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lmstypes.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.
*
* As a special exception, if other files instantiate templates or use macros or
* inline functions from this file, or you compile this file and link it with
* other works to produce a work based on this file, this file does not by itself
* cause the resulting work to be covered by the GNU General Public License.
* However the source code for this file must still be made available in accordance
* with section (3) of the GNU General Public License.
*
*/
#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 <Base/BasicTypes.h>
#include <VMCalls.h>
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_ */