lms2012.h

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/*
 * LEGO® MINDSTORMS EV3
 *
 * Copyright (C) 2010-2013 The LEGO Group
 *
 * 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.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 */


//#define   DEBUG                         //!< When defined debug messages is output on standard I/O (d_uart is different)

#define   TERMINAL_ENABLED      0       
#define   DEBUG_UART            4       


/*    \endverbatim */

//#define   DEBUG_VM
//#define   DEBUG_TRACE_TASK
//#define   DEBUG_C_COM
//#define   DEBUG_C_INPUT
//#define   DEBUG_C_INPUT_DAISYCHAIN
//#define   DEBUG_C_INPUT_DATALOG
//#define   DEBUG_C_INPUT_FAST_DATALOG
//#define   DEBUG_C_MEMORY
//#define   DEBUG_C_MEMORY_LOG
//#define   DEBUG_C_MEMORY_FILE
//#define   DEBUG_C_MEMORY_LOW
//#define   DEBUG_C_SOUND
//#define   DEBUG_C_UI

//#define   DEBUG_D_ANALOG
//#define   DEBUG_D_POWER
//#define   DEBUG_D_UART
//#define   DEBUG_D_UART_ERROR
//#define   DEBUG_D_UI
//#define   DEBUG_D_SOUND
//#define   DEBUG_D_IIC
//#define   DEBUG_D_USBDEV

//#define   ENABLE_TEST_ON_PORT4

//#define   BUFPRINTSIZE 100000
//#define   REMEMBER_TO_ENABLE_SAVE_USER_DATA
//#define   REMEMBER_TO_FIX_TYPEDATA

//#define   DEBUG_TRACE_USB_COMMAND
//#define   DEBUG_TRACE_MODE_CHANGE
//#define   DEBUG_TRACE_KEY
//#define   DEBUG_TRACE_ANGLE
//#define   DEBUG_TRACE_US
//#define   DEBUG_TRACE_VM
//#define   DEBUG_TRACE_DAISYCHAIN
//#define   DEBUG_BYTECODE_TIME
//#define   DEBUG_TRACE_FREEZE
//#define   DEBUG_TRACE_FILENAME
//#define   DEBUG_SDCARD
//#define   DEBUG_USBSTICK
//#define   DEBUG_VIRTUAL_BATT_TEMP
//#define   DEBUG_TEMP_SHUTDOWN
//#define   DEBUG_BACK_BLOCKED
#define   DEBUG_RECHARGEABLE



#ifndef   LMS2012_H_
#define   LMS2012_H_

//  HARDWARE PLATFORM

#define   EP2                   4       
#define   FINALB                3       
#define   FINAL                 2       
#define   SIMULATION            0       

#define   PLATFORM_START        FINAL   
#define   PLATFORM_END          EP2     

// Will be removed when not used anymore
#define   A4                    -1
#define   EVALBOARD             -2
#define   ONE2ONE               1       


#ifdef LEGO_SIMULATION
  #define HARDWARE SIMULATION
#else

#ifndef   HARDWARE
  #define HARDWARE      FINAL           
#endif

#endif

//  Support for module parameter "HwId"
//
//  Readout   File    int       PCB
//
//  V1.00     10      10        MP      (h = home, e = education)
//  V0.50     05      5         EP3
//  V0.40     04      4         EP2
//  V0.30     03      3         EP1     (FINALB)  (DEFAULT if file "HwId" not found)
//  V0.20     02      2         FINAL

#ifdef HW_ID_SUPPORT

char      *HwId = "03";

#define   HWID          (((HwId[0] - '0') * 10) + (HwId[1] - '0'))

#endif


//  FIRMWARE VARIANTS

//#define   OLDCALL                       //!< Don't use optimised sub calls
//#define   DISABLE_PRU_UARTS             //!< Don't use port 3 and 4 for UART sensors
//#define   DISABLE_OLD_COLOR             //!< Don't support NXT color sensor
//#define   DISABLE_ADC                   //!< Don't use ADC (no clock EMC test)
//#define   ADC_BITBANGING                //!< Don't use SPI for a/d converter
//#define   DISABLE_DAISYCHAIN
//#define   DISABLE_DAISYCHAIN_COM_CALL
//#define   DISABLE_FAST_DATALOG_BUFFER
//#define   DISABLE_BUMBED
//#define   LOG_ASCII
//#define   DISABLE_FIQ_IIC
#define   UART1_FAKE_INTERRUPT          
//#define   DISABLE_LOW_VOLTAGE           
//#define   ENABLE_HIGH_CURRENT           
//#define   DISABLE_LOW_MEMORY            
//#define   DISABLE_UART_DATA_ERROR       
#define   DISABLE_PREEMPTED_VM          
//#define   DISABLE_SDCARD_SUPPORT        
#define   DISABLE_USBSTICK_SUPPORT      
//#define   ENABLE_PERFORMANCE_TEST       
//#define   ENABLE_LOAD_TEST              
//#define   ENABLE_MEMORY_TEST            
//#define   ENABLE_STATUS_TEST
//#define   DISABLE_VIRTUAL_BATT_TEMP
//#define   DISABLE_SOUND
//#define   DISABLE_PAR_ALIGNMENT         //!< Disable possibility to align sub call parameter types
//#define   DISABLE_NEW_CALL_MUTEX        //!< Disable smart object switching after return from non reentrant sub call (enables blocked thread call)
//#define   DISABLE_SYSTEM_BYTECODE       //!< Disable the use of opSYSTEM command
//#define   DISABLE_FILENAME_CHECK        //!< Disable "c_memory" filename check
//#define   DISABLE_AD_WORD_PROTECT       //!< Disable A/D word result protection

