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[Krobot-commits] [SCM] krobot branch, master, updated. 9a1b10ff61b5e18787f09759fe14c1d2aefb7d09
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From: Jérémie D. <Ba...@us...> - 2010-02-11 16:02:35
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- Log -----------------------------------------------------------------
commit 9a1b10ff61b5e18787f09759fe14c1d2aefb7d09
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 11 17:01:43 2010 +0100
Reorganisation of the soure tree
commit ba0eee6c0452eaf35f96561b4734103a2088b372
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 11 15:32:37 2010 +0100
use a custom bus daemon
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/Makefile b/PC_Mainboard/Makefile
new file mode 100644
index 0000000..56af001
--- /dev/null
+++ b/PC_Mainboard/Makefile
@@ -0,0 +1,23 @@
+# Makefile
+# --------
+# Copyright : (c) 2009, Jeremie Dimino <je...@di...>
+# Licence : BSD3
+#
+# This file is a part of [kro]bot.
+
+PREFIX=/usr/local
+
+OC = ocamlbuild
+OF = ocamlfind
+
+ifeq ($(TERM),dumb)
+OC += -classic-display
+endif
+
+.PHONY: all
+all:
+ $(OC) all
+
+.PHONY: clean
+clean:
+ $(OC) -clean
diff --git a/PC_Mainboard/README b/PC_Mainboard/README
index 1481106..a595631 100644
--- a/PC_Mainboard/README
+++ b/PC_Mainboard/README
@@ -1,5 +1,22 @@
-* "daemons" contient les processus lancés au niveau système qui font
- l'interfaçage entre les cartes
+Organisation des dossiers:
-* "clients" contient des utilitaires, l'intelligence artificielle,
- l'interface web, ...
+* "card_tools" contient des outils pour les cartes usb, notamment pour
+ flasher les firmwares
+
+* "clients" contient les divers programmes pour monitorer et
+ controller le robot
+
+* "common" contient les modules partagés par plusieurs composantes du
+ robot
+
+* "driver" contient le driver qui accède au cartes usb
+
+* "lib_krobot" contient la librairie cliente pour utiliser le robot,
+ qui se connecte au driver via D-Bus
+
+* "services" contient des services tels que l'arrêt des moteurs en cas
+ de colision ou le logging d'un match
+
+* "tools" contient divers outils
+
+* "www" contient une interface web pour le krobot
diff --git a/PC_Mainboard/_tags b/PC_Mainboard/_tags
new file mode 100644
index 0000000..103ccce
--- /dev/null
+++ b/PC_Mainboard/_tags
@@ -0,0 +1,57 @@
+# -*- conf -*-
+
+"common": include
+"lib_krobot": include
+
+# +------------------------------------------------------------------+
+# | Krobot library |
+# +------------------------------------------------------------------+
+
+<lib_krobot/**/*.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
+<lib_krobot/**>: pkg_lwt.unix, pkg_obus
+
+# +------------------------------------------------------------------+
+# | Card tools |
+# +------------------------------------------------------------------+
+
+<card_tools/**/*.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log
+<card_tools/**>: thread, pkg_usb, pkg_lwt.unix
+
+# +------------------------------------------------------------------+
+# | Clients |
+# +------------------------------------------------------------------+
+
+<clients/**/*.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
+<clients/**>: pkg_lwt.unix, pkg_obus
+<clients/joy_control.*>: pkg_sdl
+<clients/controller.*>: pkg_lwt.text
+<clients/script_lexer.*>: pkg_text
+<clients/script.*>: pkg_text
+
+# +------------------------------------------------------------------+
+# | Services |
+# +------------------------------------------------------------------+
+
+<services/**/*.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
+<services/**>: pkg_lwt.unix, pkg_obus
+
+# +------------------------------------------------------------------+
+# | Common |
+# +------------------------------------------------------------------+
+
+<common/types.{ml,mli}>: syntax_camlp4o, pkg_obus.syntax
+<common/types.*>: pkg_obus
+
+# +------------------------------------------------------------------+
+# | Driver |
+# +------------------------------------------------------------------+
+
+<driver/**/*.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
+<driver/**>: thread, pkg_lwt.unix, pkg_obus, pkg_usb
+
+# +------------------------------------------------------------------+
+# | Tools |
+# +------------------------------------------------------------------+
+
+<tools/forward_dbus.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
+<tools/forward_dbus.*>: pkg_obus
diff --git a/PC_Mainboard/card-tools/Makefile b/PC_Mainboard/card-tools/Makefile
deleted file mode 100644
index 8055020..0000000
--- a/PC_Mainboard/card-tools/Makefile
+++ /dev/null
@@ -1,36 +0,0 @@
-# Makefile
-# --------
-# Copyright : (c) 2009, Jeremie Dimino <je...@di...>
-# Licence : BSD3
-#
-# This file is a part of [kro]bot.
