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leJOS (pronounced like the Spanish word "lejos" for "far") is a tiny Java Virtual Machine. In 2013 it was ported to the LEGO EV3 brick.
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package lejos.remote.nxt;
/**
* LEGO Communication Protocol constants.
*
*/
public interface NXTProtocol {
// Command types constants. Indicates type of packet being sent or received.
public static final byte DIRECT_COMMAND_REPLY = 0x00;
public static final byte SYSTEM_COMMAND_REPLY = 0x01;
public static final byte REPLY_COMMAND = 0x02;
public static final byte DIRECT_COMMAND_NOREPLY = (byte)0x80; // Avoids ~100ms latency
public static final byte SYSTEM_COMMAND_NOREPLY = (byte)0x81; // Avoids ~100ms latency
// System Commands:
public static final byte OPEN_READ = (byte)0x80;
public static final byte OPEN_WRITE = (byte)0x81;
public static final byte READ = (byte)0x82;
public static final byte WRITE = (byte)0x83;
public static final byte CLOSE = (byte)0x84;
public static final byte DELETE = (byte)0x85;
public static final byte FIND_FIRST = (byte)0x86;
public static final byte FIND_NEXT = (byte)0x87;
public static final byte GET_FIRMWARE_VERSION = (byte)0x88;
public static final byte OPEN_WRITE_LINEAR = (byte)0x89;
public static final byte OPEN_READ_LINEAR = (byte)0x8A;
public static final byte OPEN_WRITE_DATA = (byte)0x8B;
public static final byte OPEN_APPEND_DATA = (byte)0x8C;
// Many commands could be hidden between 0x8D and 0x96!
public static final byte BOOT = (byte)0x97;
public static final byte SET_BRICK_NAME = (byte)0x98;
// public static final byte MYSTERY_COMMAND = (byte)0x99;
// public static final byte MYSTERY_COMMAND = (byte)0x9A;
public static final byte GET_DEVICE_INFO = (byte)0x9B;
// commands could be hidden here...
public static final byte DELETE_USER_FLASH = (byte)0xA0;
public static final byte POLL_LENGTH = (byte)0xA1;
public static final byte POLL = (byte)0xA2;
// Poll constants:
public static final byte POLL_BUFFER = (byte)0x00;
public static final byte HIGH_SPEED_BUFFER = (byte)0x01;
// Direct Commands
public static final byte START_PROGRAM = 0x00;
public static final byte STOP_PROGRAM = 0x01;
public static final byte PLAY_SOUND_FILE = 0x02;
public static final byte PLAY_TONE = 0x03;
public static final byte SET_OUTPUT_STATE = 0x04;
public static final byte SET_INPUT_MODE = 0x05;
public static final byte GET_OUTPUT_STATE = 0x06;
public static final byte GET_INPUT_VALUES = 0x07;
public static final byte RESET_SCALED_INPUT_VALUE = 0x08;
public static final byte MESSAGE_WRITE = 0x09;
public static final byte RESET_MOTOR_POSITION = 0x0A;
public static final byte GET_BATTERY_LEVEL = 0x0B;
public static final byte STOP_SOUND_PLAYBACK = 0x0C;
public static final byte KEEP_ALIVE = 0x0D;
public static final byte LS_GET_STATUS = 0x0E;
public static final byte LS_WRITE = 0x0F;
public static final byte LS_READ = 0x10;
public static final byte GET_CURRENT_PROGRAM_NAME = 0x11;
// public static final byte MYSTERY_OPCODE = 0x12; // ????
public static final byte MESSAGE_READ = 0x13;
// public static final byte POSSIBLY_MORE_HIDDEN = 0x14; // ????
// NXJ additions
// TODO NXJ commands should be direct commands.
// At the moment, the NXJ commands are system commands. However, the LEGO firmware
// does not respond with an error code to unknown system commands. Instead, it seems to
// return the reply of the last successful command or something similar.
