version 1.7, 2007/04/24 20:18:57
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version 1.13, 2008/07/15 16:11:49
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/* direct key io driver for NXT brick |
/* direct key io driver for NXT brick |
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Copyright (C) 2007 Free Software Foundation, Inc. |
Copyright (C) 2007,2008 Free Software Foundation, Inc. |
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This file is part of Gforth. |
This file is part of Gforth. |
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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. |
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This program is distributed in the hope that it will be useful, |
This program is distributed in the hope that it will be useful, |
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GNU General Public License for more details. |
GNU General Public License for more details. |
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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. |
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The following is stolen from the readline library for bash |
The following is stolen from the readline library for bash |
*/ |
*/ |
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Line 36
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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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static char bt_buf[0x100]; |
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static char udp_buf[0x100]; |
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int bt_index; |
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int udp_index; |
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int udp_size; |
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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 71 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]) { |
display_char('0'+cmd[0]); |
display_goto_xy(0,1); |
display_char('0'+cmd[1]); |
display_hex(cmd[0],2); |
display_update(); |
display_goto_xy(3,1); |
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display_hex(cmd[1],2); |
} |
} |
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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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type_chars("Gforth NXT\n", 11); |
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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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cmd[1] = 0x03; bt_send_cmd(cmd); // open port query |
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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 bt_mode; |
} |
} |
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void prep_terminal () |
void prep_terminal () |
Line 119 void prep_terminal ()
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Line 151 void prep_terminal ()
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systick_init(); |
systick_init(); |
sound_init(); |
sound_init(); |
nxt_avr_init(); |
nxt_avr_init(); |
display_init(); |
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nxt_motor_init(); |
nxt_motor_init(); |
i2c_init(); |
i2c_init(); |
bt_init(); |
bt_init(); |
do { |
udp_init(); |
bt_receive(cmd); |
display_init(); |
} while((cmd[0] != 3) && (cmd[1] != 0x14)); |
show_splash(2000); |
// cmd[1] = 0x21; strcpy(cmd+2, "NXT"); bt_send_cmd(cmd); do_bluetooth(); |
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cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); do_bluetooth(); // make visible |
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cmd[1] = 0x36; cmd[2] = 1; bt_send_cmd(cmd); do_bluetooth(); // don't break stream mode |
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cmd[1] = 0x03; bt_send_cmd(cmd); // open port query |
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display_clear(1); |
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show_splash(1000); |
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display_goto_xy(0,0); |
display_goto_xy(0,0); |
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display_string("BT Reset "); |
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display_update(); |
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// bt_reset(); |
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display_string("ok"); |
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display_update(); |
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bt_buf[0] = 0; |
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bt_buf[1] = 0; |
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bt_index = 0; |
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// bt_start_ad_converter(); |
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// do { |
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// bt_receive(cmd); |
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// } while((cmd[0] != 3) && (cmd[1] != 0x14)); |
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// cmd[1] = 0x36; // break stream mode |
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// cmd[2] = 0; |
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// bt_send_cmd(cmd); |
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// cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); // make visible |
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display_string("."); |
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display_goto_xy(0,1); |
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display_update(); |
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while(!do_bluetooth() && !udp_configured()); |
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terminal_prepped = 1; |
terminal_prepped = 1; |
} |
} |
Line 147 long key_avail ()
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Line 191 long key_avail ()
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{ |
{ |
if(!terminal_prepped) prep_terminal(); |
if(!terminal_prepped) prep_terminal(); |
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if(bt_mode) { |
if(do_bluetooth()) { |
return bt_avail(); |
return bt_buf[0] - bt_index; |
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} else if(udp_configured()) { |
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return udp_size - udp_index; |
} else { |
} else { |
if(bt_avail()) |
systick_wait_ms(100); |
do_bluetooth(); |
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return 0; |
return 0; |
} |
} |
} |
} |
Line 159 long key_avail ()
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Line 204 long key_avail ()
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Cell getkey() |
Cell getkey() |
{ |
{ |
int key; |
int key; |
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if(!terminal_prepped) prep_terminal(); |
if(!terminal_prepped) prep_terminal(); |
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if(needs_update) { |
if(needs_update) { |
display_update(); |
display_update(); |
needs_update = 0; |
needs_update = 0; |
} |
} |
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while(!key_avail()); |
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while((key=bt_getkey())==0); |
do { |
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if(do_bluetooth()) { |
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while(bt_index >= bt_buf[0]) { |
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bt_receive(bt_buf); |
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bt_index = 0; |
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} |
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key = bt_buf[bt_index++]; |
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} else if(udp_configured()) { |
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if(udp_index < udp_size) { |
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key = udp_buf[udp_index++]; |
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} else { |
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udp_size = udp_read(udp_buf, 0x100); |
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udp_index = 0; |
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key = 0; |
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} |
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} else { |
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key = 0; |
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} |
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} while(!key); |
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display_char(key); display_update(); |
display_char(key); display_update(); |
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return key; |
return key; |
} |
} |
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void emit_char(char x) |
void emit_char(char x) |
{ |
{ |
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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); |
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} |
} |
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void type_chars(char *addr, unsigned int l) |
void type_chars(char *addr, unsigned int l) |
{ |
{ |
if(bt_mode) bt_send(addr, l); |
int i; |
/* int i; |
char buf[0x100]; |
for(i=0; i<l; i++) |
if(bt_mode) { |
emit_char(addr[i]); */ |
buf[0]=l; |
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buf[1]=0; |
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for(i=0; i<l; i++) { |
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buf[2+i]=addr[i]; |
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} |
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bt_send(buf, l+2); |
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} |
} |
} |
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volatile unsigned char gMakeRequest; |