/*
* cpu irq handler
*/
void __init nxp_cpu_init_irq(void)
{
pr_debug("%s\n", __func__);
nxp_cpu_vic_priority();
nxp_cpu_vic_table();
#ifndef CONFIG_ARM_GIC
/* VIC to core */
writel_relaxed(0, GIC_CPUI_BASE);
#endif
vic_init (VIC0_INT_BASE , 0, VIC0_INT_MASK, VIC0_INT_RESUME); /* 0 ~ 31 */
vic_init (VIC1_INT_BASE , 32, VIC1_INT_MASK, VIC1_INT_RESUME); /* 32 ~ 59 */
gpio_init (GPIO_INT_BASE , IRQ_GPIO_START, GPIO_INT_MASK, 0); /* 64 ~ 223 (A,B,C,D,E) */
alive_init(ALIVE_INT_BASE, IRQ_ALIVE_START, ALIVE_INT_MASK, 0); /* 224 ~ 231 */
#ifdef CONFIG_ARM_GIC
__gic_init(GIC_DIST_BASE, (void __iomem *)GIC_CPUI_BASE);
#endif
#ifdef CONFIG_FIQ
init_FIQ();
#endif
__vic_set_irq_chip();
/* wake up source from idle */
irq_set_irq_wake(IRQ_PHY_CLKPWR_ALIVEIRQ, 1);
#if PM_RTC_WAKE
irq_set_irq_wake(IRQ_PHY_CLKPWR_RTCIRQ, 1);
#endif
}
void __init ep93xx_init_irq(void)
{
vic_init(EP93XX_VIC1_BASE, 0, EP93XX_VIC1_VALID_IRQ_MASK, 0);
vic_init(EP93XX_VIC2_BASE, 32, EP93XX_VIC2_VALID_IRQ_MASK, 0);
ep93xx_gpio_init_irq();
}
void __init cpu8815_init_irq(void)
{
vic_init(io_p2v(NOMADIK_IC_BASE + 0x00), IRQ_VIC_START + 0, ~0, 0);
vic_init(io_p2v(NOMADIK_IC_BASE + 0x20), IRQ_VIC_START + 32, ~0, 0);
clk_init();
}
void __init s3c64xx_init_irq(u32 vic0_valid, u32 vic1_valid)
{
printk(KERN_DEBUG "%s: initialising interrupts\n", __func__);
/* initialise the pair of VICs */
vic_init(VA_VIC0, IRQ_VIC0_BASE, vic0_valid, IRQ_VIC0_RESUME);
vic_init(VA_VIC1, IRQ_VIC1_BASE, vic1_valid, IRQ_VIC1_RESUME);
/* add the timer sub-irqs */
s3c_init_vic_timer_irq(5, IRQ_TIMER0);
}
/*
* Interrupts: the U300 platforms have two pl190 ARM PrimeCells connected
* together so some interrupts are connected to the first one and some
* to the second one.
*/
void __init u300_init_irq(void)
{
u32 mask[2] = {0, 0};
int i;
for (i = 0; i < NR_IRQS; i++)
set_bit(i, (unsigned long *) &mask[0]);
u300_enable_intcon_clock();
vic_init((void __iomem *) U300_INTCON0_VBASE, 0, mask[0], mask[0]);
vic_init((void __iomem *) U300_INTCON1_VBASE, 32, mask[1], mask[1]);
}
void __init cpu8815_init_irq(void)
{
/* This modified VIC cell has two register blocks, at 0 and 0x20 */
vic_init(io_p2v(NOMADIK_IC_BASE + 0x00), IRQ_VIC_START + 0, ~0, 0);
vic_init(io_p2v(NOMADIK_IC_BASE + 0x20), IRQ_VIC_START + 32, ~0, 0);
/*
* Init clocks here so that they are available for system timer
* initialization.
