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-lub.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         char buf[128];
 199         int r;
 200
 201         usb_init();
 202         usb_find_busses();
 203         usb_find_devices();
 204         //printf_verbose("\nSearching for USB device:\n");
 205         for (bus = usb_get_busses(); bus; bus = bus->next) {
 206                 for (dev = bus->devices; dev; dev = dev->next) {
 207                         //printf_verbose("bus \"%s\", device \"%s\" vid=%04X, pid=%04X\n",
 208                         //      bus->dirname, dev->filename,
 209                         //      dev->descriptor.idVendor,
 210                         //      dev->descriptor.idProduct
 211                         //);
 212                         if (dev->descriptor.idVendor != vid) continue;
 213                         if (dev->descriptor.idProduct != pid) continue;
 214                         h = usb_open(dev);
 215                         if (!h) {
 216                                 printf_verbose("Found device but unable to open");
 217                                 continue;
 218                         }
 219                         #ifdef LIBUSB_HAS_GET_DRIVER_NP
 220                         r = usb_get_driver_np(h, 0, buf, sizeof(buf));
 221                         if (r >= 0) {
 222                                 r = usb_detach_kernel_driver_np(h, 0);
 223                                 if (r < 0) {
 224                                         usb_close(h);
 225                                         printf_verbose("Device is in use by \"%s\" driver", buf);
 226                                         continue;
 227                                 }
 228                         }
 229                         #endif
 230                         // Mac OS-X - removing this call to usb_claim_interface() might allow
 231                         // this to work, even though it is a clear misuse of the libusb API.
 232                         // normally Apple's IOKit should be used on Mac OS-X
 233                         r = usb_claim_interface(h, 0);
 234                         if (r < 0) {
 235                                 usb_close(h);
 236                                 printf_verbose("Unable to claim interface, check USB permissions");
 237                                 continue;
 238                         }
 239                         return h;
 240                 }
 241         }
 242         return NULL;
 243 }
 244
 245 static usb_dev_handle *libusb_teensy_handle = NULL;
 246
 247 int teensy_open(void)
 248 {
 249         teensy_close();
 250         libusb_teensy_handle = open_usb_device(0x16C0, 0x0478);
 251
 252         if (!libusb_teensy_handle) {
 253                 libusb_teensy_handle = open_usb_device(0x03eb, 0x2067);
 254         }
 255
 256         if (!libusb_teensy_handle) return 0;
 257         return 1;
 258 }
 259
 260 int teensy_write(void *buf, int len, double timeout)
 261 {
 262         int r;
 263
 264         if (!libusb_teensy_handle) return 0;
 265         r = usb_control_msg(libusb_teensy_handle, 0x21, 9, 0x0200, 0, (char *)buf,
 266                 len, (int)(timeout * 1000.0));
 267         if (r < 0) return 0;
 268         return 1;
 269 }
 270
 271 void teensy_close(void)
 272 {
 273         if (!libusb_teensy_handle) return;
 274         usb_release_interface(libusb_teensy_handle, 0);
 275         usb_close(libusb_teensy_handle);
 276         libusb_teensy_handle = NULL;
 277 }
 278
 279 int hard_reboot(void)
 280 {
 281         usb_dev_handle *rebootor;
 282         int r;
 283
 284         rebootor = open_usb_device(0x16C0, 0x0477);
 285
 286         if (!rebootor) {
 287                 rebootor = open_usb_device(0x03eb, 0x2067);
 288         }
 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         if (n <= 0) return 0;
 396         return 1;
 397 }
 398
 399 void print_win32_err(void)
 400 {
 401         char buf[256];
 402         DWORD err;
 403
 404         err = GetLastError();
 405         FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, err,
 406                 0, buf, sizeof(buf), NULL);
 407         printf("err %ld: %s\n", err, buf);
 408 }
 409
 410 static HANDLE win32_teensy_handle = NULL;
 411
 412 int teensy_open(void)
 413 {
 414         teensy_close();
