protocol/lufa/LUFA-git/Bootloaders/HID/HostLoaderApp/hid_bootloader_cli.c

   1 /* Modified for the LUFA HID Bootloader by Dean Camera
   2  *           http://www.lufa-lib.org
   3  *
   4  *   THIS MODIFIED VERSION IS UNSUPPORTED BY PJRC.
   5  */
   6
   7 /* Teensy Loader, Command Line Interface
   8  * Program and Reboot Teensy Board with HalfKay Bootloader
   9  * http://www.pjrc.com/teensy/loader_cli.html
  10  * Copyright 2008-2010, PJRC.COM, LLC
  11  *
  12  *
  13  * You may redistribute this program and/or modify it under the terms
  14  * of the GNU General Public License as published by the Free Software
  15  * Foundation, version 3 of the License.
  16  *
  17  * This program is distributed in the hope that it will be useful,
  18  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  19  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  20  * GNU General Public License for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License
  23  * along with this program.  If not, see http://www.gnu.org/licenses/
  24  */
  25
  26 /* Want to incorporate this code into a proprietary application??
  27  * Just email paul@pjrc.com to ask.  Usually it's not a problem,
  28  * but you do need to ask to use this code in any way other than
  29  * those permitted by the GNU General Public License, version 3  */
  30
  31 /* For non-root permissions on ubuntu or similar udev-based linux
  32  * http://www.pjrc.com/teensy/49-teensy.rules
  33  */
  34
  35 #include <stdio.h>
  36 #include <stdlib.h>
  37 #include <stdint.h>
  38 #include <stdarg.h>
  39 #include <string.h>
  40 #include <unistd.h>
  41
  42 void usage(void)
  43 {
  44         fprintf(stderr, "Usage: hid_bootloader_cli -mmcu=<MCU> [-w] [-h] [-n] [-v] <file.hex>\n");
  45         fprintf(stderr, "\t-w : Wait for device to appear\n");
  46         fprintf(stderr, "\t-r : Use hard reboot if device not online\n");
  47         fprintf(stderr, "\t-n : No reboot after programming\n");
  48         fprintf(stderr, "\t-v : Verbose output\n");
  49         fprintf(stderr, "\n<MCU> = atmegaXXuY or at90usbXXXY");
  50
  51         fprintf(stderr, "\nFor support and more information, please visit:\n");
  52         fprintf(stderr, "http://www.lufa-lib.org\n");
  53
  54         fprintf(stderr, "\nBased on the TeensyHID command line programmer software:\n");
  55         fprintf(stderr, "http://www.pjrc.com/teensy/loader_cli.html\n");
  56         exit(1);
  57 }
  58
  59 // USB Access Functions
  60 int teensy_open(void);
  61 int teensy_write(void *buf, int len, double timeout);
  62 void teensy_close(void);
  63 int hard_reboot(void);
  64
  65 // Intel Hex File Functions
  66 int read_intel_hex(const char *filename);
  67 int ihex_bytes_within_range(int begin, int end);
  68 void ihex_get_data(int addr, int len, unsigned char *bytes);
  69
  70 // Misc stuff
  71 int printf_verbose(const char *format, ...);
  72 void delay(double seconds);
  73 void die(const char *str, ...);
  74 void parse_options(int argc, char **argv);
  75
  76 // options (from user via command line args)
  77 int wait_for_device_to_appear = 0;
  78 int hard_reboot_device = 0;
  79 int reboot_after_programming = 1;
  80 int verbose = 0;
  81 int code_size = 0, block_size = 0;
  82 const char *filename=NULL;
  83
  84
  85 /****************************************************************/
  86 /*                                                              */
  87 /*                       Main Program                           */
  88 /*                                                              */
  89 /****************************************************************/
  90
  91 int main(int argc, char **argv)
  92 {
  93         unsigned char buf[260];
  94         int num, addr, r, first_block=1, waited=0;
  95
  96         // parse command line arguments
  97         parse_options(argc, argv);
  98         if (!filename) {
  99                 fprintf(stderr, "Filename must be specified\n\n");
 100                 usage();
 101         }
 102         if (!code_size) {
 103                 fprintf(stderr, "MCU type must be specified\n\n");
 104                 usage();
 105         }
 106         printf_verbose("Teensy Loader, Command Line, Version 2.0\n");
 107
 108         // read the intel hex file
 109         // this is done first so any error is reported before using USB
 110         num = read_intel_hex(filename);
 111         if (num < 0) die("error reading intel hex file \"%s\"", filename);
 112         printf_verbose("Read \"%s\": %d bytes, %.1f%% usage\n",
 113                 filename, num, (double)num / (double)code_size * 100.0);
 114
 115         // open the USB device
 116         while (1) {
 117                 if (teensy_open()) break;
 118                 if (hard_reboot_device) {
 119                         if (!hard_reboot()) die("Unable to find rebootor\n");
 120                         printf_verbose("Hard Reboot performed\n");
 121                         hard_reboot_device = 0; // only hard reboot once
 122                         wait_for_device_to_appear = 1;
 123                 }
 124                 if (!wait_for_device_to_appear) die("Unable to open device\n");
 125                 if (!waited) {
 126                         printf_verbose("Waiting for Teensy device...\n");
 127                         printf_verbose(" (hint: press the reset button)\n");
 128                         waited = 1;
 129                 }
 130                 delay(0.25);
 131         }
 132         printf_verbose("Found HalfKay Bootloader\n");
 133
 134         // if we waited for the device, read the hex file again
 135         // perhaps it changed while we were waiting?
