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teensy_loader_cli.c
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teensy_loader_cli.c
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/* Teensy Loader, Command Line Interface
* Program and Reboot Teensy Board with HalfKay Bootloader
* http://www.pjrc.com/teensy/loader_cli.html
* Copyright 2008-2016, PJRC.COM, LLC
*
* You may redistribute this program and/or modify it under the terms
* of the GNU General Public License as published by the Free Software
* Foundation, version 3 of the License.
*
* 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, see http://www.gnu.org/licenses/
*/
/* Want to incorporate this code into a proprietary application??
* Just email paul@pjrc.com to ask. Usually it's not a problem,
* but you do need to ask to use this code in any way other than
* those permitted by the GNU General Public License, version 3 */
/* For non-root permissions on ubuntu or similar udev-based linux
* http://www.pjrc.com/teensy/49-teensy.rules
*/
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdarg.h>
#include <string.h>
#include <unistd.h>
void usage(const char *err)
{
if(err != NULL) fprintf(stderr, "%s\n\n", err);
fprintf(stderr,
"Usage: teensy_loader_cli --mcu=<MCU> [--sn=<SERIAL>] [-w] [-h] [-n] [-b] [-v] <file.hex>\n"
"\t--sn=123456 : Filter device by serial number (soft reboot only)\n"
"\t-w : Wait for device to appear\n"
"\t-r : Use hard reboot if device not online\n"
"\t-s : Use soft reboot if device not online (Teensy3.x only)\n"
"\t-n : No reboot after programming\n"
"\t-b : Boot only, do not program\n"
"\t-v : Verbose output\n"
"\nUse `teensy_loader_cli --list-mcus` to list supported MCUs.\n"
"\nFor more information, please visit:\n"
"http://www.pjrc.com/teensy/loader_cli.html\n");
exit(1);
}
// USB Access Functions
int teensy_open(void);
int teensy_write(void *buf, int len, double timeout);
void teensy_close(void);
int hard_reboot(void);
int soft_reboot(void);
// Intel Hex File Functions
int read_intel_hex(const char *filename);
int ihex_bytes_within_range(int begin, int end);
void ihex_get_data(int addr, int len, unsigned char *bytes);
int memory_is_blank(int addr, int block_size);
// Misc stuff
int printf_verbose(const char *format, ...);
void delay(double seconds);
void die(const char *str, ...);
void parse_options(int argc, char **argv);
void boot(unsigned char *buf, int write_size);
// options (from user via command line args)
int wait_for_device_to_appear = 0;
int hard_reboot_device = 0;
int soft_reboot_device = 0;
int reboot_after_programming = 1;
int verbose = 0;
int boot_only = 0;
int code_size = 0, block_size = 0;
const char *filename=NULL;
char *serial_number=NULL;
/****************************************************************/
/* */
/* Main Program */
/* */
/****************************************************************/
int main(int argc, char **argv)
{
unsigned char buf[2048];
int num, addr, r, write_size;
int first_block=1, waited=0;
// parse command line arguments
parse_options(argc, argv);
if (!filename && !boot_only) {
usage("Filename must be specified");
}
if (!code_size) {
usage("MCU type must be specified");
}
printf_verbose("Teensy Loader, Command Line, Version 2.1\n");
if (block_size == 512 || block_size == 1024) {
write_size = block_size + 64;
} else {
write_size = block_size + 2;
};
if (!boot_only) {
// read the intel hex file
// this is done first so any error is reported before using USB
num = read_intel_hex(filename);
if (num < 0) die("error reading intel hex file \"%s\"", filename);
printf_verbose("Read \"%s\": %d bytes, %.1f%% usage\n",
filename, num, (double)num / (double)code_size * 100.0);
}
// open the USB device
while (1) {
if (teensy_open()) break;
if (hard_reboot_device) {
if (!hard_reboot()) die("Unable to find rebootor\n");
printf_verbose("Hard Reboot performed\n");
hard_reboot_device = 0; // only hard reboot once
wait_for_device_to_appear = 1;
}
if (soft_reboot_device) {
if (soft_reboot()) {
printf_verbose("Soft reboot performed\n");
}
soft_reboot_device = 0;
wait_for_device_to_appear = 1;
}
if (!wait_for_device_to_appear) die("Unable to open device (hint: try -w option)\n");
if (!waited) {
printf_verbose("Waiting for Teensy device...\n");
printf_verbose(" (hint: press the reset button)\n");
waited = 1;
}
delay(0.25);
}
printf_verbose("Found HalfKay Bootloader\n");
if (boot_only) {
boot(buf, write_size);
teensy_close();
return 0;
}
// if we waited for the device, read the hex file again
// perhaps it changed while we were waiting?
