void bt_reset(void)
{
// Perform hardware reset. This function has some relatively long
// delays in it and so should probably only be called during application
// initialisation and termination. Calling it at other times may cause
// problems for other real time tasks.
// If power is currently off to the BC4 do not reset it!
if ((*AT91C_PIOA_ODSR & BT_RST_PIN) == 0) return;
//display_goto_xy(0, 1);
//display_string("BT Reset....");
//display_update();
//systick_wait_ms(10000);
// Ask for command mode
bt_clear_arm7_cmd();
// BC4 reset sequence. First take the reset line low for 100ms
bt_set_reset_low();
// Wait and discard any packets that may be around
int cnt = 100;
U8 *buf = out_buf[0];
while (cnt-- > 0)
{
bt_receive(buf);
systick_wait_ms(1);
}
bt_set_reset_high();
// Now wait either for 5000ms or for the BC4 chip to signal reset
// complete. Note we use the out buffer as a scratch area here
// this id safe since we are forcing a reset.
cnt = 5000;
while (cnt-- > 0)
{
bt_receive(buf);
// Look for the reset indication and the checksum
if ((buf[0] == 3) && (buf[1] == MSG_RESET_INDICATION) &&
(buf[2] == 0xff) && (buf[3] == 0xe9))
break;
systick_wait_ms(1);
}
// Force command mode
bt_clear_arm7_cmd();
//display_goto_xy(10, 1);
//display_int(cnt, 5);
//display_update();
//systick_wait_ms(10000);
}
/**
* NOTE: The technique is not the same as that used in TinyVM.
* The return value indicates the impact of the call on the VM
* system. EXEC_CONTINUE normal return the system should return to the return
* address provided by the VM. EXEC_RUN The call has modified the value of
* VM PC and this should be used to restart execution. EXEC_RETRY The call
* needs to be re-tried (typically for a GC failure), all global state
* should be left intact, the PC has been set appropriately.
*
*/
int dispatch_native(TWOBYTES signature, STACKWORD * paramBase)
{
STACKWORD p0 = paramBase[0];
switch (signature) {
case wait_4_5V:
return monitor_wait((Object *) word2ptr(p0), 0);
case wait_4J_5V:
return monitor_wait((Object *) word2ptr(p0), ((int)paramBase[1] > 0 ? 0x7fffffff : paramBase[2]));
case notify_4_5V:
return monitor_notify((Object *) word2ptr(p0), false);
case notifyAll_4_5V:
return monitor_notify((Object *) word2ptr(p0), true);
case start_4_5V:
// Create thread, allow for instruction restart
return init_thread((Thread *) word2ptr(p0));
case yield_4_5V:
schedule_request(REQUEST_SWITCH_THREAD);
break;
case sleep_4J_5V:
sleep_thread(((int)p0 > 0 ? 0x7fffffff : paramBase[1]));
schedule_request(REQUEST_SWITCH_THREAD);
break;
case getPriority_4_5I:
push_word(get_thread_priority((Thread *) word2ptr(p0)));
break;
case setPriority_4I_5V:
{
STACKWORD p = (STACKWORD) paramBase[1];
if (p > MAX_PRIORITY || p < MIN_PRIORITY)
return throw_new_exception(JAVA_LANG_ILLEGALARGUMENTEXCEPTION);
else
set_thread_priority((Thread *) word2ptr(p0), p);
}
break;
case currentThread_4_5Ljava_3lang_3Thread_2:
push_ref(ptr2ref(currentThread));
break;
case interrupt_4_5V:
interrupt_thread((Thread *) word2ptr(p0));
break;
case interrupted_4_5Z:
{
JBYTE i = currentThread->interruptState != INTERRUPT_CLEARED;
currentThread->interruptState = INTERRUPT_CLEARED;
push_word(i);
}
break;
case isInterrupted_4_5Z:
push_word(((Thread *) word2ptr(p0))->interruptState
!= INTERRUPT_CLEARED);
break;
case join_4_5V:
join_thread((Thread *) word2ptr(p0), 0);
break;
case join_4J_5V:
join_thread((Thread *) word2obj(p0), paramBase[2]);
break;
case halt_4I_5V:
schedule_request(REQUEST_EXIT);
break;
case shutdown_4_5V:
shutdown_program(false);
break;
case currentTimeMillis_4_5J:
push_word(0);
push_word(systick_get_ms());
break;
case readSensorValue_4I_5I:
push_word(sp_read(p0, SP_ANA));
break;