-
-PREFIX=/usr/local
-
-OC = ocamlbuild
-OF = ocamlfind
-
-ifeq ($(TERM),dumb)
-OC += -classic-display
-endif
-
-.PHONY: all
-all:
- $(OC) all
-
-.PHONY: clean
-clean:
- $(OC) -clean
-
-.PHONY: install
-install:
- install -m0755 _build/src/send_firmare.best $(PREFIX)/bin/send-firmware
- install -m0755 _build/src/dump_memory.best $(PREFIX)/bin/dump-memory
-
-.PHONY: uninstall
-uninstall:
- rm -f $(PREFIX)/bin/send-firmware
- rm -f $(PREFIX)/bin/dump-memory
-
-.PHONY: reinstall
-reinstall: uninstall install
diff --git a/PC_Mainboard/card-tools/PcInterface.h b/PC_Mainboard/card-tools/PcInterface.h
deleted file mode 100644
index 6928d8e..0000000
--- a/PC_Mainboard/card-tools/PcInterface.h
+++ /dev/null
@@ -1,208 +0,0 @@
-/**
- * @file PcInterface.h
- * Fichier commun avec le programme hsur la carte m (USB PC).
- * Ce fichier dnit de nombreuses constantes utilis pour le protocole
- * de communication carte <-> PC.
-*/
-
-#ifndef PC_INTERFACE_H
-#define PC_INTERFACE_H
-
-#define USB_VID 0x04D8 ///< Vendor ID commun aux diffntes cartes USB
-#define USB_PID_USB_DEV_BOARD 0x0001 ///< Product ID de la Carte d'essais
-#define USB_PID_PROXIMITY_SENSOR 0x0002 ///< Product ID de la Carte capteurs
-#define USB_PID_MOTOR_CONTROLLER 0x0003 ///< Product ID de la Carte d'asservissement
-#define USB_PID_ROBOT_INTERFACE 0x0004 ///< Product ID de la Carte d'actionneur
-#define USB_PID_BATTERY_MONITORING 0x0005 ///< Product ID de la carte Battery Monitoring
-#define USB_PID_BOOTLOADER 0x000b ///< Product ID d'une carte en mode bootloader
-
-// Protocole USB
-#define UP_HSEQ 0 ///< Host sequence number
-#define UP_DSEQ 1 ///< Device sequence number
-#define UP_CMD 2
-#define UP_ERR 3
-#define UP_RES0 4
-#define UP_RES1 5
-#define UP_RES2 6
-#define UP_RES3 7
-#define UP_RES4 60
-#define UP_RES5 61
-#define UP_RES6 62
-#define UP_RES7 63
-#define UP_DATA 8
-
-// Commande (premier bit)
-#define CMD_RESET 0 ///< Reset du PIC
-#define CMD_BOOTLOADER 1 ///< Reset du PIC en mode bootloader
-#define CMD_GET 2 ///< Obtenir une information
-#define CMD_RESPOND 3 ///< Rnse ne commande
-#define CMD_ERR 4 ///< Envoyer une erreur
-#define CMD_SEND 5 ///< Envoyer du texte
-#define CMD_SET 6 ///< Dnir l't d'un parame
-#define CMD_TEST 7 ///< Commande grique pour dencher une action de test
-#define CMD_CALIBRATE 8 ///< Lance la calibration d'un tme [Carte capteurs]
-#define CMD_AX12 9
-#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
-#define CMD_MOTOR 11 ///< Gestion des moteurs
-#define CMD_MOTOR_TOR 12
-
-// CMD_GET arguments
-#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
-#define GET_BOARD_INFO 1 ///< Demande au PIC le nom de la carte et l'auteur
-#define GET_FIRMWARE_BUILD 2 ///< Demande au PIC la date et l'heure de compilation du firmware
-#define GET_PORTS_CONFIG 3 ///< Demande la config TRIS des ports du PIC
-#define GET_PORTS_STATE 4 ///< Demande l't des ports du PIC
-#define GET_RANGEFINDER_STATE 5 ///< Demande au PIC les mesures des tmes [Carte capteurs]
-#define GET_ISENS 6 ///< Demande au PIC les valeurs des courants moteurs mesur [Carte d'asservissement]