if (waited) {
num = read_intel_hex(filename);
if (num < 0) die("error reading intel hex file \"%s\"", filename);
printf_verbose("Read \"%s\": %d bytes, %.1f%% usage\n",
filename, num, (double)num / (double)code_size * 100.0);
}
// program the data
printf_verbose("Programming");
fflush(stdout);
for (addr = 0; addr < code_size; addr += block_size) {
if (!first_block && !ihex_bytes_within_range(addr, addr + block_size - 1)) {
// don't waste time on blocks that are unused,
// but always do the first one to erase the chip
continue;
}
if (!first_block && memory_is_blank(addr, block_size)) continue;
printf_verbose(".");
if (block_size <= 256 && code_size < 0x10000) {
buf[0] = addr & 255;
buf[1] = (addr >> 8) & 255;
ihex_get_data(addr, block_size, buf + 2);
write_size = block_size + 2;
} else if (block_size == 256) {
buf[0] = (addr >> 8) & 255;
buf[1] = (addr >> 16) & 255;
ihex_get_data(addr, block_size, buf + 2);
write_size = block_size + 2;
} else if (block_size == 512 || block_size == 1024) {
buf[0] = addr & 255;
buf[1] = (addr >> 8) & 255;
buf[2] = (addr >> 16) & 255;
memset(buf + 3, 0, 61);
ihex_get_data(addr, block_size, buf + 64);
write_size = block_size + 64;
} else {
die("Unknown code/block size\n");
}
r = teensy_write(buf, write_size, first_block ? 5.0 : 0.5);
if (!r) die("error writing to Teensy\n");
first_block = 0;
}
printf_verbose("\n");
// reboot to the user's new code
if (reboot_after_programming) {
boot(buf, write_size);
}
teensy_close();
return 0;
}
/****************************************************************/
/* */
/* USB Access - libusb (Linux & FreeBSD) */
/* */
/* Uses libusb v0.1. To install: */
/* - [debian, ubuntu, mint] apt install libusb-dev */
/* - [redhat, centos] yum install libusb-devel */
/* - [fedora] dnf install libusb-devel */
/* - [arch linux] pacman -S libusb-compat */
/* - [gentoo] emerge dev-libs/libusb-compat */
/* */
/* - [freebsd] seems to be preinstalled */
/****************************************************************/
#if defined(USE_LIBUSB)
// http://libusb.sourceforge.net/doc/index.html
#include <usb.h>
usb_dev_handle * open_usb_device(int vid, int pid, bool filter)
{
struct usb_bus *bus;
struct usb_device *dev;
usb_dev_handle *h;
char man[256];
char sn[256];
char buf[128];
int r;
usb_init();
usb_find_busses();
usb_find_devices();
// printf_verbose("\nSearching for USB device (%d,%d):\n", vid, pid);
for (bus = usb_get_busses(); bus; bus = bus->next) {
for (dev = bus->devices; dev; dev = dev->next) {
if (dev->descriptor.idVendor != vid) continue;
if (dev->descriptor.idProduct != pid) continue;
h = usb_open(dev);
if (!h) {
printf_verbose("Found device but unable to open\n");
continue;
}
#ifdef LIBUSB_HAS_GET_DRIVER_NP
r = usb_get_driver_np(h, 0, buf, sizeof(buf));
if (r >= 0) {
r = usb_detach_kernel_driver_np(h, 0);
if (r < 0) {
usb_close(h);
printf_verbose("Device is in use by \"%s\" driver\n", buf);
continue;
}
}
#endif
if(filter) {
if (!dev->descriptor.iManufacturer) continue;
r = usb_get_string_simple(h, dev->descriptor.iManufacturer, man, sizeof(man));
if (r < 0) {
usb_close(h);
printf_verbose("Unable to fetch manufacturer string\n", buf);
continue;
}
if (!dev->descriptor.iSerialNumber) continue;
