gforth/engine/io-nxt.c - diff

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Diff for /gforth/engine/io-nxt.c between versions 1.5 and 1.13

version 1.5, 2007/04/22 23:18:05	version 1.13, 2008/07/15 16:11:49
Line 1	Line 1
/* direct key io driver for NXT brick	/* direct key io driver for NXT brick

Copyright (C) 2007 Free Software Foundation, Inc.	Copyright (C) 2007,2008 Free Software Foundation, Inc.

This file is part of Gforth.	This file is part of Gforth.

Gforth is free software; you can redistribute it and/or	Gforth is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License	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.	of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,	This program is distributed in the hope that it will be useful,
Line 15	Line 15
GNU General Public License for more details.	GNU General Public License for more details.

You should have received a copy of the GNU General Public License	You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software	along with this program; if not, see http://www.gnu.org/licenses/.
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111, USA.

The following is stolen from the readline library for bash	The following is stolen from the readline library for bash
*/	*/
Line 37	Line 36
int terminal_prepped = 0;	int terminal_prepped = 0;
int needs_update = 0;	int needs_update = 0;
int bt_mode = 0;	int bt_mode = 0;
	int bt_state = 0;
	static char bt_buf[0x100];
	static char udp_buf[0x100];
	int bt_index;
	int udp_index;
	int udp_size;

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();

systick_wait_ms(milliseconds);	systick_wait_ms(milliseconds);
Line 66 void bt_send_cmd(char * cmd)	Line 71 void bt_send_cmd(char * cmd)
cmd[i++] = (char)(sum>>8);	cmd[i++] = (char)(sum>>8);
cmd[i++] = (char)(sum & 0xff);	cmd[i++] = (char)(sum & 0xff);

	// systick_wait_ms(500);

bt_send(cmd, len+1);	bt_send(cmd, len+1);
}	}

void do_bluetooth ()	int do_bluetooth ()
{	{
if(!bt_mode) {	if(!bt_mode) {
char cmd[30];	char cmd[30];

bt_receive(cmd);	bt_receive(cmd);
	if(cmd[0]) {
	display_goto_xy(0,1);
	display_hex(cmd[0],2);
	display_goto_xy(3,1);
	display_hex(cmd[1],2);
	}

switch(cmd[1]) {	switch(cmd[1]) {
case 0x16: // request connection	case 0x16: // request connection
cmd[1] = 9; // accept connection	display_char('-');
	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;
	case 0x0f: // inquiry result
	display_char('+');
	cmd[1] = 0x05;
	bt_send_cmd(cmd); // add devices as known device
	break;
case 0x13: // connect result	case 0x13: // connect result
if(cmd[2]) {	if(cmd[2]) {
	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);
bt_mode = 1;	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();
	type_chars("Gforth NXT\n", 11);
	}
	// bt_state = 1;
	} else {
	display_char('(');
}	}
break;	break;
default:	case 0x20: // discoverableack
break;	if(cmd[2]) {
	display_char('?');
	cmd[1] = 0x03; bt_send_cmd(cmd); // open port query
	break;
	}
	case 0x10:
	case 0x14:
	display_char('!');
	cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd);
	break;
	default:
	break;
}	}
	display_update();
}	}
	return bt_mode;
}	}

void prep_terminal ()	void prep_terminal ()
Line 106 void prep_terminal ()	Line 151 void prep_terminal ()
systick_init();	systick_init();
sound_init();	sound_init();
nxt_avr_init();	nxt_avr_init();
display_init();
nxt_motor_init();	nxt_motor_init();
i2c_init();	i2c_init();
bt_init();	bt_init();
cmd[1] = 0x21; strcpy(cmd+2, "Gforth NXT"); bt_send_cmd(cmd); do_bluetooth();	udp_init();
cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); do_bluetooth(); // make visible	display_init();
cmd[1] = 0x03; bt_send_cmd(cmd); // open port query	show_splash(2000);

display_goto_xy(0,0);	display_goto_xy(0,0);
display_clear(1);	display_string("BT Reset ");
	display_update();
	// bt_reset();
	display_string("ok");
	display_update();
	bt_buf[0] = 0;
	bt_buf[1] = 0;
	bt_index = 0;
	// bt_start_ad_converter();
	// do {
	// bt_receive(cmd);
	// } while((cmd[0] != 3) && (cmd[1] != 0x14));
	// 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
	display_string(".");
	display_goto_xy(0,1);
	display_update();
	while(!do_bluetooth() && !udp_configured());

terminal_prepped = 1;	terminal_prepped = 1;
}	}
Line 129 long key_avail ()	Line 191 long key_avail ()
{	{
if(!terminal_prepped) prep_terminal();	if(!terminal_prepped) prep_terminal();

if(bt_mode) {	if(do_bluetooth()) {
return bt_avail();	return bt_buf[0] - bt_index;
	} else if(udp_configured()) {
	return udp_size - udp_index;
} else {	} else {
if(bt_avail())	systick_wait_ms(100);
do_bluetooth();
return 0;	return 0;
}	}
}	}
Line 141 long key_avail ()	Line 204 long key_avail ()
Cell getkey()	Cell getkey()
{	{
int key;	int key;

if(!terminal_prepped) prep_terminal();	if(!terminal_prepped) prep_terminal();

if(needs_update) {	if(needs_update) {
display_update();	display_update();
needs_update = 0;	needs_update = 0;
}	}

while(!key_avail());	do {
	if(do_bluetooth()) {
return bt_getkey();	while(bt_index >= bt_buf[0]) {
	bt_receive(bt_buf);
	bt_index = 0;
	}
	key = bt_buf[bt_index++];
	} else if(udp_configured()) {
	if(udp_index < udp_size) {
	key = udp_buf[udp_index++];
	} else {
	udp_size = udp_read(udp_buf, 0x100);
	udp_index = 0;
	key = 0;
	}
	} else {
	key = 0;
	}
	} while(!key);

	display_char(key); display_update();

	return key;
}	}

void emit_char(char x)	void emit_char(char x)
{	{
	char buf[3];
if(!terminal_prepped) prep_terminal();	if(!terminal_prepped) prep_terminal();
display_char(x);	if(bt_mode) {
if(x == '\n') {	buf[0] = 1;
display_update();	buf[1] = 0;
needs_update = 0;	buf[2] = x;
} else	bt_send(buf, 3);
needs_update = 1;	}
if(bt_mode)
bt_send(&x, 1);
}	}

void type_chars(char *addr, unsigned int l)	void type_chars(char *addr, unsigned int l)
{	{
int i;	int i;
for(i=0; i<l; i++)	char buf[0x100];
emit_char(addr[i]);	if(bt_mode) {
	buf[0]=l;
	buf[1]=0;
	for(i=0; i<l; i++) {
	buf[2+i]=addr[i];
	}
	bt_send(buf, l+2);
	}
}	}

	volatile unsigned char gMakeRequest;

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Removed from v.1.5
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	Added in v.1.13