 136         if (waited) {
 137                 num = read_intel_hex(filename);
 138                 if (num < 0) die("error reading intel hex file \"%s\"", filename);
 139                 printf_verbose("Read \"%s\": %d bytes, %.1f%% usage\n",
 140                         filename, num, (double)num / (double)code_size * 100.0);
 141         }
 142
 143         // program the data
 144         printf_verbose("Programming");
 145         fflush(stdout);
 146         for (addr = 0; addr < code_size; addr += block_size) {
 147                 if (addr > 0 && !ihex_bytes_within_range(addr, addr + block_size - 1)) {
 148                         // don't waste time on blocks that are unused,
 149                         // but always do the first one to erase the chip
 150                         continue;
 151                 }
 152                 printf_verbose(".");
 153                 if (code_size < 0x10000) {
 154                         buf[0] = addr & 255;
 155                         buf[1] = (addr >> 8) & 255;
 156                 } else {
 157                         buf[0] = (addr >> 8) & 255;
 158                         buf[1] = (addr >> 16) & 255;
 159                 }
 160                 ihex_get_data(addr, block_size, buf + 2);
 161                 r = teensy_write(buf, block_size + 2, first_block ? 3.0 : 0.25);
 162                 if (!r) die("error writing to Teensy\n");
 163                 first_block = 0;
 164         }
 165         printf_verbose("\n");
 166
 167         // reboot to the user's new code
 168         if (reboot_after_programming) {
 169                 printf_verbose("Booting\n");
 170                 buf[0] = 0xFF;
 171                 buf[1] = 0xFF;
 172                 memset(buf + 2, 0, sizeof(buf) - 2);
 173                 teensy_write(buf, block_size + 2, 0.25);
 174         }
 175         teensy_close();
 176         return 0;
 177 }
 178
 179
 180
 181
 182 /****************************************************************/
 183 /*                                                              */
 184 /*             USB Access - libusb (Linux & FreeBSD)            */
 185 /*                                                              */
 186 /****************************************************************/
 187
 188 #if defined(USE_LIBUSB)
 189
 190 // http://libusb.sourceforge.net/doc/index.html
 191 #include <usb.h>
 192
 193 usb_dev_handle * open_usb_device(int vid, int pid)
 194 {
 195         struct usb_bus *bus;
 196         struct usb_device *dev;
 197         usb_dev_handle *h;
 198         #ifdef LIBUSB_HAS_GET_DRIVER_NP
 199         char buf[128];
 200         #endif
 201         int r;
 202
 203         usb_init();
 204         usb_find_busses();
 205         usb_find_devices();
 206         //printf_verbose("\nSearching for USB device:\n");
 207         for (bus = usb_get_busses(); bus; bus = bus->next) {
 208                 for (dev = bus->devices; dev; dev = dev->next) {
 209                         //printf_verbose("bus \"%s\", device \"%s\" vid=%04X, pid=%04X\n",
 210                         //      bus->dirname, dev->filename,
 211                         //      dev->descriptor.idVendor,
 212                         //      dev->descriptor.idProduct
 213                         //);
 214                         if (dev->descriptor.idVendor != vid) continue;
 215                         if (dev->descriptor.idProduct != pid) continue;
 216                         h = usb_open(dev);
 217                         if (!h) {
 218                                 printf_verbose("Found device but unable to open");
 219                                 continue;
 220                         }
 221                         #ifdef LIBUSB_HAS_GET_DRIVER_NP
 222                         r = usb_get_driver_np(h, 0, buf, sizeof(buf));
 223                         if (r >= 0) {
 224                                 r = usb_detach_kernel_driver_np(h, 0);
 225                                 if (r < 0) {
 226                                         usb_close(h);
 227                                         printf_verbose("Device is in use by \"%s\" driver", buf);
 228                                         continue;
 229                                 }
 230                         }
 231                         #endif
 232                         // Mac OS-X - removing this call to usb_claim_interface() might allow
 233                         // this to work, even though it is a clear misuse of the libusb API.