-#define GET_CURRENT_POS 7 ///< Demande au PIC les positions actuelles des moteurs [Carte d'asservissement]
-#define GET_RANGEFINDER_CALIBRATION 8 ///< Demande au PIC les valeurs de calibration des tmes [Carte capteurs]
-#define GET_TOR_STATE 9 ///< Demande au PIC l't des capteurs de contact [Carte capteurs]
-#define GET_CMP03_DATA 10 ///< Rp les infos du compas ctronique CMP03
-#define GET_CELL_VOLTAGE 11 ///< Tensions des cellules [Battery Monitoring]
-#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
-#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
-#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
-
-// CMD_ERR arguments
-#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
-#define ERR_UNKNOWN_GET 2 ///< Demande inconnue
-#define ERR_UNKNOWN_SET 3 ///< Demande inconnue
-#define ERR_INVALID_RESPONSE 4 ///< Rnse invalide
-#define ERR_AX12_WRONG_PACKET 5
-#define ERR_AX12_ERROR 6
-#define ERR_AX12_CHKSUM 7
-#define ERR_CMP03_NOT_RESPONDING 8
-#define ERR_ADJD_S371_NOT_RESPONDING 9
-
-// CMD_SET arguments
-#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
-#define SET_PORTS_CONFIG_OUTPUTS 0x01 ///< Dnir les sorties du PIC
-#define SET_PORTS_STATE_LOW 0x02 ///< Dnir les sorties 't bas du PIC
-#define SET_PORTS_STATE_HIGH 0x03 ///< Dnir les sorties 't haut du PIC
-#define SET_SERVO_CONFIG 0x04 ///< Dnir la config des servomoteurs
-#define SET_SERVO_STATE 0x05 ///< Dnir l't des servomoteurs
-
-// CMD_CALIBRATE arguments
-#define CAL_START 0x00
-#define CAL_CONTINUE 0x01
-#define CAL_STOP 0x02
-#define CAL_ERROR 0x03
-#define CAL_DONE 0x04
-#define CAL_PLACE_INF 0x05
-#define CAL_PLACE_30 0x06
-#define CAL_PLACE_100 0x07
-
-// GET_RESET_SOURCE reponse
-#define RESET_SOURCE_POR 0x01 ///< Power-on Reset
-#define RESET_SOURCE_RI 0x02 ///< RESET Instruction
-#define RESET_SOURCE_BOR 0x03 ///< Brown-out Reset
-#define RESET_SOURCE_WDT 0x04 ///< Watchdog Time-out Reset
-#define RESET_SOURCE_STKFUL 0x05 ///< Stack Full Reset
-#define RESET_SOURCE_STKUNF 0x06 ///< Stack Underflow Reset
-#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
-
-// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
-
-// CMD_TRAJ
-#define TRAJ_INIT 0x00
-#define TRAJ_FORWARD 0x01
-#define TRAJ_BACKWARD 0x02
-#define TRAJ_TR 0x03
-#define TRAJ_TL 0x04
-#define TRAJ_GOTO 0x05
-#define TRAJ_FINISHED 0x06
-#define TRAJ_STOP 0x07
-#define TRAJ_NEW_POSITION 0x08
-#define TRAJ_NEW_VELOCITY 0x09
-#define TRAJ_CHANGE_VELOCITY 0x0A
-#define TRAJ_CONFIG 0x0B
-#define TRAJ_CONFIG_DEFAULT 0x0C
-#define TRAJ_START 0x0D
-#define TRAJ_GET_REL_POS 0x0E
-#define TRAJ_READ_CONFIG 0x0F
-
-#define TRAJ_NOT_COMPLETED 0x00
-#define TRAJ_COMPLETED 0x01
-
-#define TRAJ_STOP_MOTOR_OFF 256
-#define TRAJ_STOP_ABRUPT 512
-#define TRAJ_STOP_SMOOTH 1024
-
-// CMD_MOTOR
-#define MOTOR_ENABLE 1
-#define MOTOR_DISABLE 2
-#define MOTOR_MOVE 3
-
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
-
-// XXX omplr
-#define READ_VERSION 0x00
-#define READ_FLASH 0x01
-#define WRITE_FLASH 0x02
-#define ERASE_FLASH 0x03
-#define READ_EEDATA 0x04
