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authorTC Wan2010-12-22 17:30:29 +0800
committerTC Wan2010-12-22 17:30:29 +0800
commit58494668ef864db0ad6cd35eca62106cbbed0543 (patch)
tree161f7874dcd133e43b83f83847e1cf6b9f5d5155 /Host
parent29149e9487715209da4c574b4d3b1cfb7ea17b78 (diff)
added libnxt as a dependent library
Added libnxt as a dependent library instead of using system provided package. This is mainly due to the difficulty in getting libnxt installed using MacPorts.
Diffstat (limited to 'Host')
-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/fwexecbin0 -> 18112 bytes
-rwxr-xr-xHost/libnxt-0.3/fwflashbin0 -> 24072 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
-rw-r--r--Host/packages/libnxt-0.3.tar.gzbin0 -> 16247 bytes
-rw-r--r--Host/patches/patch-libnxt-sconstruct-libusb-legacy.diff71
26 files changed, 1934 insertions, 0 deletions
diff --git a/Host/libnxt-0.3/AUTHORS b/Host/libnxt-0.3/AUTHORS
new file mode 100644
index 0000000..6dc3d6f
--- /dev/null
+++ b/Host/libnxt-0.3/AUTHORS
@@ -0,0 +1 @@
+David Anderson <david.anderson@calixo.net>
diff --git a/Host/libnxt-0.3/COPYING b/Host/libnxt-0.3/COPYING
new file mode 100644
index 0000000..960fe74
--- /dev/null
+++ b/Host/libnxt-0.3/COPYING
@@ -0,0 +1,280 @@
+ 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
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diff --git a/Host/libnxt-0.3/README b/Host/libnxt-0.3/README
new file mode 100644
index 0000000..5b54bd3
--- /dev/null
+++ b/Host/libnxt-0.3/README
@@ -0,0 +1,129 @@
+ 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
new file mode 100644
index 0000000..115d19e
--- /dev/null
+++ b/Host/libnxt-0.3/SConstruct
@@ -0,0 +1,64 @@
+#####
+# 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
new file mode 100644
index 0000000..fd45100
--- /dev/null
+++ b/Host/libnxt-0.3/error.c
@@ -0,0 +1,41 @@
+/**
+ * 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
new file mode 100644
index 0000000..6d6c681
--- /dev/null
+++ b/Host/libnxt-0.3/error.h
@@ -0,0 +1,48 @@
+/**
+ * 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
new file mode 100644
index 0000000..1c4092b
--- /dev/null
+++ b/Host/libnxt-0.3/firmware.c
@@ -0,0 +1,152 @@
+/**
+ * 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
new file mode 100644
index 0000000..bdda58e
--- /dev/null
+++ b/Host/libnxt-0.3/firmware.h
@@ -0,0 +1,31 @@
+/**
+ * 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
new file mode 100644
index 0000000..d757ce2
--- /dev/null
+++ b/Host/libnxt-0.3/flash.c
@@ -0,0 +1,113 @@
+/**
+ * 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
new file mode 100644
index 0000000..8d157d7
--- /dev/null
+++ b/Host/libnxt-0.3/flash.h
@@ -0,0 +1,34 @@
+/**
+ * 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
new file mode 100644
index 0000000..1d3484c
--- /dev/null
+++ b/Host/libnxt-0.3/flash_routine.h
@@ -0,0 +1,49 @@
+/**
+ * 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
new file mode 100644
index 0000000..116fa92
--- /dev/null
+++ b/Host/libnxt-0.3/flash_routine.h.base
@@ -0,0 +1,36 @@
+/**
+ * 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
new file mode 100644
index 0000000..93bb888
--- /dev/null
+++ b/Host/libnxt-0.3/flash_write/Makefile
@@ -0,0 +1,19 @@
+#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
new file mode 100644
index 0000000..680573b
