libnxt-0.3/0002755000175000017500000000000010612567225011304 5ustar davedavelibnxt-0.3/make_flash_header.py0000755000175000017500000000572010612563603015261 0ustar davedave#!/usr/bin/env python # # Take the flash_routine.bin file, and embed it as an array of bytes # in a flash_routine.h, ready for packaging with the C firmware # flasher. # # If a file name is provided on the commandline, load that file as the # firmware flashing routine instead. # import sys import os import os.path import urllib2 import sha FLASH_DIR = 'flash_write' FLASH_BIN = 'flash.bin' FLASH_PATH = os.path.join(FLASH_DIR, FLASH_BIN) DOWNLOAD_FLASH_CHECKSUM = '589501072d76be483f873a787080adcab20841f4' DOWNLOAD_FLASH_URL = 'http://libnxt.googlecode.com/files/flash.bin' def check_flash_size(): statinfo = os.stat(FLASH_PATH) if statinfo.st_size > 1024: print "The flash driver looks too big, refusing to embed." return False return True def ensure_flash_bin(): # If the flash binary does exist, just check its size and return. if os.path.isfile(FLASH_PATH): return check_flash_size() # If the binary doesn't exist, offer to download a binary build # from Google Code. print """ Embedded flash driver not found. This is required to build LibNXT. If you have an ARM7 cross-compiler toolchain available, you can build the flash driver by interrupting (ctrl-C) this build and running 'make' in the 'flash_write' subdirectory. Then rerun this build again, and everything should work great. If you do not have a cross-compiler, do not despair! I can also download a copy of the compiled driver (built by the libnxt developer) from the project website and use that. """ reply = raw_input("Is that okay? (y/n) ") if reply not in ('y', 'Y', 'yes'): print ("Okay, you're the boss. But that does mean I can't build " "LibNXT. Sorry.") return False f = urllib2.urlopen(DOWNLOAD_FLASH_URL) data = f.read() f.close() # Verify the SHA-1 checksum checksum = sha.new(data).hexdigest() if checksum != DOWNLOAD_FLASH_CHECKSUM: print "Oops, the flash binary I downloaded has the wrong checksum!" print "Aborting :(" return False f = open(FLASH_PATH, 'w') f.write(data) f.close() if os.path.isfile(FLASH_PATH): return check_flash_size() # Dude, you're really not lucky, are you. return False def main(): if not ensure_flash_bin(): sys.exit(1) f = file(FLASH_PATH) fwbin = f.read() f.close() data = ['0x%s' % c.encode('hex') for c in fwbin] for i in range(0, len(data), 12): data[i] = "\n " + data[i] data_str = ', '.join(data) len_data = "%d" % len(data) # Read in the template tplfile = file('flash_routine.h.base') template = tplfile.read() tplfile.close() # Replace the values in the template template = template.replace('___FLASH_BIN___', data_str + '\n') template = template.replace('___FLASH_LEN___', len_data) # Output the done header out = file('flash_routine.h', 'w') out.write(template) out.close() if __name__ == '__main__': main() libnxt-0.3/main_fwflash.c0000644000175000017500000000553510612552541014107 0ustar davedave/** * Main program code for the fwflash utility. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #include #include #include "error.h" #include "lowlevel.h" #include "samba.h" #include "firmware.h" #define NXT_HANDLE_ERR(expr, nxt, msg) \ do { \ nxt_error_t nxt__err_temp = (expr); \ if (nxt__err_temp) \ return handle_error(nxt, msg, nxt__err_temp); \ } while(0) static int handle_error(nxt_t *nxt, char *msg, nxt_error_t err) { printf("%s: %s\n", msg, nxt_str_error(err)); if (nxt != NULL) nxt_close(nxt); exit(err); } int main(int argc, char *argv[]) { nxt_t *nxt; nxt_error_t err; char *fw_file; if (argc != 2) { printf("Syntax: %s \n" "\n" "Example: %s nxtos.bin\n", argv[0], argv[0]); exit(1); } fw_file = argv[1]; printf("Checking firmware... "); NXT_HANDLE_ERR(nxt_firmware_validate(fw_file), NULL, "Error"); printf("OK.