20060303-partial

4 files changed, 1777 insertions, 0 deletions

diff --git a/lib/lego/llp.h b/lib/lego/llp.h
new file mode 100644
index 00000000..db2c956f
--- /dev/null
+++ b/lib/lego/llp.h
@@ -0,0 +1,4 @@
+#define LLP_ALTERNATING		0x01
+#define LLP_POLL_IMMEDIATE	0x02
+#define LLP_POLL_PERIODIC	0x04
+#define LLP_COMPRESSION		0x08
diff --git a/lib/lego/styx.c b/lib/lego/styx.c
new file mode 100644
index 00000000..4c91953d
--- /dev/null
+++ b/lib/lego/styx.c
@@ -0,0 +1,1113 @@
+/*
+ *  styx.c
+ *
+ *  A Styx fileserver for a Lego RCX
+ *
+ *  Nigel Roles
+ *  Vita Nuova
+ *
+ *  This is a heavily modified version of test5.c
+ *
+ *  I couldn't have done this without Kekoa...
+ *
+ *
+ *  The contents of this file are subject to the Mozilla Public License
+ *  Version 1.0 (the "License"); you may not use this file except in
+ *  compliance with the License. You may obtain a copy of the License at
+ *  http://www.mozilla.org/MPL/
+ *
+ *  Software distributed under the License is distributed on an "AS IS"
+ *  basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the
+ *  License for the specific language governing rights and limitations
+ *  under the License.
+ *
+ *  The Original Code is Librcx sample program code, released February 9,
+ *  1999.
+ *
+ *  The Initial Developer of the Original Code is Kekoa Proudfoot.
+ *  Portions created by Kekoa Proudfoot are Copyright (C) 1999
+ *  Kekoa Proudfoot. All Rights Reserved.
+ *
+ *  Contributor(s): Kekoa Proudfoot <kekoa@graphics.stanford.edu>
+ */
+
+//#include "stdlib.h"
+#include "rom.h"
+
+#include "lib9.h"
+#include "styx.h"
+
+#include "llp.h"
+
+#define ASSERT(cond) if (!(cond)) fatal(__LINE__)
+#define FATAL fatal(__LINE__)
+#define PROGRESS progress(__LINE__)
+
+#if 0
+#define ABP
+#endif
+
+uchar *send_fid_reply_payload(void);
+void send_fid_reply(uchar type, ushort tag, ushort fid, uchar *msg, short len);
+void send_error_reply(unsigned short tag, char *msg);
+
+static unsigned short msgcount;
+static unsigned char compressed_incoming[150];
+static unsigned char incoming[1024];
+static unsigned char compressed_reply[150];
+short compressed_reply_len;
+static unsigned char reply[1024];
+unsigned short reply_len;
+unsigned short transmitted_reply_len;
+unsigned char alternating_bit;
+static uchar dir[116];
+uchar prepared;
+uchar reader_count;
+uchar dispatch[6];
+
+/* ROM pseudofunctions */
+
+static inline void
+set_data_pointer (void *ptr)
+{
+    play_sound_or_set_data_pointer(0x1771, (short)ptr, 0);
+}
+
+static inline char
+check_valid (void)
+{
+	char valid;
+	check_for_data(&valid, NULL);
+	return valid;
+}
+
+static inline int
+receive_message (void *ptr, int len)
+{
+	char bytes = 0;
+	receive_data(ptr, len, &bytes);
+	/* Bytes includes checksum, since we don't want that, return bytes-1 */
+	return bytes - 1;
+}
+
+static inline void
+send_message (void *ptr, int len)
+{
+	if (len)
+		while (send_data(0x1776, 0, ptr, len));
