firmdl.c

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/*
 *  firmdl3.c
 *
 *  A firmware downloader for the RCX.  Version 3.0.  Supports single and
 *  quad speed downloading.
 *
 *  The contents of this file are subject to the Mozilla Public License
 *  Version 1.0 (the "License"); you may not use this file except in
 *  compliance with the License. You may obtain a copy of the License at
 *  http://www.mozilla.org/MPL/
 *
 *  Software distributed under the License is distributed on an "AS IS"
 *  basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the
 *  License for the specific language governing rights and limitations
 *  under the License.
 *
 *  The Original Code is Firmdl code, released October 3, 1998.
 *
 *  The Initial Developer of the Original Code is Kekoa Proudfoot.
 *  Portions created by Kekoa Proudfoot are Copyright (C) 1998, 1999
 *  Kekoa Proudfoot. All Rights Reserved.
 *
 *  Contributor(s): Kekoa Proudfoot <kekoa@graphics.stanford.edu>
 *                  Laurent Demailly
 *                  Allen Martin
 *                  Markus Noga
 *                  Gavin Smyth
 *                  Luis Villa
 */

/*
 *  usage: firmdl [options] srecfile  (e.g. firmdl Firm0309.lgo)
 *
 *  If necessary, set DEFAULTTTY, below, to the serial device you want to use.
 *  Set the RCXTTY environment variable to override DEFAULTTTY.
 *  Use the command-line option --tty=TTY to override RCXTTY and DEFAULTTTY.
 *
 *  Acknowledgements:
 *
 *     Laurent Demailly, Allen Martin, Markus Noga, Gavin Smyth, and Luis
 *     Villa all contributed something to some version of this program.
 *
 *  Version history:
 *
 *     1.x: single speed downloading plus many small revisions
 *     2.0: double speed downloading, improved comm code, never released
 *     3.0: quad speed downloads, misc other features, version numbering
 *     3.1: fixed checksum algorithm, increased max file size
 *  Kekoa Proudfoot
 *  kekoa@graphics.stanford.edu
 *  10/3/98, 10/3/99
 */

/*  2002.04.01
 *
 *  Modifications to the original loader.c file in LegOS 0.2.4 include:
 *
 *  Hary D. Mahesan's update to support USB IR firmware downloading 
 *  using RCX 2.0's USB tower under WIN32 on Cygwin.
 *      <hdmahesa@engmail.uwaterloo.ca>
 *      <hmahesan@hotmail.com>
 *
 *  CVS inclusion, revision and modification by Paolo Masetti.
 *      <paolo.masetti@itlug.org>
 *
 */

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdlib.h>
#include <unistd.h>
#include <termios.h>
#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <ctype.h>
#include <string.h>
#include <assert.h>

#if defined(_WIN32)
  #include <windows.h>
#endif

#include "rcx_comm.h"
#include "srec.h"

/* Machine-dependent defines */

#if defined(LINUX) || defined(linux)
#define DEFAULTTTY   "/dev/ttyS0" /* Linux - COM1 */
#elif defined (_WIN32)
#define DEFAULTTTY   "com1"       /* Cygwin - COM1 */
#elif defined (sun)
#define DEFAULTTTY   "/dev/ttya"  /* Solaris - first serial port - untested */
#else
#define DEFAULTTTY   "/dev/ttyd2" /* IRIX - second serial port */
#endif

/* Global variables */

char *progname;
int tty_usb = 0; 
extern int __comm_debug; 

#include "fastdl.h"

/* Defines */

#define BUFFERSIZE      4096
#define RETRIES         10
#define WAKEUP_TIMEOUT  4000

#define UPLOAD_TIMEOUT  50

#define IMAGE_START     0x8000
#define IMAGE_MAXLEN    0x7000
#define TRANSFER_SIZE   200

/* Stripping zeros is not entirely legal if firmware expects trailing zeros */
/* Define FORCE_ZERO_STRIPPING to force zero stripping for all files */
/* Normally you do not want to do this */
/* Possibly useful only if you explicitly zero pad for OCX compatiblity */
/* Since zero stripping is okay for Firm0309.lgo, that is done automatically */

