_CALIBRATION = 'Z' #Acquire Z point calibration
+ Z_CAL_AND_END = 'z' #Z point calibration and end calibration
+ CAL_RESET = 'R' #Reset to factory set calibration
+ ADPA_ON = 'N' #Set ADPA mode On
+ ADPA_OFF = 'O' #Set ADPA mode Off (default)
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(ACCL, self).__init__(brick, port, check_compatible)
+
+ def command(self, command):
+ value = ord(command)
+ self.write_value('command', (value, ))
+
+ def get_sensitivity(self):
+ return chr(self.read_value('sensitivity')[0])
+
+ def get_tilt(self, axis):
+ xyz = str(axis) + '_tilt'
+ return self.read_value(xyz)[0]
+
+ def get_all_tilt(self):
+ return self.read_value('all_tilt')
+
+ def get_accel(self, axis):
+ xyz = str(axis) + '_accel'
+ return self.read_value(xyz)[0]
+
+ def get_all_accel(self):
+ return self.read_value('all_accel')
+
+ get_sample = get_all_accel
+
+ def get_offset(self, axis):
+ xyz = str(axis) + '_offset'
+ return self.read_value(xyz)[0]
+
+ def get_range(self, axis):
+ xyz = str(axis) + '_range'
+ return self.read_value(xyz)[0]
+
+ def set_offset(self, axis, value):
+ xyz = str(axis) + '_offset'
+ self.write_value(xyz, (value, ))
+
+ def set_range(self, axis, value):
+ xyz = str(axis) + '_range'
+ self.write_value(xyz, (value, ))
+
+ACCL.add_compatible_sensor(None, 'mndsnsrs', 'ACCL-NX') #Tested with version 'V3.20'
+
+
+class MTRMUX(BaseDigitalSensor):
+ """Class for RCX Motor Multiplexer sensor"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'command' : (0x41, '<B'),
+ 'direction_m1': (0x42, '<B'),
+ 'speed_m1': (0x43, '<B'),
+ 'direction_m2': (0x44, '<B'),
+ 'speed_m2': (0x45, '<B'),
+ 'direction_m3': (0x46, '<B'),
+ 'speed_m3': (0x47, '<B'),
+ 'direction_m4': (0x48, '<B'),
+ 'speed_m4': (0x49, '<B'),
+ })
+ I2C_DEV = 0xB4
+
+ class Commands:
+ FLOAT = 0x00
+ FORWARD = 0x01
+ REVERSE = 0x02
+ BRAKE = 0x03
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(MTRMUX, self).__init__(brick, port, check_compatible)
+
+ def command(self, command):
+ self.write_value('command', (command, ))
+
+ def set_direction(self, number, value):
+ addressname = 'direction_m' + str(number)
+ self.write_value(addressname, (value, ))
+
+ def set_speed(self, number, value):
+ addressname = 'speed_m' + str(number)
+ self.write_value(addressname, (value, ))
+
+ def get_direction(self, number):
+ addressname = 'direction_m' + str(number)
+ self.read_value(addressname)
+
+ def get_speed(self, number):
+ addressname = 'speed_m' + str(number)
+ self.read_value(addressname)
+
+MTRMUX.add_compatible_sensor(None, 'mndsnsrs', 'MTRMUX') #Tested with version 'V2.11'
+
+
+class LineLeader(BaseDigitalSensor):
+ """Class for Line Sensor Array"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'command': (0x41, '<B'),
+ 'steering': (0x42, '<b'),
+ 'average': (0x43, '<B'),
+ 'result': (0x44, '<B'),
+ 'set_point': (0x45, '<B'),
+
+ 'kp': (0x46, '<B'),
+ 'ki': (0x47, '<B'),
+ 'kd': (0x48, '<B'),
+ 'kp_divisor':(0x61, '<B'),
+ 'ki_divisor':(0x62, '<B'),
+ 'kd_divisor':(0x63, '<B'),
+ #One byte for each sensor, so byte# = sensor#
+ 'calibrated_reading_byte1': (0x49, '<B'),
+ 'calibrated_reading_byte2': (0x4A, '<B'),
+ 'calibrated_reading_byte3': (0x4B, '<B'),
+ 'calibrated_reading_byte4': (0x4C, '<B'),
+ 'calibrated_reading_byte5': (0x4D, '<B'),
+ 'calibrated_reading_byte6': (0x4E, '<B'),
+ 'calibrated_reading_byte7': (0x4F, '<B'),
+ 'calibrated_reading_byte8': (0x50, '<B'),
+ 'all_calibrated_readings': (0x49, '<8B'),
+
+ 'w_read_limit':(0x51, '<H'),
+ 'b_read_limit':(0x59, '<B'),
+ 'w_cal_data1':(0x64, '<B'),
+ 'b_cal_data':(0x6C, '<B'),
+
+ 'uncal_sensor1_voltage_byte1':(0x74, '<B'),
+ 'uncal_sensor2_voltage_byte1':(0x76, '<B'),
+ 'uncal_sensor3_voltage_byte1':(0x78, '<B'),
+ 'uncal_sensor4_voltage_byte1':(0x7A, '<B'),
+ 'uncal_sensor5_voltage_byte1':(0x7C, '<B'),
+ 'uncal_sensor6_voltage_byte1':(0x7E, '<B'),
+ 'uncal_sensor7_voltage_byte1':(0x80, '<B'),
+ 'uncal_sensor8_voltage_byte1':(0x82, '<B'),
+ 'all_uncal_readings': (0x74, '<8B'),
+ })
+
+ class Commands:
+ CALIBRATE_WHITE = 'W'
+ CALIBRATE_BLACK = 'B'
+ SENSOR_SLEEP = 'D'
+ US_CONFIG = 'A'
+ EU_CONFIG = 'E'
+ UNI_CONFIG = 'U'
+ SENSOR_WAKE = 'P'
+ COLOR_INVERT = 'I'
+ COLOR_INVERT_REVERSE = 'R'
+ SNAPSHOT = 'S'
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(LineLeader, self).__init__(brick, port, check_compatible)
+
+ def command(self, command):
+ value = ord(command)
+ self.write_value('command', (value, ))
+
+ def get_steering(self):
+ 'Value to add to the left and subtract from the right motor\'s power.'