+}
+
+int
+poll_power(void)
+{
+	static short debounce = 0;
+	static short state = -1;
+	short status;
+	get_power_status(0x4000, &status);
+	if (state != status)
+		debounce = 0;
+	else if (debounce < 10)
+		debounce++;
+	state = status;
+	return debounce >= 10 ? state : -1;
+}
+
+static void
+progress(short line)
+{
+	set_lcd_number(LCD_UNSIGNED, line, LCD_DECIMAL_0);
+	refresh_display();
+}
+
+static void
+fatal(short line)
+{
+	set_lcd_segment(LCD_STANDING);
+	progress(line);
+	while (poll_power() != 0)
+		;
+}
+
+typedef struct Reader {
+	ushort tag;
+	ushort fid;
+	ushort offset;
+	ushort count;
+	struct Reader *next;
+} Reader;
+
+typedef struct DirectoryEntry {
+	char *name;
+	uchar qid;
+	const struct DirectoryEntry *sub;
+	short (*read)(const struct DirectoryEntry *dp, ushort tag, ushort fid, ushort offset, ushort count);
+	short (*write)(const struct DirectoryEntry *dp, ushort offset, ushort count, uchar *buf);
+} DirectoryEntry;
+
+#define QID_ROOT 0
+#define QID_MOTOR 1
+#define QID_MOTOR_0 2
+#define QID_MOTOR_1 3
+#define QID_MOTOR_2 4
+#define QID_MOTOR_012 5
+#define QID_SENSOR 6
+#define QID_SENSOR_0 7
+#define QID_SENSOR_1 8
+#define QID_SENSOR_2 9
+
+typedef struct Sensor {
+	sensor_t sensor;
+	uchar active;
+	uchar greater;
+	ushort thresh;
+	Reader *reader;
+} Sensor;
+
+Sensor sensor[3];
+
+short
+atoin(char *s, short lim)
+{
+	short total = 0;
+	while (*s && lim) {
+		char c = *s++;
+		if (c >= '0' && c <= '9')
+			total = total * 10 + c - '0';
+		else
+			break;
+		lim--;
+	}
+	return total;
+}
+
+short
+itoa(char *buf, short value)
+{
+	char *bp = buf;
+	short divisor;
+	if (value < 0) {
+		*bp++ = '-';
+		value = -value;
+	}
+	if (value == 0)
+		*bp++ = '0';
+	else {
+		divisor = 10000;
+		while (divisor > value)
+			divisor /= 10;
+		while (divisor) {
+			*bp++ = '0' + value / divisor;
+			value %= divisor;
+			divisor /= 10;
+		}
+	}
+	return bp - buf;
+}
+
+Reader *
+readercreate(ushort tag, ushort fid, ushort offset, ushort count)
+{
+	Reader *rp = malloc(sizeof(Reader));
+	rp->tag = tag;
+	rp->fid = fid;
+	rp->offset = offset;
+	rp->count = count;
+	rp->next = 0;
+	reader_count++;
+	return rp;
+}
+
+void
+readerfree(Reader *rp)
+{
+	free(rp);
+	reader_count--;
+}
+
+int
+senderrorreset(Reader *rp, void *magic)
+{
+	send_error_reply(rp->tag, "reset");
+	return 1;
+}
+
+void
+readerlistfindanddestroy(Reader **rpp, int (*action)(Reader *rp, void *magic), void *magic)
+{
+	while (*rpp) {
+		Reader *rp = *rpp;
+		if ((*action)(rp, magic)) {
+			*rpp = rp->next;
+			readerfree(rp);
+		}
+		else
+			rpp = &(rp->next);
+	}
+}
+
+void
+allreaderlistfindanddestroy(int (*action)(Reader *rp, void *magic), void *magic)
+{
+	short i;
+	for (i = 0; i < 3; i++)
+		readerlistfindanddestroy(&sensor[i].reader, action, magic);
+}
+
+short
+sensorwrite(const DirectoryEntry *dp, ushort offset, ushort count, uchar *data)
+{
+	short i;
+	Sensor *sp;
+	uchar greater;
+	short type, mode;