 415         win32_teensy_handle = open_usb_device(0x16C0, 0x0478);
 416
 417         if (win32_teensy_handle) {
 418                 win32_teensy_handle = open_usb_device(0x03eb, 0x2067);
 419         }
 420
 421         if (win32_teensy_handle) return 1;
 422         return 0;
 423 }
 424
 425 int teensy_write(void *buf, int len, double timeout)
 426 {
 427         int r;
 428         if (!win32_teensy_handle) return 0;
 429         r = write_usb_device(win32_teensy_handle, buf, len, (int)(timeout * 1000.0));
 430         return r;
 431 }
 432
 433 void teensy_close(void)
 434 {
 435         if (!win32_teensy_handle) return;
 436         CloseHandle(win32_teensy_handle);
 437         win32_teensy_handle = NULL;
 438 }
 439
 440 int hard_reboot(void)
 441 {
 442         HANDLE rebootor;
 443         int r;
 444
 445         rebootor = open_usb_device(0x16C0, 0x0477);
 446
 447         if (!rebootor) {
 448                 rebootor = open_usb_device(0x03eb, 0x2067);
 449         }
 450
 451         if (!rebootor) return 0;
 452         r = write_usb_device(rebootor, "reboot", 6, 100);
 453         CloseHandle(rebootor);
 454         return r;
 455 }
 456
 457 #endif
 458
 459
 460
 461 /****************************************************************/
 462 /*                                                              */
 463 /*             USB Access - Apple's IOKit, Mac OS-X             */
 464 /*                                                              */
 465 /****************************************************************/
 466
 467 #if defined(USE_APPLE_IOKIT)
 468
 469 // http://developer.apple.com/technotes/tn2007/tn2187.html
 470 #include <IOKit/IOKitLib.h>
 471 #include <IOKit/hid/IOHIDLib.h>
 472 #include <IOKit/hid/IOHIDDevice.h>
 473
 474 struct usb_list_struct {
 475         IOHIDDeviceRef ref;
 476         int pid;
 477         int vid;
 478         struct usb_list_struct *next;
 479 };
 480
 481 static struct usb_list_struct *usb_list=NULL;
 482 static IOHIDManagerRef hid_manager=NULL;
 483
 484 void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 485 {
 486         CFTypeRef type;
 487         struct usb_list_struct *n, *p;
 488         int32_t pid, vid;
 489
 490         if (!dev) return;
 491         type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDVendorIDKey));
 492         if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
 493         if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &vid)) return;
 494         type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDProductIDKey));
 495         if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
 496         if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &pid)) return;
 497         n = (struct usb_list_struct *)malloc(sizeof(struct usb_list_struct));
 498         if (!n) return;
 499         //printf("attach callback: vid=%04X, pid=%04X\n", vid, pid);
 500         n->ref = dev;
 501         n->vid = vid;
 502         n->pid = pid;
 503         n->next = NULL;
 504         if (usb_list == NULL) {
 505                 usb_list = n;
 506         } else {
 507                 for (p = usb_list; p->next; p = p->next) ;
 508                 p->next = n;
 509         }
 510 }
 511
 512 void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 513 {
 514         struct usb_list_struct *p, *tmp, *prev=NULL;
 515
 516         p = usb_list;
 517         while (p) {
 518                 if (p->ref == dev) {
 519                         if (prev) {
 520                                 prev->next = p->next;
 521                         } else {
 522                                 usb_list = p->next;
 523                         }
 524                         tmp = p;
 525                         p = p->next;
 526                         free(tmp);
 527                 } else {
 528                         prev = p;
 529                         p = p->next;
 530                 }
 531         }
 532 }
 533
 534 void init_hid_manager(void)
 535 {
 536         CFMutableDictionaryRef dict;
 537         IOReturn ret;
 538
 539         if (hid_manager) return;
 540         hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
 541         if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
 542                 if (hid_manager) CFRelease(hid_manager);
 543                 printf_verbose("no HID Manager - maybe this is a pre-Leopard (10.5) system?\n");
