finally I found LEGO hitechnic irlink sencer nil1046 code NXCでの赤外線送信確認

finally, I found nil1046 code any way.
THX to CH,Chen, now I can use NXT in huge system robot,which has more than 4 motors like intlligent-block excavador or something :) But,I haven't understand why It can work.

なんとかIRLINKをNXC上で使用するコードを発見。NXCのPDF公式マニュアルにさえ1行しか載ってないのは何故だ？？？販売しているアフレルでのNXCの解説くらいはほしいところ。sensorport1にIrLinkをセットしNXT上から指令を送りLEGO８０４３の実働を確認した。コードはまだよくわからないが、読みこなして使うようにすればよかろう。
NXTから赤外線を使って他のIR受光器に送信することのメリットがわからないかもしれないが非常に大きい可能性を持っていると思う。なぜならNXTに付けることが出来るモーターは３つのみでありあらかたのマシンでは前進後退とハンドルで２モーターを使ってしまうからだ。つまり実質自由に使えるのは１つのモーターだけなのだ。これでは複雑な仕組みはとても作れない。しかし、Irlinkを利用出来れば４ch×２モーターの合計８個のモーターを別々に操作できることになり(exp.3+8＝11個のモーターを搭載したロボットも作れる）、光の届く範囲であればどのマシンにも指令を送ることが出来るのでモーター出力数が足りないなどという問題はなくなる。

!!!!! THIS IS NOT MY CODE !!!!!!

/*
* Program ID : IRLink-SendPF.nxc
* Author : CH, Chen
* Build LPF RC Protocol data payload into Hitechnic IRLink sensor I2C buffer
* then sending the IR signals
*/

#define IRLINK_PORT S1
#define I2C_DEVICE 0x02
#define TX_BUFFER_SIZE 0x4D
#define TX_MODE 0x4E
#define TX_BUFFER_FLAG 0x4F
#define MAX_IR_DATA_SIZE 11
//The starting address of I2C register be counted backward payload size(11) from 0x4D,
//So, 0x4D - 11 = 0x42
#define TX_BUFFER 0x42
#define MODE_PF 0x02
#define START_SEND 0x01

//Data payload should be encoded to IR transmitting format
#define HIGH_BIT_LEN 5 //b 10000
#define LOW_BIT_LEN 3 //b 100
#define START_STOP_BIT_LEN 8 //b 1000 0000

//LPF RC protocol definitions
//LPF channel setting
#define PF_CH_1 0x00
#define PF_CH_2 0x01
#define PF_CH_3 0x02
#define PF_CH_4 0x03
//LPF Mode setting
#define IS_CDM TRUE
#define IS_PWM FALSE
//LPF output command of Combo Direct Mode
#define PF_CDM_FLT 0x00
#define PF_CDM_FWD 0x01
#define PF_CDM_REV 0x02
#define PF_CDM_BRK 0x03
//LPF output command of Combo PWM Mode
#define PF_PWM_FLT 0x00
#define PF_PWM_FWD_1 0x01
#define PF_PWM_FWD_2 0x02
#define PF_PWM_FWD_3 0x03
#define PF_PWM_FWD_4 0x04
#define PF_PWM_FWD_5 0x05
#define PF_PWM_FWD_6 0x06
#define PF_PWM_FWD_7 0x07
#define PF_PWM_BRK 0x08
#define PF_PWM_REV_7 0x09
#define PF_PWM_REV_6 0x0A
#define PF_PWM_REV_5 0x0B
#define PF_PWM_REV_4 0x0C
#define PF_PWM_REV_3 0x0D
#define PF_PWM_REV_2 0x0E
#define PF_PWM_REV_1 0x0F

byte data_payload; //Build LPF RC Protocol for encoding into IR bit sequence
byte I2C_buf; //Store IR bit sequence message for transmitting by IRLink
/* ********************************************************
* Hex value convert to string
* ******************************************************** */
string Hex2String (byte xbyte)
{
string tr_string=" " , hexcode =" " ;

hexcode = SubStr("0123456789ABCDEF" , (xbyte/16), 1);
tr_string=StrReplace(tr_string, 0, hexcode);

hexcode = SubStr("0123456789ABCDEF" , (xbyte%16), 1);
tr_string=StrReplace(tr_string, 1, hexcode);
return tr_string;
}

