Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / drivers / ao_btm.c

diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c
index 93d9dd9d341313d54fa927ca496ff8544374b894..04bf413890e349014f0448b12bbedfef892d1841 100644 (file)
--- a/src/drivers/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -29,12 +30,12 @@
 #endif
 
 int8_t                 ao_btm_stdio;
-__xdata uint8_t                ao_btm_connected;
+uint8_t                ao_btm_connected;
 
-#define BT_DEBUG 0
+#define BT_DEBUG 1
 
 #if BT_DEBUG
-__xdata char           ao_btm_buffer[256];
+char           ao_btm_buffer[256];
 uint16_t               ao_btm_ptr;
 char                   ao_btm_dir;
 
@@ -75,6 +76,7 @@ ao_btm_dump(void)
 {
        int i;
        char c;
+       uint16_t r;
 
        for (i = 0; i < ao_btm_ptr; i++) {
                c = ao_btm_buffer[i];
@@ -84,8 +86,8 @@ ao_btm_dump(void)
                        putchar(ao_btm_buffer[i]);
        }
        putchar('\n');
-       ao_cmd_decimal();
-       if (ao_cmd_status == ao_cmd_success && ao_cmd_lex_i)
+       r = ao_cmd_decimal();
+       if (ao_cmd_status == ao_cmd_success && r)
                ao_btm_ptr = 0;
        ao_cmd_status = ao_cmd_success;
 }
@@ -93,13 +95,17 @@ ao_btm_dump(void)
 static void
 ao_btm_speed(void)
 {
-       ao_cmd_decimal();
-       if (ao_cmd_lex_u32 == 57600)
+       switch (ao_cmd_decimal()) {
+       case 57600:
                ao_serial_btm_set_speed(AO_SERIAL_SPEED_57600);
-       else if (ao_cmd_lex_u32 == 19200)
+               break;
+       case 19200:
                ao_serial_btm_set_speed(AO_SERIAL_SPEED_19200);
-       else
+               break;
+       default:
                ao_cmd_status = ao_cmd_syntax_error;
+               break;
+       }
 }
 
 static uint8_t ao_btm_enable;
@@ -136,7 +142,7 @@ ao_btm_send(void)
        ao_wakeup((void *) &ao_serial_btm_rx_fifo);
 }
 
-__code struct ao_cmds ao_btm_cmds[] = {
+const struct ao_cmds ao_btm_cmds[] = {
        { ao_btm_dump,          "d\0Dump btm buffer." },
        { ao_btm_speed,         "s <19200,57600>\0Set btm serial speed." },
        { ao_btm_send,          "S\0BTM interactive mode. ~ to exit." },
@@ -152,7 +158,7 @@ __code struct ao_cmds ao_btm_cmds[] = {
 #endif
 
 #define AO_BTM_MAX_REPLY       16
-__xdata char           ao_btm_reply[AO_BTM_MAX_REPLY];
+char           ao_btm_reply[AO_BTM_MAX_REPLY];
 
 /*
  * Read one bluetooth character.
@@ -251,7 +257,7 @@ ao_btm_wait_reply(void)
 }
 
 void
-ao_btm_string(__code char *cmd)
+ao_btm_string(const char *cmd)
 {
        char    c;
 
@@ -260,9 +266,18 @@ ao_btm_string(__code char *cmd)
 }
 
 uint8_t
-ao_btm_cmd(__code char *cmd)
+ao_btm_cmd(const char *cmd)
 {
        ao_btm_drain();
+
+#ifdef AO_BTM_INT_PORT
+       /* Trust that AltosDroid will eventually disconnect and let us
+        * get things set up. The BTM module doesn't appear to listen
+        * for +++, so we have no way to force a disconnect.
+        */
+       while (ao_btm_connected)
+               ao_sleep(&ao_btm_connected);
+#endif
        ao_btm_string(cmd);
        return ao_btm_wait_reply();
 }
@@ -332,7 +347,7 @@ ao_btm_check_link()
                );
 #else
        ao_arch_block_interrupts();
-       if (ao_gpio_get(AO_BTM_INT_PORT, AO_BTM_INT_PIN, AO_BTM_INT) == 0) {
+       if (ao_gpio_get(AO_BTM_INT_PORT, AO_BTM_INT_PIN) == 0) {
                ao_btm_connected = 1;
        } else {
                ao_btm_connected = 0;
@@ -341,7 +356,7 @@ ao_btm_check_link()
 #endif
 }
 
-__xdata struct ao_task ao_btm_task;
+struct ao_task ao_btm_task;
 
 /*
  * A thread to initialize the bluetooth device and
@@ -350,6 +365,10 @@ __xdata struct ao_task ao_btm_task;
 void
 ao_btm(void)
 {
+#ifdef AO_BTM_INT_PORT
+       ao_exti_enable(AO_BTM_INT_PORT, AO_BTM_INT_PIN);
+#endif
+
        /*
         * Wait for the bluetooth device to boot
         */
@@ -380,6 +399,8 @@ ao_btm(void)
        /* Turn off status reporting */
        ao_btm_cmd("ATQ1\r");
 
+       ao_btm_drain();
+
        ao_btm_stdio = ao_add_stdio(_ao_serial_btm_pollchar,
                                    ao_serial_btm_putchar,
                                    NULL);
@@ -388,10 +409,6 @@ ao_btm(void)
        /* Check current pin state */
        ao_btm_check_link();
 
-#ifdef AO_BTM_INT_PORT
-       ao_exti_enable(AO_BTM_INT_PORT, AO_BTM_INT_PIN);
-#endif
-
        for (;;) {
                while (!ao_btm_connected)
                        ao_sleep(&ao_btm_connected);
@@ -438,7 +455,7 @@ ao_btm_init (void)
        ao_serial_btm_set_speed(AO_SERIAL_SPEED_19200);
 
 #ifdef AO_BTM_RESET_PORT
-       ao_enable_output(AO_BTM_RESET_PORT,AO_BTM_RESET_PIN,AO_BTM_RESET,0);
+       ao_enable_output(AO_BTM_RESET_PORT,AO_BTM_RESET_PIN,0);
 #endif
 
 #ifdef AO_BTM_INT_PORT