*/
clk_init();
}
void __init s5p_init_irq(u32 *vic, u32 num_vic)
{
struct irq_chip *chip;
int irq;
/* initialize the VICs */
for (irq = 0; irq < num_vic; irq++)
vic_init(VA_VIC(irq), VIC_BASE(irq), vic[irq], 0);
s3c_init_vic_timer_irq(IRQ_TIMER0_VIC, IRQ_TIMER0);
s3c_init_vic_timer_irq(IRQ_TIMER1_VIC, IRQ_TIMER1);
s3c_init_vic_timer_irq(IRQ_TIMER2_VIC, IRQ_TIMER2);
s3c_init_vic_timer_irq(IRQ_TIMER3_VIC, IRQ_TIMER3);
s3c_init_vic_timer_irq(IRQ_TIMER4_VIC, IRQ_TIMER4);
s3c_init_uart_irqs(uart_irqs, ARRAY_SIZE(uart_irqs));
#ifdef CONFIG_PM
/* Register wakeup source. */
for (irq = 0; irq < ARRAY_SIZE(wakeup_source); irq++) {
chip = get_irq_chip(wakeup_source[irq]);
chip->set_wake = s3c_irq_wake;
}
#endif
}
void __init s3c64xx_init_irq(u32 vic0_valid, u32 vic1_valid)
{
/*
* FIXME: there is no better place to put this at the moment
* (s3c64xx_clk_init needs ioremap and must happen before init_time
* samsung_wdt_reset_init needs clocks)
*/
s3c64xx_clk_init(NULL, xtal_f, xusbxti_f, soc_is_s3c6400(), S3C_VA_SYS);
samsung_wdt_reset_init(S3C_VA_WATCHDOG);
printk(KERN_DEBUG "%s: initialising interrupts\n", __func__);
/* initialise the pair of VICs */
vic_init(VA_VIC0, IRQ_VIC0_BASE, vic0_valid, IRQ_VIC0_RESUME);
vic_init(VA_VIC1, IRQ_VIC1_BASE, vic1_valid, IRQ_VIC1_RESUME);
}
void __init versatile_init_irq(void)
{
unsigned int i;
vic_init(VA_VIC_BASE, IRQ_VIC_START, ~0, 0);
set_irq_chained_handler(IRQ_VICSOURCE31, sic_handle_irq);
/* Do second interrupt controller */
writel(~0, VA_SIC_BASE + SIC_IRQ_ENABLE_CLEAR);
for (i = IRQ_SIC_START; i <= IRQ_SIC_END; i++) {
if ((PIC_MASK & (1 << (i - IRQ_SIC_START))) == 0) {
set_irq_chip(i, &sic_chip);
set_irq_handler(i, handle_level_irq);
set_irq_flags(i, IRQF_VALID | IRQF_PROBE);
}
}
/*
* Interrupts on secondary controller from 0 to 8 are routed to
* source 31 on PIC.
* Interrupts from 21 to 31 are routed directly to the VIC on
* the corresponding number on primary controller. This is controlled
* by setting PIC_ENABLEx.
*/
writel(PIC_MASK, VA_SIC_BASE + SIC_INT_PIC_ENABLE);
}
void __init bcmring_init_irq(void)
{
vic_init((void __iomem *)MM_IO_BASE_INTC0, &bcmring_irq0_chip,
IRQ_INTC0_START, IRQ_INTC0_VALID_MASK);
vic_init((void __iomem *)MM_IO_BASE_INTC1, &bcmring_irq1_chip,
IRQ_INTC1_START, IRQ_INTC1_VALID_MASK);
vic_init((void __iomem *)MM_IO_BASE_SINTC, &bcmring_irq2_chip,
IRQ_SINTC_START, IRQ_SINTC_VALID_MASK);
/* special cases */
if (INTCHW_INTC1_GPIO0 & IRQ_INTC1_VALID_MASK) {
irq_set_handler(IRQ_GPIO0, handle_simple_irq);
}
if (INTCHW_INTC1_GPIO1 & IRQ_INTC1_VALID_MASK) {
irq_set_handler(IRQ_GPIO1, handle_simple_irq);
}
}
void __init s3c64xx_init_irq(u32 vic0_valid, u32 vic1_valid)
{
printk(KERN_DEBUG "%s: initialising interrupts\n", __func__);
/* initialise the pair of VICs */
vic_init(VA_VIC0, IRQ_VIC0_BASE, vic0_valid, 0);
vic_init(VA_VIC1, IRQ_VIC1_BASE, vic1_valid, 0);
/* add the timer sub-irqs */
s3c_init_vic_timer_irq(IRQ_TIMER0_VIC, IRQ_TIMER0);