#if 0
#define FORCE_ZERO_STRIPPING
#endif

/* Functions */

int srec_load (char *name, unsigned char *image, int maxlen, unsigned short *start)
{
    FILE *file;
    char buf[256];
    srec_t srec;
    int line = 0;
    int length = 0;
    int strip = 0;

    /* Initialize starting address */
    *start = IMAGE_START;

    /* Open file */
    if ((file = fopen(name, "r")) == NULL) {
                fprintf(stderr, "%s: ERROR- failed to open %s\n", progname, name);
                exit(1);
    }

    /* Clear image to zero */
    memset(image, 0, maxlen);

    /* Read image file */
    while (fgets(buf, sizeof(buf), file)) {
        int error, i;
        line++;
        /* Skip blank lines */
        for (i = 0; buf[i]; i++)
            if (!isspace(buf[i]))
                break;
        if (!buf[i])
            continue;
        /* Decode line */
        if ((error = srec_decode(&srec, buf)) < 0) {
            if (error != SREC_INVALID_CKSUM) {
                fprintf(stderr, "%s: %s on line %d\n",
                        name, srec_strerror(error), line);
                exit(1);
            }
        }
        /* Detect Firm0309.lgo header, set strip=1 if found */
        if (srec.type == 0) {
            if (srec.count == 16)
                if (!strncmp(srec.data, "?LIB_VERSION_L00", 16))
                    strip = 1;
        }
        /* Process s-record data */
        else if (srec.type == 1) {
            if (srec.addr < IMAGE_START ||
                srec.addr + srec.count > IMAGE_START + maxlen) {
                fprintf(stderr, "%s: address out of bounds on line %d\n",
                        name, line);
                exit(1);
            }
            if (srec.addr + srec.count - IMAGE_START > length)
                length = srec.addr + srec.count - IMAGE_START;
            memcpy(&image[srec.addr - IMAGE_START], &srec.data, srec.count);
        }
        /* Process image starting address */
        else if (srec.type == 9) {
            if (srec.addr < IMAGE_START ||
                srec.addr > IMAGE_START + maxlen) {
                fprintf(stderr, "%s: address out of bounds on line %d\n",
                        name, line);
                exit(1);
            }
            *start = srec.addr;
        }
    }

    /* Strip zeros */
#ifdef FORCE_ZERO_STRIPPING
    strip = 1;
#endif

    if (strip) {
        int pos;
        for (pos = IMAGE_MAXLEN - 1; pos >= 0 && image[pos] == 0; pos--);
        length = pos + 1;
    }

    /* Check length */
    if (length == 0) {
        fprintf(stderr, "%s: image contains no data\n", name);
        exit(1);
    }

    return length;
}

void image_dl(FILEDESCR fd, unsigned char *image, int len, unsigned short start,
              int use_comp, char *filename)
{
    unsigned short cksum = 0;
    unsigned char send[BUFFERSIZE];
    unsigned char recv[BUFFERSIZE];
    int addr, index, size, i;

    /* Compute image checksum */
    int cksumlen = (start + len < 0xcc00) ? len : 0xcc00 - start;
    assert(len > 0);
    for (i = 0; i < cksumlen; i++)
        cksum += image[i];

    /* Delete firmware */
    send[0] = 0x65;
    send[1] = 1;
    send[2] = 3;
    send[3] = 5;
    send[4] = 7;
    send[5] = 11;

    if (rcx_sendrecv(fd, send, 6, recv, 1, 50, RETRIES, use_comp) != 1) {
        fprintf(stderr, "%s: delete firmware failed\n", progname);
        exit(1);
    }

    /* Start firmware download */
    send[0] = 0x75;
    send[1] = (start >> 0) & 0xff;
    send[2] = (start >> 8) & 0xff;
    send[3] = (cksum >> 0) & 0xff;
    send[4] = (cksum >> 8) & 0xff;
    send[5] = 0;

    if (rcx_sendrecv(fd, send, 6, recv, 2, 50, RETRIES, use_comp) != 2) {
        fprintf(stderr, "%s: start firmware download failed\n", progname);
        exit(1);
    }

