main_runjava.c

专业汽车级嵌入式操作系统OSEK的源代码

/**
 * Main program code for the runjava utility.
 *
 * Copyright Lawrie Griffiths <[e-mail]>
 * Based on fwflash by David Anderson <[e-mail]>
 * 
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as
 * published by the Free Software Foundation; either version 2 of the
 * License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
 * USA
 */

#include <stdio.h>
#include <stdlib.h>

#include "error.h"
#include "lowlevel.h"
#include "samba.h"
#include "firmware.h"

#define NXT_HANDLE_ERR(expr, nxt, msg)     \
  do {                                     \
    nxt_error_t nxt__err_temp = (expr);    \
    if (nxt__err_temp)                     \
      return handle_error(nxt, msg, nxt__err_temp);  \
  } while(0)

static int handle_error(nxt_t *nxt, char *msg, nxt_error_t err)
{
  printf("%s: %s\n", msg, nxt_str_error(err));
  if (nxt != NULL)
    nxt_close(nxt);
  exit(err);
}

int main(int argc, char *argv[])
{
  nxt_t *nxt;
  nxt_error_t err;
  char *fw_file, *java_file;
  FILE *f, *jf;
  int ret;
  char *buf, *jbuf;
  long lsize, jlsize;

  if (argc != 3)
    {
      printf("Syntax: %s <C program image> <java binary>\n"
             "\n"
             "Example: %s lejos_nxt_samba_ram.bin Test.bin\n", argv[0], argv[0]);
      exit(1);
    }

  fw_file = argv[1];
  java_file = argv[2];

  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 C 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 C file");

  printf("VM file size is %ld\n", lsize);

  fclose(f);
  
  jf = fopen(java_file, "rb");
  if (jf == NULL) NXT_HANDLE_ERR(8, NULL, "Error opening Java file");

  fseek (jf, 0, SEEK_END);
  jlsize=ftell (jf);

  rewind(jf);

  jbuf = (char *) malloc(jlsize);
  if (jbuf == NULL) NXT_HANDLE_ERR(8, NULL, "Error allocating memory");

  ret = fread(jbuf, 1, jlsize, jf);

  if (ret != (int) jlsize) NXT_HANDLE_ERR(8, NULL, "Error reading Java file");

  printf("Java binary size is %ld\n", jlsize);

  fclose(jf);

  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");

  // Put the clock in PLL/2 mode
  //NXT_ERR(nxt_write_word(nxt, 0xFFFFFC30, 0x7));

  // Send the C program
  NXT_HANDLE_ERR(nxt_send_file(nxt, 0x202000, buf, (int) lsize), nxt, 
                  "Error Sending C file");
                  
  NXT_HANDLE_ERR(nxt_write_word(nxt,0x20FFFC, ((unsigned) jlsize + 3) & 0xfffffffc ), nxt, "Writing Java binary size");                
               
  // Send the Java binary
  NXT_HANDLE_ERR(nxt_send_file(nxt, 0x20FFFC - (((unsigned) jlsize + 3) & 0xfffffffc), jbuf, (int) jlsize), nxt, 
                  "Error Sending Java 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;
}