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-rw-r--r--Host/libnxt-0.3/lowlevel.c171
1 files changed, 171 insertions, 0 deletions
diff --git a/Host/libnxt-0.3/lowlevel.c b/Host/libnxt-0.3/lowlevel.c
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+++ b/Host/libnxt-0.3/lowlevel.c
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+/**
+ * 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;
+}