+	ushort k;
+
+	if (offset != 0)
+		return -1;
+	i = dp->qid - QID_SENSOR_0;
+	sp = &sensor[i];
+	k = count;
+	if (k == 0)
+		return -1;
+	switch (data[0]) {
+	case 'b':
+		type = SENSOR_TYPE_TOUCH;
+		mode = SENSOR_MODE_PULSE;
+		break;
+	case 'l':
+		type = SENSOR_TYPE_TOUCH;
+		mode = SENSOR_MODE_RAW;
+		break;
+	default:
+		return -1;
+	}
+	data++; k--;
+	if (k == 0)
+		return -1;
+	if (*data == '>') {
+		greater = 1;
+		data++;
+		k--;
+	}
+	else if (*data == '<') {
+		greater = 0;
+		data++;
+		k--;
+	}
+	else
+		greater = 1;
+	if (k == 0)
+		return -1;
+	readerlistfindanddestroy(&sp->reader, senderrorreset, 0);
+	set_sensor_passive(SENSOR_0 + i);
+	sp->sensor.type = type;
+	sp->sensor.mode = mode;
+	sp->thresh = atoin(data, k);
+	sp->sensor.raw = 0;
+	sp->sensor.value = 0;
+	sp->sensor.boolean = 0;
+	sp->active = 1;
+	sp->greater = greater;
+	set_sensor_active(SENSOR_0 + i);
+	return count;
+}
+
+void
+send_read_reply(ushort tag, ushort fid, ushort offset, ushort len, uchar *answer, short answerlen)
+{
+	uchar *out = send_fid_reply_payload();
+	ushort actual;
+	if (offset < answerlen) {
+		actual = answerlen - offset;
+		if (actual > len)
+			actual = len;
+		memcpy(out + 3, answer + offset, actual);
+	}
+	else
+		actual = 0;
+	out[0] = actual;
+	out[1] = actual >> 8;
+	out[2] = 0;
+	send_fid_reply(Rread, tag, fid, 0, actual + 3);
+}
+
+void
+send_sensor_read_reply(ushort tag, ushort fid, ushort offset, ushort count, short value)
+{
+	short answerlen;
+	char answer[8];
+	/* reply is countlow counthigh pad data[count] */
+	answerlen = itoa(answer, value);
+	send_read_reply(tag, fid, offset, count, answer, answerlen);
+}
+
+int
+sensortriggered(Sensor *sp)
+{
+	if (sp->greater)
+		return sp->sensor.value >= sp->thresh;
+	else
+		return sp->sensor.value < sp->thresh;
+}
+
+short
+sensorread(const struct DirectoryEntry *dp, ushort tag, ushort fid, ushort offset, ushort count)
+{
+	short i;
+	Sensor *sp;
+	i = dp->qid - QID_SENSOR_0;
+	sp = sensor + i;
+	if (!sp->active)
+		return -1;
+	if (sensortriggered(sp))
+		send_sensor_read_reply(tag, fid, offset, count, sp->sensor.value);
+	else {
+		/* add to queue */
+		Reader *rp = readercreate(tag, fid, offset, count);
+		rp->next = sp->reader;
+		sp->reader = rp;
+	}
+	return 0;
+}
+
+void
+sensorpoll(void)
+{
+	short i;
+	Sensor *sp;
+
+	if ((dispatch[0] & 0x80) == 0) {
+		return;
+	}
+	dispatch[0] &= 0x7f;
+	/* do the following every 3 ms with a following wind */
+	for (i = 0; i < 3; i++) {
+		sp = sensor + i;
+		if (sp->active) {
+			/*
+			 * read sensor 4 times to reduce debounce on each
+			 * edge to effectively 25 counts, or 75ms
+			 * allowing about 8 pulses a second
+			 */
+			read_sensor(SENSOR_0 + i, &sp->sensor);
+			read_sensor(SENSOR_0 + i, &sp->sensor);
+			read_sensor(SENSOR_0 + i, &sp->sensor);
+			read_sensor(SENSOR_0 + i, &sp->sensor);
+			if (sensortriggered(sp)) {
+				/* complete any outstanding reads */
+				while (sp->reader) {
