X-Git-Url: https://git.ao2.it/kinect-audio-setup.git/blobdiff_plain/aff1a95d8e974f6a6f83f5dc886ce86a45057574..6b70ec619aa4d2361a368a820591a0d45d23a7ef:/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 746bc68..b258ba0 100644
--- a/kinect_upload_fw/kinect_upload_fw.c
+++ b/kinect_upload_fw/kinect_upload_fw.c
@@ -32,11 +32,21 @@
 #include <stdio.h>
 #include <unistd.h>
 #include <stdlib.h>
+#include <string.h>
 #include <errno.h>
 #include <libusb.h>
 
+#include "endian.h"
+
+#define KINECT_AUDIO_VID           0x045e
+#define KINECT_AUDIO_PID           0x02ad
+#define KINECT_AUDIO_CONFIGURATION 1
+#define KINECT_AUDIO_INTERFACE     0
+#define KINECT_AUDIO_IN_EP         0x81
+#define KINECT_AUDIO_OUT_EP        0x01
+
 static libusb_device_handle *dev;
-int seq;
+static unsigned int seq;
 
 typedef struct {
 	uint32_t magic;
@@ -54,89 +64,82 @@ typedef struct {
 } 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)
-// TODO: support architectures that aren't little-endian
+#endif
 
-void dump_bl_cmd(bootloader_command cmd) {
+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");
 }
 
-int get_first_reply() {
+static int get_first_reply(void) {
 	unsigned char buffer[512];
 	int res;
-	int transferred;
-	res = libusb_bulk_transfer(dev, 0x81, buffer, 512, &transferred, 0);
-	if(res != 0 ) {
+
+	int transferred = 0;
+	res = libusb_bulk_transfer(dev, KINECT_AUDIO_IN_EP, buffer, 512, &transferred, 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;
-	for(i = 0; i < transferred; ++i) {
+	for (i = 0; i < transferred; ++i) {
 		LOG("%02X ", buffer[i]);
 	}
 	LOG("\n");
 	return res;
 }
 
-
-int get_reply() {
-	unsigned char dump[512];
-	status_code buffer = ((status_code*)dump)[0];
+static int get_reply(void) {
+	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;
-	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 %d)\n", res, transferred, sizeof(status_code));
+	int transferred = 0;
+
+	res = libusb_bulk_transfer(dev, KINECT_AUDIO_IN_EP, 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;
 	}
-	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;
 	}
-	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;
 	}
-	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;
-	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");
 
 	return res;
 }
 
-int main(int argc, char** argv) {
-	char* filename = "firmware.bin";
-	if (argc == 2) {
-		filename = argv[1];
-	}
-	FILE* fw = fopen(filename, "r");
-	if(fw == NULL) {
-		fprintf(stderr, "Failed to open %s: error %d", filename, errno);
-		return errno;
-	}
-
-	libusb_init(NULL);
-	libusb_set_debug(0,3);
-	dev = libusb_open_device_with_vid_pid(NULL, 0x045e, 0x02ad);
-
-	if(dev == NULL) {
-		printf("Couldn't open device.\n");
-		return 1;
-	}
-
-	libusb_set_configuration(dev, 1);
-	libusb_claim_interface(dev, 0);
+static int upload_firmware(FILE *fw) {
+	int res;
 
 	seq = 1;
 
@@ -150,50 +153,74 @@ int main(int argc, char** argv) {
 
 	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);
-	if(res != 0 || transferred != sizeof(cmd)) {
-		LOG("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, sizeof(cmd));
-		goto cleanup;
+	int transferred = 0;
+
+	res = libusb_bulk_transfer(dev, KINECT_AUDIO_OUT_EP, (unsigned char *)&cmd, sizeof(cmd), &transferred, 0);
+	if (res != 0 || transferred != sizeof(cmd)) {
+		LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));
+		goto out;
+	}
+
+	// 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_first_reply();
+	if (res < 0) {
+		LOG("get_first_reply() failed");
+		goto out;
+	}
+
+	// I'm not sure why we do this twice here, but maybe it'll make sense
+	// later.
+	res = get_reply();
+	if (res < 0) {
+		LOG("First get_reply() failed");
+		goto out;
 	}
-	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;
-	char page[0x4000];
+	// 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);
-		if(read <= 0) {
+		read = (int)fread(page, 1, 0x4000, fw);
+		if (read <= 0) {
 			break;
 		}
 		//LOG("");
 		cmd.seq = fn_le32(seq);
-		cmd.bytes = fn_le32(read);
+		cmd.bytes = fn_le32((unsigned int)read);
 		cmd.cmd = fn_le32(0x03);
 		cmd.write_addr = fn_le32(addr);
 		LOG("About to send: ");
 		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 %d)\n",res, transferred, sizeof(cmd));
-			goto cleanup;
+		transferred = 0;
+		res = libusb_bulk_transfer(dev, KINECT_AUDIO_OUT_EP, (unsigned char *)&cmd, sizeof(cmd), &transferred, 0);
+		if (res != 0 || transferred != sizeof(cmd)) {
+			LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));
+			goto out;
 		}
 		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);
-			if(res != 0 || transferred != to_send) {
-				LOG("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, to_send);
-				goto cleanup;
+			transferred = 0;
+			res = libusb_bulk_transfer(dev, KINECT_AUDIO_OUT_EP, &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);
+				goto out;
 			}
 			bytes_sent += to_send;
 		}
 		res = get_reply();
+		if (res < 0) {
+			LOG("get_reply failed");
+			goto out;
+		}
 
