JNIEXPORT jlong JNICALL Java_lejos_pc_comm_NXTCommLibnxt_jlibnxt_1find(JNIEnv *env, jobject obj) {
nxt_t *nxt;
nxt_error_t nxt_err;
nxt_err = nxt_init(&nxt);
if (nxt_err == NXT_OK) {
nxt_err = nxt_find(nxt);
if (nxt_err == NXT_OK && !(nxt_in_reset_mode(nxt))) {
return (jlong) (unsigned long) nxt;
}
}
return (jlong) 0;
}
static nxweb_result tmpl_on_request(nxweb_http_server_connection* conn, nxweb_http_request* req, nxweb_http_response* resp) {
nxweb_set_response_content_type(resp, "text/html");
const char* tmpl="{% extends \"ttt\"%} {% block title %}The Very {% parent %}{% endblock %}";
tmpl=nxb_copy_obj(req->nxb, tmpl, strlen(tmpl)+1);
nxt_context ctx;
nxt_init(&ctx, req->nxb, tmpl_load);
nxt_parse(&ctx, req->uri, (char*)tmpl, strlen(tmpl));
nxt_merge(&ctx);
resp->content=nxt_serialize(&ctx);
resp->content_length=strlen(resp->content);
return NXWEB_OK;
}
int main(int argc, char *argv[])
{
nxt_t *nxt;
nxt_error_t err;
char *bios_file;
printf("#==========================================================#\n");
printf("# NXT BIOS Flash Utility #\n");
printf("#==========================================================#\n\n");
if (argc == 1)
{
bios_file = (char *) calloc(1,256);
strcat(bios_file,"../ecrobot/bios/nxt_bios_rom.bin");
}
else if (argc != 2)
{
printf("Syntax: %s [<NXT BIOS binary>]\n"
"\n"
"Example: %s nxt_bios_rom.bin\n", argv[0], argv[0]);
exit(1);
}
else
{
bios_file = argv[1];
}
printf("Checking NXT BIOS %s ... ", bios_file);
NXT_HANDLE_ERR(nxt_firmware_validate(bios_file, MAX_BIOS_FLASH_PAGE ), NULL,
"Error in NXT BIOS file");
printf("NXT BIOS OK.\n");
NXT_HANDLE_ERR(nxt_init(&nxt), NULL,
"Error during library initialization");
err = nxt_find(nxt);
if (err)
{
if (err == NXT_NOT_PRESENT)
printf("NXT not found. Is it properly plugged in via USB?\n");
else
NXT_HANDLE_ERR(0, NULL, "Error while scanning for NXT");
exit(1);
}
if (!nxt_in_reset_mode(nxt))
{
printf("NXT found, but not running in reset mode.\n");
printf("Please reset your NXT manually and restart this program.\n");
exit(2);
}
NXT_HANDLE_ERR(nxt_open(nxt), NULL, "Error while connecting to NXT");
printf("NXT device in reset mode located and opened.\n"
"Starting NXT BIOS flash procedure now...\n");
NXT_HANDLE_ERR(nxt_firmware_flash(nxt, bios_file, 0, MAX_BIOS_FLASH_PAGE, 1, 0), nxt,
"Error flashing NXT BIOS");
printf("NXT BIOS flash complete.\n");
NXT_HANDLE_ERR(nxt_jump(nxt, 0x00100000), nxt, "Error booting new NXT BIOS");
printf("New NXT BIOS started!\n");
NXT_HANDLE_ERR(nxt_close(nxt), NULL,
"Error while closing connection to NXT");
return 0;
}
int main (int argc, char **argv)
{
const char *filename;
tx_data_t data;
nxt_link_t nxt;
uint8_t buffer[USB_BUFSIZE];
size_t read, sent;
ssize_t total;
FILE *ro_data;
if (argc < 2) {
fprintf(stderr, "Provide the ROM image as first parameter.\n");
exit(1);
}
filename = argv[1];
// FIXME this should be parametrized. Basically it's the address of
// the first unlocked flash memory location.