case setPowerTypeById_4II_5V:
sp_set_power(p0, paramBase[1]);
break;
case freeMemory_4_5J:
push_word(0);
push_word(getHeapFree());
break;
case totalMemory_4_5J:
push_word(0);
push_word(getHeapSize());
break;
case floatToRawIntBits_4F_5I: // Fall through
case intBitsToFloat_4I_5F:
push_word(p0);
break;
case doubleToRawLongBits_4D_5J: // Fall through
case longBitsToDouble_4J_5D:
push_word(p0);
push_word(paramBase[1]);
break;
case drawString_4Ljava_3lang_3String_2II_5V:
{
String *p = (String *)word2obj(p0);
Object *charArray;
if (!p) return throw_new_exception(JAVA_LANG_NULLPOINTEREXCEPTION);
charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
if (!charArray) return throw_new_exception(JAVA_LANG_NULLPOINTEREXCEPTION);
display_goto_xy(paramBase[1], paramBase[2]);
display_jstring(p);
}
break;
case drawInt_4III_5V:
display_goto_xy(paramBase[1], paramBase[2]);
display_int(p0, 0);
break;
case drawInt_4IIII_5V:
display_goto_xy(paramBase[2], paramBase[3]);
display_int(p0, paramBase[1]);
break;
case asyncRefresh_4_5V:
display_update();
break;
case clear_4_5V:
display_clear(0);
break;
case getDisplay_4_5_1B:
push_word(display_get_array());
break;
case setAutoRefreshPeriod_4I_5I:
push_word(display_set_auto_update_period(p0));
break;
case getRefreshCompleteTime_4_5I:
push_word(display_get_update_complete_time());
break;
case bitBlt_4_1BIIII_1BIIIIIII_5V:
{
Object *src = word2ptr(p0);
Object *dst = word2ptr(paramBase[5]);
display_bitblt((byte *)(src != NULL ?jbyte_array(src):NULL), paramBase[1], paramBase[2], paramBase[3], paramBase[4], (byte *)(dst!=NULL?jbyte_array(dst):NULL), paramBase[6], paramBase[7], paramBase[8], paramBase[9], paramBase[10], paramBase[11], paramBase[12]);
break;
}
case getSystemFont_4_5_1B:
push_word(display_get_font());
break;
case setContrast_4I_5V:
nxt_lcd_set_pot(p0);
break;
case getBatteryStatus_4_5I:
push_word(battery_voltage());
break;
case getButtons_4_5I:
push_word(buttons_get());
break;
case getTachoCountById_4I_5I:
push_word(nxt_motor_get_count(p0));
break;
case controlMotorById_4III_5V:
nxt_motor_set_speed(p0, paramBase[1], paramBase[2]);
break;
case resetTachoCountById_4I_5V:
nxt_motor_set_count(p0, 0);
break;
case i2cEnableById_4II_5V:
if (i2c_enable(p0, paramBase[1]) == 0)
return EXEC_RETRY;
else
break;
case i2cDisableById_4I_5V:
i2c_disable(p0);
break;
case i2cStatusById_4I_5I:
push_word(i2c_status(p0));
break;
case i2cStartById_4II_1BIII_5I:
{
Object *p = word2obj(paramBase[2]);
JBYTE *byteArray = p ? jbyte_array(p) + paramBase[3] : NULL;
push_word(i2c_start(p0,
paramBase[1],
(U8 *)byteArray,
paramBase[4],
paramBase[5]));
}
break;
case i2cCompleteById_4I_1BII_5I:
{
Object *p = word2ptr(paramBase[1]);
JBYTE *byteArray = p ? jbyte_array(p) + paramBase[2] : NULL;
push_word(i2c_complete(p0,
(U8 *)byteArray,
paramBase[3]));
}
break;
case playFreq_4III_5V:
sound_freq(p0,paramBase[1], paramBase[2]);
break;
case btGetBC4CmdMode_4_5I:
push_word(bt_get_mode());
break;
case btSetArmCmdMode_4I_5V:
if (p0 == 0) bt_set_arm7_cmd();
else bt_clear_arm7_cmd();
break;
case btSetResetLow_4_5V:
bt_set_reset_low();
break;
case btSetResetHigh_4_5V:
bt_set_reset_high();
break;
case btWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(bt_write(byteArray, paramBase[1], paramBase[2]));
}
break;
case btRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(bt_read(byteArray, paramBase[1], paramBase[2]));
}
break;
case btPending_4_5I:
{
push_word(bt_event_check(0xffffffff));
}
break;
case btEnable_4_5V:
if (bt_enable() == 0)
return EXEC_RETRY;
else
break;
case btDisable_4_5V:
bt_disable();
break;
case usbRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(udp_read(byteArray,paramBase[1], paramBase[2]));
}
break;
case usbWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(udp_write(byteArray,paramBase[1], paramBase[2]));
}
break;
case usbStatus_4_5I:
{
push_word(udp_event_check(0xffffffff));
}
break;
case usbEnable_4I_5V:
{
udp_enable(p0);
}
break;
case usbDisable_4_5V:
{
udp_disable();
}
break;
case usbReset_4_5V:
udp_reset();
break;
case usbSetSerialNo_4Ljava_3lang_3String_2_5V:
{
byte *p = word2ptr(p0);
int len;
Object *charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
len = get_array_length(charArray);
udp_set_serialno((U8 *)jchar_array(charArray), len);
}
break;
case usbSetName_4Ljava_3lang_3String_2_5V:
{
byte *p = word2ptr(p0);
int len;
Object *charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
len = get_array_length(charArray);
udp_set_name((U8 *)jchar_array(charArray), len);
}
break;
case flashWritePage_4_1BI_5I:
{
Object *p = word2ptr(p0);
unsigned long *intArray = (unsigned long *) jint_array(p);
push_word(flash_write_page(intArray,paramBase[1]));
}
break;
case flashReadPage_4_1BI_5I:
{
Object *p = word2ptr(p0);
unsigned long *intArray = (unsigned long *) jint_array(p);
push_word(flash_read_page(intArray,paramBase[1]));
}
break;
case flashExec_4II_5I:
push_word(run_program((byte *)(&FLASH_BASE[(p0*FLASH_PAGE_SIZE)]), paramBase[1]));
break;
case playSample_4IIIII_5V:
sound_play_sample(((unsigned char *) &FLASH_BASE[(p0*FLASH_PAGE_SIZE)]) + paramBase[1],paramBase[2],paramBase[3],paramBase[4]);
break;
case playQueuedSample_4_1BIIII_5I:
push_word(sound_add_sample((U8 *)jbyte_array(word2obj(p0)) + paramBase[1],paramBase[2],paramBase[3],paramBase[4]));
break;
case getTime_4_5I:
push_word(sound_get_time());
break;
case getDataAddress_4Ljava_3lang_3Object_2_5I:
if (is_array(word2obj(p0)))
push_word (ptr2word ((byte *) array_start(word2ptr(p0))));
else
push_word (ptr2word ((byte *) fields_start(word2ptr(p0))));
break;
case getObjectAddress_4Ljava_3lang_3Object_2_5I:
push_word(p0);
break;
case gc_4_5V:
// Restartable garbage collection
return garbage_collect();
case shutDown_4_5V:
shutdown(); // does not return
case boot_4_5V:
display_clear(1);
while (1) nxt_avr_firmware_update_mode(); // does not return
case arraycopy_4Ljava_3lang_3Object_2ILjava_3lang_3Object_2II_5V:
return arraycopy(word2ptr(p0), paramBase[1], word2ptr(paramBase[2]), paramBase[3], paramBase[4]);
case executeProgram_4I_5V:
// Exceute program, allow for instruction re-start
return execute_program(p0);
case setDebug_4_5V:
set_debug(word2ptr(p0));
break;
case eventOptions_4II_5I:
{
byte old = debugEventOptions[p0];
debugEventOptions[p0] = (byte)paramBase[1];
push_word(old);
}
break;
case suspendThread_4Ljava_3lang_3Object_2_5V:
suspend_thread(ref2ptr(p0));
break;
case resumeThread_4Ljava_3lang_3Object_2_5V:
resume_thread(ref2ptr(p0));
break;
case getProgramExecutionsCount_4_5I:
push_word(gProgramExecutions);
break;
case getFirmwareRevision_4_5I:
push_word((STACKWORD) getRevision());
break;
case getFirmwareRawVersion_4_5I:
push_word((STACKWORD) VERSION_NUMBER);
break;
case hsEnable_4II_5V:
{
if (hs_enable((int)p0, (int)paramBase[1]) == 0)
return EXEC_RETRY;
}
break;
case hsDisable_4_5V:
{
hs_disable();
}
break;
case hsWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(hs_write(byteArray, paramBase[1], paramBase[2]));
}
break;
case hsRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(hs_read(byteArray, paramBase[1], paramBase[2]));
}
break;
case hsPending_4_5I:
{
push_word(hs_pending());
}
break;
case hsSend_4BB_1BII_1C_5I:
{
Object *p = word2ptr(paramBase[2]);
U8 *data = (U8 *)jbyte_array(p);
p = word2ptr(paramBase[5]);
U16 *crc = (U16 *)jchar_array(p);
push_word(hs_send((U8) p0, (U8)paramBase[1], data, paramBase[3], paramBase[4], crc));
}
break;
case hsRecv_4_1BI_1CI_5I:
