unsigned int input_millivolts(void)
{
unsigned int batt_millivolts = battery_voltage();
/* No battery, return nominal value */
return batt_millivolts;
}
static void charging_display_info(bool animate)
{
int battv;
unsigned i, ypos;
static unsigned phase = 3;
char buf[32];
battv = battery_voltage();
lcd_putsf(4, 1, " %d.%02dV", battv / 1000, (battv % 1000) / 10);
memcpy(buf, logo_pattern, 32); /* copy logo patterns */
if (!animate) /* build the screen */
{
lcd_double_height(false);
lcd_puts(0, 0, "[Charging]");
for (i = 0; i < 4; i++)
lcd_putc(i, 1, logo_chars[i]);
}
else /* animate the logo */
{
for (i = 3; i < MIN(19, phase); i++)
{
if ((i - phase) % 5 == 0)
{ /* draw a "bubble" here */
ypos = (phase + i/5) % 9; /* "bounce" effect */
if (ypos > 4)
ypos = 8 - ypos;
buf[5 - ypos + 8 * (i/5)] |= 0x10u >> (i%5);
}
}
phase++;
}
static void battery_status_update(void)
{
int millivolt = battery_voltage();
int level = _battery_level();
if (level < 0)
level = voltage_to_battery_level(millivolt);
#ifdef CURRENT_NORMAL /*don't try to estimate run or charge
time without normal current defined*/
/* calculate estimated remaining running time */
#if CONFIG_CHARGING >= CHARGING_MONITOR
if (charging_state()) {
/* charging: remaining charging time */
powermgmt_est_runningtime_min = (100 - level)*battery_capacity*60
/ 100 / (CURRENT_MAX_CHG - runcurrent());
}
else
#endif
/* discharging: remaining running time */
if (level > 0 && (millivolt > percent_to_volt_discharge[battery_type][0]
|| millivolt < 0)) {
/* linear extrapolation */
powermgmt_est_runningtime_min = (level + battery_percent)*60
* battery_capacity / 200 / runcurrent();
}
if (0 > powermgmt_est_runningtime_min) {
powermgmt_est_runningtime_min = 0;
}
#endif
battery_percent = level;
send_battery_level_event();
}
int battery_percent() {
float v = 0;
v = battery_voltage();
int p = (v / 4.2) * 100;
if (p < 0)
p = 0;
if (p > 100)
p = 100;
return p;
}
static void charging_screen(void)
{
unsigned int button;
const char* msg;
ide_power_enable(false); /* power down the disk, else would be spinning */
lcd_clear_display();
do
{
#ifdef ARCHOS_RECORDER
if (charge_state == CHARGING)
msg = "charging";
else if (charge_state == TOPOFF)
msg = "topoff charge";
else if (charge_state == TRICKLE)
msg = "trickle charge";
else
msg = "not charging";
#else
msg = "charging";
#endif
lcd_puts(0, 0, msg);
{
char buf[32];
int battv = battery_voltage();
snprintf(buf, sizeof(buf), "%d.%02dV %d%%",
battv / 1000, (battv % 1000) / 10, battery_level());
lcd_puts(0, 1, buf);
}
lcd_update();
button = button_get_w_tmo(HZ/2);
#ifdef BUTTON_ON
if (button == (BUTTON_ON | BUTTON_REL))
#else
if (button == (BUTTON_RIGHT | BUTTON_REL))
#endif
break; /* start */
else
{
if (usb_detect() == USB_INSERTED)
break;
else if (!charger_inserted())
power_off(); /* charger removed: power down */
}
} while (1);
}
void drawBattery()
{
uint battLevel = battery_voltage();
const byte* battIcon;
if(battLevel < 3200)
battIcon = battIconEmpty;
else if(battLevel < 3700)
battIcon = battIconLow;
else if(battLevel < 4000)
battIcon = battIconHigh;
else
battIcon = battIconFull;
draw_bitmap_s2(&newImage(0, FRAME_HEIGHT - 8, battIcon, 16, 8, WHITE, NOINVERT, 0));
}
static inline void charger_control(void)
{
switch (charge_state)
{
case DISCHARGING:
{
unsigned int millivolts;
unsigned int thresh = batt_threshold;
if (BATT_FULL_VOLTAGE == thresh)
{