r = usb_get_string_simple(h, dev->descriptor.iSerialNumber, sn, sizeof(sn));
if (r < 0) {
usb_close(h);
printf_verbose("Unable to fetch serial number string\n", buf);
continue;
}
if(serial_number != NULL) {
if(strcasecmp(serial_number, sn) != 0) {
usb_close(h);
printf_verbose("Serial number=\"%s\" did not match expected=\"%s\"\n", sn, serial_number);
continue;
}
}
printf_verbose("Found bus \"%s\", device \"%s\" vid=%04X, pid=%04X, manufacturer=\"%s\", serial_number=\"%s\"\n",
bus->dirname, dev->filename,
dev->descriptor.idVendor,
dev->descriptor.idProduct,
man,
sn
);
}
// Mac OS-X - removing this call to usb_claim_interface() might allow
// this to work, even though it is a clear misuse of the libusb API.
// normally Apple's IOKit should be used on Mac OS-X
#if !defined(MACOSX)
r = usb_claim_interface(h, 0);
if (r < 0) {
usb_close(h);
printf_verbose("Unable to claim interface, check USB permissions\n");
continue;
}
#endif
return h;
}
}
return NULL;
}
static usb_dev_handle *libusb_teensy_handle = NULL;
int teensy_open(void)
{
teensy_close();
libusb_teensy_handle = open_usb_device(0x16C0, 0x0478, false);
if (libusb_teensy_handle) return 1;
return 0;
}
int teensy_write(void *buf, int len, double timeout)
{
int r;
if (!libusb_teensy_handle) return 0;
while (timeout > 0) {
r = usb_control_msg(libusb_teensy_handle, 0x21, 9, 0x0200, 0,
(char *)buf, len, (int)(timeout * 1000.0));
if (r >= 0) return 1;
//printf("teensy_write, r=%d\n", r);
usleep(10000);
timeout -= 0.01; // TODO: subtract actual elapsed time
}
return 0;
}
void teensy_close(void)
{
if (!libusb_teensy_handle) return;
usb_release_interface(libusb_teensy_handle, 0);
usb_close(libusb_teensy_handle);
libusb_teensy_handle = NULL;
}
int hard_reboot(void)
{
usb_dev_handle *rebootor;
int r;
rebootor = open_usb_device(0x16C0, 0x0477, false);
if (!rebootor) return 0;
r = usb_control_msg(rebootor, 0x21, 9, 0x0200, 0, "reboot", 6, 100);
usb_release_interface(rebootor, 0);
usb_close(rebootor);
if (r < 0) return 0;
return 1;
}
int soft_reboot(void)
{
usb_dev_handle *serial_handle = NULL;
serial_handle = open_usb_device(0x16C0, 0x0483, true);
if (!serial_handle) {
char *error = usb_strerror();
printf("Error opening USB device: %s\n", error);
return 0;
}
char reboot_command = 134;
int response = usb_control_msg(serial_handle, 0x21, 0x20, 0, 0, &reboot_command, 1, 10000);
usb_release_interface(serial_handle, 0);
usb_close(serial_handle);
if (response < 0) {
char *error = usb_strerror();
printf("Unable to soft reboot with USB error: %s\n", error);
return 0;
}
return 1;
}
#endif
/****************************************************************/
/* */
/* USB Access - Microsoft WIN32 */
/* */
/****************************************************************/
#if defined(USE_WIN32)
// http://msdn.microsoft.com/en-us/library/ms790932.aspx
#include <windows.h>
#include <setupapi.h>
#include <ddk/hidsdi.h>
#include <ddk/hidclass.h>
HANDLE open_usb_device(int vid, int pid)
{
GUID guid;
HDEVINFO info;
DWORD index, required_size;
SP_DEVICE_INTERFACE_DATA iface;
SP_DEVICE_INTERFACE_DETAIL_DATA *details;
HIDD_ATTRIBUTES attrib;
HANDLE h;
BOOL ret;
HidD_GetHidGuid(&guid);
info = SetupDiGetClassDevs(&guid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);
if (info == INVALID_HANDLE_VALUE) return NULL;