 234                         // normally Apple's IOKit should be used on Mac OS-X
 235                         r = usb_claim_interface(h, 0);
 236                         if (r < 0) {
 237                                 usb_close(h);
 238                                 printf_verbose("Unable to claim interface, check USB permissions");
 239                                 continue;
 240                         }
 241                         return h;
 242                 }
 243         }
 244         return NULL;
 245 }
 246
 247 static usb_dev_handle *libusb_teensy_handle = NULL;
 248
 249 int teensy_open(void)
 250 {
 251         teensy_close();
 252         libusb_teensy_handle = open_usb_device(0x16C0, 0x0478);
 253
 254         if (!libusb_teensy_handle)
 255                 libusb_teensy_handle = open_usb_device(0x03eb, 0x2067);
 256
 257         if (!libusb_teensy_handle) return 0;
 258         return 1;
 259 }
 260
 261 int teensy_write(void *buf, int len, double timeout)
 262 {
 263         int r;
 264
 265         if (!libusb_teensy_handle) return 0;
 266         r = usb_control_msg(libusb_teensy_handle, 0x21, 9, 0x0200, 0, (char *)buf,
 267                 len, (int)(timeout * 1000.0));
 268         if (r < 0) return 0;
 269         return 1;
 270 }
 271
 272 void teensy_close(void)
 273 {
 274         if (!libusb_teensy_handle) return;
 275         usb_release_interface(libusb_teensy_handle, 0);
 276         usb_close(libusb_teensy_handle);
 277         libusb_teensy_handle = NULL;
 278 }
 279
 280 int hard_reboot(void)
 281 {
 282         usb_dev_handle *rebootor;
 283         int r;
 284
 285         rebootor = open_usb_device(0x16C0, 0x0477);
 286
 287         if (!rebootor)
 288                 rebootor = open_usb_device(0x03eb, 0x2067);
 289
 290         if (!rebootor) return 0;
 291         r = usb_control_msg(rebootor, 0x21, 9, 0x0200, 0, "reboot", 6, 100);
 292         usb_release_interface(rebootor, 0);
 293         usb_close(rebootor);
 294         if (r < 0) return 0;
 295         return 1;
 296 }
 297
 298 #endif
 299
 300
 301 /****************************************************************/
 302 /*                                                              */
 303 /*               USB Access - Microsoft WIN32                   */
 304 /*                                                              */
 305 /****************************************************************/
 306
 307 #if defined(USE_WIN32)
 308
 309 // http://msdn.microsoft.com/en-us/library/ms790932.aspx
 310 #include <windows.h>
 311 #include <setupapi.h>
 312 #include <ddk/hidsdi.h>
 313 #include <ddk/hidclass.h>
 314
 315 HANDLE open_usb_device(int vid, int pid)
 316 {
 317         GUID guid;
 318         HDEVINFO info;
 319         DWORD index, required_size;
 320         SP_DEVICE_INTERFACE_DATA iface;
 321         SP_DEVICE_INTERFACE_DETAIL_DATA *details;
 322         HIDD_ATTRIBUTES attrib;
 323         HANDLE h;
 324         BOOL ret;
 325
 326         HidD_GetHidGuid(&guid);
 327         info = SetupDiGetClassDevs(&guid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);
 328         if (info == INVALID_HANDLE_VALUE) return NULL;
 329         for (index=0; 1 ;index++) {
 330                 iface.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
 331                 ret = SetupDiEnumDeviceInterfaces(info, NULL, &guid, index, &iface);
 332                 if (!ret) {
 333                         SetupDiDestroyDeviceInfoList(info);
 334                         break;
 335                 }
 336                 SetupDiGetInterfaceDeviceDetail(info, &iface, NULL, 0, &required_size, NULL);
 337                 details = (SP_DEVICE_INTERFACE_DETAIL_DATA *)malloc(required_size);
 338                 if (details == NULL) continue;
 339                 memset(details, 0, required_size);
 340                 details->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
 341                 ret = SetupDiGetDeviceInterfaceDetail(info, &iface, details,
 342                         required_size, NULL, NULL);
 343                 if (!ret) {
 344                         free(details);
 345                         continue;
 346                 }
 347                 h = CreateFile(details->DevicePath, GENERIC_READ|GENERIC_WRITE,
 348                         FILE_SHARE_READ|FILE_SHARE_WRITE, NULL, OPEN_EXISTING,
 349                         FILE_FLAG_OVERLAPPED, NULL);
 350                 free(details);