/* Wait for CHG_status to be indicated. */
if ((ascodec_read(AS3514_IRQ_ENRD0) & CHG_STATUS) == 0)
break;
batt_threshold = BATT_VAUTO_RECHARGE;
}
millivolts = battery_voltage();
if (millivolts <= thresh)
enable_charger();
break;
} /* DISCHARGING: */
case CHARGING:
{
if ((ascodec_read(AS3514_IRQ_ENRD0) & CHG_ENDOFCH) == 0)
{
if (--charger_total_timer > 0)
break;
/* Timer ran out - require replug. */
charge_state = CHARGE_STATE_ERROR;
}
/* else end of charge */
disable_charger();
break;
} /* CHARGING: */
default:
/* DISABLED, ERROR */
break;
}
}
void display_bios_status(int data, int max_data)
{
static U8 first_flag = 1;
if (first_flag)
{
display_clear(0);
display_goto_xy(0, 0);
display_string(VERSION);
display_goto_xy(0, 1);
display_string("================");
}
display_goto_xy(0, 2);
display_string("BATT:");
display_unsigned(battery_voltage()/100, 0);
if (first_flag)
{
display_goto_xy(0, 3);
display_string("UPLOAD: READY ");
first_flag = 0;
}
else
{
if (data >= UPLOAD_IN_PROGRESS)
{
display_goto_xy(0, 3);
display_string("UPLOAD: PROGRESS");
display_progress_bar(4, data, max_data);
}
else if (data == UPLOAD_FAILED)
{
display_goto_xy(0, 3);
display_string("UPLOAD: FAILED ");
}
else if (data == UPLOAD_FINISHED)
{
display_goto_xy(0, 3);
display_string("UPLOAD: FINISHED");
/* clear progress bar */
display_progress_bar(4, 0, 100);
}
}
display_update();
}
void battery_read_status(nyx_battery_status_t *state)
{
if (state) {
memset(state,0,sizeof(nyx_battery_status_t));
state->present = battery_is_present();
if (state->present) {
state->percentage = battery_percent();
state->temperature = battery_temperature();
state->current = battery_current();
state->voltage = battery_voltage();
state->avg_current = battery_current();
state->capacity = battery_coulomb();
state->capacity_raw = battery_rawcoulomb();
state->capacity_full40 = battery_full40();
state->age=battery_age();
if (state->avg_current > 0)
state->charging = true;
}
else
state->charging = false;
}
}
static void charging_display_info(bool animate)
{
unsigned char charging_logo[36];
const int pox_x = (LCD_WIDTH - sizeof(charging_logo)) / 2;
const int pox_y = 32;
static unsigned phase = 3;
unsigned i;
#ifdef NEED_ATA_POWER_BATT_MEASURE
if (ide_powered()) /* FM and V2 can only measure when ATA power is on */
#endif
{
int battv = battery_voltage();
lcd_putsf(0, 7, " Batt: %d.%02dV %d%% ", battv / 1000,
(battv % 1000) / 10, battery_level());
}
#ifdef ARCHOS_RECORDER
lcd_puts(0, 2, "Charge mode:");
const char *s;
if (charge_state == CHARGING)
s = str(LANG_BATTERY_CHARGE);
else if (charge_state == TOPOFF)
s = str(LANG_BATTERY_TOPOFF_CHARGE);
else if (charge_state == TRICKLE)
s = str(LANG_BATTERY_TRICKLE_CHARGE);
else
s = "not charging";
lcd_puts(0, 3, s);
if (!charger_enabled())
animate = false;
#endif /* ARCHOS_RECORDER */
/* middle part */
memset(charging_logo+3, 0x00, 32);
charging_logo[0] = 0x3C;
charging_logo[1] = 0x24;
charging_logo[2] = charging_logo[35] = 0xFF;
if (!animate)
{ /* draw the outline */
/* middle part */
lcd_mono_bitmap(charging_logo, pox_x, pox_y + 8,
sizeof(charging_logo), 8);
lcd_set_drawmode(DRMODE_FG);
/* upper line */
charging_logo[0] = charging_logo[1] = 0x00;
memset(charging_logo+2, 0x80, 34);
lcd_mono_bitmap(charging_logo, pox_x, pox_y, sizeof(charging_logo), 8);
/* lower line */
memset(charging_logo+2, 0x01, 34);
lcd_mono_bitmap(charging_logo, pox_x, pox_y + 16,
sizeof(charging_logo), 8);
