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authorTat-Chee Wan (USM)2011-01-04 09:06:36 +0800
committerTat-Chee Wan (USM)2011-01-04 09:06:36 +0800
commitffbef9f7acbdb30d326b73bc72bf21d12976d1d0 (patch)
treeef590520b4df018938bbe7850a14befdcdfdc1b8
parentc0201887f08821d20a05bce2ec303c773a3f4b4b (diff)
removed libnxt dependency, building requires libusb-legacy on macosx
-rw-r--r--Host/libnxt-0.3/AUTHORS1
-rw-r--r--Host/libnxt-0.3/COPYING280
-rw-r--r--Host/libnxt-0.3/README129
-rw-r--r--Host/libnxt-0.3/SConstruct64
-rw-r--r--Host/libnxt-0.3/error.c41
-rw-r--r--Host/libnxt-0.3/error.h48
-rw-r--r--Host/libnxt-0.3/firmware.c152
-rw-r--r--Host/libnxt-0.3/firmware.h31
-rw-r--r--Host/libnxt-0.3/flash.c113
-rw-r--r--Host/libnxt-0.3/flash.h34
-rw-r--r--Host/libnxt-0.3/flash_routine.h49
-rw-r--r--Host/libnxt-0.3/flash_routine.h.base36
-rw-r--r--Host/libnxt-0.3/flash_write/Makefile19
-rw-r--r--Host/libnxt-0.3/flash_write/crt0.s37
-rw-r--r--Host/libnxt-0.3/flash_write/flash.c46
-rwxr-xr-xHost/libnxt-0.3/fwexecbin18112 -> 0 bytes
-rwxr-xr-xHost/libnxt-0.3/fwflashbin24072 -> 0 bytes
-rw-r--r--Host/libnxt-0.3/lowlevel.c171
-rw-r--r--Host/libnxt-0.3/lowlevel.h40
-rw-r--r--Host/libnxt-0.3/main_fwexec.c129
-rw-r--r--Host/libnxt-0.3/main_fwflash.c101
-rwxr-xr-xHost/libnxt-0.3/make_flash_header.py109
-rw-r--r--Host/libnxt-0.3/samba.c182
-rw-r--r--Host/libnxt-0.3/samba.h51
24 files changed, 0 insertions, 1863 deletions
diff --git a/Host/libnxt-0.3/AUTHORS b/Host/libnxt-0.3/AUTHORS
deleted file mode 100644
index 6dc3d6f..0000000
--- a/Host/libnxt-0.3/AUTHORS
+++ /dev/null
@@ -1 +0,0 @@
-David Anderson <david.anderson@calixo.net>
diff --git a/Host/libnxt-0.3/COPYING b/Host/libnxt-0.3/COPYING
deleted file mode 100644
index 960fe74..0000000
--- a/Host/libnxt-0.3/COPYING
+++ /dev/null
@@ -1,280 +0,0 @@
- 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
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-Foundation's software and to any other program whose authors commit to
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-the GNU Library General Public License instead.) You can apply it to
-your programs, too.
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diff --git a/Host/libnxt-0.3/README b/Host/libnxt-0.3/README
deleted file mode 100644
index 5b54bd3..0000000
--- a/Host/libnxt-0.3/README
+++ /dev/null
@@ -1,129 +0,0 @@
- 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.
diff --git a/Host/libnxt-0.3/SConstruct b/Host/libnxt-0.3/SConstruct
deleted file mode 100644
index 115d19e..0000000
--- a/Host/libnxt-0.3/SConstruct
+++ /dev/null
@@ -1,64 +0,0 @@
-#####
-# Note: For Macports, libusb-legacy need to be used?
-# I can't get it to build with libusb-compat
-####
-
-import os
-import os.path
-from glob import glob
-
-###############################################################
-# Utility functions.
-###############################################################
-
-# Similar to env.WhereIs, but always searches os.environ.
-def find_on_path(filename):
- paths = os.environ.get('PATH')
- if not paths:
- return None
- for p in paths.split(':'):
- path = os.path.abspath(os.path.join(p, filename))
- if os.path.isfile(path):
- return p
- return None
-
-auto_libs = 'libusb-legacy'
-
-cmdname = 'pkg-config'
-pkg_config_path = find_on_path(cmdname) + ('/%s' % cmdname)
-
-# 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:
- cmdstr = '%s --cflags --libs ' % pkg_config_path
- BuildEnv.ParseConfig(cmdstr + ' --cflags --libs ' + auto_libs)
-
-BuildEnv.Command('flash_routine.h',
- 'flash_routine.h.base',
- './make_flash_header.py')
-
-BuildEnv.Append(LIBPATH='.')