 351                 if (h == INVALID_HANDLE_VALUE) continue;
 352                 attrib.Size = sizeof(HIDD_ATTRIBUTES);
 353                 ret = HidD_GetAttributes(h, &attrib);
 354                 if (!ret) {
 355                         CloseHandle(h);
 356                         continue;
 357                 }
 358                 if (attrib.VendorID != vid || attrib.ProductID != pid) {
 359                         CloseHandle(h);
 360                         continue;
 361                 }
 362                 SetupDiDestroyDeviceInfoList(info);
 363                 return h;
 364         }
 365         return NULL;
 366 }
 367
 368 int write_usb_device(HANDLE h, void *buf, int len, int timeout)
 369 {
 370         static HANDLE event = NULL;
 371         unsigned char tmpbuf[1040];
 372         OVERLAPPED ov;
 373         DWORD n, r;
 374
 375         if (len > sizeof(tmpbuf) - 1) return 0;
 376         if (event == NULL) {
 377                 event = CreateEvent(NULL, TRUE, TRUE, NULL);
 378                 if (!event) return 0;
 379         }
 380         ResetEvent(&event);
 381         memset(&ov, 0, sizeof(ov));
 382         ov.hEvent = event;
 383         tmpbuf[0] = 0;
 384         memcpy(tmpbuf + 1, buf, len);
 385         if (!WriteFile(h, tmpbuf, len + 1, NULL, &ov)) {
 386                 if (GetLastError() != ERROR_IO_PENDING) return 0;
 387                 r = WaitForSingleObject(event, timeout);
 388                 if (r == WAIT_TIMEOUT) {
 389                         CancelIo(h);
 390                         return 0;
 391                 }
 392                 if (r != WAIT_OBJECT_0) return 0;
 393         }
 394         if (!GetOverlappedResult(h, &ov, &n, FALSE)) return 0;
 395         return 1;
 396 }
 397
 398 static HANDLE win32_teensy_handle = NULL;
 399
 400 int teensy_open(void)
 401 {
 402         teensy_close();
 403         win32_teensy_handle = open_usb_device(0x16C0, 0x0478);
 404
 405         if (!win32_teensy_handle)
 406                 win32_teensy_handle = open_usb_device(0x03eb, 0x2067);
 407
 408         if (!win32_teensy_handle) return 0;
 409         return 1;
 410 }
 411
 412 int teensy_write(void *buf, int len, double timeout)
 413 {
 414         int r;
 415         if (!win32_teensy_handle) return 0;
 416         r = write_usb_device(win32_teensy_handle, buf, len, (int)(timeout * 1000.0));
 417         return r;
 418 }
 419
 420 void teensy_close(void)
 421 {
 422         if (!win32_teensy_handle) return;
 423         CloseHandle(win32_teensy_handle);
 424         win32_teensy_handle = NULL;
 425 }
 426
 427 int hard_reboot(void)
 428 {
 429         HANDLE rebootor;
 430         int r;
 431
 432         rebootor = open_usb_device(0x16C0, 0x0477);
 433
 434         if (!rebootor)
 435                 rebootor = open_usb_device(0x03eb, 0x2067);
 436
 437         if (!rebootor) return 0;
 438         r = write_usb_device(rebootor, "reboot", 6, 100);
 439         CloseHandle(rebootor);
 440         return r;
 441 }
 442
 443 #endif
 444
 445
 446
 447 /****************************************************************/
 448 /*                                                              */
 449 /*             USB Access - Apple's IOKit, Mac OS-X             */
 450 /*                                                              */
 451 /****************************************************************/
 452
 453 #if defined(USE_APPLE_IOKIT)
 454
 455 // http://developer.apple.com/technotes/tn2007/tn2187.html
 456 #include <IOKit/IOKitLib.h>
 457 #include <IOKit/hid/IOHIDLib.h>
 458 #include <IOKit/hid/IOHIDDevice.h>
 459
 460 struct usb_list_struct {
 461         IOHIDDeviceRef ref;
 462         int pid;
 463         int vid;
 464         struct usb_list_struct *next;
 465 };
 466
 467 static struct usb_list_struct *usb_list=NULL;
 468 static IOHIDManagerRef hid_manager=NULL;
 469
 470 void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 471 {
 472         CFTypeRef type;
 473         struct usb_list_struct *n, *p;
 474         int32_t pid, vid;
 475
 476         if (!dev) return;
 477         type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDVendorIDKey));
 478         if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
 479         if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &vid)) return;
 480         type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDProductIDKey));
 481         if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
