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From: lego-robotics@crynwr.com (Markus L. Noga)
Subject: legOS-0.1.5 released
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Date: Wed, 27 Jan 1999 04:30:29 GMT
Original-From: "Markus L. Noga" <noga@inrialpes.fr>
Lines: 35

Good morning everybody,

legOS-0.1.5 is now available from http://www.multimania.com/legos/.
legOS is replacement firmware for the LEGO Mindstorms RCX, offering a
wide range of features such as memory management, multitasking and
device drivers. legOS applications can be written in Standard C or
assembler, including language constructs such as structures, arrays,
pointers etc.

Changes from legOS-0.1.4:
-------------------------
- added 32 bit system timer with 1ms resolution. Never mind Y2K - we
have
  a 49.7 day problem.
- rewrote task switcher to free 8-bit timer 1. Now IR compatible.
- fixed memory management bugs that crashed demos when running them for
the
  5th time. 
- fixed IR driver. It seems the carrier has to be turned on exclusively
when
  sending, otherwise reception doesn't work. Added fflush() command.
- new demo tm-and-ir.c receives and displays IR at 2400 / 8N1.
Broadcasts
  "Hello, world!" messages when view is pressed. Press Run to
start/stop.

Enjoy, 

Markus.

-- 
Markus L. Noga		noga@inrialpes.fr
Check out legOS!	http://www.multimania.com/legos/
--
Did you check the web site first?: http://www.crynwr.com/lego-robotics

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From: lego-robotics@crynwr.com (Markus L. Noga)
Subject: legOS-0.1.6
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Date: Fri, 29 Jan 1999 14:41:28 GMT
Original-From: "Markus L. Noga" <noga@inrialpes.fr>
Lines: 16

Hi there,

due to your contributions, a new version is out already. Rotation
sensors work now, thanks, Eric!

If anybody feels like integrating dedicated radar code with the sensor
module, please do. 

Ciao, Markus.

-- 
Markus L. Noga		noga@inrialpes.fr
Check out legOS!	http://www.multimania.com/legos/
"He who quote merely employs his memory, not his reason." -Nietzsche
--
Did you check the web site first?: http://www.crynwr.com/lego-robotics

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From: lego-robotics@crynwr.com (Markus L. Noga)
Subject: legOS development release imminent / C++
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Date: Sun, 14 Feb 1999 15:12:05 GMT
Original-From: "Markus L. Noga" <noga@inrialpes.fr>
Lines: 60

Hello everyone,

there'll be a new development release shortly. This will probably be
less stable than 0.1.6. I've been working on and integrating
contributions for many different features:

- automatic generation of API documentation with doxygen
- bugfixes
- math routines
- libc.a, libiberty.a
- compiler issues
- C++ support (with egcs-1.1.1)

Currently, I have a stub of less than 600 bytes (subtract symbols, and
we're probably at 300 bytes) that allows very basic usage of classes and
inheritance. Things that don't work include new/delete, the virtual
modifier and exceptions. All these functions seem to be strongly
intertwined with RTTI, thus take up an big amount of memory - too much
to suit firmdl.

I'm worried about compactness with C++ in general. The code generated by
this function is 76 bytes long:

void do_sensing_c() {
  int i;
  ds_active(&SENSOR_1);

  for(i=0; i<100; i++) {
    cputw(SENSOR_1);
    lcd_refresh();
    delay(20);
  }
  ds_passive(&SENSOR_1);
}

The exact same thing in C++ generates 232 bytes:

void do_sensing_cpp() {
  Sensor s(Sensor::s1,1);
  
  for(int i=0; i<100; i++) {
    cputw(s.value());
    lcd_refresh();
    delay(20);
  }
}

A factor of three. I'm not sure whether it's worth treading this path.

Markus.