+ return self.read_value('steering')[0]
+
+ def get_average(self):
+ 'Weighted average; greater as line is closer to right edge. 0 for no line.'
+ return self.read_value('average')[0]
+
+ def get_result(self):
+ 'Bitmap, one bit for each sensor'
+ return self.read_value('result')[0]
+
+ def set_set_point(self, value):
+ 'Average value for steering to gravitate to. 10 (left) to 80 (right).'
+ self.write_value('set_point', (value, ))
+
+ def set_pid(self, pid, value):
+ addressname = 'k' + str(pid)
+ self.write_value(addressname, (value, ))
+
+ def set_pid_divisor(self, pid, value):
+ addressname = 'k' + str(pid) + '_divisor'
+ self.write_value(addressname, (value, ))
+
+ def get_reading(self, number):
+ addressname = 'calibrated_reading_byte' + str(number)
+ return self.read_value(addressname)[0]
+
+ def get_reading_all(self):
+ return self.read_value('all_calibrated_readings')
+
+ get_sample = get_reading_all
+
+ def get_uncal_reading(self, number):
+ addressname = 'uncal_sensor' + str(number) + '_voltage_byte1'
+ return self.read_value(addressname)[0]
+
+ def get_uncal_all(self):
+ return self.read_value('all_uncal_readings')
+
+LineLeader.add_compatible_sensor(None, 'mndsnsrs', 'LineLdr') #Tested with version 'V1.16'
+
+
+class Servo(BaseDigitalSensor):
+ """Class for Servo sensors"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'command' : (0x41, '<B'),
+
+ 'servo_1_pos': (0x42, '<H'),
+ 'servo_2_pos': (0x44, '<H'),
+ 'servo_3_pos': (0x46, '<H'),
+ 'servo_4_pos': (0x48, '<H'),
+ 'servo_5_pos': (0x4A, '<H'),
+ 'servo_6_pos': (0x4C, '<H'),
+ 'servo_7_pos': (0x4E, '<H'),
+ 'servo_8_pos': (0x50, '<H'),
+
+ 'servo_1_speed': (0x52, '<B'),
+ 'servo_2_speed': (0x53, '<B'),
+ 'servo_3_speed': (0x54, '<B'),
+ 'servo_4_speed': (0x55, '<B'),
+ 'servo_5_speed': (0x56, '<B'),
+ 'servo_6_speed': (0x57, '<B'),
+ 'servo_7_speed': (0x58, '<B'),
+ 'servo_8_speed': (0x59, '<B'),
+
+ 'servo_1_quick': (0x5A, '<B'),
+ 'servo_2_quick': (0x5B, '<B'),
+ 'servo_3_quick': (0x5C, '<B'),
+ 'servo_4_quick': (0x5D, '<B'),
+ 'servo_5_quick': (0x5E, '<B'),
+ 'servo_6_quick': (0x5F, '<B'),
+ 'servo_7_quick': (0x60, '<B'),
+ 'servo_8_quick': (0x61, '<B'),
+ })
+ I2C_DEV = 0xB0
+
+ COMMANDVALUES = {'R': (0x52), #Resume macro execution
+ 'S': (0x53), #reset initial position and speed
+ 'I1': (0x4931), #store initial position motor 1
+ 'I2': (0x4932), #store initial position motor 2
+ 'I3': (0x4933), #etc...
+ 'I4': (0x4934),
+ 'I5': (0x4935),
+ 'I6': (0x4936),
+ 'I7': (0x4937),
+ 'I8': (0x4938),
+ 'H': (0x48), #Halt macro
+ 'Gx': (0x4778), #not going to work yet x = variable
+ 'EM': (0x454d), #Edit Macro
+ 'P': (0x50), #Pause Macro
+ }
+
+ class Commands:
+ RESUME_MACRO = 'R'
+ RESET_POS_SPEED = 'S'
+ STORE_MOTOR_POS_1 = 'I1'
+ STORE_MOTOR_POS_2 = 'I2'
+ STORE_MOTOR_POS_3 = 'I3'
+ STORE_MOTOR_POS_4 = 'I4'
+ STORE_MOTOR_POS_5 = 'I5'
+ STORE_MOTOR_POS_6 = 'I6'
+ STORE_MOTOR_POS_7 = 'I7'
+ STORE_MOTOR_POS_8 = 'I8'
+ HALT_MACRO = 'H'
+ X_TO_VAR = 'Gx' #not going to work yet
+ EDIT_MACRO = 'EM'
+ PAUSE_MACRO = 'P'
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(Servo, self).__init__(brick, port, check_compatible)
+
+ def command(self, command):
+ value = self.COMMANDVALUES[command]
+ self.write_value('command', (value, ))
+
+ def get_bat_level(self):
+ return self.read_value('command')[0]
+
+ def set_position(self, number, value):
+ addressname = 'servo_' + str(number) + '_pos'
+ self.write_value(addressname, (value, ))
+
+ def get_position(self, number):
+ return self.read_value('servo_' + str(number) + '_pos')[0]
+
+ def set_speed(self, number, value):
+ addressname = 'servo_' + str(number) + '_speed'
+ self.write_value(addressname, (value, ))
+
+ def get_speed(self, number):
+ return self.read_value('servo_' + str(number) + '_speed')[0]
+
+ def set_quick(self, number, value):
