version 1.7, 2007/04/24 20:18:57
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version 1.10, 2007/06/17 19:26:43
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Line 37
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Line 37
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int terminal_prepped = 0; |
int terminal_prepped = 0; |
int needs_update = 0; |
int needs_update = 0; |
int bt_mode = 0; |
int bt_mode = 0; |
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int bt_state = 0; |
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void |
void |
show_splash(U32 milliseconds) |
show_splash(U32 milliseconds) |
{ |
{ |
display_clear(0); |
display_clear(0); |
display_goto_xy(6, 6); |
display_goto_xy(4, 6); |
display_string("Gforth"); |
display_string("Gforth NXT"); |
display_update(); |
display_update(); |
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systick_wait_ms(milliseconds); |
systick_wait_ms(milliseconds); |
Line 66 void bt_send_cmd(char * cmd)
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Line 67 void bt_send_cmd(char * cmd)
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cmd[i++] = (char)(sum>>8); |
cmd[i++] = (char)(sum>>8); |
cmd[i++] = (char)(sum & 0xff); |
cmd[i++] = (char)(sum & 0xff); |
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// systick_wait_ms(500); |
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bt_send(cmd, len+1); |
bt_send(cmd, len+1); |
} |
} |
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void do_bluetooth () |
int do_bluetooth () |
{ |
{ |
if(!bt_mode) { |
if(!bt_mode) { |
char cmd[30]; |
char cmd[30]; |
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bt_receive(cmd); |
bt_receive(cmd); |
if(cmd[0] | cmd[1]) { |
if(cmd[0] | cmd[1]) { |
display_char('0'+cmd[0]); |
display_char('0'+cmd[0]); |
display_char('0'+cmd[1]); |
display_char('0'+cmd[1]); |
display_update(); |
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} |
} |
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switch(cmd[1]) { |
switch(cmd[1]) { |
case 0x10: |
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case 0x16: // request connection |
case 0x16: // request connection |
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display_char('-'); |
cmd[1] = 0x9; // accept connection |
cmd[1] = 0x9; // accept connection |
cmd[2] = 1; // yes, we do |
cmd[2] = 1; // yes, we do |
bt_send_cmd(cmd); |
bt_send_cmd(cmd); |
break; |
break; |
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case 0x0f: // inquiry result |
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display_char('+'); |
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cmd[1] = 0x05; |
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bt_send_cmd(cmd); // add devices as known device |
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break; |
case 0x13: // connect result |
case 0x13: // connect result |
if(cmd[2]) { |
if(cmd[2]) { |
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int n=0; |
int handle=cmd[3]; |
int handle=cmd[3]; |
cmd[1] = 0xB; // open stream |
display_char('/'); display_update(); |
cmd[2] = handle; |
systick_wait_ms(300); |
bt_send_cmd(cmd); |
bt_receive(cmd); |
while (*AT91C_US1_TNCR != 0); |
if(cmd[0]==0) { |
// while(!(*AT91C_PIOA_PDSR & BT_BC4_CMD_PIN)); |
cmd[1] = 0xB; // open stream |
bt_set_arm7_cmd(); |
cmd[2] = handle; |
display_char(')'); display_update(); |
bt_send_cmd(cmd); |
bt_mode = 1; |
systick_wait_ms(100); |
// bt_send("Hello Bluetooth\n", 16); |
bt_set_arm7_cmd(); |
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bt_mode = 1; |
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display_char(')'); display_update(); |
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} |
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// bt_state = 1; |
} else { |
} else { |
display_char('('); display_update(); |
display_char('('); |
} |
} |
break; |
break; |
default: |
case 0x20: // discoverableack |
break; |
if(cmd[2]) { |
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display_char('?'); |
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break; |
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} |
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case 0x10: |
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case 0x14: |
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display_char('!'); |
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cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); |
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break; |
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default: |
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break; |
} |
} |
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display_update(); |
} |
} |
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return 0; |
} |
} |
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void prep_terminal () |
void prep_terminal () |
Line 123 void prep_terminal ()
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Line 147 void prep_terminal ()
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nxt_motor_init(); |
nxt_motor_init(); |
i2c_init(); |
i2c_init(); |
bt_init(); |
bt_init(); |
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bt_start_ad_converter(); |
do { |
do { |
bt_receive(cmd); |
bt_receive(cmd); |
} while((cmd[0] != 3) && (cmd[1] != 0x14)); |
} while((cmd[0] != 3) && (cmd[1] != 0x14)); |
// cmd[1] = 0x21; strcpy(cmd+2, "NXT"); bt_send_cmd(cmd); do_bluetooth(); |
// cmd[1] = 0x36; // break stream mode |
cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); do_bluetooth(); // make visible |
// cmd[2] = 0; |
cmd[1] = 0x36; cmd[2] = 1; bt_send_cmd(cmd); do_bluetooth(); // don't break stream mode |
// bt_send_cmd(cmd); |
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// cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); // make visible |
cmd[1] = 0x03; bt_send_cmd(cmd); // open port query |
cmd[1] = 0x03; bt_send_cmd(cmd); // open port query |
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display_clear(1); |
display_clear(1); |
show_splash(1000); |
show_splash(1000); |
display_goto_xy(0,0); |
display_goto_xy(0,0); |
Line 147 long key_avail ()
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Line 172 long key_avail ()
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{ |
{ |
if(!terminal_prepped) prep_terminal(); |
if(!terminal_prepped) prep_terminal(); |
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do_bluetooth(); |
if(bt_mode) { |
if(bt_mode) { |
return bt_avail(); |
return bt_avail(); |
} else { |
} else { |
if(bt_avail()) |
systick_wait_ms(100); |
do_bluetooth(); |
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return 0; |
return 0; |
} |
} |
} |
} |