s3c_init_vic_timer_irq(IRQ_TIMER1_VIC, IRQ_TIMER1);
s3c_init_vic_timer_irq(IRQ_TIMER2_VIC, IRQ_TIMER2);
s3c_init_vic_timer_irq(IRQ_TIMER3_VIC, IRQ_TIMER3);
s3c_init_vic_timer_irq(IRQ_TIMER4_VIC, IRQ_TIMER4);
s3c_init_uart_irqs(uart_irqs, ARRAY_SIZE(uart_irqs));
}
void sys_init(void)
{
pll_init();
power_init();
vic_init();
SYS_SetFastGPIO();
gpio_init(test_handler);
i2c_init();
irq_enable();
}
void __init s5p_init_irq(u32 *vic, u32 num_vic)
{
#ifdef CONFIG_ARM_VIC
int irq;
/* initialize the VICs */
for (irq = 0; irq < num_vic; irq++)
vic_init(VA_VIC(irq), VIC_BASE(irq), vic[irq], 0);
#endif
s3c_init_vic_timer_irq(5, IRQ_TIMER0);
}
static char * all_tests()
{
vic_init();
vic_debug(1);
vic_fn_add("call", &fn_call);
mu_run_test(test_call);
mu_run_test(test_set);
mu_run_test(test_compute);
return 0;
}
int main(void)
{
vic_init((void (*)(char))putchar);
while (1) {
char c;
while ((c = getchar()) != '\n') {
vic_process(c);
}
vic_process('\n');
}
return 0;
}
static char * all_tests()
{
vic_init();
vic_debug(1);
mu_run_test(test_simple_exec);
mu_run_test(test_complicated_exec);
mu_run_test(test_simple_eval_replace);
mu_run_test(test_args);
mu_run_test(test_args_advanced);
mu_run_test(test_args_ebits);
return 0;
}
void __init s5p_init_irq(u32 *vic, u32 num_vic)
{
int irq;
/* initialize the VICs */
for (irq = 0; irq < num_vic; irq++)
vic_init(VA_VIC(irq), VIC_BASE(irq), vic[irq], 0);
s3c_init_vic_timer_irq(IRQ_TIMER0_VIC, IRQ_TIMER0);
s3c_init_vic_timer_irq(IRQ_TIMER1_VIC, IRQ_TIMER1);
s3c_init_vic_timer_irq(IRQ_TIMER2_VIC, IRQ_TIMER2);
s3c_init_vic_timer_irq(IRQ_TIMER3_VIC, IRQ_TIMER3);
s3c_init_vic_timer_irq(IRQ_TIMER4_VIC, IRQ_TIMER4);
s3c_init_uart_irqs(uart_irqs, ARRAY_SIZE(uart_irqs));
}
// Start real time operating system
// slice ... timeslice in microseconds
void sch_on(unsigned int slice)
{
int prescale = 4, match[4] = {0, 0, 0, 0},
interrupt[16] = {timer0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
voidfuncptr function[16] =
{sch_int, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
sch_tst = task_completed;
sch_idx = 0;
slice_quantum = slice;
if(VPBDIV) prescale = VPBDIV;
prescale = 12 * ((PLLSTAT & msel) + 1) / prescale - 1;
match[0] = slice_quantum;
timer0_init(prescale, match, mr0i, timer);
vic_init(0, timer0, function, interrupt, 0);
T0TCR = counter_enable;
}
int main(void)
{
vic_init(NULL);
char *result = all_tests();
if (result == 0){
printf("All tests passed!\n");
} else {
printf("%s\n", result);
}
printf("Status: %d from %d tests passed\n", tests_passed, tests_count);
return 0;
}
void __init versatile_init_irq(void)
{
vic_init(VA_VIC_BASE, IRQ_VIC_START, ~0, 0);
writel(~0, VA_SIC_BASE + SIC_IRQ_ENABLE_CLEAR);
fpga_irq_init(IRQ_VICSOURCE31, ~PIC_MASK, &sic_irq);
/*
* Interrupts on secondary controller from 0 to 8 are routed to
* source 31 on PIC.
* Interrupts from 21 to 31 are routed directly to the VIC on
* the corresponding number on primary controller. This is controlled
* by setting PIC_ENABLEx.