--- /dev/null
+++ b/Host/libnxt-0.3/flash_write/crt0.s
@@ -0,0 +1,37 @@
+/**
+ * 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
new file mode 100644
index 0000000..824a088
--- /dev/null
+++ b/Host/libnxt-0.3/flash_write/flash.c
@@ -0,0 +1,46 @@
+/**
+ * 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
new file mode 100755
index 0000000..db268be
--- /dev/null
+++ b/Host/libnxt-0.3/fwexec
Binary files differ
diff --git a/Host/libnxt-0.3/fwflash b/Host/libnxt-0.3/fwflash
new file mode 100755
index 0000000..9b92b2a
--- /dev/null
+++ b/Host/libnxt-0.3/fwflash
Binary files differ
diff --git a/Host/libnxt-0.3/lowlevel.c b/Host/libnxt-0.3/lowlevel.c
new file mode 100644
index 0000000..49b2745
--- /dev/null
+++ b/Host/libnxt-0.3/lowlevel.c
@@ -0,0 +1,171 @@
+/**
+ * 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
new file mode 100644
index 0000000..14889e0
--- /dev/null
+++ b/Host/libnxt-0.3/lowlevel.h
@@ -0,0 +1,40 @@
+/**
+ * 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
new file mode 100644
index 0000000..aedfede
--- /dev/null
+++ b/Host/libnxt-0.3/main_fwexec.c
@@ -0,0 +1,129 @@
+/**
+ * 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
new file mode 100644
index 0000000..e38af8e
--- /dev/null
+++ b/Host/libnxt-0.3/main_fwflash.c
@@ -0,0 +1,101 @@
+/**
+ * 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
new file mode 100755
index 0000000..9734c86
--- /dev/null
+++ b/Host/libnxt-0.3/make_flash_header.py
@@ -0,0 +1,109 @@
+#!/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
new file mode 100644
index 0000000..ff3e037
--- /dev/null
+++ b/Host/libnxt-0.3/samba.c
@@ -0,0 +1,182 @@
+/**
+ * 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
new file mode 100644
index 0000000..6471b5b
--- /dev/null
+++ b/Host/libnxt-0.3/samba.h
@@ -0,0 +1,51 @@
+/**
+ * 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__ */
diff --git a/Host/packages/libnxt-0.3.tar.gz b/Host/packages/libnxt-0.3.tar.gz
new file mode 100644
index 0000000..c4ab4bc
--- /dev/null
+++ b/Host/packages/libnxt-0.3.tar.gz
Binary files differ
diff --git a/Host/patches/patch-libnxt-sconstruct-libusb-legacy.diff b/Host/patches/patch-libnxt-sconstruct-libusb-legacy.diff
new file mode 100644
index 0000000..52b276c
--- /dev/null
+++ b/Host/patches/patch-libnxt-sconstruct-libusb-legacy.diff
@@ -0,0 +1,71 @@
+--- SConstruct.orig 2007-04-22 12:41:39.000000000 +0800
++++ SConstruct 2010-12-22 17:21:51.000000000 +0800
+@@ -1,6 +1,31 @@
++#####
++# 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
+
+-auto_libs = ''
++###############################################################
++# 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
+@@ -12,19 +37,28 @@
+ BuildEnv = Environment(CCFLAGS=['-Wall', '-std=gnu99',
+ '-g', '-ggdb', '-D' + endian])
+ if auto_libs:
+- BuildEnv.ParseConfig('pkg-config --cflags --libs ' + 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')
+
+-Default(BuildEnv.Library('nxt',
++BuildEnv.Append(LIBPATH='.')
++libnxt = Default(BuildEnv.Library('nxt',
+ [x for x in glob('*.c')
+ if not x.startswith('main_')],
+- LIBS='usb'))
++ 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()))
+
+-Default(BuildEnv.Program('fwflash', 'main_fwflash.c',
+- LIBS=['usb', 'nxt'], LIBPATH='.'))
+
+-Default(BuildEnv.Program('fwexec', 'main_fwexec.c',
+- LIBS=['usb', 'nxt'], LIBPATH='.'))