+ addressname = 'servo_' + str(number) + '_quick'
+ self.write_value(addressname, (value, ))
+
+Servo.add_compatible_sensor(None, 'mndsnsrs', 'NXTServo') #Tested with version 'V1.20'
+
+
+class MMX(BaseDigitalSensor):
+ """Class for MMX sensors"""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'command' : (0x41, '<B'),
+ #Motor Writes
+ 'encoder_1_target': (0x42, '<l'),
+ 'speed_1': (0x46, '<B'),
+ 'seconds_to_run_1': (0x47, '<B'),
+ 'command_b_1': (0x48, '<B'),
+ 'command_a_1': (0x49, '<B'),
+
+ 'encoder_2_target': (0x4A, '<l'),
+ 'speed_2': (0x4E, '<B'),
+ 'seconds_to_run_2': (0x4F, '<B'),
+ 'command_b_2': (0x50, '<B'),
+ 'command_a_2': (0x51, '<B'),
+ #Motor reads
+ 'encoder_1_pos': (0x62, '<H'),
+ 'encoder_2_pos': (0x66, '<H'),
+ 'status_m1': (0x72, '<B'),
+ 'status_m2': (0x73, '<B'),
+ 'tasks_running_m1': (0x76, '<H'),
+ 'tasks_running_m2': (0x77, '<H'),
+ #PID Control
+ 'p_encoder': (0x7A, '<H'),
+ 'i_encoder': (0x7C, '<H'),
+ 'd_encoder': (0x7E, '<H'),
+ 'p_speed': (0x80, '<H'),
+ 'i_speed': (0x82, '<H'),
+ 'd_speed': (0x84, '<H'),
+ 'pass_count': (0x86, '<B'),
+ 'tolerance': (0x87, '<B'),
+ })
+ I2C_DEV = 0x06
+
+ class Commands:
+ RESET_PARAMS_ENCODERS = 'R'
+ ISSUE_SYNCED_COMMANDS = 'S'
+ MOTOR_1_FLOAT_STOP = 'a'
+ MOTOR_2_FLOAT_STOP = 'b'
+ BOTH_FLOAT_STOP = 'c'
+ MOTOR_1_BRAKE_STOP = 'A'
+ MOTOR_2_BRAKE_STOP = 'B'
+ BOTH_BRAKE_STOP = 'C'
+ MOTOR_1_ENC_RESET = 'r'
+ MOTOR_2_ENC_RESET = 's'
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(MMX, self).__init__(brick, port, check_compatible)
+
+ def command(self, command):
+ value = ord(command)
+ self.write_value('command', (value, ))
+
+ def get_bat_level(self):
+ return self.read_value('command')[0]
+
+ def set_encoder_target(self, motor_number, value):
+ addressname = 'encoder_' + str(motor_number) + '_target'
+ self.write_value(addressname, (value, ))
+
+ def set_speed(self, motor_number, value):
+ addressname = 'speed_' + str(motor_number)
+ self.write_value(addressname, (value, ))
+
+ def set_time_run(self, motor_number, seconds):
+ addressname = 'seconds_to_run_' + str(motor_number)
+ self.write_value(addressname, (seconds, ))
+
+ def command_b(self, motor_number, value):
+ addressname = 'command_b_' + str(motor_number)
+ self.write_value(addressname, (value, ))
+
+ def command_a(self, motor_number, bit_num, bit_val):
+ addressname = 'command_a_' + str(motor_number)
+ s = self.read_value(addressname)[0]
+ #I feel like there must be an easier way to write one bit...
+ val = bit_val << bit_num
+ if bit_val == 1:
+ value = val | s
+ self.write_value(addressname, (value, ))
+ return value #testing purposes
+ elif bit_val == 0:
+ val = 1
+ val = val << bit_num
+ val = val ^ 0xFF
+ value = val & s
+ self.write_value(addressname, (value, ))
+ return value
+
+ def get_encoder_pos(self, motor_number):
+ addressname = 'encoder_' +str(motor_number) +'_pos'
+ return self.read_value(addressname)[0]
+
+ def get_motor_status(self, motor_number, bit_num):
+ addressname = 'status_m' + str(motor_number)
+ s = self.read_value(addressname)[0]
+ x = 1
+ x = x << bit_num
+ value = x & s
+ value = value >> bit_num
+ return value
+
+ def get_tasks(self, motor_number):
+ addressname = 'tasks_running_m' + str(motor_number)
+ return self.read_value(addressname)[0]
+
+ def set_pid(self, pid, target, value):
+ addressname = str(pid) + '_' + str(target)
+ self.write_value(addressname, (value, ))
+
+ def set_pass_count(self, value):
+ self.write_value('pass_count', (value, ))
+
+ def set_tolerance(self, value):
+ self.write_value('tolerance', (value, ))
+
+MMX.add_compatible_sensor(None, 'mndsnsrs', 'NxTMMX') #Tested with version 'V1.01'
+
+
+class HID(BaseDigitalSensor):
+ """Class for Human Interface Device sensors.
+These are connected to a computer and look like a keyboard to it."""