 544                 return;
 545         }
 546         dict = CFDictionaryCreateMutable(kCFAllocatorDefault, 0,
 547                 &kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
 548         if (!dict) return;
 549         IOHIDManagerSetDeviceMatching(hid_manager, dict);
 550         CFRelease(dict);
 551         IOHIDManagerScheduleWithRunLoop(hid_manager, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
 552         IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, attach_callback, NULL);
 553         IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
 554         ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
 555         if (ret != kIOReturnSuccess) {
 556                 IOHIDManagerUnscheduleFromRunLoop(hid_manager,
 557                         CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
 558                 CFRelease(hid_manager);
 559                 printf_verbose("Error opening HID Manager");
 560         }
 561 }
 562
 563 static void do_run_loop(void)
 564 {
 565         while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
 566 }
 567
 568 IOHIDDeviceRef open_usb_device(int vid, int pid)
 569 {
 570         struct usb_list_struct *p;
 571         IOReturn ret;
 572
 573         init_hid_manager();
 574         do_run_loop();
 575         for (p = usb_list; p; p = p->next) {
 576                 if (p->vid == vid && p->pid == pid) {
 577                         ret = IOHIDDeviceOpen(p->ref, kIOHIDOptionsTypeNone);
 578                         if (ret == kIOReturnSuccess) return p->ref;
 579                 }
 580         }
 581         return NULL;
 582 }
 583
 584 void close_usb_device(IOHIDDeviceRef dev)
 585 {
 586         struct usb_list_struct *p;
 587
 588         do_run_loop();
 589         for (p = usb_list; p; p = p->next) {
 590                 if (p->ref == dev) {
 591                         IOHIDDeviceClose(dev, kIOHIDOptionsTypeNone);
 592                         return;
 593                 }
 594         }
 595 }
 596
 597 static IOHIDDeviceRef iokit_teensy_reference = NULL;
 598
 599 int teensy_open(void)
 600 {
 601         teensy_close();
 602         iokit_teensy_reference = open_usb_device(0x16C0, 0x0478);
 603
 604         if (!iokit_teensy_reference) {
 605                 iokit_teensy_reference = open_usb_device(0x03eb, 0x2067);
 606         }
 607
 608         if (iokit_teensy_reference) return 1;
 609         return 0;
 610 }
 611
 612 int teensy_write(void *buf, int len, double timeout)
 613 {
 614         IOReturn ret;
 615
 616         // timeouts do not work on OS-X
 617         // IOHIDDeviceSetReportWithCallback is not implemented
 618         // even though Apple documents it with a code example!
 619         // submitted to Apple on 22-sep-2009, problem ID 7245050
 620         if (!iokit_teensy_reference) return 0;
 621         ret = IOHIDDeviceSetReport(iokit_teensy_reference,
 622                 kIOHIDReportTypeOutput, 0, buf, len);
 623         if (ret == kIOReturnSuccess) return 1;
 624         return 0;
 625 }
 626
 627 void teensy_close(void)
 628 {
 629         if (!iokit_teensy_reference) return;
 630         close_usb_device(iokit_teensy_reference);
 631         iokit_teensy_reference = NULL;
 632 }
 633
 634 int hard_reboot(void)
 635 {
 636         IOHIDDeviceRef rebootor;
 637         IOReturn ret;
 638
 639         rebootor = open_usb_device(0x16C0, 0x0477);
 640
 641         if (!rebootor) {
 642                 rebootor = open_usb_device(0x03eb, 0x2067);
 643         }
 644
 645         if (!rebootor) return 0;
 646         ret = IOHIDDeviceSetReport(rebootor,
 647                 kIOHIDReportTypeOutput, 0, (uint8_t *)("reboot"), 6);
 648         close_usb_device(rebootor);
 649         if (ret == kIOReturnSuccess) return 1;
 650         return 0;
 651 }
 652
 653 #endif
 654
 655
 656
 657 /****************************************************************/
 658 /*                                                              */
 659 /*              USB Access - BSD's UHID driver                  */
 660 /*                                                              */
 661 /****************************************************************/
 662
 663 #if defined(USE_UHID)
 664
 665 // Thanks to Todd T Fries for help getting this working on OpenBSD
 666 // and to Chris Kuethe for the initial patch to use UHID.