#define   TESTDEVICE    3

//#ifdef Linux_X86
//#define   DISABLE_DAISYCHAIN
//#define   DISABLE_DAISYCHAIN_COM_CALL
//#endif

#ifndef PCASM
#include  <asm/types.h>
#endif

#include  "lmstypes.h"
#include  "bytecodes.h"

// Hardware

#define   OUTPUTS                       vmOUTPUTS                     
#define   INPUTS                        vmINPUTS                      
#define   BUTTONS                       vmBUTTONS                     
#define   LEDS                          vmLEDS                        

#define   LCD_WIDTH                     vmLCD_WIDTH                   
#define   LCD_HEIGHT                    vmLCD_HEIGHT                  
#define   TOPLINE_HEIGHT                vmTOPLINE_HEIGHT              
#define   LCD_STORE_LEVELS              vmLCD_STORE_LEVELS            

// Software

#define   FG_COLOR                      vmFG_COLOR                    
#define   BG_COLOR                      vmBG_COLOR                    

#define   CHAIN_DEPT                    vmCHAIN_DEPT                  

#define   EVENT_BT_PIN                  vmEVENT_BT_PIN

// Folders

#define   MEMORY_FOLDER                 vmMEMORY_FOLDER
#define   PROGRAM_FOLDER                vmPROGRAM_FOLDER
#define   DATALOG_FOLDER                vmDATALOG_FOLDER
#define   SDCARD_FOLDER                 vmSDCARD_FOLDER
#define   USBSTICK_FOLDER               vmUSBSTICK_FOLDER

// Files
#define   DETAILS_FILE                  vmDETAILS_FILE                

// Extensions

#define   EXT_SOUND                     vmEXT_SOUND                   
#define   EXT_GRAPHICS                  vmEXT_GRAPHICS                
#define   EXT_BYTECODE                  vmEXT_BYTECODE                
#define   EXT_TEXT                      vmEXT_TEXT                    
#define   EXT_DATALOG                   vmEXT_DATALOG                 
#define   EXT_PROGRAM                   vmEXT_PROGRAM                 
#define   EXT_CONFIG                    vmEXT_CONFIG                  


#define   PROJECT                       "LMS2012"
#define   VERS                          1.04
#define   SPECIALVERS                   'H'           


#define   MAX_PROGRAMS          SLOTS                 
#define   MAX_BREAKPOINTS       4                     
#define   MAX_LABELS            32                    
#define   MAX_DEVICE_TYPE       127                   
#define   MAX_VALID_TYPE        vmMAX_VALID_TYPE      
#define   MAX_DEVICE_MODES      8                     
#define   MAX_DEVICE_DATASETS   8                     
#define   MAX_DEVICE_DATALENGTH 32                    

#define   MAX_DEVICE_BUSY_TIME  1200                  

#define   MAX_DEVICE_TYPES      ((MAX_DEVICE_TYPE + 1) * MAX_DEVICE_MODES)

#define   MAX_FRAMES_PER_SEC    10                    

#define   CACHE_DEEPT           10                    
#define   MAX_HANDLES           250                   

#define   MAX_ARRAY_SIZE        1000000000            
#define   MIN_ARRAY_ELEMENTS    0                     

#define   INSTALLED_MEMORY      6000                  
#define   RESERVED_MEMORY       100                   
#define   LOW_MEMORY            500                   

#define   LOGBUFFER_SIZE        1000                  
#define   DEVICE_LOGBUF_SIZE    300                   
#define   MIN_LIVE_UPDATE_TIME  10                    

#define   MIN_IIC_REPEAT_TIME   10                    
#define   MAX_IIC_REPEAT_TIME   1000                  

#define   MAX_COMMAND_BYTECODES 64                    
#define   MAX_COMMAND_LOCALS    64                    
#define   MAX_COMMAND_GLOBALS   1021                  

#define   UI_PRIORITY           20                    
#define   C_PRIORITY            200                   

#ifndef DISABLE_PREEMPTED_VM
#define   PRG_PRIORITY          2000                  
#else
#define   PRG_PRIORITY          200                   
#endif

#define   BUTTON_DEBOUNCE_TIME        30
#define   BUTTON_START_REPEAT_TIME    400
#define   BUTTON_REPEAT_TIME          200

#define   LONG_PRESS_TIME       3000                  

#define   ADC_REF               5000                  
#define   ADC_RES               4095                  

#define   IN1_ID_HYSTERESIS     50                    
#define   OUT5_ID_HYSTERESIS    100                   