*/
writel(PIC_MASK, VA_SIC_BASE + SIC_INT_PIC_ENABLE);
}
int main(void)
{
vic_init();
while(1) {
char input[256];
vic_sys_print(VIC_PS1);
fgets(input, 256, stdin);
int i;
for(i = 0; i < strlen(input); i++) {
vic_process(input[i]);
}
vic_process('\n');
}
return 0;
}
void __init s5p_init_irq(u32 *vic, u32 num_vic)
{
struct irq_chip *chip;
int irq;
#ifdef CONFIG_ARM_VIC
/* initialize the VICs */
for (irq = 0; irq < num_vic; irq++)
vic_init(VA_VIC(irq), VIC_BASE(irq), vic[irq], 0);
#endif
s3c_init_vic_timer_irq(5, IRQ_TIMER0);
s3c_init_uart_irqs(uart_irqs, ARRAY_SIZE(uart_irqs));
/* Register wakeup source. */
for (irq = 0; irq < ARRAY_SIZE(wakeup_source); irq++) {
chip = irq_get_chip(wakeup_source[irq]);
chip->irq_set_wake = s3c_irq_wake;
}
}
/**
* @brief Low level HAL driver initialization.
*
* @notapi
*/
void hal_lld_init(void) {
vic_init();
VICDefVectAddr = (IOREG32)irq_handler;
}
/* This will initialize vic */
void __init spear3xx_init_irq(void)
{
vic_init((void __iomem *)VA_SPEAR3XX_ML1_VIC_BASE, 0, ~0, 0);
}
/* This will initialize vic */
void __init spear6xx_init_irq(void)
{
vic_init((void __iomem *)VA_SPEAR6XX_CPU_VIC_PRI_BASE, 0, ~0, 0);
vic_init((void __iomem *)VA_SPEAR6XX_CPU_VIC_SEC_BASE, 32, ~0, 0);
}
/* VIC20-specific initialization. */
int machine_specific_init(void)
{
int delay;
vic20_log = log_open("VIC20");
if (mem_load() < 0) {
return -1;
}
event_init();
/* Setup trap handling. */
traps_init();
if (!video_disabled_mode) {
joystick_init();
}
gfxoutput_init();
/* Initialize serial traps. If user does not want them, or if the
``drive'' emulation is used, do not install them. */
if (serial_init(vic20_serial_traps) < 0) {
return -1;
}
serial_trap_init(0xa4);
serial_iec_bus_init();
/* Initialize RS232 handler. */
rs232drv_init();
vic20_rsuser_init();
/* initialize print devices. */
printer_init();
/* Initialize the tape emulation. */
tape_init(&tapeinit);
/* Initialize the datasette emulation. */
datasette_init();
/* Fire up the hardware-level drive emulation. */
drive_init();
disk_image_init();
/* Initialize autostart. */
resources_get_int("AutostartDelay", &delay);
if (delay == 0) {
delay = 3; /* default */
}
autostart_init((CLOCK)
(delay * VIC20_PAL_RFSH_PER_SEC * VIC20_PAL_CYCLES_PER_RFSH),
1, 0xcc, 0xd1, 0xd3, 0xd5);
#ifdef USE_BEOS_UI
/* Pre-init VIC20-specific parts of the menus before vic_init()
creates a canvas window with a menubar at the top. This could
also be used by other ports, e.g. GTK+... */
vic20ui_init_early();
#endif
/* Initialize the VIC-I emulation. */
if (vic_init() == NULL) {
return -1;
}
via1_init(machine_context.via1);
via2_init(machine_context.via2);
ieeevia1_init(machine_context.ieeevia1);
ieeevia2_init(machine_context.ieeevia2);
#ifndef COMMON_KBD
/* Load the default keymap file. */
if (vic20_kbd_init() < 0) {
return -1;
}
#endif
vic20_monitor_init();
/* Initialize vsync and register our hook function. */
vsync_init(machine_vsync_hook);
vsync_set_machine_parameter(machine_timing.rfsh_per_sec,
machine_timing.cycles_per_sec);
/* Initialize native sound chip first */
vic_sound_chip_init();
/* Initialize the sidcart */
sidcart_sound_chip_init();
/* Initialize cartridge based sound chips */
cartridge_sound_chip_init();
/* Initialize userport based sound chips */
userport_dac_sound_chip_init();
drive_sound_init();
video_sound_init();