\n"); NXT_HANDLE_ERR(nxt_init(&nxt), NULL, "Error during library initialization"); err = nxt_find(nxt); if (err) { if (err == NXT_NOT_PRESENT) printf("NXT not found. Is it properly plugged in via USB?\n"); else NXT_HANDLE_ERR(0, NULL, "Error while scanning for NXT"); exit(1); } if (!nxt_in_reset_mode(nxt)) { printf("NXT found, but not running in reset mode.\n"); printf("Please reset your NXT manually and restart this program.\n"); exit(2); } NXT_HANDLE_ERR(nxt_open(nxt), NULL, "Error while connecting to NXT"); printf("NXT device in reset mode located and opened.\n" "Starting firmware flash procedure now...\n"); NXT_HANDLE_ERR(nxt_firmware_flash(nxt, fw_file), nxt, "Error flashing firmware"); printf("Firmware flash complete.\n"); NXT_HANDLE_ERR(nxt_jump(nxt, 0x00100000), nxt, "Error booting new firmware"); printf("New firmware started!\n"); NXT_HANDLE_ERR(nxt_close(nxt), NULL, "Error while closing connection to NXT"); return 0; } libnxt-0.3/lowlevel.h0000644000175000017500000000247110612552541013303 0ustar davedave/** * NXT bootstrap interface; low-level USB functions. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #ifndef __LOWLEVEL_H__ #define __LOWLEVEL_H__ #include #include "error.h" struct nxt_t; typedef struct nxt_t nxt_t; nxt_error_t nxt_init(nxt_t **nxt); nxt_error_t nxt_find(nxt_t *nxt); nxt_error_t nxt_open(nxt_t *nxt); nxt_error_t nxt_close(nxt_t *nxt); int nxt_in_reset_mode(nxt_t *nxt); nxt_error_t nxt_send_buf(nxt_t *nxt, char *buf, int len); nxt_error_t nxt_send_str(nxt_t *nxt, char *str); nxt_error_t nxt_recv_buf(nxt_t *nxt, char *buf, int len); #endif /* __LOWLEVEL_H__ */ libnxt-0.3/error.h0000644000175000017500000000266410612552541012607 0ustar davedave/** * NXT bootstrap interface; error handling code. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #ifndef __ERROR_H__ #define __ERROR_H__ typedef enum { NXT_OK = 0, NXT_NOT_PRESENT = 1, NXT_CONFIGURATION_ERROR = 2, NXT_IN_USE = 3, NXT_USB_WRITE_ERROR = 4, NXT_USB_READ_ERROR = 5, NXT_SAMBA_PROTOCOL_ERROR = 6, NXT_HANDSHAKE_FAILED = 7, NXT_FILE_ERROR = 8, NXT_INVALID_FIRMWARE = 9, } nxt_error_t; const char const *nxt_str_error(nxt_error_t err); #define NXT_ERR(expr) \ do { \ nxt_error_t nxt__err_temp = (expr); \ if (nxt__err_temp) \ return nxt__err_temp; \ } while(0) #endif /* __ERROR_H__ */ libnxt-0.3/flash.h0000644000175000017500000000232310612552541012543 0ustar davedave/** * NXT bootstrap interface; NXT flash chip access code. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #ifndef __FLASH_H__ #define __FLASH_H__ #include "error.h" #include "lowlevel.h" nxt_error_t nxt_flash_wait_ready(nxt_t *nxt); nxt_error_t nxt_flash_lock_region(nxt_t *nxt, int region_num); nxt_error_t nxt_flash_unlock_region(nxt_t *nxt, int region_num); nxt_error_t nxt_flash_lock_all_regions(nxt_t *nxt); nxt_error_t nxt_flash_unlock_all_regions(nxt_t *nxt); #endif /* __FLASH_H__ */ libnxt-0.3/AUTHORS0000644000175000017500000000005310612552541012343 0ustar davedaveDavid Anderson libnxt-0.3/main_fwexec.c0000644000175000017500000000703110612566040013726 0ustar davedave/** * Main program code for the runc utility. * * Copyright 2006 Lawrie Griffiths * 2007 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #include #include #include "error.h" #include "lowlevel.h" #include "samba.h" #include "firmware.h" #define NXT_HANDLE_ERR(expr, nxt, msg) \ do { \ nxt_error_t nxt__err_temp = (expr); \ if (nxt__err_temp) \ handle_error(nxt, msg, nxt__err_temp); \ } while(0) static int handle_error(nxt_t *nxt, char *msg, nxt_error_t err) { printf("%s: %s\n", msg, nxt_str_error(err)); if (nxt != NULL) nxt_close(nxt); exit(err); } void get_firmware(char **firmware, int *len, char *filename) { FILE *f; f = fopen(filename, "rb"); if (f == NULL) NXT_HANDLE_ERR(NXT_FILE_ERROR, NULL, "Error opening file"); fseek(f, 0, SEEK_END); *len = ftell(f); rewind(f); if (*len > 56*1024) NXT_HANDLE_ERR(NXT_INVALID_FIRMWARE, NULL, "Firmware image is too big to fit in RAM."); *firmware = malloc(*len); if (*firmware == NULL) NXT_HANDLE_ERR(NXT_FILE_ERROR, NULL, "Error allocating memory"); if (fread(*firmware, 1, *len, f) != *len) NXT_HANDLE_ERR(NXT_FILE_ERROR, NULL, "Error reading file"); printf("Firmware size is %d bytes\n", *len); fclose(f); } int main(int argc, char *argv[]) { nxt_t *nxt; nxt_error_t err; char *firmware; int firmware_len; if (argc != 2) { printf("Syntax: %s \n" "\n" "Example: %s beep.bin\n", argv[0], argv[0]); exit(1); } get_firmware(&firmware, &firmware_len, argv[1]); NXT_HANDLE_ERR(nxt_init(&nxt), NULL, "Error during library initialization"); err = nxt_find(nxt); if (err) { if (err == NXT_NOT_PRESENT) printf("NXT not found. Is it properly plugged in via USB?\n"); else NXT_HANDLE_ERR(0, NULL, "Error while scanning for NXT"); exit(1); } if (!nxt_in_reset_mode(nxt)) { printf("NXT found, but not running in reset mode.\n"); printf("Please reset your NXT manually and restart this program.\n"); exit(2); } NXT_HANDLE_ERR(nxt_open(nxt), NULL, "Error while connecting to NXT"); printf("NXT device in reset mode located and opened.\n" "Uploading firmware...\n"); // Send the C program NXT_HANDLE_ERR(nxt_send_file(nxt, 0x202000, firmware, firmware_len), nxt, "Error Sending file"); printf("Firmware uploaded, executing...\n"); NXT_HANDLE_ERR(nxt_jump(nxt, 0x202000), nxt, "Error jumping to C program"); NXT_HANDLE_ERR(nxt_close(nxt), NULL, "Error while closing connection to NXT"); printf("Firmware started.\n"); return 0; } libnxt-0.3/firmware.c0000644000175000017500000000607610612552541013266 0ustar davedave/** * NXT bootstrap interface; NXT firmware handling code. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #include #include #include #include #include #include #include #include "error.h" #include "lowlevel.h" #include "samba.h" #include "flash.h" #include "firmware.h" #include "flash_routine.h" static nxt_error_t nxt_flash_prepare(nxt_t *nxt) { // Put the clock in PLL/2 mode NXT_ERR(nxt_write_word(nxt, 0xFFFFFC30, 0x7)); // Unlock the flash chip NXT_ERR(nxt_flash_unlock_all_regions(nxt)); // Send the flash writing routine NXT_ERR(nxt_send_file(nxt, 0x202000, flash_bin, flash_len)); return NXT_OK; } static nxt_error_t nxt_flash_block(nxt_t *nxt, nxt_word_t block_num, char *buf) { // Set the target block number NXT_ERR(nxt_write_word(nxt, 0x202300, block_num)); // Send the block to flash NXT_ERR(nxt_send_file(nxt, 0x202100, buf, 256)); // Jump into the flash writing routine NXT_ERR(nxt_jump(nxt, 0x202000)); return NXT_OK; } static nxt_error_t nxt_flash_finish(nxt_t *nxt) { return nxt_flash_wait_ready(nxt); } static nxt_error_t nxt_firmware_validate_fd(int fd) { struct stat s; if (fstat(fd, &s) < 0) return NXT_FILE_ERROR; if (s.st_size > 256*1024) return NXT_INVALID_FIRMWARE; return NXT_OK; } nxt_error_t nxt_firmware_validate(char *fw_path) { nxt_error_t err; int fd; fd = open(fw_path, O_RDONLY); if (fd < 0) return NXT_FILE_ERROR; err = nxt_firmware_validate_fd(fd); close(fd); return err; } nxt_error_t nxt_firmware_flash(nxt_t *nxt, char *fw_path) { int fd, i, err; fd = open(fw_path, O_RDONLY); if (fd < 0) return NXT_FILE_ERROR; err = nxt_firmware_validate_fd(fd); if (err != NXT_OK) { close(fd); return NXT_INVALID_FIRMWARE; } NXT_ERR(nxt_flash_prepare(nxt)); for (i = 0; i < 1024; i++) //256*1024; i += 256) { char buf[256]; int ret; memset(buf, 0, 256); ret = read(fd, buf, 256); if (ret != -1) NXT_ERR(nxt_flash_block(nxt, i, buf)); if (ret < 256) { close(fd); NXT_ERR(nxt_flash_finish(nxt)); return ret == -1 ? NXT_FILE_ERROR : NXT_OK; } NXT_ERR(nxt_flash_block(nxt, i, buf)); } close(fd); NXT_ERR(nxt_flash_finish(nxt)); return NXT_OK; } libnxt-0.3/README0000644000175000017500000001227710612566054012172 0ustar davedave LibNXT and