/* * RCX_Download.c * * Download an S-record program to the RCX and starts it. * * * Under UNIX systems like IRIX, Linux, and Solaris, this program compiles * with gcc RCX_Download.c -o RCX_Download. * * Set DEFAULT_RCX_IR to the name of the RS232 port connected to the * infrared transmitter/receiver. Set the RCX_IR environment variable * to override DEFAULT_RCX_IR. * * Acknowledgements: * * Kekoa Proudfoot (kekoa@graphics.stanford.edu) has provided almost all * the information needed to write this program at: * * http://graphics.stanford.edu/~kekoa/rcx/ * * He has also written and documented a program, firmdl.c, similar in * functionality to the program RCX_Download.c. Minor parts of the * code in RCX_Download.c have been copied from firmdl.c. *------------------------------------------------------------------------ */ #include #include #include #include #include #include #include #include #include #include #include /* * RCX routines. */ /* Definition of bytesequence as an array of bytes together with the length of the sequence. */ #define MAXSIZE 4096 typedef unsigned char byte ; struct byteseq_t { byte data[MAXSIZE]; int bytecount; }; typedef struct byteseq_t bytesequence; /* Print byte sequence as hexadecimal represented byte values. Each line starts with a hexadecimal represented byte index of the first byte on the line. Bytes are grouped with spacing between groups. */ #define LINE_SIZE 16 #define GROUP_SIZE 4 void print_sequence(bytesequence bs) { int i, j, w; for (i = 0; i < bs.bytecount; i += w) { w = bs.bytecount - i; if (w > LINE_SIZE) w = LINE_SIZE; printf("%04x: ", i); for (j = 0; j < w; j++) { printf("%02x ", bs.data[i+j]); if ((j + 1) % GROUP_SIZE == 0) printf(" "); } printf("\n"); } } typedef bytesequence message; enum result_types { OK, NO_ECHO, BAD_ECHO, ECHO_OK_NO_RESPONSE, ECHO_OK, BAD_LENGTH, BAD_HEADER, BAD_PARITY, BAD_CHECKSUM, BAD_ANSWER}; struct answer_t { bytesequence bs; int result; }; typedef struct answer_t answer; /* Assemble message from arguments. Each argument is interpreted as a two digit hexadecimal represented byte. The bytes and the number of bytes assembled are returned. No error control. */ message assemble_message(int argc, char * argv[]) { message m; int i; for ( i = 1; i < argc; i++) m.data[i-1] = strtol(argv[i], NULL, 16); m.bytecount = argc - 1; return m; } /* Send message to RCX and return answer received. */ /* RS232 routines. */ #include #include #include #include #include #include #include #include #define DEFAULT_RCX_IR "/dev/ttyd2" /* Solaris name of serial port */ /* Linux - COM1 port is /dev/ttyS0 */ /* SGI port is /dev/ttyd2 */ int IR_open() { int fd; char * IR_Name; struct termios ios; if (( IR_Name = getenv("RCX_IR")) == NULL) IR_Name = DEFAULT_RCX_IR; if ((fd = open(IR_Name, O_RDWR)) < 0) { printf("Open Infraread failed. Name of RCX_IR = %s. \n", IR_Name); exit(1); } if (!isatty(fd)) { close(fd); printf("IR = %s is not the name of a serial port.\n", IR_Name); exit(1); } memset(&ios, 0, sizeof(ios)); ios.c_cflag = CREAD | CLOCAL | CS8 | PARENB | PARODD; cfsetispeed(&ios, B2400); cfsetospeed(&ios, B2400); ios.c_cc[VTIME] = 1; ios.c_cc[VMIN] = 0; if (tcsetattr(fd, TCSANOW, &ios) == -1) { perror("tcsetattr"); exit(1); } return fd; } void IR_close(int fd) { close(fd); } /* An RCX message consists of a sequence of bytes with the format: A message header with three bytes: 0x55 0xff 0x00; A sequence of data bytes, each byte is send as two bytes, the byte itself and its bitcomplement; A check sum and its bitcomplemnt. The check sum is defined as the sum of the data bytes modulo 8 bit. */ message build_RCX_message(message m) { message RCX_m; int i,j; byte check_sum; check_sum = 0; RCX_m.data[0] = 0x55; RCX_m.data[1] = 0xff; RCX_m.data[2] = 0x00; for ( i = 0, j = 3; i < m.bytecount ; i++, j=j+2){ RCX_m.data[j] = m.data[i]; RCX_m.data[j+1] = ~m.data[i]; check_sum += m.data[i]; } RCX_m.data[j] = check_sum; RCX_m.data[j+1] = ~check_sum; RCX_m.bytecount = j + 2; return RCX_m; } void send_message(int fd, message m) { if (write(fd, m.data, m.bytecount)!