/* Initialize sound. Notice that this does not really open the audio
device yet. */
sound_init(machine_timing.cycles_per_sec, machine_timing.cycles_per_rfsh);
/* Initialize keyboard buffer. */
kbdbuf_init(631, 198, 10, (CLOCK)(machine_timing.cycles_per_rfsh * machine_timing.rfsh_per_sec));
/* Initialize the VIC20-specific part of the UI. */
vic20ui_init();
vic20iec_init();
cartridge_init();
#ifdef HAVE_MOUSE
mouse_init();
#ifdef HAVE_LIGHTPEN
/* Initialize lightpen support and register VIC-I callbacks */
lightpen_init();
lightpen_register_timing_callback(vic_lightpen_timing, 0);
lightpen_register_trigger_callback(vic_trigger_light_pen);
#endif
#endif
/* Register joystick callback (for lightpen triggering via fire button) */
joystick_register_machine(via2_check_lightpen);
#ifdef HAVE_MIDI
midi_init();
#endif
machine_drive_stub();
#if defined (USE_XF86_EXTENSIONS) && (defined(USE_XF86_VIDMODE_EXT) || defined (HAVE_XRANDR))
{
/* set fullscreen if user used `-fullscreen' on cmdline */
int fs;
resources_get_int("UseFullscreen", &fs);
if (fs) {
resources_set_int("VICFullscreen", 1);
}
}
#endif
return 0;
}
void vic_init_serial(unsigned long baud, uint8_t serial)
{
vic_init(baud);
vic_serial_id = serial;
}
/* VIC20-specific initialization. */
int machine_specific_init(void)
{
vic20_log = log_open("VIC20");
if (mem_load() < 0)
return -1;
/* Setup trap handling. */
traps_init();
/* Initialize serial traps. If user does not want them, or if the
``drive'' emulation is used, do not install them. */
if (serial_init(vic20_serial_traps) < 0)
return -1;
serial_trap_init(0xa4);
serial_iec_bus_init();
/* Initialize RS232 handler. */
rs232drv_init();
vic20_rsuser_init();
/* initialize print devices. */
printer_init();
/* Initialize the tape emulation. */
tape_init(&tapeinit);
/* Initialize the datasette emulation. */
datasette_init();
/* Fire up the hardware-level drive emulation. */
drive_init();
/* Initialize autostart. */
autostart_init((CLOCK)
(3 * VIC20_PAL_RFSH_PER_SEC * VIC20_PAL_CYCLES_PER_RFSH),
1, 0xcc, 0xd1, 0xd3, 0xd5);
/* Initialize the VIC-I emulation. */
if (vic_init() == NULL)
return -1;
via1_init(machine_context.via1);
via2_init(machine_context.via2);
ieeevia1_init(machine_context.ieeevia1);
ieeevia2_init(machine_context.ieeevia2);
#ifndef COMMON_KBD
/* Load the default keymap file. */
if (vic20_kbd_init() < 0)
return -1;
#endif
vic20_monitor_init();
/* Initialize vsync and register our hook function. */
vsync_init(machine_vsync_hook);
vsync_set_machine_parameter(machine_timing.rfsh_per_sec,
machine_timing.cycles_per_sec);
/* Initialize sound. Notice that this does not really open the audio
device yet. */
sound_init(machine_timing.cycles_per_sec, machine_timing.cycles_per_rfsh);
/* Initialize keyboard buffer. */
kbdbuf_init(631, 198, 10, (CLOCK)(machine_timing.cycles_per_rfsh
* machine_timing.rfsh_per_sec));
/* Initialize the VIC20-specific part of the UI. */
vic20ui_init();
vic20iec_init();
machine_drive_stub();
return 0;
}
int main (void)
{
int ch = 0;
int i = 0;
// are we ready to relay scribbler output
// by default we wait until we get a scribbler request from
// the user before relaying scribbler messages via bluetooth
int relay_scrib_messages = 0;
// is the current command a scribbler command
int scribbler_cmd = 0;
// are we processing a get_info packet
int get_info = 0;
// setup the directionality of the pins
setup_pins();