 482         if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &pid)) return;
 483         n = (struct usb_list_struct *)malloc(sizeof(struct usb_list_struct));
 484         if (!n) return;
 485         //printf("attach callback: vid=%04X, pid=%04X\n", vid, pid);
 486         n->ref = dev;
 487         n->vid = vid;
 488         n->pid = pid;
 489         n->next = NULL;
 490         if (usb_list == NULL) {
 491                 usb_list = n;
 492         } else {
 493                 for (p = usb_list; p->next; p = p->next) ;
 494                 p->next = n;
 495         }
 496 }
 497
 498 void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 499 {
 500         struct usb_list_struct *p, *tmp, *prev=NULL;
 501
 502         p = usb_list;
 503         while (p) {
 504                 if (p->ref == dev) {
 505                         if (prev) {
 506                                 prev->next = p->next;
 507                         } else {
 508                                 usb_list = p->next;
 509                         }
 510                         tmp = p;
 511                         p = p->next;
 512                         free(tmp);
 513                 } else {
 514                         prev = p;
 515                         p = p->next;
 516                 }
 517         }
 518 }
 519
 520 void init_hid_manager(void)
 521 {
 522         CFMutableDictionaryRef dict;
 523         IOReturn ret;
 524
 525         if (hid_manager) return;
 526         hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
 527         if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
 528                 if (hid_manager) CFRelease(hid_manager);
 529                 printf_verbose("no HID Manager - maybe this is a pre-Leopard (10.5) system?\n");
 530                 return;
 531         }
 532         dict = CFDictionaryCreateMutable(kCFAllocatorDefault, 0,
 533                 &kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
 534         if (!dict) return;
 535         IOHIDManagerSetDeviceMatching(hid_manager, dict);
 536         CFRelease(dict);
 537         IOHIDManagerScheduleWithRunLoop(hid_manager, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
 538         IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, attach_callback, NULL);
 539         IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
 540         ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
 541         if (ret != kIOReturnSuccess) {
 542                 IOHIDManagerUnscheduleFromRunLoop(hid_manager,
 543                         CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
 544                 CFRelease(hid_manager);
 545                 printf_verbose("Error opening HID Manager");
 546         }
 547 }
 548
 549 static void do_run_loop(void)
 550 {
 551         while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
 552 }
 553
 554 IOHIDDeviceRef open_usb_device(int vid, int pid)
 555 {
 556         struct usb_list_struct *p;
 557         IOReturn ret;
 558
 559         init_hid_manager();
 560         do_run_loop();
 561         for (p = usb_list; p; p = p->next) {
 562                 if (p->vid == vid && p->pid == pid) {
 563                         ret = IOHIDDeviceOpen(p->ref, kIOHIDOptionsTypeNone);
 564                         if (ret == kIOReturnSuccess) return p->ref;
 565                 }
 566         }
 567         return NULL;
 568 }
 569
 570 void close_usb_device(IOHIDDeviceRef dev)
 571 {
 572         struct usb_list_struct *p;
 573
 574         do_run_loop();
 575         for (p = usb_list; p; p = p->next) {
 576                 if (p->ref == dev) {
 577                         IOHIDDeviceClose(dev, kIOHIDOptionsTypeNone);
 578                         return;
 579                 }
 580         }
 581 }
 582
 583 static IOHIDDeviceRef iokit_teensy_reference = NULL;
 584
 585 int teensy_open(void)
 586 {
 587         teensy_close();
 588         iokit_teensy_reference = open_usb_device(0x16C0, 0x0478);
 589
 590         if (!iokit_teensy_reference)
 591                 iokit_teensy_reference = open_usb_device(0x03eb, 0x2067);
 592
 593         if (!iokit_teensy_reference) return 0;
 594         return 1;
 595 }
 596
 597 int teensy_write(void *buf, int len, double timeout)
 598 {
 599         IOReturn ret;
 600
 601         // timeouts do not work on OS-X
 602         // IOHIDDeviceSetReportWithCallback is not implemented
 603         // even though Apple documents it with a code example!