// Hence, the NXJ opcodes should be declared as direct commands. The LEGO firmware will
// reply with error 0xBE (Unknown command opcode) for all direct command
// opcodes from 0x22 to 0xff (tested with Firmware 1.31). I suggest the usage of
// opcodes >= 0x80.
public static final byte NXJ_DISCONNECT = 0x20;
public static final byte NXJ_DEFRAG = 0x21;
public static final byte NXJ_SET_DEFAULT_PROGRAM = 0x22;
public static final byte NXJ_SET_SLEEP_TIME = 0x23;
public static final byte NXJ_SET_VOLUME = 0x24;
public static final byte NXJ_SET_KEY_CLICK_VOLUME = 0x25;
public static final byte NXJ_SET_AUTO_RUN = 0x26;
public static final byte NXJ_GET_VERSION = 0x27;
public static final byte NXJ_GET_DEFAULT_PROGRAM = 0x28;
public static final byte NXJ_GET_SLEEP_TIME = 0x29;
public static final byte NXJ_GET_VOLUME = 0x2A;
public static final byte NXJ_GET_KEY_CLICK_VOLUME = 0x2B;
public static final byte NXJ_GET_AUTO_RUN = 0x2C;
public static final byte NXJ_PACKET_MODE = (byte)0xff;
// Output state constants
// "Mode":
/** Turn on the specified motor */
public static final byte MOTORON = 0x01;
/** Use run/brake instead of run/float in PWM */
public static final byte BRAKE = 0x02;
/** Turns on the regulation */
public static final byte REGULATED = 0x04;
// "Regulation Mode":
/** No regulation will be enabled */
public static final byte REGULATION_MODE_IDLE = 0x00;
/** Power control will be enabled on specified output */
public static final byte REGULATION_MODE_MOTOR_SPEED = 0x01;
/** Synchronization will be enabled (Needs enabled on two output) */
public static final byte REGULATION_MODE_MOTOR_SYNC = 0x02;
// "RunState":
/** Output will be idle */
public static final byte MOTOR_RUN_STATE_IDLE = 0x00;
/** Output will ramp-up */
public static final byte MOTOR_RUN_STATE_RAMPUP = 0x10;
/** Output will be running */
public static final byte MOTOR_RUN_STATE_RUNNING = 0x20;
/** Output will ramp-down */
public static final byte MOTOR_RUN_STATE_RAMPDOWN = 0x40;
// Input Mode Constants
// "Port Type":
/** */
public static final byte NO_SENSOR = 0x00;
/** */
public static final byte SWITCH = 0x01;
/** */
public static final byte TEMPERATURE = 0x02;
/** */
public static final byte REFLECTION = 0x03;
/** */
public static final byte ANGLE = 0x04;
/** */
public static final byte LIGHT_ACTIVE = 0x05;
/** */
public static final byte LIGHT_INACTIVE = 0x06;
/** */
public static final byte SOUND_DB = 0x07;
/** */
public static final byte SOUND_DBA = 0x08;
/** */
public static final byte CUSTOM = 0x09;
/** */
public static final byte LOWSPEED = 0x0A;
/** */
public static final byte LOWSPEED_9V = 0x0B;
/** */
public static final byte NO_OF_SENSOR_TYPES = 0x0C;
// "Port Mode":
/** */
public static final byte RAWMODE = 0x00;
/** */
public static final byte BOOLEANMODE = 0x20;
/** */
public static final byte TRANSITIONCNTMODE = 0x40;
/** */
public static final byte PERIODCOUNTERMODE = 0x60;
/** */
public static final byte PCTFULLSCALEMODE = (byte)0x80;
/** */
public static final byte CELSIUSMODE = (byte)0xA0;
/** */
public static final byte FAHRENHEITMODE = (byte)0xC0;
/** */
public static final byte ANGLESTEPSMODE = (byte)0xE0;
/** */
public static final byte SLOPEMASK = 0x1F;
/** */
public static final byte MODEMASK = (byte)0xE0;
}