// setup the PLL - 60 MHz
setup_pll();
// setup the instruction prefetch
setup_mam();
// give some time to let everything settle
msleep(100);
// The scribbler UART(0) is 38400 8N1
uart0Init(B38400, UART_8N1, UART_FIFO_8); // setup UART 0
// The CM-5 UART (0) is 57600 8N1
// uart0Init(B57600, UART_8N1, UART_FIFO_8); // setup UART 0
// The Robonova UART (0) is 9600 or 115200 8N1
// uart0Init(B115200, UART_8N1, UART_FIFO_8); // setup UART 0
// The bluetooth UART(1)
#if (VERSION_OF_BOARD == 3)
uart1Init(B57600, UART_8N1, UART_FIFO_8); // setup UART 1
#else
uart1Init(B460800, UART_8N1, UART_FIFO_8); // setup UART 1
#endif
// synchronize with autobaud
for (i = 1; i < 512; i++)
{
uart1Putch(i);
}
// Set up VIC and enable interrupts
vic_init();
//set timer0 prescalaer to around 1 usec
TIMER0_PR = 0x39;
// Start timer0 for benchmarking
TIMER0_TCR = 1;
// Set up the transmit queue
uart1_queue_init();
// setup interrupts for receiving IR messages
ir_rx_init();
// set back configurable LED off
set_led(0);
// set front LED off
led_off();
// turn IR power to 135
set_ir(135);
// set external bluetooth to max; internal amplifier is throttled via pskeys
set_bluetooth(255);
// slow camera down
write_camera(OV_CLKRC, 1);
// turn off auto white balance
//write_camera(OV_COMA, 0x14 & ~(1<<2));
// turn off auto gain and auto exposure
//write_camera(OV_COMB, 0xA3 & ~(0x3));
//flush out any old characters
for (i = 0; i < 200; i++)
{
getch();
}
/* read in scribbler orientation
*
* - scribbler forward is stored as 0xDF in serial memory to avoid
* coincidental settings
*/
read_mem(0, 0, &scribbler_orientation, 1);
if (scribbler_orientation == 0xDF)
{
scribbler_orientation = 0;
}
else
{
scribbler_orientation = 1;
}
while (1)
{
//led_on();
ch = getch();
//led_off();
// body of the firmware - process the byte code sent over bluetooth
if (ch != -1)
{
cur_rqst[rqst_idx] = ch;
// process the cmd if its intended for the fluke
if (rqst_idx == 0)
{
scribbler_cmd = 0;
if (ch == SET_WINDOW) serve_set_window();
else if (ch == SET_RLE) serve_set_rle();
else if (ch == GET_RLE) serve_rle();
else if (ch == GET_BLOB) serve_blob();
else if (ch == GET_BLOB_WINDOW) serve_blob_window();
else if (ch == GET_IMAGE) serve_image();
else if (ch == GET_WINDOW) serve_image_window();
else if (ch == GET_WINDOW_LIGHT) serve_image_window_sum();
else if (ch == GET_BATTERY) serve_battery();
else if (ch == SET_DONGLE_LED_ON) led_on();
else if (ch == SET_DONGLE_LED_OFF) led_off();
else if (ch == SET_DIMMER_LED) serve_back_led();
else if (ch == SET_DONGLE_IR) serve_ir_power();
else if (ch == SET_RESET_SCRIBBLER) serve_reset_scribbler();
else if (ch == SET_RESET_SCRIBBLER2) serve_reset_scribbler2();
else if (ch == GET_SERIAL_MEM) serve_get_serial_mem();
else if (ch == SET_SERIAL_MEM) serve_set_serial_mem();
else if (ch == SET_SERIAL_ERASE) serve_erase_serial_mem();
else if (ch == GET_DONGLE_R_IR) serve_ir(0x1);
else if (ch == GET_DONGLE_L_IR) serve_ir(0x2);
else if (ch == GET_DONGLE_C_IR) serve_ir(0x4);
else if (ch == SET_SCRIB_PROGRAM) serve_set_scrib_program();
else if (ch == SET_SCRIB_BATCH) serve_set_scrib_program_batch();
else if (ch == GET_SCRIB_PROGRAM) serve_get_scrib_program();
else if (ch == SET_START_PROGRAM) serve_start_scrib_program();
else if (ch == SET_START_PROGRAM2) serve_start_scrib2_program();
else if (ch == SET_UART0) serve_set_uart0();
