Annotation of gforth/engine/io-nxt.c, revision 1.11
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
1.11 ! anton 9: as published by the Free Software Foundation, either version 3
1.1 pazsan 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
1.11 ! anton 18: along with this program; if not, see http://www.gnu.org/licenses/.
1.1 pazsan 19:
20: The following is stolen from the readline library for bash
21: */
22:
23: #include "config.h"
24: #include "forth.h"
25: #include "../arch/arm/nxt/AT91SAM7.h"
1.2 pazsan 26: #include "../arch/arm/nxt/bt.h"
1.3 pazsan 27: #include "../arch/arm/nxt/display.h"
28: #include "../arch/arm/nxt/aic.h"
29: #include "../arch/arm/nxt/systick.h"
30: #include "../arch/arm/nxt/sound.h"
31: #include "../arch/arm/nxt/interrupts.h"
32: #include "../arch/arm/nxt/nxt_avr.h"
33: #include "../arch/arm/nxt/nxt_motors.h"
34: #include "../arch/arm/nxt/i2c.h"
1.1 pazsan 35:
1.3 pazsan 36: int terminal_prepped = 0;
1.4 pazsan 37: int needs_update = 0;
38: int bt_mode = 0;
1.9 pazsan 39: int bt_state = 0;
1.3 pazsan 40:
41: void
42: show_splash(U32 milliseconds)
1.1 pazsan 43: {
1.3 pazsan 44: display_clear(0);
1.9 pazsan 45: display_goto_xy(4, 6);
46: display_string("Gforth NXT");
1.3 pazsan 47: display_update();
1.1 pazsan 48:
1.3 pazsan 49: systick_wait_ms(milliseconds);
1.1 pazsan 50: }
51:
1.4 pazsan 52: const static bt_lens[0x3C] = { 10, 3, 10, 3, 10, 30, 10, 3, 4, 4, 26, 4, 3, 0, 0, 0,
53: 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 4, 0, 0,
54: 0, 19, 0, 4, 0, 3, 0, 3, 0, 3, 3, 3, 0, 0, 0, 3,
55: 0, 0, 0, 3, 5, 0, 3, 4, 0, 3, 0, 3, 0 };
56:
57: void bt_send_cmd(char * cmd)
58: {
59: int len = bt_lens[cmd[1]];
60: int i, sum=0;
61:
62: cmd[0] = len;
63: for(i=1; i<len-2; i++)
64: sum += cmd[i];
1.5 pazsan 65: sum = -sum;
1.4 pazsan 66: cmd[i++] = (char)(sum>>8);
67: cmd[i++] = (char)(sum & 0xff);
68:
1.9 pazsan 69: // systick_wait_ms(500);
70:
1.5 pazsan 71: bt_send(cmd, len+1);
1.1 pazsan 72: }
73:
1.9 pazsan 74: int do_bluetooth ()
1.4 pazsan 75: {
1.10 pazsan 76: if(!bt_mode) {
77: char cmd[30];
78:
79: bt_receive(cmd);
80: if(cmd[0] | cmd[1]) {
81: display_char('0'+cmd[0]);
82: display_char('0'+cmd[1]);
1.9 pazsan 83: }
1.10 pazsan 84:
85: switch(cmd[1]) {
86: case 0x16: // request connection
87: display_char('-');
88: cmd[1] = 0x9; // accept connection
89: cmd[2] = 1; // yes, we do
90: bt_send_cmd(cmd);
91: break;
92: case 0x0f: // inquiry result
93: display_char('+');
94: cmd[1] = 0x05;
95: bt_send_cmd(cmd); // add devices as known device
96: break;
97: case 0x13: // connect result
98: if(cmd[2]) {
99: int n=0;
100: int handle=cmd[3];
101: display_char('/'); display_update();
102: systick_wait_ms(300);
103: bt_receive(cmd);
104: if(cmd[0]==0) {
1.9 pazsan 105: cmd[1] = 0xB; // open stream
106: cmd[2] = handle;
107: bt_send_cmd(cmd);
1.10 pazsan 108: systick_wait_ms(100);
109: bt_set_arm7_cmd();
110: bt_mode = 1;
111: display_char(')'); display_update();
1.9 pazsan 112: }
1.10 pazsan 113: // bt_state = 1;
114: } else {
115: display_char('(');
116: }
117: break;
118: case 0x20: // discoverableack
119: if(cmd[2]) {
120: display_char('?');
1.9 pazsan 121: break;
122: }
1.10 pazsan 123: case 0x10:
124: case 0x14:
125: display_char('!');
126: cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd);
127: break;
128: default:
129: break;
1.4 pazsan 130: }
1.10 pazsan 131: display_update();
1.4 pazsan 132: }
1.9 pazsan 133: return 0;
1.4 pazsan 134: }
135:
1.5 pazsan 136: void prep_terminal ()
137: {
138: char cmd[30];
139:
140: aic_initialise();
141: interrupts_enable();
142: systick_init();
143: sound_init();
144: nxt_avr_init();
145: display_init();
146: nxt_motor_init();
147: i2c_init();
148: bt_init();
1.10 pazsan 149: bt_start_ad_converter();
1.6 pazsan 150: do {
151: bt_receive(cmd);
152: } while((cmd[0] != 3) && (cmd[1] != 0x14));
1.10 pazsan 153: // cmd[1] = 0x36; // break stream mode
154: // cmd[2] = 0;
155: // bt_send_cmd(cmd);
156: // cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); // make visible
157: cmd[1] = 0x03; bt_send_cmd(cmd); // open port query
1.6 pazsan 158: display_clear(1);
159: show_splash(1000);
1.5 pazsan 160: display_goto_xy(0,0);
161:
162: terminal_prepped = 1;
163: }
164:
165: void deprep_terminal ()
166: {
167: terminal_prepped = 0;
168: }
169:
1.3 pazsan 170: long key_avail ()
171: {
172: if(!terminal_prepped) prep_terminal();
1.4 pazsan 173:
1.9 pazsan 174: do_bluetooth();
1.4 pazsan 175: if(bt_mode) {
176: return bt_avail();
177: } else {
1.9 pazsan 178: systick_wait_ms(100);
1.4 pazsan 179: return 0;
180: }
1.3 pazsan 181: }
182:
183: Cell getkey()
184: {
1.4 pazsan 185: int key;
186:
1.3 pazsan 187: if(!terminal_prepped) prep_terminal();
1.4 pazsan 188:
189: if(needs_update) {
190: display_update();
191: needs_update = 0;
192: }
193:
194: while(!key_avail());
1.7 pazsan 195:
1.6 pazsan 196: while((key=bt_getkey())==0);
197: display_char(key); display_update();
198:
199: return key;
1.3 pazsan 200: }
201:
1.1 pazsan 202: void emit_char(char x)
203: {
1.3 pazsan 204: if(!terminal_prepped) prep_terminal();
1.6 pazsan 205: /* display_char(x);
1.4 pazsan 206: if(x == '\n') {
207: display_update();
208: needs_update = 0;
209: } else
1.6 pazsan 210: needs_update = 1; */
1.7 pazsan 211: if(bt_mode) bt_send(&x, 1);
1.1 pazsan 212: }
213:
214: void type_chars(char *addr, unsigned int l)
215: {
1.7 pazsan 216: if(bt_mode) bt_send(addr, l);
1.6 pazsan 217: /* int i;
1.2 pazsan 218: for(i=0; i<l; i++)
1.6 pazsan 219: emit_char(addr[i]); */
1.1 pazsan 220: }
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