#define   DEVICE_UPDATE_TIME    1000000               
#define   DELAY_TO_TYPEDATA     10000                 
#define   DAISYCHAIN_MODE_TIME  10                    
#define   MAX_FILE_HANDLES      64                    
#define   MIN_HANDLE            3                     

#define   ID_LENGTH             7                     
#define   NAME_LENGTH           12                    

#define   ERROR_BUFFER_SIZE     8                     

#define   PWM_DEVICE            "lms_pwm"             
#define   PWM_DEVICE_NAME       "/dev/lms_pwm"        

#define   MOTOR_DEVICE          "lms_motor"           
#define   MOTOR_DEVICE_NAME     "/dev/lms_motor"      

#define   ANALOG_DEVICE         "lms_analog"          
#define   ANALOG_DEVICE_NAME    "/dev/lms_analog"     

#define   POWER_DEVICE          "lms_power"           
#define   POWER_DEVICE_NAME     "/dev/lms_power"      

#define   DCM_DEVICE            "lms_dcm"             
#define   DCM_DEVICE_NAME       "/dev/lms_dcm"        

#define   UI_DEVICE             "lms_ui"              
#define   UI_DEVICE_NAME        "/dev/lms_ui"         

#define   LCD_DEVICE            "lms_display"         
//#define   LCD_DEVICE_NAME       "/dev/lms_display"    
#define   LCD_DEVICE_NAME       "/dev/fb0"            

#define   UART_DEVICE           "lms_uart"            
#define   UART_DEVICE_NAME      "/dev/lms_uart"       

#define   USBDEV_DEVICE         "lms_usbdev"          
#define   USBDEV_DEVICE_NAME    "/dev/lms_usbdev"     

#define   USBHOST_DEVICE        "lms_usbhost"         
#define   USBHOST_DEVICE_NAME   "/dev/lms_usbhost"    

#define   SOUND_DEVICE          "lms_sound"           
#define   SOUND_DEVICE_NAME     "/dev/lms_sound"      

#define   IIC_DEVICE            "lms_iic"             
#define   IIC_DEVICE_NAME       "/dev/lms_iic"        

#define   BT_DEVICE             "lms_bt"              
#define   BT_DEVICE_NAME        "/dev/lms_bt"         

#define   UPDATE_DEVICE          "lms_update"         
#define   UPDATE_DEVICE_NAME     "/dev/lms_update"    

#define   TEST_PIN_DEVICE       "lms_tst_pin"         
#define   TEST_PIN_DEVICE_NAME  "/dev/lms_tst_pin"    

#define   TEST_UART_DEVICE      "lms_tst_uart"        
#define   TEST_UART_DEVICE_NAME "/dev/lms_tst_uart"   


#define   DIR_DEEPT             vmDIR_DEEPT           

// File

//***********************************************************************************************************************

#define   FILENAMESIZE          vmFILENAMESIZE        
#define   FILENAME_SIZE         52                    
#define   FOLDERNAME_SIZE       10                    
#define   SUBFOLDERNAME_SIZE    FILENAME_SIZE         

#define   MAX_FILENAME_SIZE     (FOLDERNAME_SIZE + SUBFOLDERNAME_SIZE + FILENAME_SIZE + 5)

//***********************************************************************************************************************

#define   TYPEDATE_FILE_NAME    "typedata"            
#define   ICON_FILE_NAME        "icon"                
#define   TEXT_FILE_NAME        "text"                

#define   DEMO_FILE_NAME        "../prjs/BrkProg_SAVE/Demo.rpf"

// Memory





// SD card

#ifdef Linux_X86
#define   SDCARD_DEVICE1        "/dev/mmcblk0"
#define   SDCARD_DEVICE2        "/dev/mmcblk0p1"
#else
#define   SDCARD_DEVICE1        "/dev/mmcblk0"
#define   SDCARD_DEVICE2        "/dev/mmcblk0p1"
#endif

#define   SDCARD_MOUNT          "./mount_sdcard"
#define   SDCARD_UNMOUNT        "./unmount_sdcard"

// USB stick

#ifndef Linux_X86
#define   USBSTICK_DEVICE       "/dev/sda"
#else
#define   USBSTICK_DEVICE       "/dev/sdf1"
#endif

#define   USBSTICK_MOUNT        "./mount_usbstick"
#define   USBSTICK_UNMOUNT      "./unmount_usbstick"

/*
#define   DEFAULT_PRJS_FOLDER   "~/lms2012/prjs"      //!< Project folder name without trailing "/"
#define   DEFAULT_APPS_FOLDER   "~/lms2012/apps"      //!< Applet folder name without trailing "/"
#define   DEFAULT_TOOLS_FOLDER  "~/lms2012/tools"     //!< Setting folder name without trailing "/"
#define   DEFAULT_SYS_FOLDER    "~/lms2012/sys"       //!< System folder name without trailing "/"
#define   DEFAULT_SETUP_FOLDER  "~/lms2012/sys"       //!< Setup folder name without trailing "/"
#define   DEFAULT_SD_FOLDER     "~/lms2012/SD Card"   //!< Sd card folder name without trailing "/"
#define   DEFAULT_USB_FOLDER    "~/lms2012/USB Memory"//!< USB Memory folder name without trailing "/"
*/