 667
 668 #include <sys/ioctl.h>
 669 #include <fcntl.h>
 670 #include <dirent.h>
 671 #include <dev/usb/usb.h>
 672 #ifndef USB_GET_DEVICEINFO
 673 #include <dev/usb/usb_ioctl.h>
 674 #endif
 675
 676 int open_usb_device(int vid, int pid)
 677 {
 678         int r, fd;
 679         DIR *dir;
 680         struct dirent *d;
 681         struct usb_device_info info;
 682         char buf[256];
 683
 684         dir = opendir("/dev");
 685         if (!dir) return -1;
 686         while ((d = readdir(dir)) != NULL) {
 687                 if (strncmp(d->d_name, "uhid", 4) != 0) continue;
 688                 snprintf(buf, sizeof(buf), "/dev/%s", d->d_name);
 689                 fd = open(buf, O_RDWR);
 690                 if (fd < 0) continue;
 691                 r = ioctl(fd, USB_GET_DEVICEINFO, &info);
 692                 if (r < 0) {
 693                         // NetBSD: added in 2004
 694                         // OpenBSD: added November 23, 2009
 695                         // FreeBSD: missing (FreeBSD 8.0) - USE_LIBUSB works!
 696                         die("Error: your uhid driver does not support"
 697                           " USB_GET_DEVICEINFO, please upgrade!\n");
 698                         close(fd);
 699                         closedir(dir);
 700                         exit(1);
 701                 }
 702                 //printf("%s: v=%d, p=%d\n", buf, info.udi_vendorNo, info.udi_productNo);
 703                 if (info.udi_vendorNo == vid && info.udi_productNo == pid) {
 704                         closedir(dir);
 705                         return fd;
 706                 }
 707                 close(fd);
 708         }
 709         closedir(dir);
 710         return -1;
 711 }
 712
 713 static int uhid_teensy_fd = -1;
 714
 715 int teensy_open(void)
 716 {
 717         teensy_close();
 718         uhid_teensy_fd = open_usb_device(0x16C0, 0x0478);
 719         if (uhid_teensy_fd < 0) return 0;
 720         return 1;
 721 }
 722
 723 int teensy_write(void *buf, int len, double timeout)
 724 {
 725         int r;
 726
 727         // TODO: imeplement timeout... how??
 728         r = write(uhid_teensy_fd, buf, len);
 729         if (r == len) return 1;
 730         return 0;
 731 }
 732
 733 void teensy_close(void)
 734 {
 735         if (uhid_teensy_fd >= 0) {
 736                 close(uhid_teensy_fd);
 737                 uhid_teensy_fd = -1;
 738         }
 739 }
 740
 741 int hard_reboot(void)
 742 {
 743         int r, rebootor_fd;
 744
 745         rebootor_fd = open_usb_device(0x16C0, 0x0477);
 746
 747         if (rebootor_fd < 0) {
 748                 rebootor_fd = open_usb_device(0x03eb, 0x2067);
 749         }
 750
 751         if (rebootor_fd < 0) return 0;
 752         r = write(rebootor_fd, "reboot", 6);
 753         delay(0.1);
 754         close(rebootor_fd);
 755         if (r == 6) return 1;
 756         return 0;
 757 }
 758
 759 #endif
 760
 761
 762
 763 /****************************************************************/
 764 /*                                                              */
 765 /*                     Read Intel Hex File                      */
 766 /*                                                              */
 767 /****************************************************************/
 768
 769 // the maximum flash image size we can support
 770 // chips with larger memory may be used, but only this
 771 // much intel-hex data can be loaded into memory!
