Annotation of gforth/engine/io-nxt.c, revision 1.10
1.1 pazsan 1: /* direct key io driver for NXT brick
2:
3: Copyright (C) 2007 Free Software Foundation, Inc.
4:
5: This file is part of Gforth.
6:
7: Gforth is free software; you can redistribute it and/or
8: modify it under the terms of the GNU General Public License
9: as published by the Free Software Foundation; either version 2
10: of the License, or (at your option) any later version.
11:
12: This program is distributed in the hope that it will be useful,
13: but WITHOUT ANY WARRANTY; without even the implied warranty of
14: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15: GNU General Public License for more details.
16:
17: You should have received a copy of the GNU General Public License
18: along with this program; if not, write to the Free Software
19: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111, USA.
20:
21: The following is stolen from the readline library for bash
22: */
23:
24: #include "config.h"
25: #include "forth.h"
26: #include "../arch/arm/nxt/AT91SAM7.h"
1.2 pazsan 27: #include "../arch/arm/nxt/bt.h"
1.3 pazsan 28: #include "../arch/arm/nxt/display.h"
29: #include "../arch/arm/nxt/aic.h"
30: #include "../arch/arm/nxt/systick.h"
31: #include "../arch/arm/nxt/sound.h"
32: #include "../arch/arm/nxt/interrupts.h"
33: #include "../arch/arm/nxt/nxt_avr.h"
34: #include "../arch/arm/nxt/nxt_motors.h"
35: #include "../arch/arm/nxt/i2c.h"
1.1 pazsan 36:
1.3 pazsan 37: int terminal_prepped = 0;
1.4 pazsan 38: int needs_update = 0;
39: int bt_mode = 0;
1.9 pazsan 40: int bt_state = 0;
1.3 pazsan 41:
42: void
43: show_splash(U32 milliseconds)
1.1 pazsan 44: {
1.3 pazsan 45: display_clear(0);
1.9 pazsan 46: display_goto_xy(4, 6);
47: display_string("Gforth NXT");
1.3 pazsan 48: display_update();
1.1 pazsan 49:
1.3 pazsan 50: systick_wait_ms(milliseconds);
1.1 pazsan 51: }
52:
1.4 pazsan 53: const static bt_lens[0x3C] = { 10, 3, 10, 3, 10, 30, 10, 3, 4, 4, 26, 4, 3, 0, 0, 0,
54: 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 4, 0, 0,
55: 0, 19, 0, 4, 0, 3, 0, 3, 0, 3, 3, 3, 0, 0, 0, 3,
56: 0, 0, 0, 3, 5, 0, 3, 4, 0, 3, 0, 3, 0 };
57:
58: void bt_send_cmd(char * cmd)
59: {
60: int len = bt_lens[cmd[1]];
61: int i, sum=0;
62:
63: cmd[0] = len;
64: for(i=1; i<len-2; i++)
65: sum += cmd[i];
1.5 pazsan 66: sum = -sum;
1.4 pazsan 67: cmd[i++] = (char)(sum>>8);
68: cmd[i++] = (char)(sum & 0xff);
69:
1.9 pazsan 70: // systick_wait_ms(500);
71:
1.5 pazsan 72: bt_send(cmd, len+1);
1.1 pazsan 73: }
74:
1.9 pazsan 75: int do_bluetooth ()
1.4 pazsan 76: {
1.10 ! pazsan 77: if(!bt_mode) {
! 78: char cmd[30];
! 79:
! 80: bt_receive(cmd);
! 81: if(cmd[0] | cmd[1]) {
! 82: display_char('0'+cmd[0]);
! 83: display_char('0'+cmd[1]);
1.9 pazsan 84: }
1.10 ! pazsan 85:
! 86: switch(cmd[1]) {
! 87: case 0x16: // request connection
! 88: display_char('-');
! 89: cmd[1] = 0x9; // accept connection
! 90: cmd[2] = 1; // yes, we do
! 91: bt_send_cmd(cmd);
! 92: break;
! 93: case 0x0f: // inquiry result
! 94: display_char('+');
! 95: cmd[1] = 0x05;
! 96: bt_send_cmd(cmd); // add devices as known device
! 97: break;