#define   DEFAULT_FOLDER        "ui"                  
#define   DEFAULT_UI            "ui"                  

#define   DEFAULT_VOLUME        vmDEFAULT_VOLUME
#define   DEFAULT_SLEEPMINUTES  vmDEFAULT_SLEEPMINUTES

#define   COM_CMD_DEVICE_NAME   USBDEV_DEVICE_NAME    


#define   BATT_INDICATOR_HIGH           7500          
#define   BATT_INDICATOR_LOW            6200          

#define   ACCU_INDICATOR_HIGH           7500          
#define   ACCU_INDICATOR_LOW            7100          


#define   LOW_VOLTAGE_SHUTDOWN_TIME     10000         

#define   BATT_WARNING_HIGH             6.2           
#define   BATT_WARNING_LOW              5.5           
#define   BATT_SHUTDOWN_HIGH            5.5           
#define   BATT_SHUTDOWN_LOW             4.5           

#define   ACCU_WARNING_HIGH             7.1           
#define   ACCU_WARNING_LOW              6.5           
#define   ACCU_SHUTDOWN_HIGH            6.5           
#define   ACCU_SHUTDOWN_LOW             6.0           


#ifdef ENABLE_HIGH_CURRENT

#define   LOAD_SHUTDOWN_FAIL            4.0           
#define   LOAD_SHUTDOWN_HIGH            3.0           
#define   LOAD_BREAK_EVEN               1.75          

#define   LOAD_SLOPE_UP                 0.2           
#define   LOAD_SLOPE_DOWN               0.1           


#endif

#ifndef DISABLE_VIRTUAL_BATT_TEMP

#define   TEMP_SHUTDOWN_FAIL            45.0          
#define   TEMP_SHUTDOWN_WARNING         40.0          


#endif

#define   UPDATE_TIME1          2                     
#define   UPDATE_TIME2          10                    
#define   UPDATE_MEMORY         200                   
#define   UPDATE_SDCARD         500                   
#define   UPDATE_USBSTICK       500                   


// Per start of (polution) defines
#define   MAX_SOUND_DATA_SIZE   250
#define   SOUND_CHUNK           250
#define SOUND_ADPCM_CHUNK       125
#define SOUND_MASTER_CLOCK  132000000
#define SOUND_TONE_MASTER_CLOCK 1031250
#define SOUND_MIN_FRQ       250
#define SOUND_MAX_FRQ       10000
#define SOUND_MAX_LEVEL     8
#define SOUND_FILE_BUFFER_SIZE  SOUND_CHUNK + 2 // 12.8 mS @ 8KHz
#define SOUND_BUFFER_COUNT  3
#define SOUND_FILE_FORMAT_NORMAL    0x0100  // RSO-file
#define SOUND_FILE_FORMAT_COMPRESSED  0x0101  // RSO-file compressed
// Per end of defines


#define   VtoC(V)               ((UWORD)((V * ADC_RES) / ADC_REF))
#define   CtoV(C)               ((UWORD)((C * ADC_REF) / ADC_RES))
#define   MtoV(M)               ((UWORD)((M * ADC_REF * 100) / (ADC_RES * 52)))

#define   KB                    1024

enum
{
  FALSE = 0,
  TRUE  = 1,
};


// Reserved device types
typedef   enum
{
//  TYPE_KEEP                     =   0,  //!< Type value that won't change type in byte codes
  TYPE_NXT_TOUCH                =   1,  
  TYPE_NXT_LIGHT                =   2,  
  TYPE_NXT_SOUND                =   3,  
  TYPE_NXT_COLOR                =   4,  

  TYPE_TACHO                    =   7,  
  TYPE_MINITACHO                =   8,  
  TYPE_NEWTACHO                 =   9,  

  TYPE_THIRD_PARTY_START        =  50,
  TYPE_THIRD_PARTY_END          =  99,

  TYPE_IIC_UNKNOWN              = 100,

  TYPE_NXT_TEST                 = 101,  

  TYPE_NXT_IIC                  = 123,  
  TYPE_TERMINAL                 = 124,  
  TYPE_UNKNOWN                  = 125,  
  TYPE_NONE                     = 126,  
  TYPE_ERROR                    = 127,  
}
TYPE;



typedef   enum
{
  CONN_UNKNOWN                  = 111,  

  CONN_DAISYCHAIN               = 117,  
  CONN_NXT_COLOR                = 118,  
  CONN_NXT_DUMB                 = 119,  
  CONN_NXT_IIC                  = 120,  

  CONN_INPUT_DUMB               = 121,  
  CONN_INPUT_UART               = 122,  

  CONN_OUTPUT_DUMB              = 123,  
  CONN_OUTPUT_INTELLIGENT       = 124,  
  CONN_OUTPUT_TACHO             = 125,  

  CONN_NONE                     = 126,  
  CONN_ERROR                    = 127,  
}
CONN;