lcd_set_drawmode(DRMODE_SOLID);
}
else
{ /* animate the middle part */
for (i = 3; i<MIN(sizeof(charging_logo)-1, phase); i++)
{
if ((i-phase) % 8 == 0)
{ /* draw a "bubble" here */
unsigned bitpos;
bitpos = (phase + i/8) % 15; /* "bounce" effect */
if (bitpos > 7)
bitpos = 14 - bitpos;
charging_logo[i] = BIT_N(bitpos);
}
}
lcd_mono_bitmap(charging_logo, pox_x, pox_y + 8,
sizeof(charging_logo), 8);
phase++;
}
lcd_update();
}
/*
* main function
*/
int main(void)
{
/* hardware on port D:
* PD0: RX
* PD1: TX
* PD2: D+
* PD3: INT1/IR_IN
* PD4: D-
* PD5: IR_OUT
* PD7: DF_CS
*/
DDRD = _BV(PD5) | _BV(PD7);
PORTD = _BV(PD7);
/* configure pin change interrupt for button 1 and 2,
* for waking up from sleep mode... */
PCMSK1 = _BV(PCINT12) | _BV(PCINT13);
/* hardware on port B:
* PB0: PUD
* PB1: /LED2
* PB2: /LED1
* PB3: MOSI
* PB4: MISO
* PB5: SCK
*/
DDRB = _BV(PB0) | _BV(PB1) | _BV(PB2) | _BV(PB3) | _BV(PB5);
PORTB = _BV(PB1) | _BV(PB2);
/* hardware on port C:
* PC0: IR_IN2
* PC1: POWER
* PC2: BTN4
* PC3: BTN3
* PC4: BTN2
* PC5: BTN1
*/
DDRC = 0;
PORTC = _BV(PC2) | _BV(PC3) | _BV(PC4) | _BV(PC5);
/* init analog to digital converter,
* convert on PC1(ADC1)
* prescaler 64 => 250khz frequency */
ADMUX = _BV(REFS0) | _BV(ADLAR) | _BV(ADIF) | _BV(MUX0);
ADCSRA = _BV(ADEN) | _BV(ADPS1);
/* init spi */
SPCR = _BV(SPE) | _BV(MSTR);
SPSR |= _BV(SPI2X);
/* init timer2 for key debouncing, CTC, prescaler 1024,
* timeout after 10ms */
TCCR2A = _BV(WGM21);
TCCR2B = _BV(CS22) | _BV(CS21) | _BV(CS20);
TIMSK2 = _BV(OCIE2A);
OCR2A = F_CPU/100/1024;
/* configure sleep mode */
set_sleep_mode(SLEEP_MODE_STANDBY);
#ifdef DEBUG_UART
/* uart */
UBRR0H = 0;
UBRR0L = 8;
UCSR0C = _BV(UCSZ00) | _BV(UCSZ01);
UCSR0B = _BV(TXEN0);
UDR0 = 'b';
while(!(UCSR0A & _BV(UDRE0)));
#endif
/* read dataflash status */
df_select();
SPDR = 0xd7;
while(!(SPSR & _BV(SPIF)));
SPDR = 0;
while(!(SPSR & _BV(SPIF)));
uint8_t df_status = SPDR;
/* read battery voltage */
uint8_t bat = battery_voltage();
#ifdef DEBUG_UART
UDR0 = 'D';
while(!(UCSR0A & _BV(UDRE0)));
UDR0 = df_status;
while(!(UCSR0A & _BV(UDRE0)));
UDR0 = 'V';
while(!(UCSR0A & _BV(UDRE0)));
UDR0 = bat;
while(!(UCSR0A & _BV(UDRE0)));
#endif
df_release();
sei();
#ifdef BLINK_START
/* blink start sequence */
blink(BLINK_START);
#endif
if (df_status == DF_STATUS_IDLE)
blink(BLINK_DF_SEEN);
else
blink(BLINK_DF_ERROR);
if (bat >= MIN_BAT_VOLTAGE)
blink(BLINK_BAT_OK);
else
blink(BLINK_BAT_FAIL);
uint8_t pos;
uint8_t button_sum = 0;
while (1)
{
/* if a button has been pressed and we're idle, wait some more time to determine mode */
if (state == IDLE && (button_press[0] > 0 || button_press[1] > 0)) {
/* wait one second via timer1, using prescaler 1024 */
TIFR1 = TIFR1;
OCR1A = F_CPU/1024/2;
TCCR1B = _BV(CS12) | _BV(CS10);
button_sum = 0;
state = READ_COMMAND;
}
/* if we're waiting for a command, and some button has been pressed, reset timeout */
uint8_t sum = button_press[0] + button_press[1];
if (state == READ_COMMAND && sum != button_sum) {
TCNT1 = 0;
button_sum = sum;
}
/* if we're waiting for a command, check if the timer expired */
if (state == READ_COMMAND && (TIFR1 & _BV(OCF1A))) {
/* disable timer1 */
TCCR1B = 0;
TCNT1 = 0;
/* parse button presses */
if (button_press[0] == 1 && button_press[1] == 0) {
if (battery_voltage() < MIN_BAT_VOLTAGE && !options.ignore_bat) {
blink(BLINK_VOLTAGE);
} else {
/* start transmitting */