for (index=0; 1 ;index++) {
iface.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
ret = SetupDiEnumDeviceInterfaces(info, NULL, &guid, index, &iface);
if (!ret) {
SetupDiDestroyDeviceInfoList(info);
break;
}
SetupDiGetInterfaceDeviceDetail(info, &iface, NULL, 0, &required_size, NULL);
details = (SP_DEVICE_INTERFACE_DETAIL_DATA *)malloc(required_size);
if (details == NULL) continue;
memset(details, 0, required_size);
details->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
ret = SetupDiGetDeviceInterfaceDetail(info, &iface, details,
required_size, NULL, NULL);
if (!ret) {
free(details);
continue;
}
h = CreateFile(details->DevicePath, GENERIC_READ|GENERIC_WRITE,
FILE_SHARE_READ|FILE_SHARE_WRITE, NULL, OPEN_EXISTING,
FILE_FLAG_OVERLAPPED, NULL);
free(details);
if (h == INVALID_HANDLE_VALUE) continue;
attrib.Size = sizeof(HIDD_ATTRIBUTES);
ret = HidD_GetAttributes(h, &attrib);
if (!ret) {
CloseHandle(h);
continue;
}
if (attrib.VendorID != vid || attrib.ProductID != pid) {
CloseHandle(h);
continue;
}
SetupDiDestroyDeviceInfoList(info);
return h;
}
return NULL;
}
int write_usb_device(HANDLE h, void *buf, int len, int timeout)
{
static HANDLE event = NULL;
unsigned char tmpbuf[1089];
OVERLAPPED ov;
DWORD n, r;
if (len > sizeof(tmpbuf) - 1) return 0;
if (event == NULL) {
event = CreateEvent(NULL, TRUE, TRUE, NULL);
if (!event) return 0;
}
ResetEvent(&event);
memset(&ov, 0, sizeof(ov));
ov.hEvent = event;
tmpbuf[0] = 0;
memcpy(tmpbuf + 1, buf, len);
if (!WriteFile(h, tmpbuf, len + 1, NULL, &ov)) {
if (GetLastError() != ERROR_IO_PENDING) return 0;
r = WaitForSingleObject(event, timeout);
if (r == WAIT_TIMEOUT) {
CancelIo(h);
return 0;
}
if (r != WAIT_OBJECT_0) return 0;
}
if (!GetOverlappedResult(h, &ov, &n, FALSE)) return 0;
if (n <= 0) return 0;
return 1;
}
void print_win32_err(void)
{
char buf[256];
DWORD err;
err = GetLastError();
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, err,
0, buf, sizeof(buf), NULL);
printf("err %ld: %s\n", err, buf);
}
static HANDLE win32_teensy_handle = NULL;
int teensy_open(void)
{
teensy_close();
win32_teensy_handle = open_usb_device(0x16C0, 0x0478, false);
if (win32_teensy_handle) return 1;
return 0;
}
int teensy_write(void *buf, int len, double timeout)
{
int r;
uint32_t begin, now, total;
if (!win32_teensy_handle) return 0;
total = (uint32_t)(timeout * 1000.0);
begin = timeGetTime();
now = begin;
do {
r = write_usb_device(win32_teensy_handle, buf, len, total - (now - begin));
if (r > 0) return 1;
Sleep(10);
now = timeGetTime();
} while (now - begin < total);
return 0;
}
void teensy_close(void)
{
if (!win32_teensy_handle) return;
CloseHandle(win32_teensy_handle);
win32_teensy_handle = NULL;
}
int hard_reboot(void)
{
HANDLE rebootor;
int r;
rebootor = open_usb_device(0x16C0, 0x0477);
if (!rebootor) return 0;
r = write_usb_device(rebootor, "reboot", 6, 100);
CloseHandle(rebootor);
return r;
}
int soft_reboot(void)
{
printf("Soft reboot is not implemented for Win32\n");
return 0;
}
#endif
/****************************************************************/
/* */
/* USB Access - Apple's IOKit, Mac OS-X */
/* */
/****************************************************************/
#if defined(USE_APPLE_IOKIT)