/*\endverbatim
 *
 *  \n
 */



typedef   enum
{
  NOBREAK       = 0x0100,               
  STOPBREAK     = 0x0200,               
  SLEEPBREAK    = 0x0400,               
  INSTRBREAK    = 0x0800,               
  BUSYBREAK     = 0x1000,               
  PRGBREAK      = 0x2000,               
  USERBREAK     = 0x4000,               
  FAILBREAK     = 0x8000                
}
DSPSTAT;

typedef   void      (*PRIM)(void);      



typedef   struct                        // Object
{
  IP      Ip;                           
  LP      pLocal;                       
#ifndef DISABLE_NEW_CALL_MUTEX
  UBYTE   ObjStatus;                    
  UBYTE   Blocked;
#else
  UWORD   ObjStatus;                    
#endif
  union                                 
  {
    OBJID   CallerId;                   
    TRIGGER TriggerCount;               
  }u;
  VARDATA Local[];                      
}
OBJ;


typedef   struct
{
  IMINDEX Addr;                         
  OP      OpCode;                       
}
BRKP;

typedef   struct
{
  ULONG     InstrCnt;                   
  ULONG     InstrTime;                  

  ULONG     StartTime;                  
  ULONG     RunTime;                    

  IP        pImage;                     
  GP        pData;                      
  GP        pGlobal;                    
  OBJHEAD*  pObjHead;                   
  OBJ**     pObjList;                   
  IP        ObjectIp;                   
  LP        ObjectLocal;                

  OBJID     Objects;                    
  OBJID     ObjectId;                   

  OBJSTAT   Status;                     
  OBJSTAT   StatusChange;               
  RESULT    Result;                     

  BRKP      Brkp[MAX_BREAKPOINTS];      

  LABEL     Label[MAX_LABELS];          
  UWORD     Debug;                      

  DATA8     Name[FILENAME_SIZE];

}
PRG;


#define     TYPE_NAME_LENGTH    11
#define     SYMBOL_LENGTH       4       


typedef   struct // if data type changes - remember to change "cInputTypeDataInit" !
{
  SBYTE     Name[TYPE_NAME_LENGTH + 1]; 
  DATA8     Type;                       
  DATA8     Connection;
  DATA8     Mode;                       
  DATA8     DataSets;
  DATA8     Format;
  DATA8     Figures;
  DATA8     Decimals;
  DATA8     Views;
  DATAF     RawMin;                     
  DATAF     RawMax;                     
  DATAF     PctMin;                     
  DATAF     PctMax;                     
  DATAF     SiMin;                      
  DATAF     SiMax;                      
  UWORD     InvalidTime;                
  UWORD     IdValue;                    
  DATA8     Pins;                       
  SBYTE     Symbol[SYMBOL_LENGTH + 1];  
  UWORD     Align;
}
TYPES;

#define     TYPE_PARAMETERS         19  
#define     MAX_DEVICE_INFOLENGTH   54  


typedef   enum
{
  TOO_MANY_ERRORS_TO_BUFFER,
  TYPEDATA_TABEL_FULL,
  TYPEDATA_FILE_NOT_FOUND,
  ANALOG_DEVICE_FILE_NOT_FOUND,
  ANALOG_SHARED_MEMORY,
  UART_DEVICE_FILE_NOT_FOUND,
  UART_SHARED_MEMORY,
  IIC_DEVICE_FILE_NOT_FOUND,
  IIC_SHARED_MEMORY,
  DISPLAY_SHARED_MEMORY,
  UI_SHARED_MEMORY,
  UI_DEVICE_FILE_NOT_FOUND,
  LCD_DEVICE_FILE_NOT_FOUND,
  OUTPUT_SHARED_MEMORY,
  COM_COULD_NOT_OPEN_FILE,
  COM_NAME_TOO_SHORT,
  COM_NAME_TOO_LONG,
  COM_INTERNAL,
  VM_INTERNAL,
  VM_PROGRAM_VALIDATION,
  VM_PROGRAM_NOT_STARTED,
  VM_PROGRAM_FAIL_BREAK,
  VM_PROGRAM_INSTRUCTION_BREAK,
  VM_PROGRAM_NOT_FOUND,
  SOUND_DEVICE_FILE_NOT_FOUND,
  SOUND_SHARED_MEMORY,
  FILE_OPEN_ERROR,
  FILE_READ_ERROR,
  FILE_WRITE_ERROR,
  FILE_CLOSE_ERROR,
  FILE_GET_HANDLE_ERROR,
  FILE_NAME_ERROR,
  USB_SHARED_MEMORY,
  OUT_OF_MEMORY,
  ERRORS
}
ERR;