pos = 0;
current_code = &codes[0];
single_code = &codes[0];
state = LOAD_CODE;
#ifdef BLINK_MODE1
/* blink mode 1 */
blink(BLINK_MODE1);
#endif
if (!options.silent)
PORTB &= ~_BV(PB1);
}
} else if (button_press[0] == 0) {
if (button_press[1] == 1) {
options.silent = !options.silent;
/* blink for silent toggle */
if (options.silent)
blink(BLINK_SILENT);
else
blink(BLINK_NONSILENT);
} else if (button_press[1] == 2) {
options.single_step = !options.single_step;
/* blink for single step toggle */
if (options.single_step)
blink(BLINK_STEP);
else
blink(BLINK_NOSTEP);
} else if (button_press[1] == 3) {
options.ignore_bat = !options.ignore_bat;
/* blink for ignore battery toggle */
if (options.ignore_bat)
blink(BLINK_BAT_IGNORE);
else
blink(BLINK_BAT_HONOR);
} else
blink(BLINK_INVALID);
} else
blink(BLINK_INVALID);
/* reset state, if not yet done */
if (state == READ_COMMAND)
state = IDLE;
/* reset buttons */
button_press[0] = 0;
button_press[1] = 0;
button_press[2] = 0;
}
if (state == LOAD_CODE) {
/* if we're in single-step mode, wait for a keypress */
if (options.single_step) {
while (button_press[0] == 0 && button_press[1] == 0 && button_press[2] == 0);
/* send next code if button1 has been pressed, stop if button2
* has been pressed, resend code if button3 has been pressed */
if (button_press[2]) {
current_code = single_code;
button_press[1] = 0;
} else if (!button_press[1]) {
button_press[1] = 0;
}
/* reset buttons */
button_press[0] = 0;
button_press[2] = 0;
}
/* stop sending if button2 has been pressed */
if (button_press[1] > 0) {
button_press[0] = 0;
button_press[1] = 0;
PORTB |= _BV(PB1);
#ifdef BLINK_MODE1_END
blink(BLINK_MODE1_END);
#endif
state = IDLE;
} else {
#ifdef DEBUG_UART
UDR0 = 'L';
while(!(UCSR0A & _BV(UDRE0)));
#endif
/* if we're in single step mode, remember code address for single-retransmit */
single_code = current_code;
/* load next generating function and generate timing table */
void (*func)(void);
uint16_t ptr = next_word();
func = (void *)ptr;
if (func != NULL) {
#ifdef DEBUG_UART
UDR0 = 'p';
while(!(UCSR0A & _BV(UDRE0)));
UDR0 = pos++;
while(!(UCSR0A & _BV(UDRE0)));
#endif
/* call generating function */
func();
#ifdef DEBUG_UART
UDR0 = 'f';
while(!(UCSR0A & _BV(UDRE0)));
#endif
/* reset timing pointer */
current_timing = &timing[0];
/* update state */
state = TRANSMIT_CODE;
/* init timer1 for initial delay before sending:
* prescaler 256, CTC mode (TOP == OCR1A)
* enable compare interrupts */
OCR1A = DELAY_NEXT_CODE;
OCR1B = 0xffff;
TIFR1 = TIFR1;
TIMSK1 = _BV(OCIE1A) | _BV(OCIE1B);
TCCR1B = _BV(CS12) | _BV(WGM12);
} else {
#ifdef DEBUG_UART
UDR0 = 'E';
while(!(UCSR0A & _BV(UDRE0)));
#endif
PORTB |= _BV(PB1);
#ifdef BLINK_MODE1_END
blink(BLINK_MODE1_END);
#endif
state = IDLE;
}
sleep_counter = 0;
}
}
if (state == SLEEP) {
/* enable pin change interrupt for button 1 and 2,
* for waking up from sleep mode... */
PCICR = _BV(PCIE1);
/* set and enter sleep mode */
sleep_mode();
sleep_counter = SLEEP_COUNTER_VALUE;
state = IDLE;
/* disable pin change interrupt for button 1 and 2,
* for waking up from sleep mode... */
PCICR = 0;
}
}
}
/**
* 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;
}
void rn42_task(void)
{
int16_t c;
// Raw mode: interpret output report of LED state
while ((c = rn42_getc()) != -1) {
// LED Out report: 0xFE, 0x02, 0x01, <leds>
// To get the report over UART set bit3 with SH, command.