-#define WRITE_EEDATA 0x05
-#define READ_CONFIG 0x06
-#define WRITE_CONFIG 0x07
-#define UPDATE_LED 0x32
-#define RESET 0xFF
-
-#define FLASH_BOOT_START 0x00
-#define FLASH_BOOT_END 0x7FF
-#define FLASH_VECTOR_START 0x800
-#define FLASH_VECTOR_END 0x829
-#define FLASH_PAGE_START 0x82A
-#define FLASH_PAGE_END 0x7FFF
-
-#define PORTA_RA0 1
-#define PORTA_RA1 2
-#define PORTA_RA2 4
-#define PORTA_RA3 8
-#define PORTA_RA4 16
-#define PORTA_RA5 32
-#define PORTA_RA6 64
-
-#define PORTB_RB0 1
-#define PORTB_RB1 2
-#define PORTB_RB2 4
-#define PORTB_RB3 8
-#define PORTB_RB4 16
-#define PORTB_RB5 32
-#define PORTB_RB6 64
-#define PORTB_RB7 128
-
-#define PORTC_RC0 1
-#define PORTC_RC1 2
-#define PORTC_RC2 4
-#define PORTC_RC4 16
-#define PORTC_RC5 32
-#define PORTC_RC6 64
-#define PORTC_RC7 128
-
-#define PORTD_RD0 1
-#define PORTD_RD1 2
-#define PORTD_RD2 4
-#define PORTD_RD3 8
-#define PORTD_RD4 16
-#define PORTD_RD5 32
-#define PORTD_RD6 64
-#define PORTD_RD7 128
-
-#define PORTE_RE0 1
-#define PORTE_RE1 2
-#define PORTE_RE2 4
-#define PORTE_RE3 8
-
-#endif // PC_INTERFACE_H
diff --git a/PC_Mainboard/card-tools/_tags b/PC_Mainboard/card-tools/_tags
deleted file mode 100644
index e273d14..0000000
--- a/PC_Mainboard/card-tools/_tags
+++ /dev/null
@@ -1,4 +0,0 @@
-# -*- conf -*-
-
-<src/*.ml>: syntax_camlp4o, pkg_lwt.syntax
-<src/*>: thread, pkg_usb
diff --git a/PC_Mainboard/card-tools/myocamlbuild.ml b/PC_Mainboard/card-tools/myocamlbuild.ml
deleted file mode 100644
index 0607ed1..0000000
--- a/PC_Mainboard/card-tools/myocamlbuild.ml
+++ /dev/null
@@ -1,146 +0,0 @@
-(*
- * myocamlbuild.ml
- * ---------------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-open Printf
-open Ocamlbuild_plugin
-
-(* +-----------------------------------------------------------------+
- | Configuration |
- +-----------------------------------------------------------------+ *)
-
-let try_exec command =
- try
- let () = Command.execute ~quiet:true (Cmd(S[Sh command; Sh"> /dev/null"; Sh"2> /dev/null"])) in
- true
- with _ ->
- false
-
-let () =
- if not (try_exec "ocamlfind printconf") then begin
- prerr_endline "ocamlfind is not available, please install it";
- exit 1
- end
-
-let have_native = try_exec "ocamlfind ocamlopt -version"
-
-let () =
- let yes_no = function true -> "yes" | false -> "no" in
- printf "\
-+--[ compilation options ]----------+
-| native compilation: %3s |
-+-----------------------------------+
-%!" (yes_no have_native)
-
-(* +-----------------------------------------------------------------+
- | Ocamlfind |
- +-----------------------------------------------------------------+ *)
-
-(* Put here packages you may use in this project: *)
-let packages = [
- "type-conv";
- "type-conv.syntax";
- "camlp4";
- "camlp4.extend";
- "camlp4.lib";
- "camlp4.macro";
- "camlp4.quotations.o";
- "camlp4.quotations.r";
- "lwt";
- "lwt.unix";
- "lwt.syntax";
- "lwt.syntax.log";
- "str";
- "xmlm";
- "react";
- "usb";
- "obus";
- "obus.syntax";
- "bitstring";
- "bitstring.syntax";
-]
-
-(* List of available syntaxes :*)
-let syntaxes = [
- "camlp4o";
