README: mention reloading udev rules

[kinect-audio-setup.git] / kinect_upload_fw / kinect_upload_fw.c

diff --git a/kinect_upload_fw/kinect_upload_fw.c b/kinect_upload_fw/kinect_upload_fw.c
index da909d5..e544df4 100644 (file)
--- a/kinect_upload_fw/kinect_upload_fw.c
+++ b/kinect_upload_fw/kinect_upload_fw.c
@@ -32,11 +32,14 @@
 #include <stdio.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <stdlib.h>

+#include <string.h>

 #include <errno.h>
 #include <libusb.h>
 
 #include <errno.h>
 #include <libusb.h>
 

+#include "endian.h"
+

 static libusb_device_handle *dev;
 static libusb_device_handle *dev;

-unsigned int seq;
+static unsigned int seq;

 
 typedef struct {
        uint32_t magic;
 
 typedef struct {
        uint32_t magic;


@@ -54,12 +57,19 @@ typedef struct {
 } status_code;
 
 #define LOG(...) printf(__VA_ARGS__)
 } status_code;
 
 #define LOG(...) printf(__VA_ARGS__)

+
+#if __BYTE_ORDER == __BIG_ENDIAN
+static inline uint32_t fn_le32(uint32_t d)
+{
+       return (d<<24) | ((d<<8)&0xFF0000) | ((d>>8)&0xFF00) | (d>>24);
+}
+#else

 #define fn_le32(x) (x)
 #define fn_le32(x) (x)

-// TODO: support architectures that aren't little-endian
+#endif

 
 static void dump_bl_cmd(bootloader_command cmd) {
        int i;
 
 static void dump_bl_cmd(bootloader_command cmd) {
        int i;

-       for(i = 0; i < 24; i++)
+       for (i = 0; i < 24; i++)

                LOG("%02X ", ((unsigned char*)(&cmd))[i]);
        LOG("\n");
 }
                LOG("%02X ", ((unsigned char*)(&cmd))[i]);
        LOG("\n");
 }


@@ -69,13 +79,13 @@ static int get_first_reply(void) {
        int res;
        int transferred;
        res = libusb_bulk_transfer(dev, 0x81, buffer, 512, &transferred, 0);
        int res;
        int transferred;
        res = libusb_bulk_transfer(dev, 0x81, buffer, 512, &transferred, 0);

-       if(res != 0 ) {
+       if (res != 0 ) {

                LOG("Error reading first reply: %d\ttransferred: %d (expected %d)\n", res, transferred, 0x60);
                return res;
        }
        LOG("Reading first reply: ");
        int i;
                LOG("Error reading first reply: %d\ttransferred: %d (expected %d)\n", res, transferred, 0x60);
                return res;
        }
        LOG("Reading first reply: ");
        int i;

-       for(i = 0; i < transferred; ++i) {
+       for (i = 0; i < transferred; ++i) {

                LOG("%02X ", buffer[i]);
        }
        LOG("\n");
                LOG("%02X ", buffer[i]);
        }
        LOG("\n");


@@ -83,31 +93,37 @@ static int get_first_reply(void) {
 }
 
 static int get_reply(void) {
 }
 
 static int get_reply(void) {

-       unsigned char dump[512];
-       status_code buffer = ((status_code*)dump)[0];
+       union {
+               status_code buffer;
+               /* The following is needed because libusb_bulk_transfer might
+                * fail when working on a buffer smaller than 512 bytes.
+                */
+               unsigned char dump[512];
+       } reply;

        int res;
        int transferred;
        int res;
        int transferred;

-       res = libusb_bulk_transfer(dev, 0x81, (unsigned char*)&buffer, 512, &transferred, 0);
-       if(res != 0 || transferred != sizeof(status_code)) {
-               LOG("Error reading reply: %d\ttransferred: %d (expected %lu)\n", res, transferred, sizeof(status_code));
+
+       res = libusb_bulk_transfer(dev, 0x81, reply.dump, 512, &transferred, 0);
+       if (res != 0 || transferred != sizeof(status_code)) {
+               LOG("Error reading reply: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(status_code));

                return res;
        }
                return res;
        }

-       if(fn_le32(buffer.magic) != 0x0a6fe000) {
-               LOG("Error reading reply: invalid magic %08X\n",buffer.magic);
+       if (fn_le32(reply.buffer.magic) != 0x0a6fe000) {
+               LOG("Error reading reply: invalid magic %08X\n", reply.buffer.magic);

                return -1;
        }
                return -1;
        }

-       if(fn_le32(buffer.seq) != seq) {
-               LOG("Error reading reply: non-matching sequence number %08X (expected %08X)\n", buffer.seq, seq);
+       if (fn_le32(reply.buffer.seq) != seq) {
+               LOG("Error reading reply: non-matching sequence number %08X (expected %08X)\n", reply.buffer.seq, seq);

                return -1;
        }
                return -1;
        }

-       if(fn_le32(buffer.status) != 0) {
-               LOG("Notice reading reply: last uint32_t was nonzero: %d\n", buffer.status);
+       if (fn_le32(reply.buffer.status) != 0) {
+               LOG("Notice reading reply: last uint32_t was nonzero: %d\n", reply.buffer.status);

        }
 
        LOG("Reading reply: ");
        int i;
        }
 
        LOG("Reading reply: ");
        int i;

-       for(i = 0; i < transferred; ++i) {
-               LOG("%02X ", ((unsigned char*)(&buffer))[i]);
+       for (i = 0; i < transferred; ++i) {
+               LOG("%02X ", reply.dump[i]);

        }
        LOG("\n");
 
        }
        LOG("\n");
 