 604         // submitted to Apple on 22-sep-2009, problem ID 7245050
 605         if (!iokit_teensy_reference) return 0;
 606         ret = IOHIDDeviceSetReport(iokit_teensy_reference,
 607                 kIOHIDReportTypeOutput, 0, buf, len);
 608         if (ret == kIOReturnSuccess) return 1;
 609         return 0;
 610 }
 611
 612 void teensy_close(void)
 613 {
 614         if (!iokit_teensy_reference) return;
 615         close_usb_device(iokit_teensy_reference);
 616         iokit_teensy_reference = NULL;
 617 }
 618
 619 int hard_reboot(void)
 620 {
 621         IOHIDDeviceRef rebootor;
 622         IOReturn ret;
 623
 624         rebootor = open_usb_device(0x16C0, 0x0477);
 625
 626         if (!rebootor)
 627                 rebootor = open_usb_device(0x03eb, 0x2067);
 628
 629         if (!rebootor) return 0;
 630         ret = IOHIDDeviceSetReport(rebootor,
 631                 kIOHIDReportTypeOutput, 0, (uint8_t *)("reboot"), 6);
 632         close_usb_device(rebootor);
 633         if (ret == kIOReturnSuccess) return 1;
 634         return 0;
 635 }
 636
 637 #endif
 638
 639
 640
 641 /****************************************************************/
 642 /*                                                              */
 643 /*              USB Access - BSD's UHID driver                  */
 644 /*                                                              */
 645 /****************************************************************/
 646
 647 #if defined(USE_UHID)
 648
 649 // Thanks to Todd T Fries for help getting this working on OpenBSD
 650 // and to Chris Kuethe for the initial patch to use UHID.
 651
 652 #include <sys/ioctl.h>
 653 #include <fcntl.h>
 654 #include <dirent.h>
 655 #include <dev/usb/usb.h>
 656 #ifndef USB_GET_DEVICEINFO
 657 #include <dev/usb/usb_ioctl.h>
 658 #endif
 659
 660 #ifndef USB_GET_DEVICEINFO
 661 # define USB_GET_DEVICEINFO 0
 662 # error The USB_GET_DEVICEINFO ioctl() value is not defined for your system.
 663 #endif
 664
 665 int open_usb_device(int vid, int pid)
 666 {
 667         int r, fd;
 668         DIR *dir;
 669         struct dirent *d;
 670         struct usb_device_info info;
 671         char buf[256];
 672
 673         dir = opendir("/dev");
 674         if (!dir) return -1;
 675         while ((d = readdir(dir)) != NULL) {
 676                 if (strncmp(d->d_name, "uhid", 4) != 0) continue;
 677                 snprintf(buf, sizeof(buf), "/dev/%s", d->d_name);
 678                 fd = open(buf, O_RDWR);
 679                 if (fd < 0) continue;
 680                 r = ioctl(fd, USB_GET_DEVICEINFO, &info);
 681                 if (r < 0) {
 682                         // NetBSD: added in 2004
 683                         // OpenBSD: added November 23, 2009
 684                         // FreeBSD: missing (FreeBSD 8.0) - USE_LIBUSB works!
 685                         die("Error: your uhid driver does not support"
 686                           " USB_GET_DEVICEINFO, please upgrade!\n");
 687                         close(fd);
 688                         closedir(dir);
 689                         exit(1);
 690                 }
 691                 //printf("%s: v=%d, p=%d\n", buf, info.udi_vendorNo, info.udi_productNo);
 692                 if (info.udi_vendorNo == vid && info.udi_productNo == pid) {
 693                         closedir(dir);
 694                         return fd;
 695                 }
 696                 close(fd);
 697         }
 698         closedir(dir);
 699         return -1;
 700 }
 701
 702 static int uhid_teensy_fd = -1;
 703
 704 int teensy_open(void)
 705 {
 706         teensy_close();
 707         uhid_teensy_fd = open_usb_device(0x16C0, 0x0478);
 708
 709         if (uhid_teensy_fd < 0)
 710                 uhid_teensy_fd = open_usb_device(0x03eb, 0x2067);
 711
 712         if (uhid_teensy_fd < 0) return 0;
 713         return 1;
 714 }
 715
 716 int teensy_write(void *buf, int len, double timeout)
 717 {
 718         int r;
 719
 720         // TODO: implement timeout... how??
 721         r = write(uhid_teensy_fd, buf, len);
 722         if (r == len) return 1;
 723         return 0;
 724 }
 725
 726 void teensy_close(void)
 727 {
 728         if (uhid_teensy_fd >= 0) {
 729                 close(uhid_teensy_fd);
 730                 uhid_teensy_fd = -1;
 731         }
 732 }
 733
 734 int hard_reboot(void)
 735 {
 736         int r, rebootor_fd;
 737
 738         rebootor_fd = open_usb_device(0x16C0, 0x0477);
 739
 740         if (rebootor_fd < 0)
 741                 rebootor_fd = open_usb_device(0x03eb, 0x2067);
 742
 743         if (rebootor_fd < 0) return 0;
 744         r = write(rebootor_fd, "reboot", 6);
 745         delay(0.1);
 746         close(rebootor_fd);
 747         if (r == 6) return 1;
 748         return 0;
 749 }
 750
 751 #endif
 752
 753
 754
 755 /****************************************************************/
 756 /*                                                              */
 757 /*                     Read Intel Hex File                      */
 758 /*                                                              */
 759 /****************************************************************/
 760
 761 // the maximum flash image size we can support
 762 // chips with larger memory may be used, but only this
 763 // much intel-hex data can be loaded into memory!