static enum {LED_INIT, LED_FE, LED_02, LED_01} state = LED_INIT;
switch (state) {
case LED_INIT:
if (c == 0xFE) state = LED_FE;
else {
if (0x0 <= c && c <= 0x7f) xprintf("%c", c);
else xprintf(" %02X", c);
}
break;
case LED_FE:
if (c == 0x02) state = LED_02;
else state = LED_INIT;
break;
case LED_02:
if (c == 0x01) state = LED_01;
else state = LED_INIT;
break;
case LED_01:
dprintf("LED status: %02X\n", c);
rn42_set_leds(c);
state = LED_INIT;
break;
default:
state = LED_INIT;
}
}
static uint16_t prev_timer = 0;
uint16_t e = timer_elapsed(prev_timer);
if (e > 1000) {
/* every second */
prev_timer += e/1000*1000;
/* Low voltage alert */
uint8_t bs = battery_status();
if (bs == LOW_VOLTAGE) {
battery_led(LED_ON);
} else {
battery_led(LED_CHARGER);
}
/* every minute */
uint32_t t = timer_read32()/1000;
if (t%60 == 0) {
uint16_t v = battery_voltage();
uint8_t h = t/3600;
uint8_t m = t%3600/60;
uint8_t s = t%60;
dprintf("%02u:%02u:%02u\t%umV\n", h, m, s, v);
}
}
/* Connection monitor */
if (!rn42_rts() && rn42_linked()) {
status_led(true);
} else {
status_led(false);
}
}
bool command_extra(uint8_t code)
{
uint32_t t;
uint16_t b;
switch (code) {
case KC_H:
case KC_SLASH: /* ? */
print("\n\n----- Bluetooth RN-42 Help -----\n");
print("i: RN-42 info\n");
print("b: battery voltage\n");
print("Del: enter/exit RN-42 config mode\n");
print("Slck: RN-42 initialize\n");
print("1-4: restore link\n");
print("F1-F4: store link\n");
print("p: pairing\n");
if (config_mode) {
return true;
} else {
print("u: toggle Force USB mode\n");
return false; // to display default command help
}
case KC_P:
pairing();
return true;
/* Store link address to EEPROM */
case KC_F1:
store_link(RN42_LINK0);
return true;
case KC_F2:
store_link(RN42_LINK1);
return true;
case KC_F3:
store_link(RN42_LINK2);
return true;
case KC_F4:
store_link(RN42_LINK3);
return true;
/* Restore link address to EEPROM */
case KC_1:
restore_link(RN42_LINK0);
return true;
case KC_2:
restore_link(RN42_LINK1);
return true;
case KC_3:
restore_link(RN42_LINK2);
return true;
case KC_4:
restore_link(RN42_LINK3);
return true;
case KC_5:
xprintf("blah! \n");
//rn42_cts_hi();
if (stay_connected == 1){
dprintf("Disconnect after 5 min.\n");
stay_connected = !stay_connected;
}else{
dprintf("Stay connected.\n");
stay_connected = 1;
//last_press_timer = timer_read32();
}
return true;
case KC_6:
clear_keyboard();
host_set_driver(&rn42_config_driver); // null driver; not to send a key to host
rn42_disconnect();
return true;
case KC_I:
print("\n----- RN-42 info -----\n");
xprintf("protocol: %s\n", (host_get_driver() == &rn42_driver) ? "RN-42" : "LUFA");
xprintf("force_usb: %X\n", force_usb);
xprintf("rn42: %s\n", rn42_rts() ? "OFF" : (rn42_linked() ? "CONN" : "ON"));
xprintf("rn42_autoconnecting(): %X\n", rn42_autoconnecting());
xprintf("config_mode: %X\n", config_mode);
xprintf("USB State: %s\n",
(USB_DeviceState == DEVICE_STATE_Unattached) ? "Unattached" :
(USB_DeviceState == DEVICE_STATE_Powered) ? "Powered" :
(USB_DeviceState == DEVICE_STATE_Default) ? "Default" :
(USB_DeviceState == DEVICE_STATE_Addressed) ? "Addressed" :
(USB_DeviceState == DEVICE_STATE_Configured) ? "Configured" :
(USB_DeviceState == DEVICE_STATE_Suspended) ? "Suspended" : "?");