+					Reader *rp = sp->reader;
+					sp->reader = rp->next;
+					send_sensor_read_reply(rp->tag, rp->fid, rp->offset, rp->count, sp->sensor.value);
+					readerfree(rp);
+				}
+			}
+		}
+	}
+}
+
+short
+motorparse(uchar *flag, short *mode, short *power, uchar *data)
+{
+	switch (data[0]) {
+	case 'f': *mode = MOTOR_FWD; break;
+	case 'r': *mode = MOTOR_REV; break;
+	case 's': *mode = MOTOR_STOP; break;
+	case 'F': *mode = MOTOR_FLOAT; break;
+	case '-': return 1;
+	default:
+		return 0;
+	}
+	if (data[1] >= '0' && data[1] <= '7')
+		*power = data[1] - '0';
+	else
+		return 0;
+	*flag = 1;
+	return 1;
+}
+
+short
+motorwrite(const DirectoryEntry *dp, ushort offset, ushort count, uchar *data)
+{
+	short mode[3], power[3];
+	uchar flag[3];
+	short i;
+
+	if (offset != 0)
+		return -1;
+	flag[0] = flag[1] = flag[2] = 0;
+	if (dp->qid == QID_MOTOR_012) {
+		if (count != 6)
+			return -1;
+		if (!motorparse(flag, mode, power, data)
+		 || !motorparse(flag + 1, mode + 1, power + 1, data + 2)
+		 || !motorparse(flag + 2, mode + 2, power + 2, data + 4))
+			return -1;
+	}
+	else {
+		if (count != 2)
+			return -1;
+		i = dp->qid - QID_MOTOR_0;
+		if (!motorparse(flag + i, mode + i, power + i, data))
+			return -1;
+	}
+	for (i = 0; i < 3; i++)
+		if (flag[i])
+			control_motor(MOTOR_0 + i, mode[i], power[i]);
+	return count;
+}
+
+const uchar qid_root[8] = { QID_ROOT, 0, 0, 0x80 };
+
+const DirectoryEntry dir_root[], dir_slash[];
+
+const DirectoryEntry dir_motor[] = {
+	{ "..", QID_ROOT, dir_root },
+	{ "0", QID_MOTOR_0,	0, 0, motorwrite },
+	{ "1", QID_MOTOR_1,	0, 0, motorwrite },
+	{ "2", QID_MOTOR_2,	0, 0, motorwrite },
+	{ "012", QID_MOTOR_012, 0, 0, motorwrite },
+	{ 0 }
+};
+
+const DirectoryEntry dir_sensor[] = {
+	{ "..", QID_ROOT, dir_root },
+	{ "0", QID_SENSOR_0,	0, sensorread, sensorwrite },
+	{ "1", QID_SENSOR_1,	0, sensorread, sensorwrite },
+	{ "2", QID_SENSOR_2,	0, sensorread, sensorwrite },
+	{ 0 }
+};
+
+const DirectoryEntry dir_root[] = {
+	{ "..", QID_ROOT, dir_slash },
+	{ "motor", QID_MOTOR, dir_motor },
+	{ "sensor", QID_SENSOR, dir_sensor },
+	{ 0 }
+};
+
+const DirectoryEntry dir_slash[] = {
+	{ "/", QID_ROOT, dir_root },
+	{ 0 }
+};
+
+const DirectoryEntry *qid_map[] = {
+	/* QID_ROOT */		&dir_slash[0],
+	/* QID_MOTOR */		&dir_root[1],
+	/* QID_MOTOR_0 */	&dir_motor[1],
+	/* QID_MOTOR_1 */	&dir_motor[2],
+	/* QID_MOTOR_2 */	&dir_motor[3],
+	/* QID_MOTOR_012 */	&dir_motor[4],
+	/* QID_SENSOR */	&dir_root[2],
+	/* QID_SENSOR_0 */	&dir_sensor[1],
+	/* QID_SENSOR_1 */	&dir_sensor[2],
+	/* QID_SENSOR_2 */	&dir_sensor[3],
+};
+
+#define QID_MAP_MAX (sizeof(qid_map) / sizeof(qid_map[0]))
+
+typedef struct Fid {
+	struct Fid *next;
+	ushort fid;
+	uchar open;
+	uchar qid[8];
+} Fid;
+
+Fid *fids;
+
+Fid *
+fidfind(ushort fid)
+{
+	Fid *fp;
+	for (fp = fids; fp && fp->fid != fid; fp = fp->next)
+		;
+	return fp;
+}
+
+Fid *
+fidcreate(ushort fid, const uchar qid[8])
+{
+	Fid *fp;