-- 
Markus L. Noga		noga@inrialpes.fr
Check out legOS!	http://www.multimania.com/legos/
"Wer zitiert, benutzt sein Gedächtnis, nicht seinen Verstand."      
-Nietzsche
"Quand on n'a pas de caractere, il faut bien se donner une methode."
-Camus
--
Did you check the web site first?: http://www.crynwr.com/lego-robotics

Xref: lugnet.com lugnet.robotics:4301 lugnet.robotics.rcx.legos:61
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From: "Markus L. Noga" <noga@inrialpes.fr>
X-Real-Life-Name: Markus L. Noga
Subject: legOS-0.1.7 released
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Date: Fri, 19 Mar 1999 18:12:49 GMT
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Hello,

legOS is an embedded OS for the LEGO Mindstorms RCX. It can be
programmed in C, assembler, and some language elements of C++.
Preemptive multitasking, access to all 32k RAM and low-level hardware
control are some of its most prominent features.

I finally tied up the loose ends I was aware of in 0.1.7. As of this
version, legOS is released under MPL.

Details and downloads on http://www.multimania.com/ details.

A+,
Markus.

--- 
Markus L. Noga		noga@inrialpes.fr
Check out legOS!	http://www.multimania.com/legos/
"Quand on n'a pas de caractere, il faut bien se donner une methode."
 -Camus on Software Engineering

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From: "Markus L. Noga" <markus@noga.de>
X-Real-Life-Name: Markus L. Noga
Subject: legOS 0.2.0 released
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Hello,

legOS 0.2.0 is out. If you like to program your Mindstorms in C, or if
you would like to try, it has become better than ever. Dynamic linking
and program loading are fully supported now, as well as unreliable LNP
datagram networking. Lots of evolutional improvements were made, such as
automatic display refresh, a decent keyboard driver (finally) etc.

See http://www.noga.de/legOS/ to check it out. And see you all at
MindFest.

Ciao,

Markus.

-- 
Markus L. Noga <markus@noga.de>

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From: "Markus L. Noga" <markus@noga.de>
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Subject: legOS-0.2.1
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Hello,

legOS 0.2.1 is out. No, I'm not working full time on legOS - this is
just a day's work. Apart from minor bug fixes, a new file format for
user programs is introduced, along with the tools to support it. The
dynamic loader is a standalone C program now. I'd like to hear about a
successful Windows port. Let's make web compilers work again.

News:
* .lx relocatable file format for legOS executables
* dll is a stand-alone C program now, should be possible to
  compile under windows?
* boot/ directory for compiled kernel image / linker map
* sensor activation visualization
* better program number display
* ON/OFF always works now.
* user programs survive ON/OFF now.
* Kekoa's single precision floating point library integrated.
  Check Makefile.kernel / Makefile.user if you want to link
  libraries statically to your kernel.
* use cls() to clear user screen only.
 
Ciao,

Markus.
 
-- 
"Nieder mit den Zitaten!" -Markus L. Noga <markus@noga.de>

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From: "Markus L. Noga" <markus@noga.de>
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Subject: legOS-0.2.2
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Date: Sun, 7 Nov 1999 20:52:35 GMT
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Hello,

legOS-0.2.2 is out. Generating user programs doesn't require perl
anymore, and several bugs have been fixed.

Get it at http://www.noga.de/legOS/

Ciao,

Markus.

-- 
"Nieder mit den Zitaten!" -Markus L. Noga <markus@noga.de>

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From: "Markus L. Noga" <markus@noga.de>
X-Real-Life-Name: Markus L. Noga
Subject: legOS-0.2.3 released
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Date: Sun, 19 Dec 1999 04:46:58 GMT
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Hello everyone,

legOS-0.2.3 is out and available at http://www.noga.de/legOS/

News for legOS-0.2.3:
---------------------
* Better rotation sensor handling via state tables.
* Sound driver to play sequences of notes.
* Improved packet retransmit handling for program downloads.
* Another collision detection bug fixed (char -> volatile signed char).
* Prebuilt standard kernel in distribution.

Now, if somebody just wrote a decent R2/D2 system sound scheme...

Markus.

-- 
"Nieder mit den Zitaten!" -Markus L. Noga <markus@noga.de>

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