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'command' : (0x41, '<B'),
+ 'modifier' : (0x42, '<B'),
+ 'keyboard_data' : (0x43, '<B'),
+ })
+ I2C_DEV = 0x04
+
+ class Commands:
+ TRANSMIT = 'T'
+ ASCII_MODE = 'A'
+ DIRECT_MODE = 'D'
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(HID, self).__init__(brick, port, check_compatible)
+
+ def command(self, command):
+ value = ord(command)
+ self.write_value('command', (value, ))
+
+ def set_modifier(self, mod):
+ self.write_value('modifier', (mod, ))
+
+ def write_data(self, data):
+ data = ord(data)
+ self.write_value('keyboard_data', (data, ))
+
+HID.add_compatible_sensor(None, 'mndsnsrs', 'NXTHID') #Tested with version 'V1.02'
+
+
+class PS2(BaseDigitalSensor):
+ I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy()
+ I2C_ADDRESS.update({'command' : (0x41, '<B'),
+ 'button_set_1': (0x42, '<B'),
+ 'button_set_2': (0x43, '<B'),
+ 'x_left_joystick': (0x44, '<b'),
+ 'y_left_joystick': (0x45, '<b'),
+ 'x_right_joystick': (0x46, '<b'),
+ 'y_right_joystick': (0x47, '<b'),
+ })
+
+ class ControllerState:
+ class Buttons:
+ left, down, right, up, square, cross, circle, triangle, r1, r2, r3, l1, l2, l3 = [0 for i in range(14)] #14 zeros
+ def __init__(self, buttons_1, buttons_2, left_x, left_y, right_x, right_y):
+ self.leftstick = (left_x, left_y)
+ self.rightstick = (right_x, right_y)
+ buttons_1 = ~buttons_1
+ buttons_2 = ~buttons_2
+ self.buttons = self.Buttons()
+ self.buttons.left = bool(buttons_1 & 0x80)
+ self.buttons.down = bool(buttons_1 & 0x40)
+ self.buttons.right = bool(buttons_1 & 0x20)
+ self.buttons.up = bool(buttons_1 & 0x10)
+ self.buttons.square = bool(buttons_2 & 0x80)
+ self.buttons.cross = bool(buttons_2 & 0x40)
+ self.buttons.circle = bool(buttons_2 & 0x20)
+ self.buttons.triangle = bool(buttons_2 & 0x10)
+ self.buttons.r1 = bool(buttons_2 & 0x08)
+ self.buttons.r2 = bool(buttons_2 & 0x02)
+ self.buttons.r3 = bool(buttons_1 & 0x04)
+ self.buttons.l1 = bool(buttons_2 & 0x04)
+ self.buttons.l2 = bool(buttons_2 & 0x01)
+ self.buttons.l3 = bool(buttons_1 & 0x02)
+
+ class Commands:
+ POWER_ON = 'E'
+ POWER_OFF = 'D'
+ DIGITAL_MODE = 'A'
+ ANALOG_MODE = 's'
+ ADPA_ON = 'N'
+ ADPA_OFF = 'O'
+
+ def __init__(self, brick, port, check_compatible=True):
+ super(PS2, self).__init__(brick, port, check_compatible)
+
+ def command(self, command):
+ value = ord(command)
+ self.write_value('command', (value, ))
+
+ def get_joystick(self, xy, lr):
+ addressname = str(xy) + '_' + str(lr) + '_joystick'
+ return self.read_value(addressname)[0]
+
+ def get_buttons(self, setnum):
+ addressname = 'button_set_' + str(setnum)
+ return self.read_value(addressname)[0]
+
+ def get_sample(self):
+ return self.ControllerState(
+ get_buttons(0),
+ get_buttons(1),
+ get_joystick('x', 'l'),
+ get_joystick('y', 'l'),
+ get_joystick('x', 'r'),
+ get_joystick('y', 'r'))
+
+PS2.add_compatible_sensor(None, 'mndsnsrs', 'PSPNX') #Tested with version 'V2.00'
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/system.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/system.py
new file mode 100644
index 0000000..a82d5d6
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/system.py
@@ -0,0 +1,297 @@
+# nxt.system module -- LEGO Mindstorms NXT system telegrams
+# Copyright (C) 2006 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+'Use for communications regarding the NXT filesystem and such ***ADVANCED USERS ONLY***'
+
+def _create(opcode):
+ 'Create a simple system telegram'
+ from telegram import Telegram
+ return Telegram(False, opcode)
+
+def _create_with_file(opcode, fname):
+ tgram = _create(opcode)
+ tgram.add_filename(fname)
+ return tgram
+
+def _create_with_handle(opcode, handle):
+ tgram = _create(opcode)
+ tgram.add_u8(handle)
+ return tgram
+
+def open_read(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_open_read(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ n_bytes = tgram.parse_u32()
+ return (handle, n_bytes)
+
+def open_write(opcode, fname, n_bytes):
+ tgram = _create_with_file(opcode, fname)
+ tgram.add_u32(n_bytes)
+ return tgram
+
+def _parse_open_write(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ return handle
+
+def read(opcode, handle, n_bytes):
+ tgram = _create_with_handle(opcode, handle)
+ tgram.add_u16(n_bytes)
+ return tgram
+