+	fp = malloc(sizeof(Fid));
+	ASSERT(fp);
+	fp->open = 0;
+	fp->fid = fid;
+	fp->next = fids;
+	memcpy(fp->qid, qid, 8);
+	fids = fp;
+	return fp;
+}
+
+int
+matchfp(Reader *rp, void *magic)
+{
+	if (rp->fid == ((Fid *)magic)->fid) {
+		return 1;
+	}
+	return 0;
+}
+
+void
+fiddelete(Fid *fp)
+{
+	Fid **fpp;
+	/* clobber any outstanding reads on this fid */
+	allreaderlistfindanddestroy(matchfp, fp);
+	/* now clobber the fid */
+	for (fpp = &fids; *fpp; fpp = &(*fpp)->next)
+		if (*fpp == fp) {
+			*fpp = fp->next;
+			free(fp);
+			return;
+		}
+	FATAL;
+}
+
+const DirectoryEntry *
+nthentry(const DirectoryEntry *dp, ushort n)
+{
+	const DirectoryEntry *sdp;
+	ASSERT(dp->sub);
+	for (sdp = dp->sub; sdp->name; sdp++)
+		if (strcmp(sdp->name, "..") != 0) {
+			if (n == 0)
+				return sdp;
+			n--;
+		}
+	return 0;
+}
+
+int
+fidwalk(Fid *fp, char name[28])
+{
+	const DirectoryEntry *sdp;
+	const DirectoryEntry *dp;
+
+	if (fp->open)
+		return -1;
+	ASSERT(fp->qid[0] < QID_MAP_MAX);
+	dp = qid_map[fp->qid[0]];
+	if (dp->sub == 0)
+		return -1;
+	for (sdp = dp->sub; sdp->name; sdp++)
+		if (strcmp(sdp->name, name) == 0) {
+			fp->qid[0] = sdp->qid;
+			fp->qid[3] = sdp->sub ? 0x80 : 0;
+			return 1;
+		}
+	return 0;
+}
+
+void
+mkdirent(const DirectoryEntry *dp, uchar *dir)
+{
+	memset(dir, 0, DIRLEN);
+	strcpy(dir, dp->name);
+	strcpy(dir + 28, "lego");
+	strcpy(dir + 56, "lego");
+	dir[84] = dp->qid;
+	dir[92] = dp->sub ? 0555 : 0666;
+	dir[93] = dp->sub ? (0555 >> 8) : (0666 >> 8);
+	dir[95] = dp->sub ? 0x80 : 0;
+}
+
+int
+fidstat(Fid *fp, uchar *dir)
+{
+	const DirectoryEntry *dp;
+	if (fp->open)
+		return -1;
+	ASSERT(fp->qid[0] < QID_MAP_MAX);
+	dp = qid_map[fp->qid[0]];
+	mkdirent(dp, dir);
+	return 1;
+}
+
+int
+fidopen(Fid *fp, uchar mode)
+{
+	if (fp->open
+	    || (mode & ORCLOSE)
+	    /*|| (mode & OTRUNC) */)
+		return 0;
+	if (fp->qid[3] && (mode == OWRITE || mode == ORDWR))
+		/* can't write directories */
+		return 0;
+	fp->open = 1;
+	return 1;
+}
+
+short
+fidread(Fid *fp, ushort tag, ushort offset, ushort count)
+{
+	short k;
+	uchar *p;
+	const DirectoryEntry *dp;
+	uchar *buf;
+
+	ASSERT(fp->qid[0] < QID_MAP_MAX);
+	dp = qid_map[fp->qid[0]];
+
+	if (fp->qid[3] & 0x80) {
+		if (!fp->open)
+			return -1;
+		if (count % DIRLEN != 0 || offset % DIRLEN != 0)
+			return -1;
+		count /= DIRLEN;
+		offset /= DIRLEN;
+		buf = send_fid_reply_payload();
+		p = buf + 3;
+		for (k = 0; k < count; k++) {
+			const DirectoryEntry *sdp = nthentry(dp, offset + k);
+			if (sdp == 0)
+				break;
+			mkdirent(sdp, p);
+			p += DIRLEN;
+		}
+/* a read beyond just returns 0 
+		if (k == 0 && count)
+			return -1;
+*/
+		k *= DIRLEN;
+		buf[0] = k;
+		buf[1] = k >> 8;
+		buf[2] = 0;
+		send_fid_reply(Rread, tag, fp->fid, 0, k + 3);
+		return 0;
+	}
+	/* right, that's that out of the way */
+	if (!dp->read)
+		return -1;
+	return (*dp->read)(dp, tag, fp->fid, offset, count);
+}
+
+short