else if (ch == SET_PASS_BYTE) serve_send_byte();
else if (ch == SET_PASSTHROUGH) serve_set_passthrough();
else if (ch == SET_PASS_N_BYTES) serve_set_pass_n_bytes();
else if (ch == SET_PASSTHROUGH_ON) relay_scrib_messages = 1;
else if (ch == SET_PASSTHROUGH_OFF) relay_scrib_messages = 0;
else if (ch == GET_PASS_N_BYTES) serve_get_pass_n_bytes();
else if (ch == GET_PASS_BYTES_UNTIL) serve_get_pass_bytes_until();
else if (ch == SET_FORWARDNESS) serve_set_forwardness();
else if (ch == SET_WHITE_BALANCE) serve_set_wb();
else if (ch == SET_NO_WHITE_BALANCE) serve_unset_wb();
else if (ch == GET_CAM_PARAM) serve_read_camera();
else if (ch == SET_CAM_PARAM) serve_write_camera();
else if (ch == SAVE_EEPROM) serve_save_eeprom();
else if (ch == RESTORE_EEPROM) serve_restore_eeprom();
else if (ch == UPDATE_FIRMWARE) serve_update_firmware();
else if (ch == WATCHDOG_RESET) serve_fluke_reset();
else if (ch == GET_JPEG_GRAY_HEADER) serve_jpeg_gray_header();
else if (ch == GET_JPEG_COLOR_HEADER)serve_jpeg_color_header();
else if (ch == GET_JPEG_GRAY_SCAN) serve_jpeg_gray_scan();
else if (ch == GET_JPEG_COLOR_SCAN) serve_jpeg_color_scan();
else if (ch == GET_VERSION) serve_version();
else if (ch == GET_IR_MESSAGE) serve_get_ir_message();
else if (ch == SEND_IR_MESSAGE) serve_send_ir_message();
else if (ch == SET_IR_EMITTERS) serve_set_ir_emitters();
else if (ch == GET_ROBOT_ID) serve_identify_robot();
else scribbler_cmd = 1;
}
if (scribbler_cmd)
{
// Flush if this is the first time we have talked to the scribbler
if (relay_scrib_messages == 0)
{
for (i = 0; i < 100; i++)
{
uart0Getch();
}
}
relay_scrib_messages = 1;
// we just got a GET_INFO request; pass it on to the scribbler
if ((rqst_idx == 0) && (ch == GET_INFO))
{
get_info = 1;
}
// scribbler should now have the whole GET_INFO request
else if ((rqst_idx == 8) && get_info == 1)
{
get_info = 2;
}
// flip motors forward to backwards
if ((cur_rqst[0] == SET_MOTORS) && scribbler_orientation && rqst_idx < 3)
{
// now send the packet with left/right swapped
if ((rqst_idx == 2))
{
uart0Putch(cur_rqst[0]);
//msleep(10);
uart0Putch(200-cur_rqst[2]);
//msleep(10);
uart0Putch(200-cur_rqst[1]);
}
}
// pass on character to the scribbler
else
{
uart0Putch(ch);
}
// take care of scribbler packet indexing
rqst_idx ++;
if (rqst_idx > 8)
{
rqst_idx = 0;
}
}
} /* end if it received a request */
/*
* if we are talking to the scribbler see if it has anything
* for us to relay over the bluetooth link
*/
if (relay_scrib_messages)
{
ch = uart0Getch();
if (ch != -1)
{
// Process GET_INFO request we got the last character
if (get_info > 500 && ch == 0x0A)
{
get_info = 0;
}
// Process GET_INFO we just sent our GET_INFO string
if (get_info >= 500 && get_info < 50000)
{
putch(',');
get_info = 50000;
}
putch(ch);
}
}
/*
* send our GET_INFO information
*
* the GET_INFO handling is pretty hideous to preserve backward
* compatibility with other bluetooth serial and serial links.
*/
if (get_info > 1)
{
get_info ++;
if (get_info == 400)
{
putstr(VERSION);
get_info = 500;
}
if (get_info == 100000)
{
putch(0x0A);
get_info = 0;
}
}
update_low_battery_light();
}
}
void __init cpu8815_init_irq(void)
{
/* This modified VIC cell has two register blocks, at 0 and 0x20 */
vic_init(io_p2v(NOMADIK_IC_BASE + 0x00), IRQ_VIC_START + 0, ~0, 0);
vic_init(io_p2v(NOMADIK_IC_BASE + 0x20), IRQ_VIC_START + 32, ~0, 0);
}