+def _parse_read(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ n_bytes = tgram.parse_u16()
+ data = tgram.parse_string()
+ return (handle, n_bytes, data)
+
+def write(opcode, handle, data):
+ tgram = _create_with_handle(opcode, handle)
+ tgram.add_string(len(data), data)
+ return tgram
+
+def _parse_write(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ n_bytes = tgram.parse_u16()
+ return (handle, n_bytes)
+
+def close(opcode, handle):
+ return _create_with_handle(opcode, handle)
+
+def _parse_close(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ return handle
+
+def delete(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_delete(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ fname = tgram.parse_string()
+ return (handle, fname)
+
+def find_first(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_find(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ fname = tgram.parse_string(20)
+ n_bytes = tgram.parse_u32()
+ return (handle, fname, n_bytes)
+
+def find_next(opcode, handle):
+ return _create_with_handle(opcode, handle)
+
+def get_firmware_version(opcode):
+ return _create(opcode)
+
+def _parse_get_firmware_version(tgram):
+ tgram.check_status()
+ prot_minor = tgram.parse_u8()
+ prot_major = tgram.parse_u8()
+ prot_version = (prot_major, prot_minor)
+ fw_minor = tgram.parse_u8()
+ fw_major = tgram.parse_u8()
+ fw_version = (fw_major, fw_minor)
+ return (prot_version, fw_version)
+
+def open_write_linear(opcode, fname, n_bytes):
+ tgram = _create_with_file(opcode, fname)
+ tgram.add_u32(n_bytes)
+ return tgram
+
+def open_read_linear(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_open_read_linear(tgram):
+ tgram.check_status()
+ n_bytes = tgram.parse_u32()
+ return n_bytes
+
+def open_write_data(opcode, fname, n_bytes):
+ tgram = _create_with_file(opcode, fname)
+ tgram.add_u32(n_bytes)
+ return tgram
+
+def open_append_data(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_open_append_data(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ n_bytes = tgram.parse_u32()
+ return (handle, n_bytes)
+
+def request_first_module(opcode, mname):
+ return _create_with_file(opcode, mname)
+
+def _parse_request_module(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ mname = tgram.parse_string(20)
+ mod_id = tgram.parse_u32()
+ mod_size = tgram.parse_u32()
+ mod_iomap_size = tgram.parse_u16()
+ return (handle, mname, mod_id, mod_size, mod_iomap_size)
+
+def request_next_module(opcode, handle):
+ return _create_with_handle(opcode, handle)
+
+def close_module_handle(opcode, handle):
+ return _create_with_handle(opcode, handle)
+
+def read_io_map(opcode, mod_id, offset, n_bytes):
+ tgram = _create(opcode)
+ tgram.add_u32(mod_id)
+ tgram.add_u16(offset)
+ tgram.add_u16(n_bytes)
+ return tgram
+
+def _parse_read_io_map(tgram):
+ tgram.check_status()
+ mod_id = tgram.parse_u32()
+ n_bytes = tgram.parse_u16()
+ contents = tgram.parse_string()
+ return (mod_id, n_bytes, contents)
+
+def write_io_map(opcode, mod_id, offset, content):
+ tgram = _create(opcode)
+ tgram.add_u32(mod_id)
+ tgram.add_u16(offset)
+ tgram.add_u16(len(content))
+ tgram.add_string(len(content), content)
+ return tgram
+
+def _parse_write_io_map(tgram):
+ tgram.check_status()
+ mod_id = tgram.parse_u32()
+ n_bytes = tgram.parse_u16()
+ return (mod_id, n_bytes)
+
+def boot(opcode):
+ # Note: this command is USB only (no Bluetooth)
+ tgram = _create(opcode)
+ tgram.add_string(19, "Let's dance: SAMBA\0")
+ return tgram
+
+def _parse_boot(tgram):
+ tgram.check_status()
+ resp = tgram.parse_string()
+ # Resp should be 'Yes\0'
+ return resp
+
+def set_brick_name(opcode, bname):
+ tgram = _create(opcode)
+ if len(bname) > 15:
+ print "Warning! Brick name %s will be truncated to %s!" % (bname, bname[0:15])
+ bname = bname[0:15]
+ elif len(bname) < 15:
+ bname += '\x00' * (15-len(bname)) #fill the extra chars with nulls
+ tgram.add_string(len(bname), bname)
+ return tgram
+
+def _parse_set_brick_name(tgram):
+ tgram.check_status()
+
+def get_device_info(opcode):
+ return _create(opcode)
+
+def _parse_get_device_info(tgram):
+ tgram.check_status()
+ name = tgram.parse_string(15)
+ a0 = tgram.parse_u8()
+ a1 = tgram.parse_u8()
+ a2 = tgram.parse_u8()
+ a3 = tgram.parse_u8()
+ a4 = tgram.parse_u8()
+ a5 = tgram.parse_u8()
+ a6 = tgram.parse_u8()
+ # FIXME: what is a6 for?
