/* * 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. */ #ifndef LMSTYPES_H_ #define LMSTYPES_H_ // BASIC DATA TYPES #ifndef LEGO_SIMULATION typedef unsigned char UBYTE; //!< Basic Type used to symbolise 8 bit unsigned values typedef unsigned short UWORD; //!< Basic Type used to symbolise 16 bit unsigned values typedef unsigned int ULONG; //!< Basic Type used to symbolise 32 bit unsigned values typedef signed char SBYTE; //!< Basic Type used to symbolise 8 bit signed values typedef signed short SWORD; //!< Basic Type used to symbolise 16 bit signed values typedef signed int SLONG; //!< Basic Type used to symbolise 32 bit signed values typedef float FLOAT; //!< Basic Type used to symbolise 32 bit floating point values #define LFILE FILE #else #include #include typedef LEGO::UInt8 UBYTE; //!< Basic Type used to symbolise 8 bit unsigned values typedef LEGO::UInt16 UWORD; //!< Basic Type used to symbolise 16 bit unsigned values typedef unsigned long ULONG; //!< Basic Type used to symbolise 32 bit unsigned values typedef LEGO::Int8 SBYTE; //!< Basic Type used to symbolise 8 bit signed values typedef LEGO::Int16 SWORD; //!< Basic Type used to symbolise 16 bit signed values typedef LEGO::Int32 SLONG; //!< Basic Type used to symbolise 32 bit signed values typedef LEGO::Real32 FLOAT; //!< Basic Type used to symbolise 32 bit floating point values #endif // VM DATA TYPES typedef SBYTE DATA8; //!< VM Type for 1 byte signed value typedef SWORD DATA16; //!< VM Type for 2 byte signed value typedef SLONG DATA32; //!< VM Type for 4 byte signed value typedef FLOAT DATAF; //!< VM Type for 4 byte floating point value // VM VARIABLE TYPES typedef UBYTE VARDATA; //!< Variable base type typedef UBYTE IMGDATA; //!< Image base type typedef UWORD PRGID; //!< Program id type typedef UWORD OBJID; //!< Object id type typedef IMGDATA* IP; //!< Instruction pointer type typedef VARDATA* LP; //!< Local variable pointer type typedef VARDATA* GP; //!< global variable pointer type typedef ULONG IMINDEX; //!< ImageData index type typedef ULONG GBINDEX; //!< GlobalBytes index type typedef ULONG LBINDEX; //!< LocalBytes index type typedef UWORD TRIGGER; //!< TriggerCount type typedef UBYTE PARS; //!< NoOfParameters type typedef SLONG IMOFFS; //!< ImageData offset type typedef DATA16 HANDLER; //!< Memory list index /*! \page imagelayout Image Layout * The image consists of three different components in this fixed order: imageheader, objectheaders and byte codes. * * The imageheader tells something about image version, filesize, no of objectheaders (objects) and no of global variable bytes. * * * Objectheaders contains different informations depending on the nature of the object: * *- The VMTHREAD object (former TBC_TOPVI) \n * - OffsetToInstructions tells were to find the corresponding byte codes (offset from image start) \n * - OwnerObjectId must be zero \n * - TriggerCount is used but must be zero \n * - LocalBytes describes the number of bytes for local variables \n * *- The SUBCALL object (former TBC_VI and TBC_VI_ALIAS) \n * - OffsetToInstructions tells were to find the corresponding byte codes (if alias this is equal to mother object) \n * - OwnerObjectId must be zero \n * - TriggerCount is used and must be one \n * - LocalBytes describes the number of bytes for local variables \n * *- The BLOCK object (former CLUMP) \n * - OffsetToInstructions tells were to find the corresponding byte codes (offset from image start) \n * - OwnerObjectId is equal to object id it belongs to (not equal to zero) \n * - TriggerCount is used to determine how many triggers needed before the BLOCK object is activated \n * - LocalBytes must be zero (locals are defined in the owner object) \n * * Byte codes are described in a different section. * * Little Endian are used (addresses and data are represented with LSB on lowest address and MSB on highest address). * * Offset to instructions is number of bytes from start of image to start of object instructions. * * Index to global variables are byte based and counted from start of globals (zero based). * * Index to local variables are byte based and counted from start of object locals (zero based). * * Object ID's is not zero based - First object (VMTHEAD) is named 1. * */ /*! \page imagelayout * * FILE layout (aligned) * *- IMGHEAD (aligned) * - Sign (4 bytes) * - ImageSize (4 bytes) * - VersionInfo (2 bytes) * - NumberOfObjects (2 bytes) * - GlobalBytes (4 bytes) */ /*! \struct IMGHEAD * Image header */ typedef struct { UBYTE Sign[4]; //!< Place holder for the file type identifier IMINDEX ImageSize; //!< Image size UWORD VersionInfo; //!< Version identifier OBJID NumberOfObjects; //!< Total number of objects in image GBINDEX GlobalBytes; //!< Number of bytes to allocate for global variables } IMGHEAD; /*! \page imagelayout * *- OBJHEAD (aligned) * - OffsetToInstructions (4 bytes) * - OwnerObjectId (2 bytes) * - TriggerCount (2 bytes) * - LocalBytes (4 bytes) * */ /*! \struct OBJHEAD * Object header used for all types of objects (VMTHREAD, SUBCALL, BLOCK and ALIAS) */ typedef struct // Object header { IP OffsetToInstructions; //!< Offset to instructions from image start OBJID OwnerObjectId; //!< Used by BLOCK's to hold the owner id TRIGGER TriggerCount; //!< Used to determine how many triggers needed before the BLOCK object is activated LBINDEX LocalBytes; //!< Number of bytes to allocate for local variables } OBJHEAD; /*! \struct LABEL * Label data hold information used for labels */ typedef struct { IMINDEX Addr; //!< Offset to breakpoint address from image start } LABEL; #endif /* LMSTYPES_H_ */