= m.bytecount) { printf("Error in write.\n"); exit(1); } } bytesequence receive_bytes(int fd) { bytesequence bs; int count, received; received = 0; do { if ((count = read(fd, &bs.data[received], 1)) == -1) { printf("Error in read.\n"); exit(1); } received = received + count; } while ( count != 0); bs.bytecount = received; return bs; } answer find_answer(bytesequence bs, message m) { int i, j, a_index; byte sum; answer a; /* Check echo from IR device */ if ( bs.bytecount == 0 ) a.result = NO_ECHO; else { if ( bs.bytecount < m.bytecount ) a.result = BAD_ECHO; else { /* Check bytes in echo */ for ( i = 0; ( (i < m.bytecount) && (bs.data[i] == m.data[i])); i++) ; if ( i < m.bytecount ) a.result = BAD_ECHO; else if ( bs.bytecount == m.bytecount ) a.result = ECHO_OK_NO_RESPONSE; else { a.result = ECHO_OK; a_index = m.bytecount; } } } /* Check response if echo is ok and the number of bytes received is at least 3 ( length of header ) + 2 ( lenght of checksum ) */ if ( (a.result != ECHO_OK) || ((bs.bytecount - a_index) < 5) ) { if (a.result == ECHO_OK) a.result = BAD_LENGTH; } else { /* Check header */ if ( (bs.data[a_index] != 0x55) || (bs.data[a_index+1] != 0xff) || (bs.data[a_index+2] != 0x00) ) a.result = BAD_HEADER; else { /* Check bytepairs for bitcomplement equality. Copy first byte of each pair to answer. Calculate checksum of the bytes (first byte of each byte pair) excluding the checksum byte. */ sum = 0; for ( i = a_index+3, j = 0; ( (i < bs.bytecount-2) && (bs.data[i] == (byte)~bs.data[i+1]) ); i=i+2, j=j+1) { sum += bs.data[i]; a.bs.data[j] = bs.data[i]; } if ( i < (bs.bytecount-2) ) a.result = BAD_PARITY; else /* Check checksum */ if ( (bs.data[bs.bytecount-2] != (byte)~bs.data[bs.bytecount-1]) || (bs.data[bs.bytecount-2] != sum) ) a.result = BAD_CHECKSUM; else { a.result = OK; a.bs.bytecount = j; } } } return a; } answer send_receive(int fd, message m) { bytesequence bs; answer a; int i; m = build_RCX_message(m); i=0; do { send_message(fd,m); bs = receive_bytes(fd); a = find_answer(bs,m); i++; } while ((a.result !=OK) && (i < 5)); return a; } void print_answer(answer a) { switch ( a.result ) { case OK: print_sequence(a.bs); break; case NO_ECHO: printf("No echo.\n"); break; case BAD_ECHO: printf("Bad echo.\n"); break; case ECHO_OK_NO_RESPONSE: printf("Echo ok. No response.\n"); break; case ECHO_OK: printf("Echo ok.\n"); break; case BAD_LENGTH: printf("Bad length.\n"); break; case BAD_HEADER: printf("Bad header.\n"); break; case BAD_PARITY: printf("Bad parity.\n"); break; case BAD_CHECKSUM: printf("Bad checksum.