- "camlp4r";
-]
-
-(* +-----------------------------------------------------------------+
- | Utils |
- +-----------------------------------------------------------------+ *)
-
-let flag_all_stages_except_link tag f =
- flag ["ocaml"; "compile"; tag] f;
- flag ["ocaml"; "ocamldep"; tag] f;
- flag ["ocaml"; "doc"; tag] f
-
-let flag_all_stages tag f =
- flag_all_stages_except_link tag f;
- flag ["ocaml"; "link"; tag] f
-
-let _ =
- dispatch begin function
- | Before_options ->
-
- (* override default commands by ocamlfind ones *)
- let ocamlfind x = S[A"ocamlfind"; A x] in
- Options.ocamlc := ocamlfind "ocamlc";
- Options.ocamlopt := ocamlfind "ocamlopt";
- Options.ocamldep := ocamlfind "ocamldep";
- (* FIXME: sometimes ocamldoc say that elements are not found
- even if they are present: *)
- Options.ocamldoc := S[A"ocamlfind"; A"ocamldoc"; A"-hide-warnings"]
-
- | After_rules ->
-
- (* Génération du fichier contenant les détails du protocol à
- partir du fichier .h *)
- rule "protocol du krobot" ~dep:"PcInterface.h" ~prod:"protocol.ml"
- (fun _ _ ->
- Cmd(S[Sh"awk '$1 == \"#define\" && $3 != \"\" { print \"let \" tolower($2) \" = \" $3 }' PcInterface.h > protocol.ml"]));
-
- (* +---------------------------------------------------------+
- | Virtual targets |
- +---------------------------------------------------------+ *)
-
- if have_native then
- rule "best" ~dep:"%.native" ~prod:"%.best"
- (fun env _ -> cp (env "%.native") (env "%.best"))
- else
- rule "best" ~dep:"%.byte" ~prod:"%.best"
- (fun env _ -> cp (env "%.byte") (env "%.best"));
-
- let virtual_rule name deps =
- rule name ~stamp:name ~deps (fun _ _ -> Nop)
- in
-
- virtual_rule "all" ["src/send_firmware.best"; "src/dump_memory.best"];
-
- (* +---------------------------------------------------------+
- | Ocamlfind stuff |
- +---------------------------------------------------------+ *)
-
- (* When one link an OCaml binary, one should use -linkpkg *)
- flag ["ocaml"; "link"; "program"] & A"-linkpkg";
-
- (* For each ocamlfind package one inject the -package option
- when compiling, computing dependencies, generating
- documentation and linking. *)
- List.iter
- (fun package -> flag_all_stages ("pkg_" ^ package) (S[A"-package"; A package]))
- packages;
-
- (* Like -package but for extensions syntax. Morover -syntax is
- useless when linking. *)
- List.iter
- (fun syntax -> flag_all_stages_except_link ("syntax_" ^ syntax) (S[A"-syntax"; A syntax]))
- syntaxes;
-
- | _ -> ()
- end
diff --git a/PC_Mainboard/card-tools/src/boardname.mli b/PC_Mainboard/card-tools/src/boardname.mli
deleted file mode 100644
index 23b0032..0000000
--- a/PC_Mainboard/card-tools/src/boardname.mli
+++ /dev/null
@@ -1,12 +0,0 @@
-(*
- * boardname.mli
- * -------------
- * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
- * Licence : BSD3
- *
- * This file is a part of Krobot.
- *)
-
-val get_board_name : string -> string option
- (** [get_board_name dump] recherche dans le [dump] mémoire (peut
- être également un fichier .hex chargé) le nom de la carte. *)