 764 #define MAX_MEMORY_SIZE 0x10000
 765
 766 static unsigned char firmware_image[MAX_MEMORY_SIZE];
 767 static unsigned char firmware_mask[MAX_MEMORY_SIZE];
 768 static int end_record_seen=0;
 769 static int byte_count;
 770 static unsigned int extended_addr = 0;
 771 static int parse_hex_line(char *line);
 772
 773 int read_intel_hex(const char *filename)
 774 {
 775         FILE *fp;
 776         int i, lineno=0;
 777         char buf[1024];
 778
 779         byte_count = 0;
 780         end_record_seen = 0;
 781         for (i=0; i<MAX_MEMORY_SIZE; i++) {
 782                 firmware_image[i] = 0xFF;
 783                 firmware_mask[i] = 0;
 784         }
 785         extended_addr = 0;
 786
 787         fp = fopen(filename, "r");
 788         if (fp == NULL) {
 789                 //printf("Unable to read file %s\n", filename);
 790                 return -1;
 791         }
 792         while (!feof(fp)) {
 793                 *buf = '\0';
 794                 if (!fgets(buf, sizeof(buf), fp)) break;
 795                 lineno++;
 796                 if (*buf) {
 797                         if (parse_hex_line(buf) == 0) {
 798                                 //printf("Warning, parse error line %d\n", lineno);
 799                                 fclose(fp);
 800                                 return -2;
 801                         }
 802                 }
 803                 if (end_record_seen) break;
 804                 if (feof(stdin)) break;
 805         }
 806         fclose(fp);
 807         return byte_count;
 808 }
 809
 810
 811 /* from ihex.c, at http://www.pjrc.com/tech/8051/pm2_docs/intel-hex.html */
 812
 813 /* parses a line of intel hex code, stores the data in bytes[] */
 814 /* and the beginning address in addr, and returns a 1 if the */
 815 /* line was valid, or a 0 if an error occurred.  The variable */
 816 /* num gets the number of bytes that were stored into bytes[] */
 817
 818
 819 int
 820 parse_hex_line(char *line)
 821 {
 822         int addr, code, num;
 823         int sum, len, cksum, i;
 824         char *ptr;
 825
 826         num = 0;
 827         if (line[0] != ':') return 0;
 828         if (strlen(line) < 11) return 0;
 829         ptr = line+1;
 830         if (!sscanf(ptr, "%02x", &len)) return 0;
 831         ptr += 2;
 832         if ((int)strlen(line) < (11 + (len * 2)) ) return 0;
 833         if (!sscanf(ptr, "%04x", &addr)) return 0;
 834         ptr += 4;
 835           /* printf("Line: length=%d Addr=%d\n", len, addr); */
 836         if (!sscanf(ptr, "%02x", &code)) return 0;
 837         if (addr + extended_addr + len >= MAX_MEMORY_SIZE) return 0;
 838         ptr += 2;
 839         sum = (len & 255) + ((addr >> 8) & 255) + (addr & 255) + (code & 255);
 840         if (code != 0) {
 841                 if (code == 1) {
 842                         end_record_seen = 1;
 843                         return 1;
 844                 }
 845                 if (code == 2 && len == 2) {
 846                         if (!sscanf(ptr, "%04x", &i)) return 1;
 847                         ptr += 4;
 848                         sum += ((i >> 8) & 255) + (i & 255);
 849                         if (!sscanf(ptr, "%02x", &cksum)) return 1;
 850                         if (((sum & 255) + (cksum & 255)) & 255) return 1;
 851                         extended_addr = i << 4;
 852                         //printf("ext addr = %05X\n", extended_addr);
 853                 }
 854                 if (code == 4 && len == 2) {
 855                         if (!sscanf(ptr, "%04x", &i)) return 1;
 856                         ptr += 4;
 857                         sum += ((i >> 8) & 255) + (i & 255);
 858                         if (!sscanf(ptr, "%02x", &cksum)) return 1;
 859                         if (((sum & 255) + (cksum & 255)) & 255) return 1;
 860                         extended_addr = i << 16;
 861                         //printf("ext addr = %08X\n", extended_addr);
 862                 }
 863                 return 1;       // non-data line
 864         }
 865         byte_count += len;
 866         while (num != len) {
 867                 if (sscanf(ptr, "%02x", &i) != 1) return 0;
 868                 i &= 255;
 869                 firmware_image[addr + extended_addr + num] = i;
 870                 firmware_mask[addr + extended_addr + num] = 1;
 871                 ptr += 2;
 872                 sum += i;
 873                 (num)++;
 874                 if (num >= 256) return 0;
 875         }
 876         if (!sscanf(ptr, "%02x", &cksum)) return 0;
 877         if (((sum & 255) + (cksum & 255)) & 255) return 0; /* checksum error */
 878         return 1;
 879 }
 880
 881 int ihex_bytes_within_range(int begin, int end)
 882 {
 883         int i;