-libnxt = Default(BuildEnv.Library('nxt',
- [x for x in glob('*.c')
- if not x.startswith('main_')],
- LIBS='usb-legacy'))
-
-fwflash = Default(BuildEnv.Program('fwflash', 'main_fwflash.c',
- LIBS=['usb-legacy', 'nxt']))
-
-fwexec = Default(BuildEnv.Program('fwexec', 'main_fwexec.c',
- LIBS=['usb-legacy', 'nxt']))
-
-# the install target
-#BuildEnv.Alias("install", BuildEnv.Install(os.path.join(os.environ['DESTDIR'], "lib"), libnxt))
-#BuildEnv.Alias("install", BuildEnv.Install(os.path.join(os.environ['DESTDIR'], "bin"), fwflash, fwexec))
-#BuildEnv.Command("uninstall", None, Delete(FindInstalledFiles()))
-
-
diff --git a/Host/libnxt-0.3/error.c b/Host/libnxt-0.3/error.c
deleted file mode 100644
index fd45100..0000000
--- a/Host/libnxt-0.3/error.c
+++ /dev/null
@@ -1,41 +0,0 @@
-/**
- * NXT bootstrap interface; error handling code.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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];
-}
diff --git a/Host/libnxt-0.3/error.h b/Host/libnxt-0.3/error.h
deleted file mode 100644
index 6d6c681..0000000
--- a/Host/libnxt-0.3/error.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/**
- * NXT bootstrap interface; error handling code.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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__ */
diff --git a/Host/libnxt-0.3/firmware.c b/Host/libnxt-0.3/firmware.c
deleted file mode 100644
index 1c4092b..0000000
--- a/Host/libnxt-0.3/firmware.c
+++ /dev/null
@@ -1,152 +0,0 @@
-/**
- * NXT bootstrap interface; NXT firmware handling code.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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 <stdio.h>
-#include <errno.h>
-#include <string.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <unistd.h>
-#include <fcntl.h>
-
-#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;
-}
diff --git a/Host/libnxt-0.3/firmware.h b/Host/libnxt-0.3/firmware.h
deleted file mode 100644
index bdda58e..0000000
--- a/Host/libnxt-0.3/firmware.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/**
- * NXT bootstrap interface; NXT firmware handling code.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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__ */
diff --git a/Host/libnxt-0.3/flash.c b/Host/libnxt-0.3/flash.c
deleted file mode 100644
index d757ce2..0000000
--- a/Host/libnxt-0.3/flash.c
+++ /dev/null
@@ -1,113 +0,0 @@
-/**
- * NXT bootstrap interface; NXT flash chip code.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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 <stdio.h>
-#include <errno.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <sys/mman.h>
-#include <fcntl.h>
-
-#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;
-}
diff --git a/Host/libnxt-0.3/flash.h b/Host/libnxt-0.3/flash.h
deleted file mode 100644
index 8d157d7..0000000
--- a/Host/libnxt-0.3/flash.h
+++ /dev/null
@@ -1,34 +0,0 @@
-/**
- * NXT bootstrap interface; NXT flash chip access code.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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__ */
diff --git a/Host/libnxt-0.3/flash_routine.h b/Host/libnxt-0.3/flash_routine.h
deleted file mode 100644
index 1d3484c..0000000
--- a/Host/libnxt-0.3/flash_routine.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**
- * Flash routine. Hardcodes the ARM7 bytecode for writing data to
- * flash memory in the downloader binary.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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[] = {
- 0x21, 0xd8, 0xa0, 0xe3, 0x00, 0x40, 0x2d, 0xe9, 0x00, 0x00, 0x00, 0xeb,
- 0x00, 0x80, 0xbd, 0xe8, 0x00, 0x20, 0xe0, 0xe3, 0x97, 0x30, 0x12, 0xe5,
- 0x01, 0x00, 0x13, 0xe3, 0xfc, 0xff, 0xff, 0x0a, 0x02, 0xc6, 0xa0, 0xe3,
- 0x0c, 0x00, 0xa0, 0xe1, 0x21, 0x0c, 0x80, 0xe2, 0x02, 0xca, 0x8c, 0xe2,
- 0x00, 0x10, 0xa0, 0xe3, 0x00, 0x33, 0x9c, 0xe5, 0x03, 0x33, 0x81, 0xe0,
- 0x01, 0x21, 0x90, 0xe7, 0x03, 0x31, 0xa0, 0xe1, 0x01, 0x10, 0x81, 0xe2,
- 0x01, 0x36, 0x83, 0xe2, 0x40, 0x00, 0x51, 0xe3, 0x00, 0x20, 0x83, 0xe5,
- 0xf6, 0xff, 0xff, 0x1a, 0x00, 0x33, 0x9c, 0xe5, 0x03, 0x3b, 0xa0, 0xe1,
- 0x23, 0x3b, 0xa0, 0xe1, 0x03, 0x34, 0xa0, 0xe1, 0x5a, 0x34, 0x83, 0xe2,
- 0x01, 0x30, 0x83, 0xe2, 0x00, 0x20, 0xe0, 0xe3, 0x9b, 0x30, 0x02, 0xe5,
- 0x97, 0x30, 0x12, 0xe5, 0x01, 0x00, 0x13, 0xe3, 0xfc, 0xff, 0xff, 0x0a,
- 0x1e, 0xff, 0x2f, 0xe1
-};
-
-/*
- * The number of bytes in the above array.
