--- gforth/engine/io-nxt.c	2007/04/24 20:18:57	1.7
+++ gforth/engine/io-nxt.c	2007/12/31 18:40:25	1.11
@@ -6,7 +6,7 @@
 
   Gforth 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
+  as published by the Free Software Foundation, either version 3
   of the License, or (at your option) any later version.
 
   This program is distributed in the hope that it will be useful,
@@ -15,8 +15,7 @@
   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., 59 Temple Place, Suite 330, Boston, MA 02111, USA.
+  along with this program; if not, see http://www.gnu.org/licenses/.
 
   The following is stolen from the readline library for bash
 */
@@ -37,13 +36,14 @@
 int terminal_prepped = 0;
 int needs_update = 0;
 int bt_mode = 0;
+int bt_state = 0;
 
 void
 show_splash(U32 milliseconds)
 {
   display_clear(0);
-  display_goto_xy(6, 6);
-  display_string("Gforth");
+  display_goto_xy(4, 6);
+  display_string("Gforth NXT");
   display_update();
 
   systick_wait_ms(milliseconds);
@@ -66,48 +66,71 @@ void bt_send_cmd(char * cmd)
   cmd[i++] = (char)(sum>>8);
   cmd[i++] = (char)(sum & 0xff);
 
+  //  systick_wait_ms(500);
+
   bt_send(cmd, len+1);
 }
 
-void do_bluetooth ()
+int do_bluetooth ()
 {
   if(!bt_mode) {
     char cmd[30];
-
+    
     bt_receive(cmd);
     if(cmd[0] | cmd[1]) {
       display_char('0'+cmd[0]);
       display_char('0'+cmd[1]);
-      display_update();
     }
     
     switch(cmd[1]) {
-    case 0x10:
     case 0x16: // request connection
+      display_char('-');
       cmd[1] = 0x9; // accept connection
       cmd[2] = 1; // yes, we do
       bt_send_cmd(cmd);
       break;
+    case 0x0f: // inquiry result
+      display_char('+');
+      cmd[1] = 0x05;
+      bt_send_cmd(cmd); // add devices as known device
+      break;
     case 0x13: // connect result
       if(cmd[2]) {
+	int n=0;
 	int handle=cmd[3];
-	cmd[1] = 0xB; // open stream
-	cmd[2] = handle;
-	bt_send_cmd(cmd);
-	while (*AT91C_US1_TNCR != 0);
-	// while(!(*AT91C_PIOA_PDSR & BT_BC4_CMD_PIN));
-	bt_set_arm7_cmd();
-	display_char(')'); display_update();
-	bt_mode = 1;
-	// bt_send("Hello Bluetooth\n", 16);
+	display_char('/'); display_update();
+	systick_wait_ms(300);
+	bt_receive(cmd);
+	if(cmd[0]==0) {
+	  cmd[1] = 0xB; // open stream
+	  cmd[2] = handle;
+	  bt_send_cmd(cmd);
+	  systick_wait_ms(100);
+	  bt_set_arm7_cmd();
+	  bt_mode = 1;
+	  display_char(')'); display_update();
+	}
+	//	  bt_state = 1;
       } else {
-	display_char('('); display_update();
+	display_char('(');
       }
       break;
-  default:
-    break;
+    case 0x20: // discoverableack
+      if(cmd[2]) {
+	display_char('?');
+	break;
+      }
+    case 0x10:
+    case 0x14:
+      display_char('!');
+      cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd);
+      break;
+    default:
+      break;
     }
+    display_update();
   }
+  return 0;
 }
 
 void prep_terminal ()
@@ -123,14 +146,15 @@ void prep_terminal ()
   nxt_motor_init();
   i2c_init();
   bt_init();
+  bt_start_ad_converter();
   do {
     bt_receive(cmd);
   } while((cmd[0] != 3) && (cmd[1] != 0x14));
-  //  cmd[1] = 0x21; strcpy(cmd+2, "NXT"); bt_send_cmd(cmd); do_bluetooth();
-  cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); do_bluetooth(); // make visible
-  cmd[1] = 0x36; cmd[2] = 1; bt_send_cmd(cmd); do_bluetooth(); // don't break stream mode
+  //  cmd[1] = 0x36; // break stream mode
+  //  cmd[2] = 0;
+  //  bt_send_cmd(cmd);
+  //  cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); // make visible
   cmd[1] = 0x03; bt_send_cmd(cmd); // open port query
-
   display_clear(1);
   show_splash(1000);
   display_goto_xy(0,0);
@@ -147,11 +171,11 @@ long key_avail ()
 {
   if(!terminal_prepped) prep_terminal();
 
+  do_bluetooth();
   if(bt_mode) {
     return bt_avail();
   } else {
-    if(bt_avail())
-      do_bluetooth();
+    systick_wait_ms(100);
     return 0;
   }
 }