{
Object *p = word2ptr(p0);
U8 *data = (U8 *)jbyte_array(p);
p = word2ptr(paramBase[2]);
U16 *crc = (U16 *)jchar_array(p);
push_word(hs_recv(data, paramBase[1], crc, paramBase[3]));
}
break;
case getUserPages_4_5I:
push_word(FLASH_MAX_PAGES - flash_start_page);
break;
case setVMOptions_4I_5V:
gVMOptions = p0;
break;
case getVMOptions_4_5I:
push_word(gVMOptions);
break;
case isAssignable_4II_5Z:
push_word(is_assignable(p0, paramBase[1]));
break;
case cloneObject_4Ljava_3lang_3Object_2_5Ljava_3lang_3Object_2:
{
Object *newObj = clone((Object *)ref2obj(p0));
if (newObj == NULL) return EXEC_RETRY;
push_word(obj2ref(newObj));
}
break;
case memPeek_4III_5I:
push_word(mem_peek(p0, paramBase[1], paramBase[2]));
break;
case memCopy_4Ljava_3lang_3Object_2IIII_5V:
mem_copy(word2ptr(p0), paramBase[1], paramBase[2], paramBase[3], paramBase[4]);
break;
case memGetReference_4II_5Ljava_3lang_3Object_2:
push_word(mem_get_reference(p0, paramBase[1]));
break;
case setSensorPin_4III_5V:
sp_set(p0, paramBase[1], paramBase[2]);
break;
case getSensorPin_4II_5I:
push_word(sp_get(p0, paramBase[1]));
break;
case setSensorPinMode_4III_5V:
sp_set_mode(p0, paramBase[1], paramBase[2]);
break;
case readSensorPin_4II_5I:
push_word(sp_read(p0, paramBase[1]));
break;
case nanoTime_4_5J:
{
U64 ns = systick_get_ns();
push_word(ns >> 32);
push_word(ns);
}
break;
case createStackTrace_4Ljava_3lang_3Thread_2Ljava_3lang_3Object_2_5_1I:
{
Object *trace = create_stack_trace((Thread *)ref2obj(p0), ref2obj(paramBase[1]));
if (trace == NULL) return EXEC_RETRY;
push_word(obj2ref(trace));
}
break;
case registerEvent_4_5I:
push_word(register_event((NXTEvent *) ref2obj(p0)));
break;
case unregisterEvent_4_5I:
push_word(unregister_event((NXTEvent *) ref2obj(p0)));
break;
case changeEvent_4II_5I:
push_word(change_event((NXTEvent *) ref2obj(p0), paramBase[1], paramBase[2]));
break;
case isInitialized_4I_5Z:
push_word(is_initialized_idx(p0));
break;
case allocate_4II_5Ljava_3lang_3Object_2:
{
Object *allocated;
if(paramBase[1]>0){
allocated=new_single_array(p0,paramBase[1]);
}else{
allocated=new_object_for_class(p0);
}
if(allocated == NULL) return EXEC_RETRY;
push_word(obj2ref(allocated));
}
break;
case memPut_4IIII_5V:
store_word_ns((byte *)(memory_base[p0] + paramBase[1]), paramBase[2],paramBase[3]);
break;
case notifyEvent_4ILjava_3lang_3Thread_2_5Z:
push_word(debug_event(paramBase[1], NULL, (Thread*) ref2obj(paramBase[2]), 0, 0, 0, 0));
break;
case setThreadRequest_4Ljava_3lang_3Thread_2Llejos_3nxt_3debug_3SteppingRequest_2_5V:
{
Thread *th = (Thread*) ref2obj(p0);
th->debugData = (REFERENCE) paramBase[1];
// currently we only get stepping requests
if(paramBase[1])
th->flags |= THREAD_STEPPING;
else
th->flags &= ~THREAD_STEPPING;
}
break;
case isStepping_4Ljava_3lang_3Thread_2_5Z:
{
Thread *th = (Thread*) ref2obj(p0);
push_word(is_stepping(th));
}
break;
case setBreakpointList_4_1Llejos_3nxt_3debug_3Breakpoint_2I_5V:
breakpoint_set_list((Breakpoint**) array_start(p0), paramBase[1]);
break;
case enableBreakpoint_4Llejos_3nxt_3debug_3Breakpoint_2Z_5V:
breakpoint_enable((Breakpoint*) word2ptr(p0), (boolean) paramBase[1]);
break;
case firmwareExceptionHandler_4Ljava_3lang_3Throwable_2II_5V:
firmware_exception_handler((Throwable *)p0, paramBase[1], paramBase[2]);
break;
case exitThread_4_5V:
currentThread->state = DEAD;
schedule_request(REQUEST_SWITCH_THREAD);
break;
case updateThreadFlags_4Ljava_3lang_3Thread_2II_5I:
((Thread *)p0)->flags |= paramBase[1];
((Thread *)p0)->flags &= ~paramBase[2];
//printf("m %x %d\n", p0, ((Thread *)p0)->flags);
push_word(((Thread *)p0)->flags);
break;
default:
return throw_new_exception(JAVA_LANG_NOSUCHMETHODERROR);
}
return EXEC_CONTINUE;
}