FwFlash v0.3 David Anderson ==================== What? ===== LibNXT is an utility library for talking to the LEGO Mindstorms NXT intelligent brick at a relatively low level. It currently does: - Handling USB communication and locating the NXT in the USB tree. - Interaction with the Atmel AT91SAM boot assistant. - Flashing of a firmware image to the NXT. - Execution of code directly in RAM. (If you have ideas of other stuff it should do, please suggest!) LibNXT is targetted at the platforms that the official Lego Minstorms NXT software overlooks. Specifically, it will work on any POSIX-compliant operating system where libusb 0.1 (http://libusb.sf.net/) is supported. The design of LibNXT is layered, meaning you can plug into it at any level of complexity or abstraction you desire, from the lowest level USB bulk bit-pushing interface, to an API exposing the SAM-BA commandset, right up to just calling nxt_firmware_flash() and having everything taken care of! `fwflash` is the first utility program that uses LibNXT. As its name hints, its purpose is to take a NXT firmware image file and flash it to a connected NXT device. `fwexec` is another cool utility, originally written by the folks of the Lejos project (http://lejos.sourceforge.net/). It takes a specially compiled firmware image, uploads it to the NXT's RAM, and executes it directly from there. While this firmware will only last until the brick is powered down, it is a great tool for testing firmwares during development without wearing down the flash memory. Who? ==== Uh, that would be me. David Anderson, linux/open source developer and enthusiast, and fan of embedded stuff in general. As mentionned above, the `fwexec` utility was originally written by Lawrie Griffiths, over at Lejos. When? ===== Started the day after receiving the NXT kit, I started by working out the firmware flashing procedure from the specs and a USB dump of the windows software at work. Since then, after obtaining a proof-of-concept application, I've been implementing this library to abstract the horrors of low-level USB chatter into a nice, clean library. - Release 0.3 (22/04/2007) : more than a year later, there are a few changes, and it can't hurt to push them out in an actual release. This release includes a more intelligent build system that handles a missing flash driver elegantly, and the `fwexec` utility program. Unless people have specific itches that need scratching, or bugs that should be fixed, this will probably be the final release of libnxt. My personal itch is scratched, and I've moved on to using libnxt to write firmware code :-). - Release 0.2 (17/03/2006) : firmware flashing is now done entirely with open source code. The flash driver routine has been replaced with open source code implementing the flashing procedure. - Release 0.1.1 (10/03/2006) : add big-endian host arch support, and make the firmware image reading process a little less linux-centric (use of the posix open/read/close API instead of mmap). - Release 0.1 (10/03/2006) : featuring the FwFlash utility and a LibNXT with just enough API in it to get FwFlash working :-) How? ==== To compile all of this you'll need a copy of libusb 0.1 on your system, as well as the scons project manager. - Libusb 0.1: http://libusb.sf.net/ - Scons: http://www.scons.org/ When you have all that, just run 'scons' in the libnxt directory, and compilation should follow. Once you're done, you can try fwflash out by resetting your NXT (see your user manual for details on this) and running: ./fwflash nxtos.bin nxtos.bin is the official Lego Mindstorms NXT firmware. You can find this on your current installation of the Mindstorms software, or on LEGO's website. If all goes well, fwflash should inform you that it has found the NXT on your USB device bus, and that flashing has started. After a few