! 98: case 0x13: // connect result
! 99: if(cmd[2]) {
! 100: int n=0;
! 101: int handle=cmd[3];
! 102: display_char('/'); display_update();
! 103: systick_wait_ms(300);
! 104: bt_receive(cmd);
! 105: if(cmd[0]==0) {
1.9 pazsan 106: cmd[1] = 0xB; // open stream
107: cmd[2] = handle;
108: bt_send_cmd(cmd);
1.10 ! pazsan 109: systick_wait_ms(100);
! 110: bt_set_arm7_cmd();
! 111: bt_mode = 1;
! 112: display_char(')'); display_update();
1.9 pazsan 113: }
1.10 ! pazsan 114: // bt_state = 1;
! 115: } else {
! 116: display_char('(');
! 117: }
! 118: break;
! 119: case 0x20: // discoverableack
! 120: if(cmd[2]) {
! 121: display_char('?');
1.9 pazsan 122: break;
123: }
1.10 ! pazsan 124: case 0x10:
! 125: case 0x14:
! 126: display_char('!');
! 127: cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd);
! 128: break;
! 129: default:
! 130: break;
1.4 pazsan 131: }
1.10 ! pazsan 132: display_update();
1.4 pazsan 133: }
1.9 pazsan 134: return 0;
1.4 pazsan 135: }
136:
1.5 pazsan 137: void prep_terminal ()
138: {
139: char cmd[30];
140:
141: aic_initialise();
142: interrupts_enable();
143: systick_init();
144: sound_init();
145: nxt_avr_init();
146: display_init();
147: nxt_motor_init();
148: i2c_init();
149: bt_init();
1.10 ! pazsan 150: bt_start_ad_converter();
1.6 pazsan 151: do {
152: bt_receive(cmd);
153: } while((cmd[0] != 3) && (cmd[1] != 0x14));
1.10 ! pazsan 154: // cmd[1] = 0x36; // break stream mode
! 155: // cmd[2] = 0;
! 156: // bt_send_cmd(cmd);
! 157: // cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); // make visible
! 158: cmd[1] = 0x03; bt_send_cmd(cmd); // open port query
1.6 pazsan 159: display_clear(1);
160: show_splash(1000);
1.5 pazsan 161: display_goto_xy(0,0);
162:
163: terminal_prepped = 1;
164: }
165:
166: void deprep_terminal ()
167: {
168: terminal_prepped = 0;
169: }
170:
1.3 pazsan 171: long key_avail ()
172: {
173: if(!terminal_prepped) prep_terminal();
1.4 pazsan 174:
1.9 pazsan 175: do_bluetooth();
1.4 pazsan 176: if(bt_mode) {
177: return bt_avail();
178: } else {
1.9 pazsan 179: systick_wait_ms(100);
1.4 pazsan 180: return 0;
181: }
1.3 pazsan 182: }
183:
184: Cell getkey()
185: {
1.4 pazsan 186: int key;
187:
1.3 pazsan 188: if(!terminal_prepped) prep_terminal();
1.4 pazsan 189:
190: if(needs_update) {
191: display_update();
192: needs_update = 0;
193: }
194:
195: while(!key_avail());
1.7 pazsan 196:
1.6 pazsan 197: while((key=bt_getkey())==0);
198: display_char(key); display_update();
199:
200: return key;
1.3 pazsan 201: }
202:
1.1 pazsan 203: void emit_char(char x)
204: {
1.3 pazsan 205: if(!terminal_prepped) prep_terminal();
1.6 pazsan 206: /* display_char(x);
1.4 pazsan 207: if(x == '\n') {
208: display_update();
209: needs_update = 0;
210: } else
1.6 pazsan 211: needs_update = 1; */
1.7 pazsan 212: if(bt_mode) bt_send(&x, 1);
1.1 pazsan 213: }
214:
215: void type_chars(char *addr, unsigned int l)
216: {
1.7 pazsan 217: if(bt_mode) bt_send(addr, l);
1.6 pazsan 218: /* int i;
1.2 pazsan 219: for(i=0; i<l; i++)
1.6 pazsan 220: emit_char(addr[i]); */
1.1 pazsan 221: }
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