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"
27: #include "../arch/arm/nxt/bt.h"
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"
36:
37: int terminal_prepped = 0;
38: int needs_update = 0;
39: int bt_mode = 0;
40: int bt_state = 0;
41:
42: void
43: show_splash(U32 milliseconds)
44: {
45: display_clear(0);
46: display_goto_xy(4, 6);
47: display_string("Gforth NXT");
48: display_update();
49:
50: systick_wait_ms(milliseconds);
51: }
52:
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];
66: sum = -sum;
67: cmd[i++] = (char)(sum>>8);
68: cmd[i++] = (char)(sum & 0xff);
69:
70: // systick_wait_ms(500);
71:
72: bt_send(cmd, len+1);
73: }
74:
75: int do_bluetooth ()
76: {
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]);
84: }
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) {
106: cmd[1] = 0xB; // open stream
107: cmd[2] = handle;
108: bt_send_cmd(cmd);
109: systick_wait_ms(100);
110: bt_set_arm7_cmd();
111: bt_mode = 1;
112: display_char(')'); display_update();
113: }
114: // bt_state = 1;
115: } else {
116: display_char('(');
117: }
118: break;
119: case 0x20: // discoverableack
120: if(cmd[2]) {
121: display_char('?');
122: break;
123: }
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;
131: }
132: display_update();
133: }
134: return 0;
135: }
136:
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();
150: bt_start_ad_converter();
151: do {
152: bt_receive(cmd);
153: } while((cmd[0] != 3) && (cmd[1] != 0x14));
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
159: display_clear(1);
160: show_splash(1000);
161: display_goto_xy(0,0);
162:
163: terminal_prepped = 1;
164: }
165:
166: void deprep_terminal ()
167: {
168: terminal_prepped = 0;
169: }
170:
171: long key_avail ()
172: {
173: if(!terminal_prepped) prep_terminal();
174:
175: do_bluetooth();
176: if(bt_mode) {
177: return bt_avail();
178: } else {
179: systick_wait_ms(100);
180: return 0;
181: }
182: }
183:
184: Cell getkey()
185: {
186: int key;
187:
188: if(!terminal_prepped) prep_terminal();
189:
190: if(needs_update) {
191: display_update();
192: needs_update = 0;
193: }
194:
195: while(!key_avail());
196:
197: while((key=bt_getkey())==0);
198: display_char(key); display_update();
199:
200: return key;
201: }
202:
203: void emit_char(char x)
204: {
205: if(!terminal_prepped) prep_terminal();
206: /* display_char(x);
207: if(x == '\n') {
208: display_update();
209: needs_update = 0;
210: } else
211: needs_update = 1; */
212: if(bt_mode) bt_send(&x, 1);
213: }
214:
215: void type_chars(char *addr, unsigned int l)
216: {
217: if(bt_mode) bt_send(addr, l);
218: /* int i;
219: for(i=0; i<l; i++)
220: emit_char(addr[i]); */
221: }
FreeBSD-CVSweb <freebsd-cvsweb@FreeBSD.org>
![[BACK]](/cvsweb/icons/back.gif){kind=icon}
Return to io-nxt.c CVS log ![[TXT]](/cvsweb/icons/text.gif){kind=icon}
![[DIR]](/cvsweb/icons/dir.gif){kind=icon}
Up to [gforth] / gforth / engine