 772 #define MAX_MEMORY_SIZE 0x10000
 773
 774 static unsigned char firmware_image[MAX_MEMORY_SIZE];
 775 static unsigned char firmware_mask[MAX_MEMORY_SIZE];
 776 static int end_record_seen=0;
 777 static int byte_count;
 778 static unsigned int extended_addr = 0;
 779 static int parse_hex_line(char *line);
 780
 781 int read_intel_hex(const char *filename)
 782 {
 783         FILE *fp;
 784         int i, lineno=0;
 785         char buf[1024];
 786
 787         byte_count = 0;
 788         end_record_seen = 0;
 789         for (i=0; i<MAX_MEMORY_SIZE; i++) {
 790                 firmware_image[i] = 0xFF;
 791                 firmware_mask[i] = 0;
 792         }
 793         extended_addr = 0;
 794
 795         fp = fopen(filename, "r");
 796         if (fp == NULL) {
 797                 //printf("Unable to read file %s\n", filename);
 798                 return -1;
 799         }
 800         while (!feof(fp)) {
 801                 *buf = '\0';
 802                 if (!fgets(buf, sizeof(buf), fp)) break;
 803                 lineno++;
 804                 if (*buf) {
 805                         if (parse_hex_line(buf) == 0) {
 806                                 //printf("Warning, parse error line %d\n", lineno);
 807                                 return -2;
 808                         }
 809                 }
 810                 if (end_record_seen) break;
 811                 if (feof(stdin)) break;
 812         }
 813         fclose(fp);
 814         return byte_count;
 815 }
 816
 817
 818 /* from ihex.c, at http://www.pjrc.com/tech/8051/pm2_docs/intel-hex.html */
 819
 820 /* parses a line of intel hex code, stores the data in bytes[] */
 821 /* and the beginning address in addr, and returns a 1 if the */
 822 /* line was valid, or a 0 if an error occured.  The variable */
 823 /* num gets the number of bytes that were stored into bytes[] */
 824
 825
 826 int
 827 parse_hex_line(char *line)
 828 {
 829         int addr, code, num;
 830         int sum, len, cksum, i;
 831         char *ptr;
 832
 833         num = 0;
 834         if (line[0] != ':') return 0;
 835         if (strlen(line) < 11) return 0;
 836         ptr = line+1;
 837         if (!sscanf(ptr, "%02x", &len)) return 0;
 838         ptr += 2;
 839         if ((int)strlen(line) < (11 + (len * 2)) ) return 0;
 840         if (!sscanf(ptr, "%04x", &addr)) return 0;
 841         ptr += 4;
 842           /* printf("Line: length=%d Addr=%d\n", len, addr); */
 843         if (!sscanf(ptr, "%02x", &code)) return 0;
 844         if (addr + extended_addr + len >= MAX_MEMORY_SIZE) return 0;
 845         ptr += 2;
 846         sum = (len & 255) + ((addr >> 8) & 255) + (addr & 255) + (code & 255);
 847         if (code != 0) {
 848                 if (code == 1) {
 849                         end_record_seen = 1;
 850                         return 1;
 851                 }
 852                 if (code == 2 && len == 2) {
 853                         if (!sscanf(ptr, "%04x", &i)) return 1;
 854                         ptr += 4;
 855                         sum += ((i >> 8) & 255) + (i & 255);
 856                         if (!sscanf(ptr, "%02x", &cksum)) return 1;
 857                         if (((sum & 255) + (cksum & 255)) & 255) return 1;
 858                         extended_addr = i << 4;
 859                         //printf("ext addr = %05X\n", extended_addr);
 860                 }
 861                 if (code == 4 && len == 2) {
 862                         if (!sscanf(ptr, "%04x", &i)) return 1;
 863                         ptr += 4;
 864                         sum += ((i >> 8) & 255) + (i & 255);
 865                         if (!sscanf(ptr, "%02x", &cksum)) return 1;
 866                         if (((sum & 255) + (cksum & 255)) & 255) return 1;
 867                         extended_addr = i << 16;
 868                         //printf("ext addr = %08X\n", extended_addr);
 869                 }
 870                 return 1;       // non-data line
 871         }
 872         byte_count += len;
 873         while (num != len) {
 874                 if (sscanf(ptr, "%02x", &i) != 1) return 0;
 875                 i &= 255;
 876                 firmware_image[addr + extended_addr + num] = i;
 877                 firmware_mask[addr + extended_addr + num] = 1;
 878                 ptr += 2;
 879                 sum += i;
 880                 (num)++;
 881                 if (num >= 256) return 0;
 882         }
 883         if (!sscanf(ptr, "%02x", &cksum)) return 0;
 884         if (((sum & 255) + (cksum & 255)) & 255) return 0; /* checksum error */
 885         return 1;
 886 }
 887
 888 int ihex_bytes_within_range(int begin, int end)
 889 {
 890         int i;
 891
 892         if (begin < 0 || begin >= MAX_MEMORY_SIZE ||
 893            end < 0 || end >= MAX_MEMORY_SIZE) {
 894                 return 0;
 895         }
 896         for (i=begin; i<=end; i++) {
 897                 if (firmware_mask[i]) return 1;
 898         }
 899         return 0;
 900 }
 901
 902 void ihex_get_data(int addr, int len, unsigned char *bytes)
 903 {
 904         int i;
 905
 906         if (addr < 0 || len < 0 || addr + len >= MAX_MEMORY_SIZE) {
 907                 for (i=0; i<len; i++) {
 908                         bytes[i] = 255;
 909                 }
 910                 return;
 911         }
 912         for (i=0; i<len; i++) {
 913                 if (firmware_mask[addr]) {
 914                         bytes[i] = firmware_image[addr];
 915                 } else {
 916                         bytes[i] = 255;
 917                 }
 918                 addr++;
 919         }
 920 }
 921
 922 /****************************************************************/
 923 /*                                                              */
 924 /*                       Misc Functions                         */
 925 /*                                                              */
 926 /****************************************************************/
 927
 928 int printf_verbose(const char *format, ...)