//        INTERFACE FOR SHARED LIBRARIES

extern    void      PrimParAdvance(void);                    // Dummy get parameter

extern    void*     PrimParPointer(void);                    // Get pointer to primitives and system calls parameters

extern    IP        GetImageStart(void);                     // Get pointer to start of image

extern    void      SetDispatchStatus(DSPSTAT Status);       // Set dispatch status (result from executing byte code)

extern    void      SetInstructions(ULONG Instructions);     // Set number of instructions before VMThread change

extern    PRGID     CurrentProgramId(void);                  // Get current program id

extern    OBJSTAT   ProgramStatus(PRGID PrgId);              // Get program status

extern    OBJSTAT   ProgramStatusChange(PRGID PrgId);        // Get program status change

extern    void      ProgramEnd(PRGID PrgId);

extern    OBJID     CallingObjectId(void);                   // Get calling objects id

extern    void      AdjustObjectIp(IMOFFS Value);            // Adjust IP

extern    IP        GetObjectIp(void);                       // Get IP

extern    void      SetObjectIp(IP Ip);                      // Set IP

extern    ULONG     GetTimeUS(void);                         // Get uS

extern    ULONG     GetTimeMS(void);                         // Get mS

extern    ULONG     GetTime(void);                           // Get actual program time

extern    ULONG     CurrentObjectIp(void);                   // Get current object ip

extern    void      VmPrint(char *pString);                  // print string

extern    void      SetTerminalEnable(DATA8 Value);          // Terminal enable/disable

extern    DATA8     GetTerminalEnable(void);                 // Get terminal enable state

extern    void      GetResourcePath(char *pString,DATA8 MaxLength);// Get resource path

extern    void*     VmMemoryResize(HANDLER Handle,DATA32 Elements);

extern    void      SetVolumePercent(DATA8 Volume);

extern    DATA8     GetVolumePercent(void);

extern    void      SetSleepMinutes(DATA8 Minutes);

extern    DATA8     GetSleepMinutes(void);

extern    DSPSTAT   ExecuteByteCode(IP pByteCode,GP pGlobals,LP pLocals); // Execute byte code stream (C-call)

extern    DATA8     CheckSdcard(DATA8 *pChanged,DATA32 *pTotal,DATA32 *pFree,DATA8 Force);

extern    DATA8     CheckUsbstick(DATA8 *pChanged,DATA32 *pTotal,DATA32 *pFree,DATA8 Force);

extern    void      SetUiUpdate(void);

extern    RESULT    ValidateChar(DATA8 *pChar,DATA8 Set);

extern    RESULT    ValidateString(DATA8 *pString,DATA8 Set);

extern    ERR       LogErrorGet(void);

#ifdef BUFPRINTSIZE
extern    void      BufPrint(char Cmd,char *pFormat, ...);
#endif



#define   ERR_STRING_SIZE         vmERR_STRING_SIZE          // Inclusive zero termination

extern    void      LogErrorNumber(ERR Error);               // Log error number
extern    DATA8     LogErrorNumberExists(ERR Error);


#ifndef   DISABLE_OLD_COLOR

#define   COLORS                        4
#define   CALPOINTS                     3


typedef   struct
{
  ULONG   Calibration[CALPOINTS][COLORS];
  UWORD   CalLimits[CALPOINTS - 1];
  UWORD   Crc;
  UWORD   ADRaw[COLORS];
  UWORD   SensorRaw[COLORS];
}
COLORSTRUCT;

/*\endverbatim
 *
 *  \n
 */

#endif


//        INTERFACE BETWEEN SHARED LIBRARIES AND MODULES

typedef   struct
{
  DATA16  InPin1[INPUTS];         
  DATA16  InPin6[INPUTS];         
  DATA16  OutPin5[OUTPUTS];       
  DATA16  BatteryTemp;            
  DATA16  MotorCurrent;           
  DATA16  BatteryCurrent;         
  DATA16  Cell123456;             
#ifndef DISABLE_FAST_DATALOG_BUFFER
  DATA16  Pin1[INPUTS][DEVICE_LOGBUF_SIZE];      
  DATA16  Pin6[INPUTS][DEVICE_LOGBUF_SIZE];      
  UWORD   Actual[INPUTS];
  UWORD   LogIn[INPUTS];
  UWORD   LogOut[INPUTS];
#endif
#ifndef   DISABLE_OLD_COLOR
  COLORSTRUCT  NxtCol[INPUTS];
#endif
  DATA16  OutPin5Low[OUTPUTS];    

  DATA8   Updated[INPUTS];

  DATA8   InDcm[INPUTS];          
  DATA8   InConn[INPUTS];

  DATA8   OutDcm[OUTPUTS];        
  DATA8   OutConn[OUTPUTS];
#ifndef DISABLE_PREEMPTED_VM
  UWORD   PreemptMilliSeconds;
#endif
}
ANALOG;

/*\endverbatim
 *
 *  \n
 */


#define   UART_DATA_LENGTH        MAX_DEVICE_DATALENGTH
#define   UART_BUFFER_SIZE        64

typedef   struct
{
  TYPES   TypeData[INPUTS][MAX_DEVICE_MODES]; 

#ifndef DISABLE_FAST_DATALOG_BUFFER
  UWORD   Repeat[INPUTS][DEVICE_LOGBUF_SIZE];
  DATA8   Raw[INPUTS][DEVICE_LOGBUF_SIZE][UART_DATA_LENGTH];      
  UWORD   Actual[INPUTS];
  UWORD   LogIn[INPUTS];
#else
  DATA8   Raw[INPUTS][UART_DATA_LENGTH];      
#endif
  DATA8   Status[INPUTS];                     
  DATA8   Output[INPUTS][UART_DATA_LENGTH];   
  DATA8   OutputLength[INPUTS];
}
UART;

