/** * Main program code for the runc utility. * * Copyright 2006 Lawrie Griffiths * 2007 David Anderson * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License as * published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * USA */ #include #include #include "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 \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; }