@@ -117,22 +133,26 @@ static int get_reply(void) {
 int main(int argc, char** argv) {
        char default_filename[] = "firmware.bin";
        char* filename = default_filename;
 int main(int argc, char** argv) {
        char default_filename[] = "firmware.bin";
        char* filename = default_filename;

+       int res = 0;
+

        if (argc == 2) {
                filename = argv[1];
        }
        if (argc == 2) {
                filename = argv[1];
        }

-       FILE* fw = fopen(filename, "r");
-       if(fw == NULL) {
-               fprintf(stderr, "Failed to open %s: error %d", filename, errno);
+
+       FILE* fw = fopen(filename, "rb");
+       if (fw == NULL) {
+               fprintf(stderr, "Failed to open %s: %s\n", filename, strerror(errno));

                return errno;
        }
 
        libusb_init(NULL);
                return errno;
        }
 
        libusb_init(NULL);

-       libusb_set_debug(0,3);
-       dev = libusb_open_device_with_vid_pid(NULL, 0x045e, 0x02ad);
+       libusb_set_debug(NULL, 3);

 
 

-       if(dev == NULL) {
-               printf("Couldn't open device.\n");
-               return 1;
+       dev = libusb_open_device_with_vid_pid(NULL, 0x045e, 0x02ad);
+       if (dev == NULL) {
+               fprintf(stderr, "Couldn't open device.\n");
+               res = -ENODEV;
+               goto fail_libusb_open;

        }
 
        libusb_set_configuration(dev, 1);
        }
 
        libusb_set_configuration(dev, 1);


@@ -150,24 +170,28 @@ int main(int argc, char** argv) {
 
        LOG("About to send: ");
        dump_bl_cmd(cmd);
 
        LOG("About to send: ");
        dump_bl_cmd(cmd);

-       int res;
+

        int transferred;
 
        res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);
        int transferred;
 
        res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);

-       if(res != 0 || transferred != sizeof(cmd)) {
-               LOG("Error: res: %d\ttransferred: %d (expected %lu)\n",res, transferred, sizeof(cmd));
+       if (res != 0 || transferred != sizeof(cmd)) {
+               LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));

                goto cleanup;
        }
        res = get_first_reply(); // This first one doesn't have the usual magic bytes at the beginning, and is 96 bytes long - much longer than the usual 12-byte replies.
        res = get_reply(); // I'm not sure why we do this twice here, but maybe it'll make sense later.
        seq++;
 
                goto cleanup;
        }
        res = get_first_reply(); // This first one doesn't have the usual magic bytes at the beginning, and is 96 bytes long - much longer than the usual 12-byte replies.
        res = get_reply(); // I'm not sure why we do this twice here, but maybe it'll make sense later.
        seq++;
 

-       uint32_t addr = 0x00080000;
+       // Split addr declaration and assignment in order to compile as C++,
+       // otherwise this would give "jump to label '...' crosses initialization"
+       // errors.
+       uint32_t addr;
+       addr = 0x00080000;

        unsigned char page[0x4000];
        int read;
        do {
                read = fread(page, 1, 0x4000, fw);
        unsigned char page[0x4000];
        int read;
        do {
                read = fread(page, 1, 0x4000, fw);

-               if(read <= 0) {
+               if (read <= 0) {

                        break;
                }
                //LOG("");
                        break;
                }
                //LOG("");


@@ -179,16 +203,16 @@ int main(int argc, char** argv) {
                dump_bl_cmd(cmd);
                // Send it off!
                res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);
                dump_bl_cmd(cmd);
                // Send it off!
                res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);

-               if(res != 0 || transferred != sizeof(cmd)) {
-                       LOG("Error: res: %d\ttransferred: %d (expected %lu)\n",res, transferred, sizeof(cmd));
+               if (res != 0 || transferred != sizeof(cmd)) {
+                       LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));

                        goto cleanup;
                }
                int bytes_sent = 0;
                        goto cleanup;
                }
                int bytes_sent = 0;

-               while(bytes_sent < read) {
+               while (bytes_sent < read) {

                        int to_send = (read - bytes_sent > 512 ? 512 : read - bytes_sent);
                        res = libusb_bulk_transfer(dev, 1, &page[bytes_sent], to_send, &transferred, 0);
                        int to_send = (read - bytes_sent > 512 ? 512 : read - bytes_sent);
                        res = libusb_bulk_transfer(dev, 1, &page[bytes_sent], to_send, &transferred, 0);

-                       if(res != 0 || transferred != to_send) {
-                               LOG("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, to_send);
+                       if (res != 0 || transferred != to_send) {
+                               LOG("Error: res: %d\ttransferred: %d (expected %d)\n", res, transferred, to_send);

                                goto cleanup;
                        }
                        bytes_sent += to_send;
                                goto cleanup;
                        }
                        bytes_sent += to_send;


@@ -205,8 +229,8 @@ int main(int argc, char** argv) {
        cmd.write_addr = fn_le32(0x00080030);
        dump_bl_cmd(cmd);
        res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);
        cmd.write_addr = fn_le32(0x00080030);
        dump_bl_cmd(cmd);
        res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);

-       if(res != 0 || transferred != sizeof(cmd)) {
-               LOG("Error: res: %d\ttransferred: %d (expected %lu)\n", res, transferred, sizeof(cmd));
+       if (res != 0 || transferred != sizeof(cmd)) {
+               LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));

                goto cleanup;
        }
        res = get_reply();
                goto cleanup;
        }
        res = get_reply();


@@ -215,6 +239,8 @@ int main(int argc, char** argv) {
 
 cleanup:
        libusb_close(dev);
 
 cleanup:
        libusb_close(dev);

+fail_libusb_open:

        libusb_exit(NULL);
        libusb_exit(NULL);

-       return 0;
+       fclose(fw);
+       return res;

 }
 }