seconds, it should announce successful flashing, and say that it has booted the new firmware, which should be answered by the greeting sound of the LEGO firmware as the brick starts up :-). If it doesn't, well it's either a problem with your USB device permissions (if fwflash can't find the NXT), or it's a bug (if the brick doesn't reboot properly, or if some weird error is reported by fwflash and it bombs out. The release tarball comes with a 'flash.bin'. This file is the compiled version of the embedded flash driver, which is uploaded to the NXT's RAM and required to write data into flash memory. If you do not have a release tarball, or accidentally deleted your copy of flash.bin, there are several options. If you have an ARM7 cross-compiler toolchain, you can simply type 'make' in the 'flash_write' subdirectory to rebuild the flash driver. If you don't have a suitable cross-compiler, you can just run 'scons' as usual. The build system will see that the flash driver is missing, and offer to download a binary copy from the LibNXT website and use that. libnxt-0.3/firmware.h0000644000175000017500000000205010612552541013257 0ustar davedave/** * NXT bootstrap interface; NXT firmware handling code. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #ifndef __FLASH_H__ #define __FLASH_H__ #include "error.h" #include "lowlevel.h" nxt_error_t nxt_firmware_flash(nxt_t *nxt, char *fw_path); nxt_error_t nxt_firmware_validate(char *fw_path); #endif /* __FLASH_H__ */ libnxt-0.3/flash_routine.h.base0000644000175000017500000000227110612563603015224 0ustar davedave/** * Flash routine. Hardcodes the ARM7 bytecode for writing data to * flash memory in the downloader binary. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #ifndef __FLASH_ROUTINE_H__ #define __FLASH_ROUTINE_H__ /* * An array containing all the bits of the flash routine bytecode. */ static char flash_bin[] = {___FLASH_BIN___}; /* * The number of bytes in the above array. */ static unsigned long flash_len = ___FLASH_LEN___; #endif /* __FLASH_ROUTINE_H__ */ libnxt-0.3/samba.c0000644000175000017500000000752110612552541012531 0ustar davedave/** * NXT bootstrap interface; NXT Bootstrap control functions. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #include #include #include "error.h" #include "lowlevel.h" #include "samba.h" static nxt_error_t nxt_format_command2(char *buf, char cmd, nxt_addr_t addr, nxt_word_t word) { snprintf(buf, 20, "%c%08X,%08X#", cmd, addr, word); return NXT_OK; } static nxt_error_t nxt_format_command(char *buf, char cmd, nxt_addr_t addr) { snprintf(buf, 20, "%c%08X#", cmd, addr); return NXT_OK; } static nxt_error_t nxt_write_common(nxt_t *nxt, char type, nxt_addr_t addr, nxt_word_t w) { char buf[21] = {0}; NXT_ERR(nxt_format_command2(buf, type, addr, w)); NXT_ERR(nxt_send_str(nxt, buf)); return NXT_OK; } nxt_error_t nxt_write_byte(nxt_t *nxt, nxt_addr_t addr, nxt_byte_t b) { return nxt_write_common(nxt, 'O', addr, b); } nxt_error_t nxt_write_hword(nxt_t *nxt, nxt_addr_t addr, nxt_hword_t hw) { return nxt_write_common(nxt, 'H', addr, hw); } nxt_error_t nxt_write_word(nxt_t *nxt, nxt_addr_t addr, nxt_word_t w) { return nxt_write_common(nxt, 'W', addr, w); } static nxt_error_t nxt_read_common(nxt_t *nxt, char cmd, int len, nxt_addr_t addr, nxt_word_t *word) { char buf[20] = {0}; nxt_word_t w; NXT_ERR(nxt_format_command2(buf, cmd, addr, len)); NXT_ERR(nxt_send_str(nxt, buf)); NXT_ERR(nxt_recv_buf(nxt, buf, len)); w = *((nxt_word_t*)buf); #ifdef _NXT_BIG_ENDIAN /* The value returned is in little-endian byte ordering, so swap bytes on a big-endian architecture. */ w = (((w & 0x000000FF) << 24) + ((w & 0x0000FF00) << 8) + ((w & 0x00FF0000) >> 8) + ((w & 0xFF000000) >> 24)); #endif /* _NXT_BIG_ENDIAN */ *word = w; return NXT_OK; } nxt_error_t nxt_read_byte(nxt_t *nxt, nxt_addr_t addr, nxt_byte_t *b) { nxt_word_t w; NXT_ERR(nxt_read_common(nxt, 'o', 1, addr, &w)); *b = (nxt_byte_t)w; return NXT_OK; } nxt_error_t nxt_read_hword(nxt_t *nxt, nxt_addr_t addr, nxt_hword_t *hw) { nxt_word_t w; NXT_ERR(nxt_read_common(nxt, 'h', 2, addr, &w)); *hw = (nxt_hword_t)w; return NXT_OK; } nxt_error_t nxt_read_word(nxt_t *nxt, nxt_addr_t addr, nxt_word_t *w) { return nxt_read_common(nxt, 'w', 4, addr, w); } nxt_error_t nxt_send_file(nxt_t *nxt, nxt_addr_t addr, char *file, unsigned short len) { char buf[20]; NXT_ERR(nxt_format_command2(buf, 'S', addr, len)); NXT_ERR(nxt_send_str(nxt, buf)); NXT_ERR(nxt_send_buf(nxt, file, len)); return NXT_OK; } nxt_error_t nxt_recv_file(nxt_t *nxt, nxt_addr_t addr, char *file, unsigned short len) { char buf[20]; NXT_ERR(nxt_format_command2(buf, 'R', addr, len)); NXT_ERR(nxt_send_str(nxt, buf)); NXT_ERR(nxt_recv_buf(nxt, file, len+1)); return NXT_OK; } nxt_error_t nxt_jump(nxt_t *nxt, nxt_addr_t addr) { char buf[20]; NXT_ERR(nxt_format_command(buf, 'G', addr)); NXT_ERR(nxt_send_str(nxt, buf)); return NXT_OK; } nxt_error_t nxt_samba_version(nxt_t *nxt, char *version) { char buf[3]; strcpy(buf, "V#"); NXT_ERR(nxt_send_str(nxt, buf)); NXT_ERR(nxt_recv_buf(nxt, version, 4)); version[4] = 0; return NXT_OK; } libnxt-0.3/flash_write/0002755000175000017500000000000010612567217013614 5ustar davedavelibnxt-0.3/flash_write/flash.bin0000644000175000017500000000021010612567217015372 0ustar davedave!ؠ@- 0 Ơ ! ʌ33!16@Q 3;#;4Z40 00 /libnxt-0.3/flash_write/crt0.s0000644000175000017500000000204710546415361014647 0ustar davedave/** * NXT bootstrap interface; NXT onboard flashing driver bootstrap. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ .text .align 4 .globl _start _start: /* Initialize the stack */ mov sp, #0x210000 /* Preserve old link register */ stmfd sp!, {lr} /* Call main */ bl do_flash_write /* Return */ ldmfd sp!, {pc} libnxt-0.3/flash_write/Makefile0000644000175000017500000000121110612563603015240 0ustar davedave#all: # gcc -Wall -O0 -mcpu=arm7tdmi-s -mapcs -mthumb-interwork -o flash.o flash.c -nostartfiles -nodefaultlibs -nostdlib -Wl,-e,main # objcopy -Obinary -j.text flash.o flash.bin # objdump --disassemble-all -bbinary -marm7tdmi flash.bin > flash.asm # CC=`which arm-elf-gcc` AS=`which arm-elf-as` LD=`which arm-elf-ld` OBJCOPY=`which arm-elf-objcopy` all: $(CC) -W -Wall -O3 -msoft-float -mcpu=arm7tdmi -mapcs -c -o flash.o flash.c $(AS) --warn -mfpu=softfpa -mcpu=arm7tdmi -mapcs-32 -o crt0.o crt0.s $(LD) -O3 --gc-sections crt0.o flash.o -o flash.elf $(OBJCOPY) -O binary flash.elf flash.bin clean: rm -f flash.o crt0.o flash.elf flash.bin libnxt-0.3/flash_write/flash.c0000644000175000017500000000273210546415361015055 0ustar davedave/** * NXT bootstrap interface; NXT onboard flashing driver. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #define VINTPTR(addr) ((volatile unsigned int *)(addr)) #define VINT(addr) (*(VINTPTR(addr))) #define USER_PAGE VINTPTR(0x00202100) #define USER_PAGE_NUM VINT(0x00202300) #define FLASH_BASE VINTPTR(0x00100000) #define FLASH_CMD_REG VINT(0xFFFFFF64) #define FLASH_STATUS_REG VINT(0xFFFFFF68) #define OFFSET_PAGE_NUM ((USER_PAGE_NUM & 0x000003FF) << 8) #define FLASH_CMD_WRITE (0x5A000001 + OFFSET_PAGE_NUM) void do_flash_write(void) { unsigned long i; while (!(FLASH_STATUS_REG & 0x1)); for (i = 0; i < 64; i++) FLASH_BASE[(USER_PAGE_NUM*64)+i] = USER_PAGE[i]; FLASH_CMD_REG = FLASH_CMD_WRITE; while (!