/* ********************************************************
* Encode LPF RC protocol data payload into IR transmitting
* bit sequence format
* ******************************************************** */
void EncodeIR()
{
//0-I2C bus, 1-I2C register, 2~12-Encoding IR data, 13-msg len, 14-mode, 15-trigger
ArrayInit(I2C_buf, 0, MAX_IR_DATA_SIZE+5);
I2C_buf[0] = I2C_DEVICE;
I2C_buf[1] = TX_BUFFER;

int I2C_buf_bit_idx; //Current bit index of I2C buffer

//Add Start bit b1000 0000
I2C_buf[2] = (1 << (START_STOP_BIT_LEN-1));
I2C_buf_bit_idx = START_STOP_BIT_LEN; //8 (bit7 of byte1)

//Encode 2-Byte LPF RC protocol data payload into IR msg
for (int xii=0; xii<16; xii++)
{
I2C_buf[(I2C_buf_bit_idx/8)+2] += (1 << (7-(I2C_buf_bit_idx%8)));
I2C_buf_bit_idx += *1; //mode:CDM,PWM
TextOut(36, LCD_LINE4, SubStr(IRCmd, 5, 1)); //channel:1-4

string _outA = SubStr(IRCmd, 9, 2); //Out A:F1-F7,X,B7-B1,--
if (_outA == "--" ) _outA = "Float" ;
else if (_outA == "X " ) _outA = "Brake" ;
TextOut(36, LCD_LINE5, _outA);

string _outB = SubStr(IRCmd,14, 2); //Out B:F1-F7,X,B7-B1,--
if (_outB == "--" ) _outB = "Float" ;
else if (_outB == "X " ) _outB = "Brake" ;
TextOut(36, LCD_LINE6, _outB);

TextOut( 0, LCD_LINE8, "Sending ... " );
/*
TextOut(0, LCD_LINE1, IRCmd);
msg1 = Hex2String(data_payload[0]);
msg2 = Hex2String(data_payload[1]);
TextOut(0, LCD_LINE2, StrCat("PF Cmd: " , msg1,"," ,msg2));
TextOut(0, LCD_LINE3, "Encode:" );

for (int xii=0; xii<3; xii++)
{
msg1 = Hex2String(I2C_buf[xii*4+2]);
msg2 = Hex2String(I2C_buf[xii*4+3]);
msg3 = Hex2String(I2C_buf[xii*4+4]);
msg4 = Hex2String(I2C_buf[xii*4+5]);
TextOut(0, LCD_LINE4-8*xii, StrCat(msg1, "," ,msg2, "," ,msg3, "," ,msg4));
}
*/
}
/* ********************************************************
* I2C write
* ******************************************************** */
void SendIR()
{
int nbytes;
while (LowspeedCheckStatus(IRLINK_PORT) == STAT_COMM_PENDING);
LowspeedWrite(IRLINK_PORT, 0, I2C_buf);
Wait(50);
}
/* ********************************************************
* Send LPF RC IR signals
* ******************************************************** */
void SendPFIR(bool setCDM, const byte out_ch, const byte out_Aport, const byte out_Bport, int xtime)
{
string cmdString; //mmm-Cc-A:aa-B:bb
string xstr1 = NumToStr(out_ch+1), xstr2;
if (setCDM)
{
Set_PF_ComboDirectMode(out_ch, out_Aport, out_Bport);
cmdString = "CDM-C" + xstr1;
xstr1 = SubStr("--F B X " , out_Aport*2, 2);
xstr2 = SubStr("--F B X " , out_Bport*2, 2);
}
else
{
Set_PF_ComboPWMMode(out_ch, out_Aport, out_Bport);
cmdString = "PWM-C" + xstr1;
xstr1 = SubStr("--F1F2F3F4F5F6F7X B7B6B5B4B3B2B1" , out_Aport*2, 2);
xstr2 = SubStr("--F1F2F3F4F5F6F7X B7B6B5B4B3B2B1" , out_Bport*2, 2);
}
cmdString = StrCat(cmdString, "-A:" , xstr1, "-B:" , xstr2);
ViewIR(cmdString);

unsigned long curr_tick = CurrentTick();
unsigned long tst_tick = curr_tick;
while (curr_tick < tst_tick + xtime)
{
SendIR();
curr_tick = CurrentTick();
}
TextOut(0, LCD_LINE8, "Enter to next " );
Wait(500);//until (ButtonPressed(BTNCENTER, TRUE));
}
/* ********************************************************
* Initialize I2C sensor
* ******************************************************** */
void I2C_Init()
{
SetInput(IRLINK_PORT, InvalidData, true);
SetSensorLowspeed(IRLINK_PORT);
while (SensorInvalid(IRLINK_PORT));
}
/* ********************************************************
* main routine
* ******************************************************** */
task main()
{
I2C_Init();

ClearScreen();
TextOut(0, LCD_LINE3, "Here is IRLink " );
TextOut(0, LCD_LINE8, "Enter to Go " );
until (ButtonPressed(BTNCENTER, TRUE));

