1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
|
/**
* NXT bootstrap interface; low-level USB functions.
*
* Copyright 2006 David Anderson <dave@natulte.net>
*
* 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
*/
#ifndef __LOWLEVEL_H__
#define __LOWLEVEL_H__
#include <stdint.h>
#include "error.h"
#define NXT_CONNECTION_SIZE sizeof("usb.255.255")
#define NXT_SERIAL_SIZE sizeof("00:16:53:01:02:03")
typedef struct nxt_t nxt_t;
typedef enum
{
SAMBA = 0, /* SAM7 Boot Assistant */
LEGO, /* Official LEGO firmware */
NXTOS,
N_FIRMWARES,
} nxt_firmware;
typedef void (*nxt_list_cb_t)(void *user, const char *connection,
nxt_firmware fw, const char *serial,
const char *name);
nxt_error_t nxt_init(nxt_t **nxt);
void nxt_exit(nxt_t *nxt);
nxt_error_t nxt_list(nxt_t *nxt, nxt_list_cb_t cb, void *user);
nxt_error_t nxt_find(nxt_t *nxt, nxt_firmware match_fw,
const char *match_serial, const char *match_name);
nxt_error_t nxt_open(nxt_t *nxt);
void nxt_close(nxt_t *nxt);
int nxt_is_firmware(nxt_t *nxt, nxt_firmware fw);
nxt_error_t nxt_send_buf(nxt_t *nxt, const uint8_t *buf, int len);
nxt_error_t nxt_send_str(nxt_t *nxt, const char *str);
nxt_error_t nxt_recv_buf(nxt_t *nxt, uint8_t *buf, int len);
#endif /* __LOWLEVEL_H__ */
|