+fidwrite(Fid *fp, ushort offset, ushort count, uchar *buf)
+{
+	const DirectoryEntry *dp;
+	if (fp->qid[3] & 0x80)
+		return -1;		/* can't write directories */
+	if (!fp->open)
+		return -1;
+	ASSERT(fp->qid[0] < QID_MAP_MAX);
+	dp = qid_map[fp->qid[0]];
+	if (!dp->write)
+		return -1;		/* no write method */
+	return (*dp->write)(dp, offset, count, buf);
+}
+
+int
+rlencode(unsigned char *out, int limit, unsigned char *in, int len)
+{
+	unsigned char *ip, *op;
+	int oc, zc;
+
+	if (len == 0)
+		return -1;
+	ip = in;
+	op = out;
+	zc = 0;
+
+	oc = 0;
+
+	for (;;) {
+		int last = ip >= in + len;
+		if (*ip != 0 || last)
+		{
+			switch (zc) {
+			case 1:
+				if (oc >= len - 1)
+					return -1;
+				*op++ = 0;
+				oc++;
+				break;
+			case 2:
+				if (oc >= len - 2)
+					return -1;
+				*op++ = 0;
+				*op++ = 0;
+				oc += 2;
+				break;
+			case 0:
+				break;
+			default:
+				if (oc >= len - 2)
+					return -1;
+				*op++ = 0x88;
+				*op++ = zc - 2;
+				oc += 2;
+				break;
+			}
+			zc = 0;
+		}
+		if (last)
+			break;
+		if (*ip == 0x88) {
+			if (oc >= len - 2)
+				return -1;
+			*op++ = 0x88;
+			*op++ = 0x00;
+			oc += 2;
+		}
+		else if (*ip == 0x00)
+		{
+			zc++;
+		}
+		else {
+			if (oc >= len - 1)
+				return -1;
+			*op++ = *ip;
+			oc++;
+		}
+		ip++;
+	}
+	return oc;
+}
+
+int
+rldecode(unsigned char *out, unsigned char *in, int len)
+{
+	int oc, k;
+
+	oc = 0;
+
+	while (len) {
+		if (*in != 0x88) {
+			*out++ = *in++;
+			oc++;
+			len--;
+			continue;
+		}
+		in++;
+		switch (*in) {
+		case 0:
+			*out++ = 0x88;
+			oc++;
+			break;
+		default:
+			k = *in + 2;
+			oc += k;
+			while (k-- > 0)
+				*out++ = 0;
+		}
+		in++;
+		len -= 2;
+	}
+	return oc;
+}
+
+void
+prepare_transmission(void)
+{
+	if (prepared)
+		return;
+	compressed_reply_len = rlencode(compressed_reply + 3, sizeof(compressed_reply) - 3, reply, reply_len);
+	if (compressed_reply_len < 0) {
+		memcpy(compressed_reply + 3, reply, reply_len);
+		compressed_reply_len = reply_len;
+		compressed_reply[2] = 0x0;
+	}
+	else
+		compressed_reply[2] = LLP_COMPRESSION;
+	if (reader_count)
+		compressed_reply[2] |= LLP_POLL_PERIODIC;
+	compressed_reply[2] |= !alternating_bit;
+	compressed_reply_len++;
+	compressed_reply[0] = compressed_reply_len;
+	compressed_reply[1] = compressed_reply_len >> 8;
+	compressed_reply_len += 2;
+	prepared = 1;
+}
+
+void
+transmit(void)
+{
+	prepare_transmission();
+	transmitted_reply_len = reply_len;
+	send_message(compressed_reply, compressed_reply_len);
+}
+
+void
+flush_reply_buffer(void)
+{
+	if (reply_len > transmitted_reply_len)
+		memcpy(reply, reply + transmitted_reply_len, reply_len - transmitted_reply_len);
+	reply_len -= transmitted_reply_len;
+	prepared = 0;
+}
+
+void
+send_reply(unsigned char type, unsigned short tag, unsigned char *msg, short len)
+{
+	uchar *p = reply + reply_len;
+	p[0] = type;
+	p[1] = tag & 0xff;
+	p[2] = tag >> 8;
+	if (msg)
+		memcpy(p + 3, msg, len);
