/* * firmdl.c * * A hack to download firmware to the RCX. * * usage: firmdl Firm0309.lgo * * Under IRIX, Linux, and Solaris, you should be able to compile this * program with cc firmdl.c -o firmdl. I don't know about other versions * of Unix, although I'd be interested in hearing about compatibility * issues that you are able to fix. * * Set DEFAULTTTY to the serial device you want to use. * Set the RCXTTY environment variable to override DEFAULTTTY. * * Based on send.c and srec.c. Maybe someday I will distribute my tools * as multiple files... * * Some additional documentation is available at: * * http://graphics.stanford.edu/~kekoa/rcx/tools.html * * Acknowledgements: * * Laurent Demailly pointed out I didn't transfer some fixes from * send.c over to this file. He also mentioned that this program * compiles fine under Solaris 2.6. * Allen Martin mentioned his modification of not sending all 4K if the * firmware is shorter than that. I discovered that the correct way * to do this was to send everything but the trailing zero bytes, * and before I had a chance to implement this, Markus Noga sent me * the changes needed to implement this. I incorporated the changes * with modifications, plus a few others to make the software a bit * more robust. * Markus forwarded a message from Gavin Smyth that pointed out a * problem with an uninitialized variable. Gavin also pointed out * that this program compiles fine under Cygwin. * In a separate message, Gavin suggested a small change to shorten the * 0.3 ms pause during the download. * Luis Villa noticed a problem with certain s-record files; the * problem turned out to be long S0 records generated by the linker. * Changed the source to allow these (improper?) records. */ /* * Copyright (C) 1998, 1999, Kekoa Proudfoot. All Rights Reserved. * * License to copy, use, and modify this software is granted provided that * this notice is retained in any copies of any part of this software. * * The author makes no guarantee that this software will compile or * function correctly. Also, if you use this software, you do so at your * own risk. * * Kekoa Proudfoot * kekoa@graphics.stanford.edu * 10/3/98 */ #include #include #include #include #include #include #include #include #include #include #include #if defined(LINUX) #define DEFAULTTTY "/dev/ttyS0" /* Linux - COM1 */ #elif defined(WINNT) #define DEFAULTTTY "com1" /* Cygwin - COM1 */ #else #define DEFAULTTTY "/dev/ttyd2" /* IRIX - second serial port */ #endif char *progname; /* RCX routines */ #define BUFFERSIZE 4096 #define RETRIES 5 int rcx_init(char *tty) { int fd; struct termios ios; if ((fd = open(tty, O_RDWR)) < 0) { perror("open"); exit(1); } if (!isatty(fd)) { close(fd); fprintf(stderr, "%s: not a tty\n", tty); exit(1); } memset(&ios, 0, sizeof(ios)); ios.c_cflag = CREAD | CLOCAL | CS8 | PARENB | PARODD; cfsetispeed(&ios, B2400); cfsetospeed(&ios, B2400); if (tcsetattr(fd, TCSANOW, &ios) == -1) { perror("tcsetattr"); exit(1); } return fd; } void rcx_close(int fd) { close(fd); } int rcx_send(int fd, unsigned char *sbuf, int slen, unsigned char *rbuf, int rlen) { unsigned char tbuf[BUFFERSIZE]; unsigned char vbuf[BUFFERSIZE]; unsigned char *sp = sbuf; struct timeval tv; fd_set fds; int tlen = 0, vlen, vpos, rpos; int sum = 0, retry, returnval, count; tbuf[tlen++] = 0x55; tbuf[tlen++] = 0xff; tbuf[tlen++] = 0x00; while (slen--) { tbuf[tlen++] = *sp; tbuf[tlen++] = (~*sp) & 0xff; sum += *sp++; } tbuf[tlen++] = sum; tbuf[tlen++] = ~sum; for (retry = 0; retry < RETRIES; retry++) { if (write(fd, tbuf, tlen) != tlen) { perror("write"); exit(1); } vlen = 0; while (vlen < tlen + 5 + 2 * rlen) { FD_ZERO(&fds); FD_SET(fd, &fds); tv.tv_sec = 0; tv.tv_usec = 300000; if (select(FD_SETSIZE, &fds, NULL, NULL, &tv) == -1) { perror("select"); exit(1); } if (!FD_ISSET(fd, &fds)) break; if ((count = read(fd, &vbuf[vlen], BUFFERSIZE - vlen)) == -1) { perror("read"); exit(1); } vlen += count; } /* Check echo */ returnval = -2; if (vlen < tlen) continue; /* retry */ for (vpos = 0; vpos < tlen; vpos++) if (tbuf[vpos] != vbuf[vpos]) break; if (vpos < tlen) continue; /* retry */ /* Check reply */ returnval = 0; if (vpos == vlen) break; /* could continue instead */ returnval = -1; if (vlen - vpos < 5) break; /* could continue instead */ if (vbuf[vpos++] != 0x55) break; /* could continue instead */ if (vbuf[vpos++] != 0xff) break; /* could continue instead */ if (vbuf[vpos++] != 0x00) break; /* could continue instead */ for (sum = 0, rpos = 0; vpos < vlen - 2; vpos += 2, rpos++) { if (vbuf[vpos] != ((~vbuf[vpos+1]) & 0xff)) break; sum += vbuf[vpos]; if (rpos < rlen) rbuf[rpos] = vbuf[vpos]; } if (vpos != vlen - 2) break; /* could continue instead */ if (vbuf[vpos] != ((~vbuf[vpos+1]) & 0xff)) break; /* could continue instead */ if ((sum & 0xff) != vbuf[vpos]) break; /* could continue instead */ return rpos; } return returnval; } /* 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; } #define IMAGE_START 0x8000 #define IMAGE_LEN 0x4c00 #define IMAGE_END (IMAGE_START + IMAGE_LEN) #define TRANSFER_SIZE 0xc8 #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]; unsigned char send[BUFFERSIZE]; unsigned char recv[BUFFERSIZE]; char buf[256]; FILE *file; srec_t srec; int line = 0; unsigned short cksum = 0; int addr, index, size, i; char *tty; 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 */ /* Not entirely legal if firmware expects zeros to be there */ /* GCC does not generate unnecessary padding, skip if not Firm0309.lgo */ /* Define FORCE_NO_ZERO_PADDING to force the zero stripping to occur */ /* You will want to do this if you pad with zeros to be OCX compatible */ 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 */ if ((tty = getenv("RCXTTY")) == NULL) tty = DEFAULTTTY; fd = rcx_init(tty); /* Delete firmware */ send[0] = 0x65; send[1] = 1; send[2] = 3; send[3] = 5; send[4] = 7; send[5] = 11; for (i = 0; i < 5; i++) { if (rcx_send(fd, send, 6, recv, 1) == 1) break; } if (i == 5) { fprintf(stderr, "%s: Delete firmware failed.\n", progname); exit(1); } /* Start firmware download */ send[0] = 0x75; send[1] = (image_start >> 0) & 0xff; send[2] = (image_start >> 8) & 0xff; send[3] = (cksum >> 0) & 0xff; send[4] = (cksum >> 8) & 0xff; send[5] = 0; for (i = 0; i < 5; i++) { if (rcx_send(fd, send, 6, recv, 2) == 2 && recv[1] == 0) break; } if (i == 5) { fprintf(stderr, "%s: Start firmware download failed.\n", progname); exit(1); } /* Transfer data */ addr = 0; index = 1; for (addr = 0, index = 1; addr < length; addr += size, index++) { size = IMAGE_LEN - addr; send[0] = 0x45; if (index & 1) send[0] |= 0x08; if (size > TRANSFER_SIZE) size = TRANSFER_SIZE; else 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; for (i = 0; i < 5; i++) { if (rcx_send(fd, send, size + 6, recv, 2) == 2 && recv[1] == 0) break; } if (i == 5) { fprintf(stderr, "%s: Transfer data failed.\n", progname); exit(1); } } /* Unlock firmware */ send[0] = 0xa5; send[1] = 76; send[2] = 69; send[3] = 71; send[4] = 79; send[5] = 174; for (i = 0; i < 5; i++) { if (rcx_send(fd, send, 6, recv, 26) == 26) break; } if (i == 5) { fprintf(stderr, "%s: Unlock firmware failed.\n", progname); exit(1); } rcx_close(fd); exit(0); }