/*\endverbatim
 *
 *  \n
 */


#define   UART_PORT_CHANGED       0x01        
#define   UART_DATA_READY         0x08        
#define   UART_WRITE_REQUEST      0x10        


typedef   struct
{
  DATA8     Connection[INPUTS];
  DATA8     Type[INPUTS];
  DATA8     Mode[INPUTS];
}
DEVCON;


typedef   struct
{
  TYPES   TypeData;
  DATA8   Port;
  DATA8   Mode;
}
UARTCTL;

#define   UART_SET_CONN           _IOWR('u',0,DEVCON)
#define   UART_READ_MODE_INFO     _IOWR('u',1,UARTCTL)
#define   UART_NACK_MODE_INFO     _IOWR('u',2,UARTCTL)
#define   UART_CLEAR_CHANGED      _IOWR('u',3,UARTCTL)


#define   IIC_DATA_LENGTH         MAX_DEVICE_DATALENGTH
#define   IIC_NAME_LENGTH         8

typedef   struct
{
  TYPES   TypeData[INPUTS][MAX_DEVICE_MODES]; 

#ifndef DISABLE_FAST_DATALOG_BUFFER
  UWORD   Repeat[INPUTS][DEVICE_LOGBUF_SIZE];
  DATA8   Raw[INPUTS][DEVICE_LOGBUF_SIZE][IIC_DATA_LENGTH];      
  UWORD   Actual[INPUTS];
  UWORD   LogIn[INPUTS];
#else
  DATA8   Raw[INPUTS][IIC_DATA_LENGTH];      
#endif
  DATA8   Status[INPUTS];                     
  DATA8   Changed[INPUTS];
  DATA8   Output[INPUTS][IIC_DATA_LENGTH];    
  DATA8   OutputLength[INPUTS];
}
IIC;

/*\endverbatim
 *
 *  \n
 */


#define   IIC_PORT_CHANGED       0x01         
#define   IIC_DATA_READY         0x08         
#define   IIC_WRITE_REQUEST      0x10         


typedef   struct
{
  TYPES   TypeData;
  DATA8   Port;
  DATA8   Mode;
}
IICCTL;


typedef   struct
{
  RESULT  Result;
  DATA8   Port;
  DATA8   Repeat;
  DATA16  Time;
  DATA8   WrLng;
  DATA8   WrData[IIC_DATA_LENGTH];
  DATA8   RdLng;
  DATA8   RdData[IIC_DATA_LENGTH];
}
IICDAT;


typedef   struct
{
  DATA8   Port;
  DATA16  Time;
  DATA8   Type;
  DATA8   Mode;
  DATA8   Manufacturer[IIC_NAME_LENGTH + 1];
  DATA8   SensorType[IIC_NAME_LENGTH + 1];
  DATA8   SetupLng;
  ULONG   SetupString;
  DATA8   PollLng;
  ULONG   PollString;
  DATA8   ReadLng;
}
IICSTR;


#define   IIC_SET_CONN            _IOWR('i',2,DEVCON)
#define   IIC_READ_TYPE_INFO      _IOWR('i',3,IICCTL)
#define   IIC_SETUP               _IOWR('i',5,IICDAT)
#define   IIC_SET                 _IOWR('i',6,IICSTR)




#define   TST_PIN_LENGTH    8

typedef   struct
{
  DATA8   Port;
  DATA8   Length;
  DATA8   String[TST_PIN_LENGTH + 1];
}
TSTPIN;

#define   TST_PIN_ON              _IOWR('t',1,TSTPIN)
#define   TST_PIN_OFF             _IOWR('t',2,TSTPIN)
#define   TST_PIN_READ            _IOWR('t',3,TSTPIN)
#define   TST_PIN_WRITE           _IOWR('t',4,TSTPIN)




#define   TST_UART_LENGTH         UART_BUFFER_SIZE

typedef   struct
{
  DATA32  Bitrate;
  DATA8   Port;
  DATA8   Length;
  DATA8   String[TST_UART_LENGTH];
}
TSTUART;

#define   TST_UART_ON             _IOWR('t',5,TSTUART)
#define   TST_UART_OFF            _IOWR('t',6,TSTUART)
#define   TST_UART_EN             _IOWR('t',7,TSTUART)
#define   TST_UART_DIS            _IOWR('t',8,TSTUART)
#define   TST_UART_READ           _IOWR('t',9,TSTUART)
#define   TST_UART_WRITE          _IOWR('t',10,TSTUART)




typedef   struct
{
  DATA8   Pressed[BUTTONS];                   
}
UI;

/*\endverbatim
 *
 *  \n
 */


#define   LCD_BUFFER_SIZE (((LCD_WIDTH + 7) / 8) * LCD_HEIGHT)
#define   LCD_TOPLINE_SIZE (((LCD_WIDTH + 7) / 8) * (TOPLINE_HEIGHT + 1))


typedef   struct
{
  UBYTE   Lcd[LCD_BUFFER_SIZE];
}
LCD;

