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From: lego-robotics@crynwr.com (Markus L. Noga)
Subject: Direct Motor driver
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Organization: INRIA Rhone-Alpes / IPR Uni Karlsruhe
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Date: Fri, 13 Nov 1998 17:43:33 GMT
Original-From: "Markus L. Noga" <Markus.Noga@inrialpes.fr>
Lines: 18

Thanks to the fine people who figured the memory mapped motor I/O
address to be 0xf000 and who determined the controlling bitmaps, I wrote
a native motor driver today. See http://mauve.inrialpes.fr/

Things missing for a V0.1 kernel release:
- task switcher IRQ reassignment (tomorrow, on OCIB)
- some synchronization primitives and sleep()
- sensors (tomorrow)
- sound replacement. I have 1bit/8kHz sample playing working,
  but it sounds horrible :-(

As I caught a cold, looks like I won't be scaling any mountains this
weekend. Maybe write some code.

-- 
Markus L. Noga			noga@inrialpes.fr
INRIA Rhône-Alpes		http://www.inrialpes.fr/
IPR Universität Karlsruhe   	http://wwwipr.ira.uka.de/

Xref: lugnet.com lugnet.robotics:591
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From: lego-robotics@crynwr.com (Markus L. Noga)
Subject: Replacement firmware: legOS-0.1
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Date: Mon, 16 Nov 1998 23:20:19 GMT
Original-From: "Markus L. Noga" <Markus.Noga@inrialpes.fr>
Lines: 30

Greetings.

Work on my native mode kernel and standard library has progressed to a
point where it is time to baptise the offspring. legOS V0.1 beta is now
available for download on http://mauve.inrialpes.fr/

legOS allows you to program the LEGO Mindstorms RCX in assembler and
standard C. Beyond the bytecode barrier, arrays, structures, pointers
and arbitrary
user-defined data types await. Supported configuration options include:

- dynamic memory management
- fully preemptive multitasking with priority-based scheduler
- energy-saving idle process
- POSIX-compliant semaphores for IPC (alpha!)
- direct LCD access for hexadecimal, ASCII or arbitrary output
- direct motor control
- raw mode sensor driver
- raw mode IR driver (still mutually exclusive with multitasking)

Total memory footprint is less than 5k with all options enabled, leaving
ample room for user applications in the RCX's 32k RAM.

Beware: all this is beta. But then, you wouldn't trust mission critical
applications to LEGO anyway, would you?

-- 
Markus L. Noga			noga@inrialpes.fr
INRIA Rhône-Alpes		http://www.inrialpes.fr/
IPR Universität Karlsruhe   	http://wwwipr.ira.uka.de/

Xref: lugnet.com lugnet.robotics:1294
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From: lego-robotics@crynwr.com (Markus L. Noga)
Subject: legOS-0.1.3
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Date: Thu, 10 Dec 1998 18:53:33 GMT
Original-From: "Markus L. Noga" <Markus.Noga@inrialpes.fr>
Lines: 18

Hello,

legOS now supports active light sensors. Newest version at:
http://mauve.inrialpes.fr/legOS/

legOS is an unofficial native mode kernel for the Lego Mindstorms RCX.
It features preemptive multitasking, energy saving, dynamic memory
management, POSIX semaphores, native access to display, buttons, IR
communication, motors and sensors.

User tasks can be written in any language for which a cross-compiler is
available. 
GNU gcc and binutils will do the job for C and assembler.

-- 
Markus L. Noga			noga@inrialpes.fr
INRIA Rhône-Alpes		http://www.inrialpes.fr/
IPR Universität Karlsruhe   	http://wwwipr.ira.uka.de/

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