// http://developer.apple.com/technotes/tn2007/tn2187.html
#include <IOKit/IOKitLib.h>
#include <IOKit/hid/IOHIDLib.h>
#include <IOKit/hid/IOHIDDevice.h>
struct usb_list_struct {
IOHIDDeviceRef ref;
int pid;
int vid;
struct usb_list_struct *next;
};
static struct usb_list_struct *usb_list=NULL;
static IOHIDManagerRef hid_manager=NULL;
void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
CFTypeRef type;
struct usb_list_struct *n, *p;
int32_t pid, vid;
if (!dev) return;
type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDVendorIDKey));
if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &vid)) return;
type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDProductIDKey));
if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &pid)) return;
n = (struct usb_list_struct *)malloc(sizeof(struct usb_list_struct));
if (!n) return;
//printf("attach callback: vid=%04X, pid=%04X\n", vid, pid);
n->ref = dev;
n->vid = vid;
n->pid = pid;
n->next = NULL;
if (usb_list == NULL) {
usb_list = n;
} else {
for (p = usb_list; p->next; p = p->next) ;
p->next = n;
}
}
void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
struct usb_list_struct *p, *tmp, *prev=NULL;
p = usb_list;
while (p) {
if (p->ref == dev) {
if (prev) {
prev->next = p->next;
} else {
usb_list = p->next;
}
tmp = p;
p = p->next;
free(tmp);
} else {
prev = p;
p = p->next;
}
}
}
void init_hid_manager(void)
{
CFMutableDictionaryRef dict;
IOReturn ret;
if (hid_manager) return;
hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
if (hid_manager) CFRelease(hid_manager);
printf_verbose("no HID Manager - maybe this is a pre-Leopard (10.5) system?\n");
return;
}
dict = CFDictionaryCreateMutable(kCFAllocatorDefault, 0,
&kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
if (!dict) return;
IOHIDManagerSetDeviceMatching(hid_manager, dict);
CFRelease(dict);
IOHIDManagerScheduleWithRunLoop(hid_manager, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, attach_callback, NULL);
IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
if (ret != kIOReturnSuccess) {
IOHIDManagerUnscheduleFromRunLoop(hid_manager,
CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
CFRelease(hid_manager);
printf_verbose("Error opening HID Manager\n");
}
}
static void do_run_loop(void)
{
while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
}
IOHIDDeviceRef open_usb_device(int vid, int pid)
{
struct usb_list_struct *p;
IOReturn ret;
init_hid_manager();
do_run_loop();
for (p = usb_list; p; p = p->next) {
if (p->vid == vid && p->pid == pid) {
ret = IOHIDDeviceOpen(p->ref, kIOHIDOptionsTypeNone);
if (ret == kIOReturnSuccess) return p->ref;
}
}
return NULL;
}
void close_usb_device(IOHIDDeviceRef dev)
{
struct usb_list_struct *p;
do_run_loop();
for (p = usb_list; p; p = p->next) {
if (p->ref == dev) {
IOHIDDeviceClose(dev, kIOHIDOptionsTypeNone);
return;
}
}
}
static IOHIDDeviceRef iokit_teensy_reference = NULL;
int teensy_open(void)
{
teensy_close();
iokit_teensy_reference = open_usb_device(0x16C0, 0x0478, false);
if (iokit_teensy_reference) return 1;
return 0;
}
int teensy_write(void *buf, int len, double timeout)
{
IOReturn ret;
// timeouts do not work on OS-X
// IOHIDDeviceSetReportWithCallback is not implemented
// even though Apple documents it with a code example!
