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Annotation of gforth/engine/io-nxt.c, revision 1.5

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;
1.3       pazsan     40: 
                     41: void
                     42: show_splash(U32 milliseconds)
1.1       pazsan     43: {
1.3       pazsan     44:   display_clear(0);
                     45:   display_goto_xy(6, 6);
                     46:   display_string("Gforth");
                     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: 
1.5     ! pazsan     69:   bt_send(cmd, len+1);
1.1       pazsan     70: }
                     71: 
1.4       pazsan     72: void do_bluetooth ()
                     73: {
                     74:   if(!bt_mode) {
                     75:     char cmd[30];
                     76: 
                     77:     bt_receive(cmd);
                     78:     
                     79:     switch(cmd[1]) {
                     80:     case 0x16: // request connection
                     81:       cmd[1] = 9; // accept connection
                     82:       cmd[2] = 1; // yes, we do
                     83:       bt_send_cmd(cmd);
                     84:       break;
                     85:     case 0x13: // connect result
                     86:       if(cmd[2]) {
                     87:        int handle=cmd[3];
                     88:        cmd[1] = 0xB; // open stream
                     89:        cmd[2] = handle;
                     90:        bt_send_cmd(cmd);
                     91:        bt_mode = 1;
                     92:       }
                     93:       break;
                     94:   default:
                     95:     break;
                     96:     }
                     97:   }
                     98: }
                     99: 
1.5     ! pazsan    100: void prep_terminal ()
        !           101: {
        !           102:   char cmd[30];
        !           103: 
        !           104:   aic_initialise();
        !           105:   interrupts_enable();
        !           106:   systick_init();
        !           107:   sound_init();
        !           108:   nxt_avr_init();
        !           109:   display_init();
        !           110:   nxt_motor_init();
        !           111:   i2c_init();
        !           112:   bt_init();
        !           113:   cmd[1] = 0x21; strcpy(cmd+2, "Gforth NXT"); bt_send_cmd(cmd); do_bluetooth();
        !           114:   cmd[1] = 0x1C; cmd[2] = 1; bt_send_cmd(cmd); do_bluetooth(); // make visible
        !           115:   cmd[1] = 0x03; bt_send_cmd(cmd); // open port query
        !           116: 
        !           117:   display_goto_xy(0,0);
        !           118:   display_clear(1);
        !           119: 
        !           120:   terminal_prepped = 1;
        !           121: }
        !           122: 
        !           123: void deprep_terminal ()
        !           124: {
        !           125:   terminal_prepped = 0;
        !           126: }
        !           127: 
1.3       pazsan    128: long key_avail ()
                    129: {
                    130:   if(!terminal_prepped) prep_terminal();
1.4       pazsan    131: 
                    132:   if(bt_mode) {
                    133:     return bt_avail();
                    134:   } else {
                    135:     if(bt_avail())
                    136:       do_bluetooth();
                    137:     return 0;
                    138:   }
1.3       pazsan    139: }
                    140: 
                    141: Cell getkey()
                    142: {
1.4       pazsan    143:   int key;
                    144: 
1.3       pazsan    145:   if(!terminal_prepped) prep_terminal();
1.4       pazsan    146: 
                    147:   if(needs_update) {
                    148:     display_update();
                    149:     needs_update = 0;
                    150:   }
                    151: 
                    152:   while(!key_avail());
                    153: 
1.3       pazsan    154:   return bt_getkey();
                    155: }
                    156: 
1.1       pazsan    157: void emit_char(char x)
                    158: {
1.3       pazsan    159:   if(!terminal_prepped) prep_terminal();
                    160:   display_char(x);
1.4       pazsan    161:   if(x == '\n') {
                    162:     display_update();
                    163:     needs_update = 0;
                    164:   } else
                    165:     needs_update = 1;
1.5     ! pazsan    166:   if(bt_mode)
        !           167:     bt_send(&x, 1);
1.1       pazsan    168: }
                    169: 
                    170: void type_chars(char *addr, unsigned int l)
                    171: {
1.2       pazsan    172:   int i;
                    173:   for(i=0; i<l; i++)
1.3       pazsan    174:     emit_char(addr[i]);
1.1       pazsan    175: }