/** * 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" const struct { int vendor_id; int product_id; int interface; } nxt_usb_ids[N_FIRMWARES] = { { 0x03EB, 0x6124, 1 }, /* SAM-BA */ { 0x0694, 0x0002, 0 }, /* LEGO */ { 0x0694, 0xFF00, 0 } /* NXTOS */ }; struct nxt_t { libusb_context *usb; libusb_device *dev; nxt_firmware firmware; int interface; libusb_device_handle *hdl; }; nxt_error_t nxt_init(nxt_t **nxt) { int ret; nxt_t *lnxt; lnxt = calloc(1, sizeof(*lnxt)); if (!lnxt) return NXT_ERROR_NO_MEM; ret = libusb_init(&lnxt->usb); if (ret < 0) { free(lnxt); return NXT_ERROR_USB(ret); } *nxt = lnxt; return NXT_OK; } nxt_error_t nxt_find(nxt_t *nxt) { libusb_device **list; assert(!nxt->dev); ssize_t cnt = libusb_get_device_list(nxt->usb, &list); if (cnt < 0) { return NXT_ERROR_USB(cnt); } for (ssize_t j = 0; j < cnt; j++) { libusb_device *dev = list[j]; struct libusb_device_descriptor desc; int ret = libusb_get_device_descriptor(dev, &desc); if (ret == 0) { for (int i = 0; i < N_FIRMWARES; i++) { if (desc.idVendor == nxt_usb_ids[i].vendor_id && desc.idProduct == nxt_usb_ids[i].product_id) { libusb_ref_device(dev); libusb_free_device_list(list, 1); nxt->dev = dev; nxt->firmware = i; nxt->interface = nxt_usb_ids[i].interface; return NXT_OK; } } } } libusb_free_device_list(list, 1); return NXT_NOT_PRESENT; } nxt_error_t nxt_open(nxt_t *nxt) { int ret; libusb_device_handle *hdl; assert(nxt->dev); assert(!nxt->hdl); ret = libusb_open(nxt->dev, &hdl); if (ret < 0) return NXT_ERROR_USB(ret); // Try to detach driver, but ignore errors when not implemented, or kernel // driver not attached. ret = libusb_detach_kernel_driver(hdl, nxt->interface); if (ret < 0 && ret != LIBUSB_ERROR_NOT_SUPPORTED && ret != LIBUSB_ERROR_NOT_FOUND) { libusb_close(hdl); return NXT_ERROR_USB(ret); } ret = libusb_set_configuration(hdl, 1); if (ret < 0 && ret != LIBUSB_ERROR_NOT_SUPPORTED) { libusb_close(hdl); return NXT_ERROR_USB(ret); } ret = libusb_claim_interface(hdl, nxt->interface); if (ret < 0) { libusb_close(hdl); return NXT_ERROR_USB(ret); } nxt->hdl = hdl; return NXT_OK; } void nxt_close(nxt_t *nxt) { if (nxt->hdl) { libusb_release_interface(nxt->hdl, nxt->interface); libusb_close(nxt->hdl); } if (nxt->dev) libusb_unref_device(nxt->dev); libusb_exit(nxt->usb); free(nxt); } int nxt_is_firmware(nxt_t *nxt, nxt_firmware fw) { return (nxt->firmware == fw); } static nxt_error_t nxt_transfer_buf(nxt_t *nxt, uint8_t endpoint, uint8_t *buf, int len) { int ret; int transfered; do { ret = libusb_bulk_transfer(nxt->hdl, endpoint, buf, len, &transfered, 0); if (ret < 0) return NXT_ERROR_USB(ret); buf += transfered; len -= transfered; } while (len); return NXT_OK; } nxt_error_t nxt_send_buf(nxt_t *nxt, const uint8_t *buf, int len) { return nxt_transfer_buf(nxt, 0x01, (uint8_t *)buf, len); } nxt_error_t nxt_send_str(nxt_t *nxt, const char *str) { return nxt_send_buf(nxt, (const uint8_t *)str, strlen(str)); } nxt_error_t nxt_recv_buf(nxt_t *nxt, uint8_t *buf, int len) { return nxt_transfer_buf(nxt, 0x82, buf, len); }