+	reply_len += len + 3;
+	prepared = 0;
+}
+
+void
+send_error_reply(unsigned short tag, char *msg)
+{
+	short len;
+	uchar *p = reply + reply_len;
+	p[0] = Rerror;
+	p[1] = tag & 0xff;
+	p[2] = tag >> 8;
+	len = (short)strlen(msg);
+	if (len > 64)
+		len = 64;
+	memcpy(p + 3, msg, len);
+	reply_len += 67;
+	prepared = 0;
+}
+
+uchar *
+send_fid_reply_payload(void)
+{
+	return reply + reply_len + 5;
+}
+
+void
+send_fid_reply(uchar type, ushort tag, ushort fid, uchar *msg, short len)
+{
+	uchar *p = reply + reply_len;
+	p[0] = type;
+	p[1] = tag & 0xff;
+	p[2] = tag >> 8;
+	p[3] = fid & 0xff;
+	p[4] = fid >> 8;
+	if (msg)
+		memcpy(p + 5, msg, len);
+	reply_len += len + 5;
+	prepared = 0;
+}
+
+int
+matchtag(Reader *rp, void *oldtag)
+{
+	if (rp->tag == (ushort)oldtag) {
+		return 1;
+	}
+	return 0;
+}
+
+void
+flushtag(ushort oldtag)
+{
+	/* a little inefficient this - there can be at most one match! */
+	allreaderlistfindanddestroy(matchtag, (void *)oldtag);
+}
+
+void
+process_styx_message(unsigned char *msg, short len)
+{
+	unsigned char type;
+	ushort tag, oldtag, fid, newfid;
+	ushort offset, count;
+	short extra;
+	Fid *fp, *nfp;
+	short written;
+	uchar buf[2];
+
+	ASSERT(len >= 3);
+	
+	type = *msg++; len--;
+	tag = (msg[1] << 8) | msg[0]; len -= 2; msg += 2;
+
+	switch (type) {
+	case Tnop:
+		send_reply(Rnop, tag, 0, 0);
+		goto done;
+	case Tflush:
+		ASSERT(len == 2);
+		oldtag = (msg[1] << 8) | msg[0];
+		flushtag(oldtag);
+		send_reply(Rflush, tag, 0, 0);
+		goto done;
+	}
+	/* all other messages take a fid as well */
+	ASSERT(len >= 2);
+	fid = (msg[1] << 8) | msg[0]; len -= 2; msg += 2;
+	fp = fidfind(fid);
+	
+	switch (type) {
+	case Tattach:
+		ASSERT(len == 56);
+		if (fp) {
+		fid_in_use:
+			send_error_reply(tag, "fid in use");
+		}
+		else {
+			fp = fidcreate(fid, qid_root);
+			send_fid_reply(Rattach, tag, fid, fp->qid, 8);
+		}
+		break;
+	case Tclunk:
+	case Tremove:
+		ASSERT(len == 0);
+		if (!fp) {
+		no_such_fid:
+			send_error_reply(tag, "no such fid");
+		}
+		else {
+			fiddelete(fp);
+			if (type == Tremove)
+				send_error_reply(tag, "can't remove");
+			else
+				send_fid_reply(Rclunk, tag, fid, 0, 0);
+		}
+		break;
+	case Tclone:
+		ASSERT(len == 2);
+		newfid = (msg[1] << 8) | msg[0];
+		nfp = fidfind(newfid);
+		if (!fp)
+			goto no_such_fid;
+		if (fp->open) {
+			send_error_reply(tag, "can't clone");
+			break;
+		}
+		if (nfp)
+			goto fid_in_use;
+		nfp = fidcreate(newfid, fp->qid);
+		send_fid_reply(Rclone, tag, fid, 0, 0);
+		break;
+	case Twalk:
+		ASSERT(len == 28);
+		if (!fidwalk(fp, msg))
+			send_error_reply(tag, "no such name");
+		else
+			send_fid_reply(Rwalk, tag, fid, fp->qid, 8);
+		break;
+	case Tstat:
+		ASSERT(len == 0);
+		if (!fidstat(fp, dir))
+			send_error_reply(tag, "can't stat");
+		else
+			send_fid_reply(Rstat, tag, fid, dir, 116);
+		break;
+		ASSERT(len == 0);
+	case Tcreate:
+		ASSERT(len == 33);
+		send_error_reply(tag, "can't create");