+ address = '%02X:%02X:%02X:%02X:%02X:%02X' % (a0, a1, a2, a3, a4, a5)
+ signal_strength = tgram.parse_u32()
+ user_flash = tgram.parse_u32()
+ return (name, address, signal_strength, user_flash)
+
+def delete_user_flash(opcode):
+ return _create(opcode)
+
+def _parse_delete_user_flash(tgram):
+ tgram.check_status()
+
+def poll_command_length(opcode, buf_num):
+ tgram = _create(opcode)
+ tgram.add_u8(buf_num)
+ return tgram
+
+def _parse_poll_command_length(tgram):
+ buf_num = tgram.parse_u8()
+ tgram.check_status()
+ n_bytes = tgram.parse_u8()
+ return (buf_num, n_bytes)
+
+def poll_command(opcode, buf_num, n_bytes):
+ tgram = _create(opcode)
+ tgram.add_u8(buf_num)
+ tgram.add_u8(n_bytes)
+ return tgram
+
+def _parse_poll_command(tgram):
+ buf_num = tgram.parse_u8()
+ tgram.check_status()
+ n_bytes = tgram.parse_u8()
+ command = tgram.parse_string()
+ return (buf_num, n_bytes, command)
+
+def bluetooth_factory_reset(opcode):
+ # Note: this command is USB only (no Bluetooth)
+ return _create(opcode)
+
+def _parse_bluetooth_factory_reset(tgram):
+ tgram.check_status()
+
+OPCODES = {
+ 0x80: (open_read, _parse_open_read),
+ 0x81: (open_write, _parse_open_write),
+ 0x82: (read, _parse_read),
+ 0x83: (write, _parse_write),
+ 0x84: (close, _parse_close),
+ 0x85: (delete, _parse_delete),
+ 0x86: (find_first, _parse_find),
+ 0x87: (find_next, _parse_find),
+ 0x88: (get_firmware_version, _parse_get_firmware_version),
+ 0x89: (open_write_linear, _parse_open_write),
+ 0x8A: (open_read_linear, _parse_open_read_linear),
+ 0x8B: (open_write_data, _parse_open_write),
+ 0x8C: (open_append_data, _parse_open_append_data),
+ 0x90: (request_first_module, _parse_request_module),
+ 0x91: (request_next_module, _parse_request_module),
+ 0x92: (close_module_handle, _parse_close),
+ 0x94: (read_io_map, _parse_read_io_map),
+ 0x95: (write_io_map, _parse_write_io_map),
+ 0x97: (boot, _parse_boot),
+ 0x98: (set_brick_name, _parse_set_brick_name),
+ 0x9B: (get_device_info, _parse_get_device_info),
+ 0xA0: (delete_user_flash, _parse_delete_user_flash),
+ 0xA1: (poll_command_length, _parse_poll_command_length),
+ 0xA2: (poll_command, _parse_poll_command),
+ 0xA4: (bluetooth_factory_reset, _parse_bluetooth_factory_reset),
+}
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/telegram.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/telegram.py
new file mode 100644
index 0000000..1fc5b3e
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/telegram.py
@@ -0,0 +1,118 @@
+# nxt.telegram module -- LEGO Mindstorms NXT telegram formatting and parsing
+# Copyright (C) 2006 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+'Used by nxt.system for sending telegrams to the NXT'
+
+from cStringIO import StringIO
+from struct import pack, unpack
+import nxt.error
+
+class InvalidReplyError(Exception):
+ pass
+
+class InvalidOpcodeError(Exception):
+ pass
+
+class Telegram(object):
+
+ TYPE = 0 # type byte offset
+ CODE = 1 # code byte offset
+ DATA = 2 # data byte offset
+
+ TYPE_NOT_DIRECT = 0x01 # system vs. direct type
+ TYPE_REPLY = 0x02 # reply type (from NXT brick)
+ TYPE_REPLY_NOT_REQUIRED = 0x80 # reply not required flag
+
+ def __init__(self, direct=False, opcode=0, reply_req=True, pkt=None):
+ if pkt:
+ self.pkt = StringIO(pkt)
+ self.typ = self.parse_u8()
+ self.opcode = self.parse_u8()
+ if not self.is_reply():
+ raise InvalidReplyError
+ if self.opcode != opcode:
+ raise InvalidOpcodeError, self.opcode
+ else:
+ self.pkt = StringIO()
+ typ = 0
+ if not direct:
+ typ |= Telegram.TYPE_NOT_DIRECT
+ if not reply_req:
+ typ |= Telegram.TYPE_REPLY_NOT_REQUIRED
+ self.add_u8(typ)
+ self.add_u8(opcode)
+
+ def __str__(self):
+ return self.pkt.getvalue()
+
+ def is_reply(self):
+ return self.typ == Telegram.TYPE_REPLY
+
+ def add_string(self, n_bytes, v):
+ self.pkt.write(pack('%ds' % n_bytes, v))
+
+ def add_filename(self, fname):
+ self.pkt.write(pack('20s', fname))
+
+ def add_s8(self, v):
+ self.pkt.write(pack('<b', v))
+
+ def add_u8(self, v):
+ self.pkt.write(pack('<B', v))
+
+ def add_s16(self, v):
+ self.pkt.write(pack('<h', v))
+
+ def add_u16(self, v):
+ self.pkt.write(pack('<H', v))
+
+ def add_s32(self, v):
+ self.pkt.write(pack('<i', v))
+
+ def add_u32(self, v):
+ self.pkt.write(pack('<I', v))
+
+ def parse_string(self, n_bytes=0):
+ if n_bytes:
+ return unpack('%ss' % n_bytes,
+ self.pkt.read(n_bytes))[0]
+ else:
+ return self.pkt.read()
+
+ def parse_s8(self):
+ return unpack('<b', self.pkt.read(1))[0]
+
+ def parse_u8(self):
+ return unpack('<B', self.pkt.read(1))[0]
+
+ def parse_s16(self):
+ return unpack('<h', self.pkt.read(2))[0]
+
+ def parse_u16(self):
+ return unpack('<H', self.pkt.read(2))[0]
+
+ def parse_s32(self):
+ return unpack('<i', self.pkt.read(4))[0]
+
+ def parse_u32(self):
+ return unpack('<I', self.pkt.read(4))[0]
+
+ def check_status(self):
+ nxt.error.check_status(self.parse_u8())
+
+import nxt.direct
+import nxt.system
+
+OPCODES = dict(nxt.system.OPCODES)
+OPCODES.update(nxt.direct.OPCODES)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py
new file mode 100644
index 0000000..1856a10
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py
@@ -0,0 +1,82 @@
+# nxt.usbsock module -- USB socket communication with LEGO Minstorms NXT
+# Copyright (C) 2006, 2007 Douglas P Lau
+# Copyright (C) 2009 Marcus Wanner
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+import usb
+from nxt.brick import Brick
+
+ID_VENDOR_LEGO = 0x0694
+ID_PRODUCT_NXT = 0x0002
+
+class USBSock(object):
+ 'Object for USB connection to NXT'
+
+ bsize = 60 # USB socket block size
+
+ def __init__(self, device):
+ self.device = device
+ self.handle = None
+ self.debug = False
+
+ def __str__(self):
+ return 'USB (%s)' % (self.device.filename)
+
+ def connect(self):
+ 'Use to connect to NXT.'