 884
 885         if (begin < 0 || begin >= MAX_MEMORY_SIZE ||
 886            end < 0 || end >= MAX_MEMORY_SIZE) {
 887                 return 0;
 888         }
 889         for (i=begin; i<=end; i++) {
 890                 if (firmware_mask[i]) return 1;
 891         }
 892         return 0;
 893 }
 894
 895 void ihex_get_data(int addr, int len, unsigned char *bytes)
 896 {
 897         int i;
 898
 899         if (addr < 0 || len < 0 || addr + len >= MAX_MEMORY_SIZE) {
 900                 for (i=0; i<len; i++) {
 901                         bytes[i] = 255;
 902                 }
 903                 return;
 904         }
 905         for (i=0; i<len; i++) {
 906                 if (firmware_mask[addr]) {
 907                         bytes[i] = firmware_image[addr];
 908                 } else {
 909                         bytes[i] = 255;
 910                 }
 911                 addr++;
 912         }
 913 }
 914
 915 /****************************************************************/
 916 /*                                                              */
 917 /*                       Misc Functions                         */
 918 /*                                                              */
 919 /****************************************************************/
 920
 921 int printf_verbose(const char *format, ...)
 922 {
 923         va_list ap;
 924         int r;
 925
 926         va_start(ap, format);
 927         if (verbose) {
 928                 r = vprintf(format, ap);
 929                 fflush(stdout);
 930                 return r;
 931         }
 932         return 0;
 933 }
 934
 935 void delay(double seconds)
 936 {
 937         #ifdef WIN32
 938         Sleep(seconds * 1000.0);
 939         #else
 940         usleep(seconds * 1000000.0);
 941         #endif
 942 }
 943
 944 void die(const char *str, ...)
 945 {
 946         va_list  ap;
 947
 948         va_start(ap, str);
 949         vfprintf(stderr, str, ap);
 950         fprintf(stderr, "\n");
 951         exit(1);
 952 }
 953
 954 #if defined(WIN32)
 955 #define strcasecmp stricmp
 956 #endif
 957
 958 void parse_options(int argc, char **argv)
 959 {
 960         int i;
 961         const char *arg;
 962
 963         for (i=1; i<argc; i++) {
 964                 arg = argv[i];
 965
 966                 if (*arg == '-') {
 967                         if (strcmp(arg, "-w") == 0) {
 968                                 wait_for_device_to_appear = 1;
 969                         } else if (strcmp(arg, "-r") == 0) {
 970                                 hard_reboot_device = 1;
 971                         } else if (strcmp(arg, "-n") == 0) {
 972                                 reboot_after_programming = 0;
 973                         } else if (strcmp(arg, "-v") == 0) {
 974                                 verbose = 1;
 975                         } else if (strncmp(arg, "-mmcu=", 6) == 0) {
 976                                 arg += 6;
 977
 978                                 if (strncmp(arg, "at90usb", 7) == 0) {
 979                                         arg += 7;
 980                                 } else if (strncmp(arg, "atmega", 6) == 0) {
 981                                         arg += 6;
 982                                 } else {
 983                                         die("Unknown MCU type\n");
 984                                 }
 985
 986                                 if (strncmp(arg, "128", 3) == 0) {
 987                                         code_size  = 128 * 1024;
 988                                         block_size = 256;
 989                                 } else if (strncmp(arg, "64", 2) == 0) {
 990                                         code_size  = 64 * 1024;
 991                                         block_size = 256;
 992                                 } else if (strncmp(arg, "32", 2) == 0) {
 993                                         code_size  = 32 * 1024;
 994                                         block_size = 128;
 995                                 } else if (strncmp(arg, "16", 2) == 0) {
 996                                         code_size  = 16 * 1024;
 997                                         block_size = 128;
 998                                 } else if (strncmp(arg, "8", 1) == 0) {
 999                                         code_size  = 8 * 1024;
1000                                         block_size = 128;
1001                                 } else {
1002                                         die("Unknown MCU type\n");
1003                                 }
1004                         }
1005                 } else {
1006                         filename = argv[i];
1007                 }
1008         }
1009 }
1010