diff --git a/PC_Mainboard/card-tools/src/boardname.mll b/PC_Mainboard/card-tools/src/boardname.mll
deleted file mode 100644
index 30f99cf..0000000
--- a/PC_Mainboard/card-tools/src/boardname.mll
+++ /dev/null
@@ -1,22 +0,0 @@
-(*
- * boardname.mll
- * -------------
- * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
- * Licence : BSD3
- *
- * This file is a part of Krobot.
- *)
-
-
-let boardname_regex = ("Carte " | "Robot Interface") [^'\n']+
-
-rule boardname = parse
- | (boardname_regex as name) '\n' { Some name }
- | _ { boardname lexbuf }
- | eof { None }
-
-{
- let get_board_name str =
- let lexbuf = Lexing.from_string str in
- boardname lexbuf
-}
diff --git a/PC_Mainboard/card-tools/src/bootloader.ml b/PC_Mainboard/card-tools/src/bootloader.ml
deleted file mode 100644
index 28044cc..0000000
--- a/PC_Mainboard/card-tools/src/bootloader.ml
+++ /dev/null
@@ -1,184 +0,0 @@
-(*
- * bootloader.ml
- * -------------
- * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
- * Licence : BSD3
- *
- * This file is a part of Krobot.
- *)
-
-open Lwt
-open Lwt_io
-
-(* Code très inspiré de kard.ml, mais mis à part car le mode de
- communication avec la carte est différent (bulk au lieu
- d'interrupt). *)
-
-type t = {
- mutable is_open : bool;
- (* La carte est-elle ouverte ? *)
-
- handle : USB.handle;
- (* Handle pour le périphérique usb *)
-
- kernel_active : bool;
- (* Est-ce qu'un driver noyau était attaché à la carte avant qu'on
- l'utilise ? *)
-}
-
-type error =
- | IncompleteWrite of int * int
- | IncompleteRead of int * int
- | UnexpectedReply of string * string
- | WriteError of string * string
-
-let string_of_error = function
- | IncompleteWrite (a, b) -> Printf.sprintf "%d byte(s) written instead of %d" a b
- | IncompleteRead (a, b) -> Printf.sprintf "%d byte(s) read instead of %d" a b
- | UnexpectedReply (a, b) -> Printf.sprintf "received unexpected reply %S instead of %S" a b
- | WriteError (a, b) -> Printf.sprintf "written: %S, read back: %S" a b
-
-exception Error of error
-
-let failwith e = fail (Error e)
-
-let close k =
- if k.is_open then begin
- lwt _ = USB.release_interface k.handle 0 in
- lwt _ = USB.reset_device k.handle in
- (*if k.kernel_active then USB.attach_kernel_driver k.handle 0;*)
- (*USB.close k.handle;*)
- k.is_open <- false;
- return ()
- end else return ()
-
-let open_card () =
- let handle = USB.open_device_with
- ~vendor_id:Protocol.usb_vid
- ~product_id:Protocol.usb_pid_bootloader
- in
- let kernel_active = USB.kernel_driver_active handle 0 in
- if kernel_active then USB.detach_kernel_driver handle 0;
- lwt _ = USB.set_configuration handle 1 in
- lwt _ = USB.claim_interface handle 0 in
- let k = { is_open = true;
- handle = handle;
- kernel_active = kernel_active } in
- let _ = Lwt_sequence.add_l (fun _ -> close k) Lwt_main.exit_hooks in
- return k
-
-let header_length = 5
-
-let put_message buffer cmd length address data =
- let body_length = String.length data in
- assert (String.length buffer >= header_length+body_length);
- let set i n = buffer.[i] <- char_of_int n in
- set 0 cmd;
- assert (length < 0x100);