+ if self.debug:
+ print 'Connecting via USB...'
+ config = self.device.configurations[0]
+ iface = config.interfaces[0][0]
+ self.blk_out, self.blk_in = iface.endpoints
+ self.handle = self.device.open()
+ self.handle.setConfiguration(1)
+ self.handle.claimInterface(0)
+ self.handle.reset()
+ if self.debug:
+ print 'Connected.'
+ return Brick(self)
+
+ def close(self):
+ 'Use to close the connection.'
+ if self.debug:
+ print 'Closing USB connection...'
+ self.device = None
+ self.handle = None
+ self.blk_out = None
+ self.blk_in = None
+ if self.debug:
+ print 'USB connection closed.'
+
+ def send(self, data):
+ 'Use to send raw data over USB connection ***ADVANCED USERS ONLY***'
+ if self.debug:
+ print 'Send:',
+ print ':'.join('%02x' % ord(c) for c in data)
+ self.handle.bulkWrite(self.blk_out.address, data)
+
+ def recv(self):
+ 'Use to recieve raw data over USB connection ***ADVANCED USERS ONLY***'
+ data = self.handle.bulkRead(self.blk_in.address, 64)
+ if self.debug:
+ print 'Recv:',
+ print ':'.join('%02x' % (c & 0xFF) for c in data)
+ # NOTE: bulkRead returns a tuple of ints ... make it sane
+ return ''.join(chr(d & 0xFF) for d in data)
+
+def find_bricks(host=None, name=None):
+ 'Use to look for NXTs connected by USB only. ***ADVANCED USERS ONLY***'
+ # FIXME: probably should check host and name
+ for bus in usb.busses():
+ for device in bus.devices:
+ if device.idVendor == ID_VENDOR_LEGO and device.idProduct == ID_PRODUCT_NXT:
+ yield USBSock(device)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/utils.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/utils.py
new file mode 100644
index 0000000..98ba6df
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/utils.py
@@ -0,0 +1,33 @@
+# nxt.utils module -- Generic utilities to support other modules
+# Copyright (C) 2010 Vladimir Moskva
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+from collections import defaultdict
+
+def parse_command_line_arguments(arguments):
+ keyword_parameters = defaultdict(lambda: None)
+ parameters = []
+ current_key = None
+
+ for argument in arguments[1:]:
+ if argument in ('-h', '--host'):
+ current_key = 'host'
+ else:
+ if current_key is not None:
+ if argument.startswith('-'):
+ raise Exception('Invalid arguments')
+ keyword_parameters[current_key] = argument
+ current_key = None
+ else:
+ parameters.append(argument)
+ return parameters, keyword_parameters
+
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_filer b/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_filer
new file mode 100644
index 0000000..767d268
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_filer
@@ -0,0 +1,142 @@
+#!/usr/bin/env python
+#
+# nxt_filer program -- Simple GUI to manage files on a LEGO Mindstorms NXT
+# Copyright (C) 2006 Douglas P Lau
+# Copyright (C) 2010 rhn
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+import cStringIO
+import gtk
+import os.path
+import urllib2
+import sys
+
+import nxt.locator
+from nxt.brick import FileFinder, FileReader, FileWriter
+from nxt.utils import parse_command_line_arguments
+
+def read_file(b, fname):
+ with FileReader(b, fname) as r:
+ with open(fname, 'wb') as f:
+ for data in r:
+ f.write(data)
+
+class NXTListing(gtk.ListStore):
+
+ def __init__(self, brick):
+ gtk.ListStore.__init__(self, str, str)
+ self.set_sort_column_id(0, gtk.SORT_ASCENDING)
+ self.populate(brick, '*.*')
+
+ def populate(self, brick, pattern):
+ f = FileFinder(brick, pattern)
+ for (fname, size) in f:
+ self.append((fname, str(size)))
+
+def write_file(b, fname, data):
+ w = FileWriter(b, fname, len(data))
+ print 'Pushing %s (%d bytes) ...' % (fname, w.size),
+ sys.stdout.flush()
+ w.write(data)
+ print 'wrote %d bytes' % len(data)
+ w.close()
+
+def write_files(b, names):
+ for fname in names.split('\r\n'):
+ if fname:
+ print 'File:', fname
+ bname = os.path.basename(fname)
+ url = urllib2.urlopen(fname)
+ try:
+ data = url.read()
+ finally:
+ url.close()
+ print 'name %s, size: %d ' % (bname, len(data))
+ write_file(b, bname, data)
+
+class NXT_Filer(gtk.Window):
+ TARGETS = gtk.target_list_add_uri_targets()
+
+ def __init__(self, brick):
+ gtk.Window.__init__(self)
+ self.brick = brick
+ self.set_border_width(6)
+ self.nxt_model = NXTListing(brick)
+ h = gtk.HBox()
+ h.pack_start(self.make_file_panel(str(brick.sock),
+ self.nxt_model), True)
+ self.add(h)
+ self.connect('destroy', self.quit)
+
+ def make_file_list(self):
+ tv = gtk.TreeView()
+ tv.set_headers_visible(True)
+ tv.set_property('fixed_height_mode', True)
+ r = gtk.CellRendererText()
+ c = gtk.TreeViewColumn('File name', r, text=0)
+ c.set_fixed_width(200)
+ c.set_sizing(gtk.TREE_VIEW_COLUMN_FIXED)
+ tv.append_column(c)
+ r = gtk.CellRendererText()
+ c = gtk.TreeViewColumn('Bytes', r, text=1)