xprintf("battery: ");
switch (battery_status()) {
case FULL_CHARGED: xprintf("FULL"); break;
case CHARGING: xprintf("CHARG"); break;
case DISCHARGING: xprintf("DISCHG"); break;
case LOW_VOLTAGE: xprintf("LOW"); break;
default: xprintf("?"); break;
};
xprintf("\n");
xprintf("RemoteWakeupEnabled: %X\n", USB_Device_RemoteWakeupEnabled);
xprintf("VBUS: %X\n", USBSTA&(1<<VBUS));
t = timer_read32()/1000;
uint8_t d = t/3600/24;
uint8_t h = t/3600;
uint8_t m = t%3600/60;
uint8_t s = t%60;
xprintf("uptime: %02u %02u:%02u:%02u\n", d, h, m, s);
xprintf("LINK0: %s\r\n", get_link(RN42_LINK0));
xprintf("LINK1: %s\r\n", get_link(RN42_LINK1));
xprintf("LINK2: %s\r\n", get_link(RN42_LINK2));
xprintf("LINK3: %s\r\n", get_link(RN42_LINK3));
return true;
case KC_B:
// battery monitor
t = timer_read32()/1000;
b = battery_voltage();
xprintf("BAT: %umV\t", b);
xprintf("%02u:", t/3600);
xprintf("%02u:", t%3600/60);
xprintf("%02u\n", t%60);
return true;
case KC_U:
if (config_mode) return false;
if (force_usb) {
print("Auto mode\n");
force_usb = false;
} else {
print("USB mode\n");
clear_keyboard();
host_set_driver(&rn42_driver);
}
return true;
case KC_DELETE:
/* RN-42 Command mode */
if (rn42_autoconnecting()) {
enter_command_mode();
command_state = CONSOLE;
config_mode = true;
} else {
exit_command_mode();
command_state = ONESHOT;
config_mode = false;
}
return true;
case KC_SCROLLLOCK:
init_rn42();
return true;
default:
if (config_mode)
return true;
else
return false; // yield to default command
}
return true;
}
bool battery_is_present(void)
{
int voltage = battery_voltage();
return (voltage > 0);
}
int main(void) {
int i;
int reading1;
int reading2;
int address;
int test_array[100];
for(i=0;i<100;i++) {
motor(0,i); //spin the left motor forward
motor(1,i); //spin the right motor forward
}
i=0;
while(i>-100) {
motor(0,i); //spin the left motor backwards
motor(1,i); //spin the right motor backwards
i--;
}
i=50;
set_servo(0,i); //set servo motor 0 to move to 50 degrees
set_servo(3,i); //set servo motor 3 to move to 50 degrees
delay_milliseconds(100); //pause 100 milliseconds
delay_seconds(1); //pause 1 second
lcd_clear();
lcd_cursor(0,0);
printf ("Test1\n"); //the LCD will be 8x2 (8chars x 2lines)
printf ("Test2\n");
reading1 = analog(0); //get a reading from analog pin 0
reading2 = analog(5); //get a reading from analog pin 5
reading1 = digital(0); //get a reading from digital pin 0
reading2 = digital(1); //get a reading from digital pin 1
if (reading1 > 100) {
printf ("%d\n", reading1);
}
reading1 = accelerometer(0); //read x-axis
reading2 = accelerometer(1); //read y-axis
reading1 = accelerometer(2); //read z-axis
reading1 = battery_voltage(); //battery voltage
reading1 = read_serial_port(); //get a byte from the serial port
write_serial_port(reading1); //send a byte on the serial port
led1(1); //turn on on-board led1
led1(0); //turn off on-board led1
reading1 = read_ir(); //get a reading from the IR receiver
reset(); //reset the board
write_eeprom(address, reading1); //write a value to the non-volatile eeprom (these values will be stored across resets)
reading1 = read_eeprom(address); //get a reading from the non-volatile eeprom
reading1 = button(); //read the state of the on-board button
return 0;
}