 		addr += (uint32_t)read;
 		seq++;
@@ -204,17 +231,109 @@ int main(int argc, char** argv) {
 	cmd.cmd = fn_le32(0x04);
 	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 %d)\n", res, transferred, sizeof(cmd));
-		goto cleanup;
+	transferred = 0;
+	res = libusb_bulk_transfer(dev, KINECT_AUDIO_OUT_EP, (unsigned char *)&cmd, sizeof(cmd), &transferred, 0);
+	if (res != 0 || transferred != sizeof(cmd)) {
+		LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));
+		goto out;
 	}
 	res = get_reply();
 	seq++;
+
+out:
+	return res;
+}
+
+int main(int argc, char *argv[]) {
+	char default_filename[] = "firmware.bin";
+	char *filename = default_filename;
+	int ret = 0;
+
+	if (argc == 2) {
+		filename = argv[1];
+	}
+
+	FILE *fw = fopen(filename, "rb");
+	if (fw == NULL) {
+		fprintf(stderr, "Failed to open %s: %s\n", filename, strerror(errno));
+		return -errno;
+	}
+
+	ret = libusb_init(NULL);
+	if (ret < 0) {
+		fprintf(stderr, "libusb_init failed: %s\n",
+			libusb_error_name(ret));
+		goto out;
+	}
+
+	libusb_set_debug(NULL, 3);
+
+	dev = libusb_open_device_with_vid_pid(NULL, KINECT_AUDIO_VID, KINECT_AUDIO_PID);
+	if (dev == NULL) {
+		fprintf(stderr, "libusb_open failed: %s\n", strerror(errno));
+		ret = -errno;
+		goto out_libusb_exit;
+	}
+
+	int current_configuration = -1;
+	ret = libusb_get_configuration(dev, &current_configuration);
+	if (ret < 0) {
+		fprintf(stderr, "libusb_get_configuration failed: %s\n",
+			libusb_error_name(ret));
+		goto out_libusb_close;
+	}
+
+	if (current_configuration != KINECT_AUDIO_CONFIGURATION) {
+		ret = libusb_set_configuration(dev, KINECT_AUDIO_CONFIGURATION);
+		if (ret < 0) {
+			fprintf(stderr, "libusb_set_configuration failed: %s\n",
+				libusb_error_name(ret));
+			fprintf(stderr, "Cannot set configuration %d\n",
+				KINECT_AUDIO_CONFIGURATION);
+			goto out_libusb_close;
+		}
+	}
+
+	libusb_set_auto_detach_kernel_driver(dev, 1);
+
+	ret = libusb_claim_interface(dev, KINECT_AUDIO_INTERFACE);
+	if (ret < 0) {
+		fprintf(stderr, "libusb_claim_interface failed: %s\n",
+			libusb_error_name(ret));
+		fprintf(stderr, "Cannot claim interface %d\n",
+			KINECT_AUDIO_INTERFACE);
+		goto out_libusb_close;
+	}
+
+	/* 
+	 * Checking that the configuration has not changed, as suggested in
+	 * http://libusb.sourceforge.net/api-1.0/caveats.html
+	 */
+	current_configuration = -1;
+	ret = libusb_get_configuration(dev, &current_configuration);
+	if (ret < 0) {
+		fprintf(stderr, "libusb_get_configuration after claim failed: %s\n",
+			libusb_error_name(ret));
+		goto out_libusb_release_interface;
+	}
+
+	if (current_configuration != KINECT_AUDIO_CONFIGURATION) {
+		fprintf(stderr, "libusb configuration changed (expected: %d, current: %d)\n",
+			KINECT_AUDIO_CONFIGURATION, current_configuration);
+		ret = -EINVAL;
+		goto out_libusb_release_interface;
+	}
+
+	ret = upload_firmware(fw);
 	// Now the device reenumerates.
 
-cleanup:
+out_libusb_release_interface:
+	libusb_release_interface(dev, KINECT_AUDIO_INTERFACE);
+out_libusb_close:
 	libusb_close(dev);
+out_libusb_exit:
 	libusb_exit(NULL);
-	return 0;
+out:
+	fclose(fw);
+	return ret;
 }