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-rw-r--r--Host/libnxt-0.3/main_fwexec.c129
1 files changed, 129 insertions, 0 deletions
diff --git a/Host/libnxt-0.3/main_fwexec.c b/Host/libnxt-0.3/main_fwexec.c
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+++ b/Host/libnxt-0.3/main_fwexec.c
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+/**
+ * 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;
+}