/** * 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; }