- set 1 length;
- assert (address <= 0x1000000);
- set 2 (address land 0xff);
- set 3 ((address lsr 8) land 0xff);
- set 4 ((address lsr 16) land 0xff);
- String.blit data 0 buffer 5 body_length
-
-let send_receive_packet k send_buffer send_length receive_buffer receive_length send_delay receive_delay =
- let handle = k.handle and endpoint = 1 in
- lwt sent = USB.bulk_send ~handle ~endpoint ~timeout:1. send_buffer 0 send_length in
- if sent <> send_length then
- failwith (IncompleteWrite (sent, send_length))
- else begin
- lwt received = USB.bulk_recv ~handle ~endpoint ~timeout:3. receive_buffer 0 receive_length in
- if received <> receive_length then
- failwith (IncompleteRead (received, receive_length))
- else
- return ()
- end
-
-let get_flash k ~address ~length =
- let response_length = 64 in
- let increment = response_length-header_length in
- assert (increment < 256);
- let send_buffer = String.create header_length in
- let receive_buffer = String.create response_length in
- let result_buffer = String.create length in
- let rec loop offset total_length =
- if total_length <= 0 then
- return result_buffer
- else begin
- let length = min increment total_length in
- let response_length = length+header_length in
- let address = address+offset in
- put_message send_buffer Protocol.read_flash length address "";
- lwt () = send_receive_packet k send_buffer header_length receive_buffer response_length 1. 3. in
- let receive_header = String.sub receive_buffer 0 header_length in
- if receive_header <> send_buffer then
- failwith (UnexpectedReply (receive_header, send_buffer))
- else begin
- String.blit receive_buffer header_length result_buffer offset length;
- loop (offset+length) (total_length-length);
- end
- end
- in loop 0 length
-
-let erase_flash k ~address ~length =
- let response_length = 1 in
- (* les effacements se font par blocs de 64 octets *)
- let increment = 64 in
- let send_buffer = String.create header_length in
- let receive_buffer = String.create response_length in
- let rec loop offset total_length =
- if total_length <= 0 then
- return ()
- else begin
- let address = address+offset in
- put_message send_buffer Protocol.erase_flash 1 address "";
- lwt () = send_receive_packet k send_buffer header_length receive_buffer response_length 1. 5. in
- if int_of_char receive_buffer.[0] <> Protocol.erase_flash then
- failwith (UnexpectedReply (receive_buffer, String.make 1 (char_of_int Protocol.erase_flash)))
- else
- loop (offset+increment) (total_length-increment);
- end
- in loop 0 length
-
-let reference = String.make 16 '\255'
-
-let write_flash k ~address data offset length =
- let send_length = 64 and receive_length = 1 in
- (* les écritures se font par blocs de 16 octets *)
- let increment = 16 in
- let send_buffer = String.create send_length in
- let receive_buffer = String.create receive_length in
- let rec loop address offset total_length =
- (* address: sur le PIC, offset: dans data, total_length: taille restante *)
- if total_length <= 0 then
- return ()
- else begin
- let packet = String.make increment '\255' in