// submitted to Apple on 22-sep-2009, problem ID 7245050
if (!iokit_teensy_reference) return 0;
double start = CFAbsoluteTimeGetCurrent();
while (CFAbsoluteTimeGetCurrent() - timeout < start) {
ret = IOHIDDeviceSetReport(iokit_teensy_reference,
kIOHIDReportTypeOutput, 0, buf, len);
if (ret == kIOReturnSuccess) return 1;
usleep(10000);
}
return 0;
}
void teensy_close(void)
{
if (!iokit_teensy_reference) return;
close_usb_device(iokit_teensy_reference);
iokit_teensy_reference = NULL;
}
int hard_reboot(void)
{
IOHIDDeviceRef rebootor;
IOReturn ret;
rebootor = open_usb_device(0x16C0, 0x0477);
if (!rebootor) return 0;
ret = IOHIDDeviceSetReport(rebootor,
kIOHIDReportTypeOutput, 0, (uint8_t *)("reboot"), 6);
close_usb_device(rebootor);
if (ret == kIOReturnSuccess) return 1;
return 0;
}
int soft_reboot(void)
{
printf("Soft reboot is not implemented for OSX\n");
return 0;
}
#endif
/****************************************************************/
/* */
/* USB Access - BSD's UHID driver */
/* */
/****************************************************************/
#if defined(USE_UHID)
// Thanks to Todd T Fries for help getting this working on OpenBSD
// and to Chris Kuethe for the initial patch to use UHID.
#include <sys/ioctl.h>
#include <fcntl.h>
#include <dirent.h>
#include <dev/usb/usb.h>
#ifndef USB_GET_DEVICEINFO
#include <dev/usb/usb_ioctl.h>
#endif
int open_usb_device(int vid, int pid)
{
int r, fd;
DIR *dir;
struct dirent *d;
struct usb_device_info info;
char buf[256];
dir = opendir("/dev");
if (!dir) return -1;
while ((d = readdir(dir)) != NULL) {
if (strncmp(d->d_name, "uhid", 4) != 0) continue;
snprintf(buf, sizeof(buf), "/dev/%s", d->d_name);
fd = open(buf, O_RDWR);
if (fd < 0) continue;
r = ioctl(fd, USB_GET_DEVICEINFO, &info);
if (r < 0) {
// NetBSD: added in 2004
// OpenBSD: added November 23, 2009
// FreeBSD: missing (FreeBSD 8.0) - USE_LIBUSB works!
die("Error: your uhid driver does not support"
" USB_GET_DEVICEINFO, please upgrade!\n");
close(fd);
closedir(dir);
exit(1);
}
//printf("%s: v=%d, p=%d\n", buf, info.udi_vendorNo, info.udi_productNo);
if (info.udi_vendorNo == vid && info.udi_productNo == pid) {
closedir(dir);
return fd;
}
close(fd);
}
closedir(dir);
return -1;
}
static int uhid_teensy_fd = -1;
int teensy_open(void)
{
teensy_close();
uhid_teensy_fd = open_usb_device(0x16C0, 0x0478, false);
if (uhid_teensy_fd < 0) return 0;
return 1;
}
int teensy_write(void *buf, int len, double timeout)
{
int r;
// TODO: imeplement timeout... how??
r = write(uhid_teensy_fd, buf, len);
if (r == len) return 1;
return 0;
}
void teensy_close(void)
{
if (uhid_teensy_fd >= 0) {
close(uhid_teensy_fd);
uhid_teensy_fd = -1;
}
}
int hard_reboot(void)
{
int r, rebootor_fd;
rebootor_fd = open_usb_device(0x16C0, 0x0477);
if (rebootor_fd < 0) return 0;
r = write(rebootor_fd, "reboot", 6);
delay(0.1);
close(rebootor_fd);
if (r == 6) return 1;
return 0;
}
int soft_reboot(void)
{
printf("Soft reboot is not implemented for UHID\n");
return 0;
}
#endif
/****************************************************************/
/* */
/* Read Intel Hex File */
/* */
/****************************************************************/
// the maximum flash image size we can support
// chips with larger memory may be used, but only this
// much intel-hex data can be loaded into memory!
