version 1.3, 2007/04/22 20:51:55
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version 1.7, 2007/04/24 20:18:57
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Line 35
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Line 35
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#include "../arch/arm/nxt/i2c.h" |
#include "../arch/arm/nxt/i2c.h" |
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int terminal_prepped = 0; |
int terminal_prepped = 0; |
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int needs_update = 0; |
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int bt_mode = 0; |
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void |
void |
show_splash(U32 milliseconds) |
show_splash(U32 milliseconds) |
Line 47 show_splash(U32 milliseconds)
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Line 49 show_splash(U32 milliseconds)
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systick_wait_ms(milliseconds); |
systick_wait_ms(milliseconds); |
} |
} |
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const static bt_lens[0x3C] = { 10, 3, 10, 3, 10, 30, 10, 3, 4, 4, 26, 4, 3, 0, 0, 0, |
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 4, 0, 0, |
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0, 19, 0, 4, 0, 3, 0, 3, 0, 3, 3, 3, 0, 0, 0, 3, |
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0, 0, 0, 3, 5, 0, 3, 4, 0, 3, 0, 3, 0 }; |
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void bt_send_cmd(char * cmd) |
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{ |
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int len = bt_lens[cmd[1]]; |
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int i, sum=0; |
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cmd[0] = len; |
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for(i=1; i<len-2; i++) |
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sum += cmd[i]; |
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sum = -sum; |
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cmd[i++] = (char)(sum>>8); |
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cmd[i++] = (char)(sum & 0xff); |
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bt_send(cmd, len+1); |
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} |
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void do_bluetooth () |
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{ |
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if(!bt_mode) { |
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char cmd[30]; |
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bt_receive(cmd); |
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if(cmd[0] | cmd[1]) { |
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display_char('0'+cmd[0]); |
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display_char('0'+cmd[1]); |
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display_update(); |
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} |
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switch(cmd[1]) { |
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case 0x10: |
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case 0x16: // request connection |
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cmd[1] = 0x9; // accept connection |
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cmd[2] = 1; // yes, we do |
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bt_send_cmd(cmd); |
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break; |
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case 0x13: // connect result |
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if(cmd[2]) { |
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int handle=cmd[3]; |
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cmd[1] = 0xB; // open stream |
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cmd[2] = handle; |
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bt_send_cmd(cmd); |
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while (*AT91C_US1_TNCR != 0); |
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// while(!(*AT91C_PIOA_PDSR & BT_BC4_CMD_PIN)); |
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bt_set_arm7_cmd(); |
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display_char(')'); display_update(); |
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bt_mode = 1; |
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// bt_send("Hello Bluetooth\n", 16); |
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} else { |
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display_char('('); display_update(); |
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} |
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break; |
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default: |
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break; |
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} |
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} |
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} |
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void prep_terminal () |
void prep_terminal () |
{ |
{ |
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char cmd[30]; |
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aic_initialise(); |
aic_initialise(); |
interrupts_enable(); |
interrupts_enable(); |
systick_init(); |
systick_init(); |
Line 58 void prep_terminal ()
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Line 123 void prep_terminal ()
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nxt_motor_init(); |
nxt_motor_init(); |
i2c_init(); |
i2c_init(); |
bt_init(); |
bt_init(); |
display_goto_xy(0,0); |
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] = 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); |
display_clear(1); |
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show_splash(1000); |
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display_goto_xy(0,0); |
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terminal_prepped = 1; |
terminal_prepped = 1; |
} |
} |
Line 72 void deprep_terminal ()
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Line 146 void deprep_terminal ()
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long key_avail () |
long key_avail () |
{ |
{ |
if(!terminal_prepped) prep_terminal(); |
if(!terminal_prepped) prep_terminal(); |
return bt_avail(); |
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if(bt_mode) { |
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return bt_avail(); |
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} else { |
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if(bt_avail()) |
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do_bluetooth(); |
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return 0; |
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} |
} |
} |
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Cell getkey() |
Cell getkey() |
{ |
{ |
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int key; |
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if(!terminal_prepped) prep_terminal(); |
if(!terminal_prepped) prep_terminal(); |
return bt_getkey(); |
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if(needs_update) { |
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display_update(); |
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needs_update = 0; |
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} |
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while(!key_avail()); |
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while((key=bt_getkey())==0); |
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display_char(key); display_update(); |
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return key; |
} |
} |
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void emit_char(char x) |
void emit_char(char x) |
{ |
{ |
if(!terminal_prepped) prep_terminal(); |
if(!terminal_prepped) prep_terminal(); |
display_char(x); |
/* display_char(x); |
display_update(); |
if(x == '\n') { |
bt_send(&x, 1); |
display_update(); |
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needs_update = 0; |
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} else |
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needs_update = 1; */ |
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if(bt_mode) bt_send(&x, 1); |
} |
} |
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void type_chars(char *addr, unsigned int l) |
void type_chars(char *addr, unsigned int l) |
{ |
{ |
int i; |
if(bt_mode) bt_send(addr, l); |
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/* int i; |
for(i=0; i<l; i++) |
for(i=0; i<l; i++) |
emit_char(addr[i]); |
emit_char(addr[i]); */ |
} |
} |