/*\endverbatim
 *
 *  \n
 */


typedef   struct
{
  DATA8   Status;                       
}
SOUND;

/*\endverbatim
 *
 *  \n
 */


enum  {
        FULL_SPEED,
        HIGH_SPEED
      };

typedef   struct
{
  DATA8   Speed;
}
USB_SPEED;

/*\endverbatim
 *
 *  \n
 */

typedef   struct
{
  DATA8   VolumePercent;                
  DATA8   SleepMinutes;                 
}
NONVOL;

/*\endverbatim
 *
 *  \n
 */


/*
 *                      Motor/OUTPUT Typedef
 */
typedef struct
{
  SLONG TachoCounts;
  SBYTE Speed;
  SLONG TachoSensor;
}MOTORDATA;

typedef struct
{
  DATA8   Cmd;
  DATA8   Nos;
  DATA8   Power;
  DATA32  Step1;
  DATA32  Step2;
  DATA32  Step3;
  DATA8   Brake;
} STEPPOWER;

typedef struct
{
  DATA8   Cmd;
  DATA8   Nos;
  DATA8   Power;
  DATA32  Time1;
  DATA32  Time2;
  DATA32  Time3;
  DATA8   Brake;
} TIMEPOWER;

typedef struct
{
  DATA8   Cmd;
  DATA8   Nos;
  DATA8   Speed;
  DATA32  Step1;
  DATA32  Step2;
  DATA32  Step3;
  DATA8   Brake;
} STEPSPEED;

typedef struct
{
  DATA8   Cmd;
  DATA8   Nos;
  DATA8   Speed;
  DATA32  Time1;
  DATA32  Time2;
  DATA32  Time3;
  DATA8   Brake;
} TIMESPEED;

typedef struct
{
  DATA8   Cmd;
  DATA8   Nos;
  DATA8   Speed;
  DATA16  Turn;
  DATA32  Step;
  DATA8   Brake;
} STEPSYNC;

typedef struct
{
  DATA8   Cmd;
  DATA8   Nos;
  DATA8   Speed;
  DATA16  Turn;
  DATA32  Time;
  DATA8   Brake;
} TIMESYNC;
/*
 *                 End of Motor/OUTPUT Typedef
 */


#define     PRINTBUFFERSIZE             160

typedef struct
{
  NONVOL    NonVol;
  DATA8     FirstProgram[MAX_FILENAME_SIZE];

  char      PrintBuffer[PRINTBUFFERSIZE + 1];
  DATA8     TerminalEnabled;

  PRGID     FavouritePrg;
  PRGID     ProgramId;                    
  PRG       Program[MAX_PROGRAMS];        


  ULONG     InstrCnt;                     
  IP        pImage;                       
  GP        pGlobal;                      
  OBJHEAD*  pObjHead;                     
  OBJ**     pObjList;                     

  IP        ObjectIp;                     
  LP        ObjectLocal;                  
  OBJID     Objects;                      
  OBJID     ObjectId;                     

  IP        ObjIpSave;
  GP        ObjGlobalSave;
  LP        ObjLocalSave;
  DSPSTAT   DispatchStatusSave;
  ULONG     PrioritySave;

  long      TimerDataSec;
  long      TimerDatanSec;

  UWORD     Debug;

  UWORD     Test;

  UWORD     RefCount;

  ULONG     TimeuS;

  ULONG     OldTime1;
  ULONG     OldTime2;
  ULONG     NewTime;
#ifdef ENABLE_PERFORMANCE_TEST
  ULONG     PerformTimer;
  DATAF     PerformTime;
#endif

  DSPSTAT   DispatchStatus;               
  ULONG     Priority;                     

  ULONG     Value;
  HANDLER   Handle;

  ERR       Errors[ERROR_BUFFER_SIZE];
  UBYTE     ErrorIn;
  UBYTE     ErrorOut;

  DATA32    MemorySize;
  DATA32    MemoryFree;
  ULONG     MemoryTimer;

#ifndef DISABLE_SDCARD_SUPPORT
  DATA32    SdcardSize;
  DATA32    SdcardFree;
  ULONG     SdcardTimer;
  DATA8     SdcardOk;
#endif

#ifndef DISABLE_USBSTICK_SUPPORT
  DATA32    UsbstickSize;
  DATA32    UsbstickFree;
  ULONG     UsbstickTimer;
  DATA8     UsbstickOk;
#endif

  LCD       LcdBuffer;                    
  DATA8     LcdUpdated;                   

  ANALOG    Analog;
  ANALOG    *pAnalog;
  int       AdcFile;

#ifdef ENABLE_STATUS_TEST
  DATA8     Status;
#endif

#if       (HARDWARE == SIMULATION)
  class NXT * nxt;
#endif
}GLOBALS;


#if       (HARDWARE == SIMULATION)
  extern GLOBALS * gInstance;
  #define VMInstance (*gInstance)
  RESULT mSchedInit();
  RESULT mSchedCtrl();
  RESULT mSchedExit();

  void setInstance(GLOBALS * _Instance);
  GLOBALS * getInstance();
#else
  extern GLOBALS VMInstance;
#endif


#endif /* LMS2012_H_ */