 929 {
 930         va_list ap;
 931         int r;
 932
 933         va_start(ap, format);
 934         if (verbose) {
 935                 r = vprintf(format, ap);
 936                 fflush(stdout);
 937                 return r;
 938         }
 939         return 0;
 940 }
 941
 942 void delay(double seconds)
 943 {
 944         #ifdef WIN32
 945         Sleep(seconds * 1000.0);
 946         #else
 947         usleep(seconds * 1000000.0);
 948         #endif
 949 }
 950
 951 void die(const char *str, ...)
 952 {
 953         va_list  ap;
 954
 955         va_start(ap, str);
 956         vfprintf(stderr, str, ap);
 957         fprintf(stderr, "\n");
 958         exit(1);
 959 }
 960
 961 #if defined(WIN32)
 962 #define strcasecmp stricmp
 963 #endif
 964
 965 void parse_options(int argc, char **argv)
 966 {
 967         int i;
 968         const char *arg;
 969
 970         for (i=1; i<argc; i++) {
 971                 arg = argv[i];
 972
 973                 if (*arg == '-') {
 974                         if (strcmp(arg, "-w") == 0) {
 975                                 wait_for_device_to_appear = 1;
 976                         } else if (strcmp(arg, "-r") == 0) {
 977                                 hard_reboot_device = 1;
 978                         } else if (strcmp(arg, "-n") == 0) {
 979                                 reboot_after_programming = 0;
 980                         } else if (strcmp(arg, "-v") == 0) {
 981                                 verbose = 1;
 982                         } else if (strncmp(arg, "-mmcu=", 6) == 0) {
 983                                 arg += 6;
 984
 985                                 uint8_t valid_prefix = 0;
 986
 987                                 if (strncmp(arg, "at90usb", 7) == 0) {
 988                                         valid_prefix = 1;
 989                                         arg += 7;
 990                                 } else if (strncmp(arg, "atmega", 6) == 0) {
 991                                         valid_prefix = 1;
 992                                         arg += 6;
 993                                 } else {
 994                                         die("Unknown MCU type\n");
 995                                 }
 996
 997                                 if (strncmp(arg, "128", 3) == 0) {
 998                                         code_size  = 128 * 1024;
 999                                         block_size = 256;
1000                                 } else if (strncmp(arg, "64", 2) == 0) {
1001                                         code_size  = 64 * 1024;
1002                                         block_size = 256;
1003                                 } else if (strncmp(arg, "32", 2) == 0) {
1004                                         code_size  = 32 * 1024;
1005                                         block_size = 128;
1006                                 } else if (strncmp(arg, "16", 2) == 0) {
1007                                         code_size  = 16 * 1024;
1008                                         block_size = 128;
1009                                 } else if (strncmp(arg, "8", 1) == 0) {
1010                                         code_size  = 8 * 1024;
1011                                         block_size = 128;
1012                                 } else {
1013                                         die("Unknown MCU type\n");
1014                                 }
1015                         }
1016                 } else {
1017                         filename = argv[i];
1018                 }
1019         }
1020 }
1021