File:  [gforth] / gforth / engine / io-nxt.c
Revision 1.4: download - view: text, annotated - select for diffs
Sun Apr 22 22:48:43 2007 UTC (16 years, 11 months ago) by pazsan
Branches: MAIN
CVS tags: HEAD
Some further progress with Bluetooth (not running, though)

    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: 
   41: void
   42: show_splash(U32 milliseconds)
   43: {
   44:   display_clear(0);
   45:   display_goto_xy(6, 6);
   46:   display_string("Gforth");
   47:   display_update();
   48: 
   49:   systick_wait_ms(milliseconds);
   50: }
   51: 
   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];
   65:   cmd[i++] = (char)(sum>>8);
   66:   cmd[i++] = (char)(sum & 0xff);
   67: 
   68:   bt_send(cmd, len);
   69: }
   70: 
   71: void prep_terminal ()
   72: {
   73:   char cmd[30];
   74: 
   75:   aic_initialise();
   76:   interrupts_enable();
   77:   systick_init();
   78:   sound_init();
   79:   nxt_avr_init();
   80:   display_init();
   81:   nxt_motor_init();
   82:   i2c_init();
   83:   bt_init();
   84:   cmd[1] = 3;
   85:   bt_send_cmd(cmd); // open port query
   86: 
   87:   display_goto_xy(0,0);
   88:   display_clear(1);
   89: 
   90:   terminal_prepped = 1;
   91: }
   92: 
   93: void deprep_terminal ()
   94: {
   95:   terminal_prepped = 0;
   96: }
   97: 
   98: void do_bluetooth ()
   99: {
  100:   if(!bt_mode) {
  101:     char cmd[30];
  102: 
  103:     bt_receive(cmd);
  104:     
  105:     switch(cmd[1]) {
  106:     case 0x16: // request connection
  107:       cmd[1] = 9; // accept connection
  108:       cmd[2] = 1; // yes, we do
  109:       bt_send_cmd(cmd);
  110:       break;
  111:     case 0x13: // connect result
  112:       if(cmd[2]) {
  113: 	int handle=cmd[3];
  114: 	cmd[1] = 0xB; // open stream
  115: 	cmd[2] = handle;
  116: 	bt_send_cmd(cmd);
  117: 	bt_mode = 1;
  118:       }
  119:       break;
  120:   default:
  121:     break;
  122:     }
  123:   }
  124: }
  125: 
  126: long key_avail ()
  127: {
  128:   if(!terminal_prepped) prep_terminal();
  129: 
  130:   if(bt_mode) {
  131:     return bt_avail();
  132:   } else {
  133:     if(bt_avail())
  134:       do_bluetooth();
  135:     return 0;
  136:   }
  137: }
  138: 
  139: Cell getkey()
  140: {
  141:   int key;
  142: 
  143:   if(!terminal_prepped) prep_terminal();
  144: 
  145:   if(needs_update) {
  146:     display_update();
  147:     needs_update = 0;
  148:   }
  149: 
  150:   while(!key_avail());
  151: 
  152:   return bt_getkey();
  153: }
  154: 
  155: void emit_char(char x)
  156: {
  157:   if(!terminal_prepped) prep_terminal();
  158:   display_char(x);
  159:   if(x == '\n') {
  160:     display_update();
  161:     needs_update = 0;
  162:   } else
  163:     needs_update = 1;
  164:   bt_send(&x, 1);
  165: }
  166: 
  167: void type_chars(char *addr, unsigned int l)
  168: {
  169:   int i;
  170:   for(i=0; i<l; i++)
  171:     emit_char(addr[i]);
  172: }

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