+		break;
+	case Topen:
+		ASSERT(len == 1);
+		if (!fidopen(fp, msg[0]))
+			send_error_reply(tag, "can't open");
+		else
+			send_fid_reply(Ropen, tag, fid, fp->qid, 8);
+		break;
+	case Tread:
+		ASSERT(len == 10);
+		offset = (msg[1] << 8) | msg[0];
+		count = (msg[9] << 8) | msg[8];
+		if (fidread(fp, tag, offset, count) < 0)
+			send_error_reply(tag, "can't read");
+		break;
+	case Twrite:
+		ASSERT(len >= 11);
+		offset = (msg[1] << 8) | msg[0];
+		count = (msg[9] << 8) | msg[8];
+		msg += 11;
+		len -= 11;
+		ASSERT(count == len);
+		written = fidwrite(fp, offset, count, msg);
+		if (written < 0)
+			send_error_reply(tag, "can't write");
+		else {
+			buf[0] = written;
+			buf[1] = written >> 8;
+			send_fid_reply(Rwrite, tag, fid, buf, 2);
+		}
+		break;
+	default:
+		FATAL;
+	}
+done:
+	;
+}
+
+void
+process_llp_message(unsigned char *msg, short len)
+{
+	short styxlen;
+	switch (msg[0]) {
+	case 0x45:
+	case 0x4d:
+		if (len != 5)
+			FATAL;
+		styxlen = compressed_incoming[0] | (compressed_incoming[1] << 8);
+		/* transfer the transmitted checksum to the end */
+		compressed_incoming[styxlen + 2 - 1] = msg[3];
+		/* check alternating bit */
+#ifdef ABP
+		if ((compressed_incoming[2] & 1) != alternating_bit ||
+		    ((msg[0] & 8) != 0) != alternating_bit) {
+			transmit();
+			break;
+		}
+#endif
+		alternating_bit = !alternating_bit;
+		flush_reply_buffer();
+		if (styxlen > 1) {
+			if (compressed_incoming[2] & LLP_COMPRESSION) {
+				/* decompress everything but length and link header */
+				styxlen = rldecode(incoming, compressed_incoming + 3, styxlen - 1);
+				process_styx_message(incoming, styxlen);
+			}
+			else
+				process_styx_message(compressed_incoming + 3, styxlen - 1);
+		}
+		transmit();
+		break;
+	default:
+		FATAL;
+	}
+}
+
+int
+main (void)
+{
+	int count = 0;
+	char buf[16];
+	char temp[64];
+
+	mem_init();
+	memset(temp,0, sizeof(temp));
+
+	/* Initialize */
+
+	init_timer(&temp[6], &dispatch[0]);
+	init_power();
+	init_sensors();
+	init_serial(&temp[4], &temp[6], 1, 1);
+
+	set_lcd_number(LCD_UNSIGNED, 0, LCD_DECIMAL_0);
+	set_lcd_segment(LCD_WALKING);
+	refresh_display();
+
+	set_data_pointer(compressed_incoming);
+
+	alternating_bit = 0;
+	compressed_reply_len = 0;
+	reply_len = 0;
+	prepared = 0;
+
+	while (poll_power() != 0) {
+
+		/* If a message has arrived, send a response with opcode inverted */
+
+		if (check_valid()) {
+			int len = receive_message(buf, sizeof(buf));
+			msgcount++;
+			process_llp_message(buf, len);
+		}
+		sensorpoll();
+	}
+
+	return 0;
+}
diff --git a/lib/lego/styx.srec b/lib/lego/styx.srec
new file mode 100644
index 00000000..687a50aa
--- /dev/null
+++ b/lib/lego/styx.srec
@@ -0,0 +1,329 @@
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diff --git a/lib/lego/styx_abp.srec b/lib/lego/styx_abp.srec
new file mode 100644
index 00000000..d7026013
--- /dev/null
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