\n"); break; default: } } /* Delete firmware */ int delete_firmware(int fd) { message m; answer a; m.bytecount = 6; m.data[0] = 0x65; m.data[1] = 1; m.data[2] = 3; m.data[3] = 5; m.data[4] = 7; m.data[5] = 11; a = send_receive(fd, m); if ( (a.result == OK) && (a.bs.bytecount != 1)) a.result = BAD_ANSWER; return a.result; } /* Start firmware download */ int start_firmware_download(int fd, int image_start, int check_sum) { message m; answer a; m.bytecount = 6; m.data[0] = 0x75; m.data[1] = (image_start >> 0) & 0xff; m.data[2] = (image_start >> 8) & 0xff; m.data[3] = (check_sum >> 0) & 0xff; m.data[4] = (check_sum >> 8) & 0xff; m.data[5] = 0; a = send_receive(fd, m); if ( (a.result == OK) && (a.bs.bytecount != 2)) a.result = BAD_ANSWER; return a.result; } /* Transfer data */ #define IMAGE_START 0x8000 #define IMAGE_LEN 0x4c00 #define IMAGE_END (IMAGE_START + IMAGE_LEN) #define TRANSFER_SIZE 0xc8 int transfer_data( int fd, byte * image, int length) { message m; answer a; int addr, sequence_number, size, i; byte check_sum; addr = 0; sequence_number= 1; do { size = length - addr; /* Toggle bit 3 of command byte as bit 0 of the block sequence number */ m.data[0] = 0x45 | ((sequence_number & 1) << 3); if (size > TRANSFER_SIZE) size = TRANSFER_SIZE; else /* Last block has sequence number equal to 0 */ sequence_number = 0; m.data[1] = sequence_number; m.data[2] = sequence_number >> 8; m.data[3] = size; m.data[4] = size >> 8; memcpy(&m.data[5], &image[addr], size); check_sum = 0; for (i = 0; i < size; i++) check_sum += m.data[5 + i]; m.data[size + 5] = check_sum; m.bytecount = size + 5 + 1; a = send_receive(fd, m); if ( (a.result == OK) && (a.bs.bytecount != 2)) a.result = BAD_ANSWER; addr += size; sequence_number++; } while ( (addr < length) && (a.result == OK)); return a.result; } /* Unlock firmware */ int unlock_firmware(int fd) { message m; answer a; m.bytecount = 6; m.data[0] = 0xa5; m.data[1] = 76; m.data[2] = 69; m.data[3] = 71; m.data[4] = 79; m.data[5] = 174; a = send_receive(fd, m); if ((a.result == OK) && (a.bs.bytecount != 26)) a.result = BAD_ANSWER; return a.result; } char *progname; /* S-record routines */ /* srec.h */ typedef struct { unsigned char type; unsigned long addr; unsigned char count; unsigned char data[32]; } srec_t; #define S_OK 0 #define S_NULL -1 #define S_INVALID_HDR -2 #define S_INVALID_CHAR -3 #define S_INVALID_TYPE -4 #define S_TOO_SHORT -5 #define S_TOO_LONG -6 #define S_INVALID_CKSUM -7 extern int srec_decode(srec_t *srec, char *line); extern int srec_encode(srec_t *srec, char *line); /* srec.c */ static signed char ctab[256] = { -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9,-1,-1,-1,-1,-1,-1, 0,10,11,12,13,14,15,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, 0,10,11,12,13,14,15,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, -1,-1,-1,-1,-1,-1,-1,-1, }; static int ltab[10] = {4,4,6,8,0,4,0,8,6,4}; #define C1(l,p) (ctab[l[p]]) #define C2(l,p) ((C1(l,p)<<4)|C1(l,p+1)) int srec_decode(srec_t *srec, char *_line) { int len, pos = 0, count, alen, sum = 0; unsigned char *line = (unsigned char *)_line; if (!srec || !line) return S_NULL; for (len = 0; line[len]; len++) if (line[len] == '\n' || line[len] == '\r') break; if (len < 4) return S_INVALID_HDR; if (line[0] != 'S') return S_INVALID_HDR; for (pos = 1; pos < len; pos++) { if (C1(line, pos) < 0) return S_INVALID_CHAR; } srec->type = C1(line, 1); count = C2(line, 2); if (srec->type > 9) return S_INVALID_TYPE; alen = ltab[srec->type]; if (alen == 0) return S_INVALID_TYPE; if (len < alen + 6 || len < count * 2 + 4) return S_TOO_SHORT; if (count > 37 || len > count * 2 + 4) return S_TOO_LONG; sum += count; len -= 4; line += 4; srec->addr = 0; for (pos = 0; pos < alen; pos += 2) { unsigned char value = C2(line, pos); srec->addr = (srec->addr << 8) | value; sum += value; } len -= alen; line += alen; for (pos = 0; pos < len - 2; pos += 2) { unsigned char value = C2(line, pos); srec->data[pos / 2] = value; sum += value; } srec->count = count - (alen / 2) - 1; sum += C2(line, pos); if ((sum & 0xff) != 0xff) return S_INVALID_CKSUM; return