    /* Transfer data */
    fprintf(stderr, "\rTransferring \"%s\" to RCX...\n", filename);
    addr = 0;
    index = 1;
    for (addr = 0, index = 1; addr < len; addr += size, index++) {
        fprintf(stderr,"\r%3d%%        \r",(100*addr)/len);
        size = len - addr;
        send[0] = 0x45;
        if (index & 1)
            send[0] |= 0x08;
        if (size > TRANSFER_SIZE)
            size = TRANSFER_SIZE;
        else if (0)
            /* Set index to zero to make sound after last transfer */
            index = 0;
        send[1] = (index >> 0) & 0xff;
        send[2] = (index >> 8) & 0xff;
        send[3] = (size >> 0) & 0xff;
        send[4] = (size >> 8) & 0xff;
        memcpy(&send[5], &image[addr], size);
        for (i = 0, cksum = 0; i < size; i++)
            cksum += send[5 + i];
        send[size + 5] = cksum & 0xff;

        if (rcx_sendrecv(fd, send, size + 6, recv, 2, UPLOAD_TIMEOUT, RETRIES,
                         use_comp) != 2 || recv[1] != 0) {
            fprintf(stderr, "%s: transfer data failed\n", progname);
            exit(1);
        }
    }
    fputs("100%        \n",stderr);

    /* Unlock firmware */
    send[0] = 0xa5;
    send[1] = 76;               // 'L'
    send[2] = 69;               // 'E'
    send[3] = 71;               // 'G'
    send[4] = 79;               // 'O'
    send[5] = 174;      // '®'

    /* Use longer timeout so ROM has time to checksum firmware */
    if (rcx_sendrecv(fd, send, 6, recv, 26, 150, RETRIES, use_comp) != 26) {
        fprintf(stderr, "%s: unlock firmware failed\n", progname);
        exit(1);
    }
}

int main (int argc, char **argv)
{
    unsigned char image[IMAGE_MAXLEN];
    unsigned short image_start;
    unsigned int image_len;
    char *tty = NULL;
    int use_fast = 1;
    int usage = 0;
    FILEDESCR fd;
    int status;

    progname = argv[0];

    /* Parse command line */

    argv++; argc--;
    while (argc && argv[0][0] == '-') {
        if (argv[0][1] == '-') {
            if (!strcmp(argv[0], "--")) {
                argv++; argc--;
                break;
            }
            else if (!strcmp(argv[0], "--debug")) {
                __comm_debug = 1;
            }
            else if (!strcmp(argv[0], "--fast")) {
                use_fast = 1;
            }
            else if (!strcmp(argv[0], "--slow")) {
                use_fast = 0;
            }
            else if (!strncmp(argv[0], "--tty", 5)) {
                if (argv[0][5] == '=') {
                    tty = &argv[0][6];
                }
                else if (argc > 1) {
                    argv++; argc--;
                    tty = argv[0];
                }
                else
                    tty = "";
                if (!tty[0]) {
                    fprintf(stderr, "%s: invalid tty: %s\n", progname, tty);
                    exit(1);
                }
            }
            else if (!strcmp(argv[0], "--help")) {
                usage = 1;
            }
            else {
                fprintf(stderr, "%s: unrecognized option %s\n",
                        progname, argv[0]);
                exit(1);
            }
        }
        else {
            char *p = &argv[0][1];
            if (!*p)
                break;
            while (*p) {
                switch (*p) {
                case 'f': use_fast = 1; break;
                case 's': use_fast = 0; break;
                case 'h': usage = 1; break;
                default:
                    fprintf(stderr, "%s: unrecognized option -- %c\n",
                            progname, *p);
                    exit(1);
                }
                p++;
            }
        }
        argv++;
        argc--;
    }

    if (usage || argc != 1) {
        char *usage_string =
            "      --debug      show debug output, mostly raw bytes\n"
            "  -f, --fast       use fast 4x downloading (default)\n"
            "  -s, --slow       use slow 1x downloading\n"
            "      --tty=TTY    assume tower connected to TTY\n"
#if defined(_WIN32)
            "      --tty=usb    assume tower connected to USB\n"
#else
            "                   (if device name contains \"usb\", use USB mode)\n"
#endif
            "  -h, --help       display this help and exit\n"
            ;

        fprintf(stderr, "usage: %s [options] filename\n", progname);
        fprintf(stderr, usage_string);
        exit(1);
    }