SendPFIR(IS_CDM, PF_CH_1, PF_CDM_FWD, PF_CDM_FWD, 2000);
SendPFIR(IS_CDM, PF_CH_2, PF_CDM_FWD, PF_CDM_REV, 2000);
SendPFIR(IS_CDM, PF_CH_3, PF_CDM_REV, PF_CDM_REV, 2000);
SendPFIR(IS_CDM, PF_CH_4, PF_CDM_BRK, PF_CDM_BRK, 2000);
SendPFIR(IS_CDM, PF_CH_4, PF_CDM_FLT, PF_CDM_FLT, 2000);

SendPFIR(IS_PWM, PF_CH_1, PF_PWM_FWD_1, PF_PWM_REV_7, 2000);
SendPFIR(IS_PWM, PF_CH_2, PF_PWM_FWD_2, PF_PWM_REV_6, 2000);
SendPFIR(IS_PWM, PF_CH_3, PF_PWM_FWD_3, PF_PWM_REV_5, 2000);
SendPFIR(IS_PWM, PF_CH_4, PF_PWM_FWD_4, PF_PWM_REV_4, 2000);
SendPFIR(IS_PWM, PF_CH_1, PF_PWM_FWD_5, PF_PWM_REV_3, 2000);
SendPFIR(IS_PWM, PF_CH_2, PF_PWM_FWD_6, PF_PWM_REV_2, 2000);
SendPFIR(IS_PWM, PF_CH_3, PF_PWM_FWD_7, PF_PWM_REV_1, 2000);
SendPFIR(IS_PWM, PF_CH_4, PF_PWM_FLT, PF_PWM_FLT, 2000);
SendPFIR(IS_PWM, PF_CH_4, PF_PWM_BRK, PF_PWM_BRK, 2000);
}

*1:data_payload[xii/8] >> (7-(xii%8))) & 0x01)? HIGH_BIT_LEN: LOW_BIT_LEN; //5:3 } //Add Stop bit b1000 0000 I2C_buf[(I2C_buf_bit_idx/8)+2] += (1 << (7-(I2C_buf_bit_idx%8))); //Add I2C buffer data I2C_buf[13] = MAX_IR_DATA_SIZE; //11 I2C_buf[14] = MODE_PF; //0x02 I2C_buf[15] = START_SEND; //0x01 } /* ******************************************************** * Combo Direct Mode data payload: * Nibble 1: 00CC b7~b4 * Nibble 2: 0001 b3~b0 * Nibble 3: BBAA b7~b4 * Nibble 4: lrc b3~b0 0x0F ^ Nibble1 ^ Nibble2 ^ Nibble3 * ******************************************************** */ void Set_PF_ComboDirectMode(const byte x_channel, const byte x_out_a, const byte x_out_b) { byte nibble3 = (x_out_b << 2) + x_out_a; byte lrc = 0x0F ^ x_channel ^ 0x01 ^ nibble3; ArrayInit(data_payload, 0, 2); data_payload[0] = (x_channel << 4) + 0x01; data_payload[1] = (nibble3 << 4) + lrc; EncodeIR(); } /* ******************************************************** * Combo PWM Mode data payload: * Nibble 1: 01CC b7~b4 * Nibble 2: BBBB b3~b0 * Nibble 3: AAAA b7~b4 * Nibble 4: lrc b3~b0 0x0F ^ Nibble1 ^ Nibble2 ^ Nibble3 * ******************************************************** */ void Set_PF_ComboPWMMode(const byte x_channel, const byte x_out_a, const byte x_out_b) { byte nibble1 = x_channel + 0x04; byte lrc = 0x0F ^ nibble1 ^ x_out_b ^ x_out_a; ArrayInit(data_payload, 0, 2); data_payload[0] = (nibble1 << 4) + x_out_b; data_payload[1] = (x_out_a << 4) + lrc; EncodeIR(); } /* ******************************************************** * View LPF RC protocol data payload for encoding * and encoded IR data for transmitting * ******************************************************** */ void ViewIR(string IRCmd) { //string msg1, msg2, msg3, msg4; ClearScreen(); //mmm-Cc-A:aa-B:bb TextOut( 0, LCD_LINE1, "Send by IRLink" ); TextOut( 0, LCD_LINE3, "Mode: " ); TextOut( 0, LCD_LINE4, " CH: " ); TextOut( 0, LCD_LINE5, "OutA: " ); TextOut( 0, LCD_LINE6, "OutB: " ); TextOut(36, LCD_LINE3, SubStr(IRCmd, 0, 3