- */
-static unsigned long flash_len = 136;
-
-#endif /* __FLASH_ROUTINE_H__ */
diff --git a/Host/libnxt-0.3/flash_routine.h.base b/Host/libnxt-0.3/flash_routine.h.base
deleted file mode 100644
index 116fa92..0000000
--- a/Host/libnxt-0.3/flash_routine.h.base
+++ /dev/null
@@ -1,36 +0,0 @@
-/**
- * Flash routine. Hardcodes the ARM7 bytecode for writing data to
- * flash memory in the downloader binary.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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__ */
diff --git a/Host/libnxt-0.3/flash_write/Makefile b/Host/libnxt-0.3/flash_write/Makefile
deleted file mode 100644
index 93bb888..0000000
--- a/Host/libnxt-0.3/flash_write/Makefile
+++ /dev/null
@@ -1,19 +0,0 @@
-#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
diff --git a/Host/libnxt-0.3/flash_write/crt0.s b/Host/libnxt-0.3/flash_write/crt0.s
deleted file mode 100644
index 680573b..0000000
--- a/Host/libnxt-0.3/flash_write/crt0.s
+++ /dev/null
@@ -1,37 +0,0 @@
-/**
- * NXT bootstrap interface; NXT onboard flashing driver bootstrap.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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}
diff --git a/Host/libnxt-0.3/flash_write/flash.c b/Host/libnxt-0.3/flash_write/flash.c
deleted file mode 100644
index 824a088..0000000
--- a/Host/libnxt-0.3/flash_write/flash.c
+++ /dev/null
@@ -1,46 +0,0 @@
-/**
- * NXT bootstrap interface; NXT onboard flashing driver.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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));
-}
diff --git a/Host/libnxt-0.3/fwexec b/Host/libnxt-0.3/fwexec
deleted file mode 100755
index db268be..0000000
--- a/Host/libnxt-0.3/fwexec
+++ /dev/null
Binary files differ
diff --git a/Host/libnxt-0.3/fwflash b/Host/libnxt-0.3/fwflash
deleted file mode 100755
index 9b92b2a..0000000
--- a/Host/libnxt-0.3/fwflash
+++ /dev/null
Binary files differ
diff --git a/Host/libnxt-0.3/lowlevel.c b/Host/libnxt-0.3/lowlevel.c
deleted file mode 100644
index 49b2745..0000000
--- a/Host/libnxt-0.3/lowlevel.c
+++ /dev/null
@@ -1,171 +0,0 @@
-/**
- * NXT bootstrap interface; low-level USB functions.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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 <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdint.h>
-#include <unistd.h>
-#include <errno.h>
-#include <usb.h>
-
-#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;
-}
diff --git a/Host/libnxt-0.3/lowlevel.h b/Host/libnxt-0.3/lowlevel.h
deleted file mode 100644
index 14889e0..0000000
--- a/Host/libnxt-0.3/lowlevel.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/**
- * NXT bootstrap interface; low-level USB functions.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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 <usb.h>
-#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__ */
diff --git a/Host/libnxt-0.3/main_fwexec.c b/Host/libnxt-0.3/main_fwexec.c
deleted file mode 100644
index aedfede..0000000
--- a/Host/libnxt-0.3/main_fwexec.c
+++ /dev/null
@@ -1,129 +0,0 @@
-/**
- * Main program code for the runc utility.
- *
- * Copyright 2006 Lawrie Griffiths <lawrie.griffiths@ntlworld.com>
- * 2007 David Anderson <david.anderson@calixo.net>
- *
- * 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 <stdio.h>
-#include <stdlib.h>
-
-#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 <Firmware image to write>\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;
-}
diff --git a/Host/libnxt-0.3/main_fwflash.c b/Host/libnxt-0.3/main_fwflash.c
deleted file mode 100644
index e38af8e..0000000
--- a/Host/libnxt-0.3/main_fwflash.c
+++ /dev/null
@@ -1,101 +0,0 @@
-/**
- * Main program code for the fwflash utility.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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 <stdio.h>
-#include <stdlib.h>
-
-#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 <firmware image to write>\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;
-}
diff --git a/Host/libnxt-0.3/make_flash_header.py b/Host/libnxt-0.3/make_flash_header.py
deleted file mode 100755
index 9734c86..0000000
--- a/Host/libnxt-0.3/make_flash_header.py
+++ /dev/null
@@ -1,109 +0,0 @@
-#!/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()
-
diff --git a/Host/libnxt-0.3/samba.c b/Host/libnxt-0.3/samba.c
deleted file mode 100644
index ff3e037..0000000
--- a/Host/libnxt-0.3/samba.c
+++ /dev/null
@@ -1,182 +0,0 @@
-/**
- * NXT bootstrap interface; NXT Bootstrap control functions.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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 <stdio.h>
-#include <string.h>
-#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;
-}
diff --git a/Host/libnxt-0.3/samba.h b/Host/libnxt-0.3/samba.h
deleted file mode 100644
index 6471b5b..0000000
--- a/Host/libnxt-0.3/samba.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/**
- * NXT bootstrap interface; NXT bootstrap control functions.
- *
- * Copyright 2006 David Anderson <david.anderson@calixo.net>
- *
- * 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 <stdint.h>
-#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__ */