data.start_address = 0x108000;
total = data.length = get_ro_size(filename);
if (total == -1) {
fprintf(stderr, "Invalid ROM image\n");
exit(1);
}
if (nxt_init(&nxt)) {
fprintf(stderr, "Initialization failed\n");
exit(1);
}
ro_data = fopen(filename, "rb");
if (ro_data == NULL) {
fprintf(stderr, "Error in opening %s\n", filename);
nxt_free(&nxt);
}
fprintf(stdout, "Sync sent: %d bytes\n"
" start=%p\n"
" length=%d\n",
(int)nxt_send(&nxt, (void *)&data, sizeof(tx_data_t)),
(void *)(uintmax_t)data.start_address,
data.length);
while ((read = fread((void *)buffer, 1, USB_BUFSIZE, ro_data)) > 0) {
sent = nxt_send(&nxt, (void *)buffer, read);
data.length -= sent;
data.start_address += sent;
display_percentage(total, &data);
if (sent == -1) {
fprintf(stderr, "Send failed: %s\r", nxt_libusb_strerr(&nxt));
break;
}
usleep(DELAY_uSECS);
}
fprintf(stdout, "\nCompleted\n");
if (ferror(ro_data)) {
fprintf(stderr, "File error in %s\n", filename);
}
fclose(ro_data);
nxt_free(&nxt);
exit(0);
}
int main(int argc, char *argv[])
{
nxt_t *nxt;
nxt_error_t err;
char *fw_file;
FILE *f;
int ret;
char *buf;
long lsize;
if (argc != 2)
{
printf("Syntax: %s <C program image to write>\n"
"\n"
"Example: %s flashled.bin\n", argv[0], argv[0]);
exit(1);
}
fw_file = argv[1];
NXT_HANDLE_ERR(nxt_init(&nxt), NULL,
"Error during library initialization");
err = nxt_find(nxt);
if (err)
{
if (err == NXT_NOT_PRESENT)
printf("NXT not found. Is it properly plugged in via USB?\n");
else
NXT_HANDLE_ERR(0, NULL, "Error while scanning for NXT");
exit(1);
}
f = fopen(fw_file, "rb");
if (f == NULL) NXT_HANDLE_ERR(8, NULL, "Error opening file");
fseek (f, 0, SEEK_END);
lsize=ftell (f);
rewind(f);
buf = (char *) malloc(lsize);
if (buf == NULL) NXT_HANDLE_ERR(8, NULL, "Error allocating memory");
ret = fread(buf, 1, lsize, f);
if (ret != (int) lsize) NXT_HANDLE_ERR(8, NULL, "Error reading file");
printf("File size is %ld\n", lsize);
fclose(f);
if (!nxt_in_reset_mode(nxt))
{
printf("NXT found, but not running in reset mode.\n");
printf("Please reset your NXT manually and restart this program.\n");
exit(2);
}
NXT_HANDLE_ERR(nxt_open(nxt), NULL, "Error while connecting to NXT");
printf("NXT device in reset mode located and opened.\n"
"Starting C program now...\n");
// Send the C program
NXT_HANDLE_ERR(nxt_send_file(nxt, 0x202000, buf, (int) lsize), nxt,
"Error Sending file");
NXT_HANDLE_ERR(nxt_jump(nxt, 0x202000), nxt,
"Error jumping to C program");
NXT_HANDLE_ERR(nxt_close(nxt), NULL,
"Error while closing connection to NXT");
return 0;
}
int main(int argc, char *argv[])
{
nxt_t *nxt;
nxt_error_t err;
char *fw_file, *menu_file;
char *nxj_home;
if (argc == 1)
{
nxj_home = getenv("NXJ_HOME");
if (nxj_home == NULL || strlen(nxj_home) == 0)
{
printf("NXJ_HOME is not defined\n");
exit(1);
}
printf("NXJ_HOME is %s\n", nxj_home);
fw_file = (char *) calloc(1,256);
strcpy(fw_file, nxj_home);
strcat(fw_file,"/bin/lejos_nxt_rom.bin");
menu_file = calloc(1,256);
strcpy(menu_file,nxj_home);
strcat(menu_file,"/bin/StartUpText.bin");
}
else if (argc != 3)
{
printf("Syntax: %s [<VM binary> <java menu binary>]\n"
"\n"
"Example: %s lejos_nxt_rom.bin StartUpText.bin\n", argv[0], argv[0]);
exit(1);
}
else
{
fw_file = argv[1];
menu_file = argv[2];
}
printf("Checking VM %s ... ", fw_file);
NXT_HANDLE_ERR(nxt_firmware_validate(fw_file, MAX_VM_PAGES ), NULL,
"Error in VM file");
printf("VM OK.\n");
printf("Checking Menu %s ... ", menu_file);
NXT_HANDLE_ERR(nxt_firmware_validate(menu_file, (MAX_MENU_PAGES ) - 4), NULL,
"Error in Menu file");
printf("Menu OK.\n");
NXT_HANDLE_ERR(nxt_init(&nxt), NULL,
"Error during library initialization");
err = nxt_find(nxt);
if (err)
{
if (err == NXT_NOT_PRESENT)
printf("NXT not found. Is it properly plugged in via USB?\n");
else
NXT_HANDLE_ERR(0, NULL, "Error while scanning for NXT");
exit(1);
}
if (!nxt_in_reset_mode(nxt))
{
printf("NXT found, but not running in reset mode.\n");
printf("Please reset your NXT manually and restart this program.\n");
exit(2);
}
NXT_HANDLE_ERR(nxt_open(nxt), NULL, "Error while connecting to NXT");
printf("NXT device in reset mode located and opened.\n"
"Starting VM flash procedure now...\n");
NXT_HANDLE_ERR(nxt_firmware_flash(nxt, fw_file, 0, MAX_VM_PAGES, 1, 0), nxt,
"Error flashing VM");
printf("VM flash complete.\n");
printf("Starting menu flash procedure now...\n");
NXT_HANDLE_ERR(nxt_firmware_flash(nxt, menu_file, MAX_VM_PAGES, MAX_MENU_PAGES, 0, 1), nxt,
"Error flashing menu");
printf("Menu flash complete.\n");
NXT_HANDLE_ERR(nxt_jump(nxt, 0x00100000), nxt,
"Error booting new firmware");
printf("New firmware started!\n");
printf("If battery level reads 0.0, remove and re-insert a battery\n");
NXT_HANDLE_ERR(nxt_close(nxt), NULL,
"Error while closing connection to NXT");
return 0;
}