    /* Load the s-record file */

    image_len = srec_load(argv[0], image, IMAGE_MAXLEN, &image_start);

    /* Get the tty name */

    if (!tty)
        tty = getenv("RCXTTY");
    if (!tty)
        tty = DEFAULTTTY;

#if defined(_WIN32)
    //Check the command line to see if IR tower is USB.
    if(stricmp(tty,"usb")==0)   {
        tty_usb = 1;
        if(__comm_debug)
                fprintf(stderr, "Hary Mahesan - USB IR Tower Mode.\n");
        tty = "\\\\.\\legotower1"; // Set the correct usb tower if you have more than one (unlikely).
    }
#elif defined(LINUX) || defined(linux)
    /* If the tty string contains "usb", e.g. /dev/usb/lego0, we */
    /* assume it is the USB tower.  If you use something else that doesn't */
    /* have "usb" in the device name, link it.  /dev/usb/lego0 is the */
    /* name of the dirver installed by LegoUSB */
    /* (http://legousb.sourceforge.net) */
    if (strstr(tty,"usb") !=0) {
       tty_usb=1;
       if (__comm_debug)
         fprintf(stderr, "P.C. Chan & Tyler Akins - USB IR Tower Mode for Linux.\n");
    }   
#endif

    if (use_fast && (tty_usb==0)) { //For now, run USB only at 2400bps (slow mode).
        /* Try to wake up the tower in fast mode */

        fd = rcx_init(tty, 0);  // Slow startup seems better with low batteries...

        if ((status = rcx_wakeup_tower(fd, WAKEUP_TIMEOUT)) < 0) {
            fprintf(stderr, "%s: %s\n", progname, rcx_strerror(status));
            exit(1);
        }

        // Let's put IR in Fast mode.
        rcx_close(fd);
        fd = rcx_init(tty, 1);

        /* Check if already alive in fast mode */
        if (!rcx_is_alive(fd, 0)) {
            /* Not alive in fast mode, download fastdl in slow mode */

            rcx_close(fd);
            fd = rcx_init(tty, 0);

            if (!rcx_is_alive(fd, 1)) {
                fprintf(stderr, "%s: no response from rcx\n", progname);
                exit(1);
            }

            image_dl(fd, fastdl_image, fastdl_len, fastdl_start, 1, "Fast Download Image");

            /* Go back to fast mode */
            rcx_close(fd);
            fd = rcx_init(tty, 1);
        }

        /* Download image in fast mode */

        image_dl(fd, image, image_len, image_start, 0, argv[0]);
        rcx_close(fd);
    } else {
        /* Try to wake up the tower in slow mode */

        fd = rcx_init(tty, 0);

        // USB tower does not need to be waken up...
        if(tty_usb==0) {
          if ((status = rcx_wakeup_tower(fd, WAKEUP_TIMEOUT)) < 0) {
              fprintf(stderr, "%s: %s\n", progname, rcx_strerror(status));
              exit(1);
          }

          if (!rcx_is_alive(fd, 1)) {
              /* See if alive in fast mode */

              rcx_close(fd);
              fd = rcx_init(tty, 1);

              if (rcx_is_alive(fd, 0)) {
                  fprintf(stderr, "%s: rcx is in fast mode\n", progname);
                  fprintf(stderr, "%s: turn rcx off then back on to "
                        "use slow mode\n", progname);
                  exit(1);
              }

              fprintf(stderr, "%s: no response from rcx\n", progname);
              exit(1);
          }
        }

        /* Download image */
        image_dl(fd, image, image_len, image_start, 1, argv[0]);

        rcx_close(fd);
    }

    return 0;
}

---