readme

专业汽车级嵌入式操作系统OSEK的源代码

                  LibNXT and FwFlash
                        v0.2
                    David Anderson
                 ====================

What?
=====

LibNXT is setting out to be a full NXT control library for a host
computer to talk a Lego Mindstorms NXT intelligent brick.  This
includes:

 - Handling USB communication and locating the NXT in the USB tree,
 - Interaction with the Atmel AT91SAM boot assistant; especially:
 - Flashing of a firmware image to the NXT

Currently planned features:

 - Interaction with the official firmware (called NxtOS here)
 - Language bindings to various higher-level languages (C++, Perl,
   Python, Java, Lua, ...)

(If you have ideas of other stuff, please send it in!)

LibNXT is targetted at the platforms that the official Lego Minstorms
NXT software overlooks. Specifically, it will work on any
POSIX-compliant operating system where libusb 0.1
(http://libusb.sf.net/) is supported.

The design of LibNXT is layered, meaning you can plug into it at any
level of complexity or abstraction you desire, from the lowest level
USB bulk bit-pushing interface, to an API exposing the SAM-BA
commandset, right up to just calling nxt_firmware_flash() and having
everything taken care of!


FwFlash is the first utility program that uses LibNXT. As its name
hints, its purpose is to take a NXT firmware image file and flash it
to a connected NXT device.


Who?
====

Uh, that would be me. David Anderson, linux/open source developer and
enthusiast, and an MDP participant :-).

When?
=====

Started the day after receiving the NXT kit, I started by working out
the firmware flashing procedure from the specs and a USB dump of the
windows software at work. Since then, after obtaining a
proof-of-concept application, I've been implementing this library to
abstract the horrors of low-level USB chatter into a nice, clean
library.

 - Release 0.2 (17/03/2006) : firmware flashing is now done entirely
                with open source code. The flash driver routine has
                been replaced with open source code implementing the
                flashing procedure.

 - Release 0.1.1 (10/03/2006) : add big-endian host arch support, and
                make the firmware image reading process a little less
                linux-centric (use of the posix open/read/close API
                instead of mmap).

 - Release 0.1 (10/03/2006) : featuring the FwFlash utility and a
                LibNXT with just enough API in it to get FwFlash
                working :-)

How?
====

To compile all of this you'll need a copy of libusb 0.1 on your
system, as well as the scons project manager.

 - Libusb 0.1: http://libusb.sf.net/
 - Scons: http://www.scons.org/

When you have all that, just run 'scons' in the libnxt directory, and
compilation should follow. Once you're done, you can try fwflash out
by resetting your NXT (see your user manual for details on this) and
running:

./fwflash nxtos.bin

nxtos.bin is the official Lego Mindstorms NXT firmware RC0, bundled in
this package for convenience. You can take the one on your current
installation of the Mindstorms software, they are the same file.

If all goes well, fwflash should inform you that it has found the NXT
on your USB device bus, and that flashing has started. After a few
seconds, it should announce successful flashing, and say that it has
booted the new firmware, which should be answered by the greeting
sound of NxtOS as the brick starts up :-).

If it doesn't, well it's either a problem with your USB device
permissions (if fwflash can't find the NXT), or it's a bug (if the brick
doesn't reboot properly, or if some weird error is reported by fwflash
and it bombs out.

The release tarball comes with a 'flash.bin'. This file is the
compiled version of the open onboard flash driver. If you want to
rebuild this file yourself, you'll need an ARM cross-compiling
toolchain, such as the one provided by the excellent Scratchbox
project (http://www.scratchbox.org/). Once you have it set up one way
or another, cd to the flash_write directory and type 'make' to produce
the flash driver binary.