+ c.set_sizing(gtk.TREE_VIEW_COLUMN_FIXED)
+ c.set_fixed_width(80)
+ tv.append_column(c)
+
+# tv.enable_model_drag_source(gtk.gdk.BUTTON1_MASK, self.TARGETS,
+# gtk.gdk.ACTION_DEFAULT | gtk.gdk.ACTION_MOVE)
+ tv.enable_model_drag_dest(self.TARGETS, gtk.gdk.ACTION_COPY)
+# tv.connect("drag_data_get", self.drag_data_get_data)
+ tv.connect("drag_data_received", self.drag_data_received_data)
+
+ return tv
+
+ def make_file_panel(self, name, model):
+ v = gtk.VBox()
+ v.pack_start(gtk.Label(name), False)
+ tv = self.make_file_list()
+ tv.set_model(model)
+ s = gtk.ScrolledWindow()
+ s.set_policy(gtk.POLICY_NEVER, gtk.POLICY_ALWAYS)
+ s.add(tv)
+ s.set_border_width(2)
+ v.pack_start(s, True)
+ return v
+
+ def drag_data_get_data(self, treeview, context, selection, target_id,
+ etime):
+ treeselection = treeview.get_selection()
+ model, iter = treeselection.get_selected()
+ data = model.get_value(iter, 0)
+ print data
+ selection.set(selection.target, 8, data)
+
+ def drag_data_received_data(self, treeview, context, x, y, selection,
+ info, etime):
+ if context.action == gtk.gdk.ACTION_COPY:
+ write_files(self.brick, selection.data)
+ # FIXME: update file listing after writing files
+ # FIXME: finish context
+
+ def quit(self, w):
+ 'Quit the program'
+ self.brick.sock.close()
+ gtk.main_quit()
+
+if __name__ == '__main__':
+ # FIXME: add dialog with progress bar when scanning bluetooth devices
+ arguments, keyword_arguments = parse_command_line_arguments(sys.argv)
+
+ brick = nxt.locator.find_one_brick(keyword_arguments['host'])
+ win = NXT_Filer(brick)
+ win.show_all()
+ gtk.main()
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_push b/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_push
new file mode 100644
index 0000000..395b38f
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_push
@@ -0,0 +1,47 @@
+#!/usr/bin/env python
+#
+# nxt_push program -- Push a file to a LEGO Mindstorms NXT brick
+# Copyright (C) 2006 Douglas P Lau
+# Copyright (C) 2010 rhn
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+import sys
+import nxt.locator
+from nxt.brick import FileWriter
+from nxt.error import FileNotFound
+from nxt.utils import parse_command_line_arguments
+
+def _write_file(b, fname, data):
+ w = FileWriter(b, fname, len(data))
+ print 'Pushing %s (%d bytes) ...' % (fname, w.size),
+ sys.stdout.flush()
+ w.write(data)
+ print 'wrote %d bytes' % len(data)
+ w.close()
+
+def write_file(b, fname):
+ f = open(fname)
+ data = f.read()
+ f.close()
+ try:
+ b.delete(fname)
+ print 'Overwriting %s on NXT' % fname
+ except FileNotFound:
+ pass
+ _write_file(b, fname, data)
+
+if __name__ == '__main__':
+ arguments, keyword_arguments = parse_command_line_arguments(sys.argv)
+
+ brick = nxt.locator.find_one_brick(keyword_arguments['host'])
+ for filename in arguments:
+ write_file(brick, filename)
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_test b/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_test
new file mode 100644
index 0000000..5cc0fcd
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/scripts/nxt_test
@@ -0,0 +1,33 @@
+#!/usr/bin/env python
+
+#Lists various information from all bricks it can connect to.
+
+import sys, traceback
+import nxt.locator
+import nxt.brick
+
+b = None
+socks = nxt.locator.find_bricks()
+for sock in socks:
+ try:
+ b = sock.connect()
+
+ name, host, signal_strength, user_flash = b.get_device_info()
+ print 'NXT brick name: %s' % name
+ print 'Host address: %s' % host
+ print 'Bluetooth signal strength: %s' % signal_strength
+ print 'Free user flash: %s' % user_flash
+ prot_version, fw_version = b.get_firmware_version()
+ print 'Protocol version %s.%s' % prot_version
+ print 'Firmware version %s.%s' % fw_version
+ millivolts = b.get_battery_level()
+ print 'Battery level %s mV' % millivolts
+ except:
+ print "Error with brick:"
+ traceback.print_tb(sys.exc_info()[2])
+ print str(sys.exc_info()[1])
+ if b:
+ b.sock.close()
+
+if not b:
+ print "No bricks found!"
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/setup.py b/AT91SAM7S256/armdebug/nxt-python-fantom/setup.py
new file mode 100644
index 0000000..9899347
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/setup.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+
+try:
+ readme = open('README', 'r')
+ ldesc = readme.read(8192)
+ readme.close()
+except:
+ ldesc = ""
+
+setup(
+ name='nxt-python',
+ version='2.1.0',
+ author='Marcus Wanner',
+ author_email='marcusw@cox.net',
+ description='LEGO Mindstorms NXT Control Package',
+ url='http://code.google.com/p/nxt-python/',
+ license='Gnu GPL v3',
+ packages=['nxt', 'nxt.sensor'],
+ scripts=['scripts/nxt_push', 'scripts/nxt_test', 'scripts/nxt_filer'],
+ long_description=ldesc
+)