#define MAX_MEMORY_SIZE 0x100000
static unsigned char firmware_image[MAX_MEMORY_SIZE];
static unsigned char firmware_mask[MAX_MEMORY_SIZE];
static int end_record_seen=0;
static int byte_count;
static unsigned int extended_addr = 0;
static int parse_hex_line(char *line);
int read_intel_hex(const char *filename)
{
FILE *fp;
int i, lineno=0;
char buf[1024];
byte_count = 0;
end_record_seen = 0;
for (i=0; i<MAX_MEMORY_SIZE; i++) {
firmware_image[i] = 0xFF;
firmware_mask[i] = 0;
}
extended_addr = 0;
fp = fopen(filename, "r");
if (fp == NULL) {
//printf("Unable to read file %s\n", filename);
return -1;
}
while (!feof(fp)) {
*buf = '\0';
if (!fgets(buf, sizeof(buf), fp)) break;
lineno++;
if (*buf) {
if (parse_hex_line(buf) == 0) {
printf("Warning, HEX parse error line %d\n", lineno);
return -2;
}
}
if (end_record_seen) break;
if (feof(stdin)) break;
}
fclose(fp);
return byte_count;
}
/* from ihex.c, at http://www.pjrc.com/tech/8051/pm2_docs/intel-hex.html */
/* parses a line of intel hex code, stores the data in bytes[] */
/* and the beginning address in addr, and returns a 1 if the */
/* line was valid, or a 0 if an error occured. The variable */
/* num gets the number of bytes that were stored into bytes[] */
int
parse_hex_line(char *line)
{
int addr, code, num;
int sum, len, cksum, i;
char *ptr;
num = 0;
if (line[0] != ':') return 0;
if (strlen(line) < 11) return 0;
ptr = line+1;
if (!sscanf(ptr, "%02x", &len)) return 0;
ptr += 2;
if ((int)strlen(line) < (11 + (len * 2)) ) return 0;
if (!sscanf(ptr, "%04x", &addr)) return 0;
ptr += 4;
/* printf("Line: length=%d Addr=%d\n", len, addr); */
if (!sscanf(ptr, "%02x", &code)) return 0;
if (addr + extended_addr + len >= MAX_MEMORY_SIZE) return 0;
ptr += 2;
sum = (len & 255) + ((addr >> 8) & 255) + (addr & 255) + (code & 255);
if (code != 0) {
if (code == 1) {
end_record_seen = 1;
return 1;
}
if (code == 2 && len == 2) {
if (!sscanf(ptr, "%04x", &i)) return 1;
ptr += 4;
sum += ((i >> 8) & 255) + (i & 255);
if (!sscanf(ptr, "%02x", &cksum)) return 1;
if (((sum & 255) + (cksum & 255)) & 255) return 1;
extended_addr = i << 4;
//printf("ext addr = %05X\n", extended_addr);
}
if (code == 4 && len == 2) {
if (!sscanf(ptr, "%04x", &i)) return 1;
ptr += 4;
sum += ((i >> 8) & 255) + (i & 255);
if (!sscanf(ptr, "%02x", &cksum)) return 1;
if (((sum & 255) + (cksum & 255)) & 255) return 1;
extended_addr = i << 16;
//printf("ext addr = %08X\n", extended_addr);
}
return 1; // non-data line
}
byte_count += len;
while (num != len) {
if (sscanf(ptr, "%02x", &i) != 1) return 0;
i &= 255;
firmware_image[addr + extended_addr + num] = i;
firmware_mask[addr + extended_addr + num] = 1;
ptr += 2;
sum += i;
(num)++;
if (num >= 256) return 0;
}
if (!sscanf(ptr, "%02x", &cksum)) return 0;
if (((sum & 255) + (cksum & 255)) & 255) return 0; /* checksum error */
return 1;
}
int ihex_bytes_within_range(int begin, int end)
{
int i;
if (begin < 0 || begin >= MAX_MEMORY_SIZE ||
end < 0 || end >= MAX_MEMORY_SIZE) {
return 0;