S_OK; } int srec_encode(srec_t *srec, char *line) { int alen, count, sum = 0, pos; if (srec->type > 9) return S_INVALID_TYPE; alen = ltab[srec->type]; if (alen == 0) return S_INVALID_TYPE; line += sprintf(line, "S%d", srec->type); if (srec->count > 32) return S_TOO_LONG; count = srec->count + (alen / 2) + 1; line += sprintf(line, "%02X", count); sum += count; while (alen) { int value; alen -= 2; value = (srec->addr >> (alen * 4)) & 0xff; line += sprintf(line, "%02X", value); sum += value; } for (pos = 0; pos < srec->count; pos++) { line += sprintf(line, "%02X", srec->data[pos]); sum += srec->data[pos]; } sprintf(line, "%02X\n", (~sum) & 0xff); return S_OK; } #ifdef FORCE_NO_ZERO_PADDING #define STRIP_ZEROS 1 #else #define STRIP_ZEROS 0 #endif int main(int argc, char * argv[]) { unsigned char image[IMAGE_LEN]; char buf[256]; FILE *file; srec_t srec; int line = 0; unsigned short cksum = 0; int addr, index, size, i; int fd; int length = 0; int strip = STRIP_ZEROS; unsigned short image_start = IMAGE_START; progname = argv[0]; if (argc != 2) { fprintf(stderr, "usage: %s filename\n", argv[0]); exit(1); } if ((file = fopen(argv[1], "r")) == NULL) { fprintf(stderr, "%s: failed to open\n", argv[1]); exit(1); } /* Build an image of the srecord data */ memset(image, 0, sizeof(image)); while (fgets(buf, sizeof(buf), file)) { int error; line++; /* Skip blank lines */ for (i = 0; buf[i]; i++) if (buf[i] != ' ' && buf[i] != '\t' && buf[i] != '\n' && buf[i] != '\r') break; if (!buf[i]) continue; if ((error = srec_decode(&srec, buf)) < 0) { char *errstr = NULL; switch (error) { case S_NULL: errstr = "null string error"; break; case S_INVALID_HDR: errstr = "invalid header"; break; case S_INVALID_CHAR: errstr = "invalid character"; break; case S_INVALID_TYPE: errstr = "invalid type"; break; case S_TOO_SHORT: errstr = "line too short"; break; case S_TOO_LONG: errstr = "line too line"; break; case S_INVALID_CKSUM: break; /* ignore these */ default: errstr = "unknown error"; break; } if (errstr) { fprintf(stderr, "%s: %s on line %d\n", argv[1], errstr, line); exit(1); } } if (srec.type == 0) { if (srec.count == 16) if (!strncmp(srec.data, "?LIB_VERSION_L00", 16)) strip = 1; } else if (srec.type == 1) { if (srec.addr < IMAGE_START || srec.addr + srec.count > IMAGE_END){ fprintf(stderr, "%s: address out of bounds on line %d\n", argv[1], line); exit(1); } if (!strip && (srec.addr + srec.count - IMAGE_START > length)) length = srec.addr + srec.count - IMAGE_START; memcpy(&image[srec.addr - IMAGE_START], &srec.data, srec.count); } else if (srec.type == 9) { if (srec.addr < IMAGE_START || srec.addr > IMAGE_END) { fprintf(stderr, "%s: address out of bounds on line %d\n", argv[1], line); exit(1); } image_start = srec.addr; } } /* Find image length */ if (strip) { for (length = IMAGE_LEN - 1; length >= 0 && image[length]; length--); length++; } if (length == 0) { fprintf(stderr, "%s: image contains no data\n"); exit(1); } /* Checksum it */ for (i = 0; i < length; i++) cksum += image[i]; /* Open the serial port */ fd = IR_open(); /* Delete firmware */ if (delete_firmware(fd) != OK) fprintf(stderr, "%s: EnterDownloadMode failed.\n", progname); else /* Start firmware download */ if (start_firmware_download(fd,image_start, cksum) != OK) fprintf(stderr, "%s: BeginDownload failed.\n", progname); else /* Transfer data */ if (transfer_data(fd,image,length) != OK) fprintf(stderr, "%s: DownloadBlock failed.\n", progname); else /* Unlock firmware */ if (unlock_firmware(fd) != OK) fprintf(stderr, "%s: RunProgram failed.\n", progname); IR_close(fd); exit(0); }