(FLASH_STATUS_REG & 0x1)); } libnxt-0.3/SConstruct0000644000175000017500000000135510612563603013334 0ustar davedavefrom glob import glob auto_libs = '' # Detect the system's endianness from sys import byteorder if byteorder == 'big': endian = '_NXT_BIG_ENDIAN' else: endian = '_NXT_LITTLE_ENDIAN' BuildEnv = Environment(CCFLAGS=['-Wall', '-std=gnu99', '-g', '-ggdb', '-D' + endian]) if auto_libs: BuildEnv.ParseConfig('pkg-config --cflags --libs ' + auto_libs) BuildEnv.Command('flash_routine.h', 'flash_routine.h.base', './make_flash_header.py') Default(BuildEnv.Library('nxt', [x for x in glob('*.c') if not x.startswith('main_')], LIBS='usb')) Default(BuildEnv.Program('fwflash', 'main_fwflash.c', LIBS=['usb', 'nxt'], LIBPATH='.')) Default(BuildEnv.Program('fwexec', 'main_fwexec.c', LIBS=['usb', 'nxt'], LIBPATH='.')) libnxt-0.3/COPYING0000644000175000017500000003545110612552541012340 0ustar davedave GNU GENERAL PUBLIC LICENSE Version 2, June 1991 Copyright (C) 1989, 1991 Free Software Foundation, Inc. 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. Preamble The licenses for most software are designed to take away your freedom to share and change it. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change free software--to make sure the software is free for all its users. This General Public License applies to most of the Free Software Foundation's software and to any other program whose authors commit to using it. (Some other Free Software Foundation software is covered by the GNU Library General Public License instead.) You can apply it to your programs, too. When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for this service if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs; and that you know you can do these things. To protect your rights, we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights. These restrictions translate to certain responsibilities for you if you distribute copies of the software, or if you modify it. For example, if you distribute copies of such a program, whether gratis or for a fee, you must give the recipients all the rights that you have. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights. 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END OF TERMS AND CONDITIONS libnxt-0.3/samba.h0000644000175000017500000000352410612552541012535 0ustar davedave/** * NXT bootstrap interface; NXT bootstrap control functions. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #ifndef __SAMBA_H__ #define __SAMBA_H__ #include #include "error.h" #include "lowlevel.h" typedef uint32_t nxt_addr_t; typedef uint32_t nxt_word_t; typedef uint16_t nxt_hword_t; typedef unsigned char nxt_byte_t; nxt_error_t nxt_write_byte(nxt_t *nxt, nxt_addr_t addr, nxt_byte_t b); nxt_error_t nxt_write_hword(nxt_t *nxt, nxt_addr_t addr, nxt_hword_t hw); nxt_error_t nxt_write_word(nxt_t *nxt, nxt_addr_t addr, nxt_word_t w); nxt_error_t nxt_read_byte(nxt_t *nxt, nxt_addr_t addr, nxt_byte_t *b); nxt_error_t nxt_read_hword(nxt_t *nxt, nxt_addr_t addr, nxt_hword_t *hw); nxt_error_t nxt_read_word(nxt_t *nxt, nxt_addr_t addr, nxt_word_t *w); nxt_error_t nxt_send_file(nxt_t *nxt, nxt_addr_t addr, char *file, unsigned short len); nxt_error_t nxt_recv_file(nxt_t *nxt, nxt_addr_t addr, char *file, unsigned short len); nxt_error_t nxt_jump(nxt_t *nxt, nxt_addr_t addr); nxt_error_t nxt_samba_version(nxt_t *nxt, char *version); #endif /* __SAMBA_H__ */ libnxt-0.3/lowlevel.c0000644000175000017500000000655010612552541013300 0ustar davedave/** * NXT bootstrap interface; low-level USB functions. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #include #include #include #include #include #include #include #include #include "lowlevel.h" enum nxt_usb_ids { VENDOR_LEGO = 0x0694, VENDOR_ATMEL = 0x03EB, PRODUCT_NXT = 0x0002, PRODUCT_SAMBA = 0x6124 }; struct nxt_t { struct usb_device *dev; struct usb_dev_handle *hdl; int is_in_reset_mode; }; nxt_error_t nxt_init(nxt_t **nxt) { usb_init(); *nxt = calloc(1, sizeof(**nxt)); return NXT_OK; } nxt_error_t nxt_find(nxt_t *nxt) { struct usb_bus *busses, *bus; usb_find_busses(); usb_find_devices(); busses = usb_get_busses(); for (bus = busses; bus != NULL; bus = bus->next) { struct usb_device *dev; for (dev = bus->devices; dev != NULL; dev = dev->next) { if (dev->descriptor.idVendor == VENDOR_ATMEL && dev->descriptor.idProduct == PRODUCT_SAMBA) { nxt->dev = dev; nxt->is_in_reset_mode = 1; return NXT_OK; } else if (dev->descriptor.idVendor == VENDOR_LEGO && dev->descriptor.idProduct == PRODUCT_NXT) { nxt->dev = dev; return NXT_OK; } } } return NXT_NOT_PRESENT; } nxt_error_t nxt_open(nxt_t *nxt) { char buf[2]; int ret; nxt->hdl = usb_open(nxt->dev); ret = usb_set_configuration(nxt->hdl, 1); if (ret < 0) { usb_close(nxt->hdl); return NXT_CONFIGURATION_ERROR; } ret = usb_claim_interface(nxt->hdl, 1); if (ret < 0) { usb_close(nxt->hdl); return NXT_IN_USE; } /* NXT handshake */ nxt_send_str(nxt, "N#"); nxt_recv_buf(nxt, buf, 2); if (memcmp(buf, "\n\r", 2) != 0) { usb_release_interface(nxt->hdl, 1); usb_close(nxt->hdl); return NXT_HANDSHAKE_FAILED; } return NXT_OK; } nxt_error_t nxt_close(nxt_t *nxt) { usb_release_interface(nxt->hdl, 1); usb_close(nxt->hdl); free(nxt); return NXT_OK; } int nxt_in_reset_mode(nxt_t *nxt) { return nxt->is_in_reset_mode; } nxt_error_t nxt_send_buf(nxt_t *nxt, char *buf, int len) { int ret = usb_bulk_write(nxt->hdl, 0x1, buf, len, 0); if (ret < 0) return NXT_USB_WRITE_ERROR; return NXT_OK; } nxt_error_t nxt_send_str(nxt_t *nxt, char *str) { return nxt_send_buf(nxt, str, strlen(str)); } nxt_error_t nxt_recv_buf(nxt_t *nxt, char *buf, int len) { int ret = usb_bulk_read(nxt->hdl, 0x82, buf, len, 0); if (ret < 0) return NXT_USB_READ_ERROR; return NXT_OK; } libnxt-0.3/error.c0000644000175000017500000000240310612552541012571 0ustar davedave/** * NXT bootstrap interface; error handling code. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #include "error.h" static const char const *err_str[] = { "Success", "NXT not found on USB bus", "Error trying to configure the NXT USB link", "NXT USB interface is already claimed by another program", "USB write error", "USB read error", "SAM-BA protocol error", "NXT handshake failed", "File open/handling error", "Invalid firmware image", }; const char const * nxt_str_error(nxt_error_t err) { return err_str[err]; } libnxt-0.3/flash.c0000644000175000017500000000505110612552541012537 0ustar davedave/** * NXT bootstrap interface; NXT flash chip code. * * Copyright 2006 David Anderson * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #include #include #include #include #include #include #include "error.h" #include "lowlevel.h" #include "samba.h" #include "flash.h" enum nxt_flash_commands { FLASH_CMD_LOCK = 0x2, FLASH_CMD_UNLOCK = 0x4, }; nxt_error_t nxt_flash_wait_ready(nxt_t *nxt) { nxt_word_t flash_status; do { NXT_ERR(nxt_read_word(nxt, 0xFFFFFF68, &flash_status)); /* Bit 0 is the FRDY field. Set to 1 if the flash controller is * ready to run a new command. */ } while (!(flash_status & 0x1)); return NXT_OK; } static nxt_error_t nxt_flash_alter_lock(nxt_t *nxt, int region_num, enum nxt_flash_commands cmd) { nxt_word_t w = 0x5A000000 | ((64 * region_num) << 8); w += cmd; NXT_ERR(nxt_flash_wait_ready(nxt)); /* Flash mode register: FCMN 0x5, FWS 0x1 * Flash command register: KEY 0x5A, FCMD = clear-lock-bit (0x4) * Flash mode register: FCMN 0x34, FWS 0x1 */ NXT_ERR(nxt_write_word(nxt, 0xFFFFFF60, 0x00050100)); NXT_ERR(nxt_write_word(nxt, 0xFFFFFF64, w)); NXT_ERR(nxt_write_word(nxt, 0xFFFFFF60, 0x00340100)); return NXT_OK; } nxt_error_t nxt_flash_lock_region(nxt_t *nxt, int region_num) { return nxt_flash_alter_lock(nxt, region_num, FLASH_CMD_LOCK); } nxt_error_t nxt_flash_unlock_region(nxt_t *nxt, int region_num) { return nxt_flash_alter_lock(nxt, region_num, FLASH_CMD_UNLOCK); } nxt_error_t nxt_flash_lock_all_regions(nxt_t *nxt) { int i; for (i = 0; i < 16; i++) NXT_ERR(nxt_flash_lock_region(nxt, i)); return NXT_OK; } nxt_error_t nxt_flash_unlock_all_regions(nxt_t *nxt) { int i; for (i = 0; i < 16; i++) NXT_ERR(nxt_flash_unlock_region(nxt, i)); return NXT_OK; }