- String.blit data offset packet 0 (min total_length increment);
- if packet = reference the
n begin
- (* le paquet n'a pas de contenu, on l'ignore *)
- (* lwt () = printf "Skipping address 0x%06X...\n" address in *)
- loop (address+increment) (offset+increment) (total_length-increment)
- end else begin
- (* lwt () = printf "Processing address 0x%06X...\n" address in *)
- put_message send_buffer Protocol.write_flash increment address packet;
- lwt () = send_receive_packet k send_buffer send_length receive_buffer receive_length 0.5 1. in
- if int_of_char receive_buffer.[0] <> Protocol.write_flash then
- failwith (UnexpectedReply (receive_buffer, String.make 1 (char_of_int Protocol.erase_flash)))
- else begin
- lwt written = get_flash k ~address ~length:increment in
- if written <> packet then
- failwith (WriteError (packet, written))
- else
- loop (address+increment) (offset+increment) (total_length-increment)
- end
- end
- end
- in loop address offset length
-
-let reset_board k =
- let send_buffer = String.create 64 and receive_buffer = String.create 64 in
- send_buffer.[0] <- char_of_int Protocol.reset;
- lwt () = send_receive_packet k send_buffer 1 receive_buffer 64 5. 5. in
- return ()
diff --git a/PC_Mainboard/card-tools/src/dump_memory.ml b/PC_Mainboard/card-tools/src/dump_memory.ml
deleted file mode 100644
index 5c746e0..0000000
--- a/PC_Mainboard/card-tools/src/dump_memory.ml
+++ /dev/null
@@ -1,30 +0,0 @@
-(*
- * dump_memory.ml
- * --------------
- * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
- * Licence : BSD3
- *
- * This file is a part of Krobot.
- *)
-
-open Printf
-open Lwt
-open Lwt_io
-
-let main =
- lwt k = Bootloader.open_card () in
- try_lwt
- lwt data = Bootloader.get_flash k ~address:0x0 ~length:0x8000 in
- let msg = match Boardname.get_board_name data with
- | Some s -> sprintf "Board: %S" s
- | None -> "Unable to identify board!"
- in
- lwt () = eprintlf "%s" msg in
- (if Unix.isatty Unix.stdout then hexdump else write) stdout data >> flush stdout
- with
- | Bootloader.Error e ->
- eprintlf "%s" (Bootloader.string_of_error e)
- | e ->
- eprintlf "%s" (Printexc.to_string e)
-
-let _ = Lwt_main.run main
diff --git a/PC_Mainboard/card-tools/src/hexfile.ml b/PC_Mainboard/card-tools/src/hexfile.ml
deleted file mode 100644
index a667957..0000000
--- a/PC_Mainboard/card-tools/src/hexfile.ml
+++ /dev/null
@@ -1,112 +0,0 @@
-(*
- * hexfile.ml
- * ----------
- * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
- * Licence : BSD3
- *
- * This file is a part of Krobot.
- *)
-
-open Lwt
-open Lwt_io
-
-type hex_record =
- | Data of int * string
- | ExtendedLinearAddress of int
- | EndOfFile of int
-
-let string_of_hexline str =
- let n = String.length str in
- assert (n > 0 && n mod 2 = 1 && str.[0] = ':');
- let m = n/2 in
- let result = String.create m in
- for i = 0 to m-1 do
- let j = 2*i+1 in
- result.[i] <- char_of_int (int_of_string ("0x"^(String.sub str j 2)))
- done;
- result
-
-let compute_checksum str =
- let rec aux i accu =
- if i < 0 then
- (-accu) land 0xff
- else
- aux (i-1) (accu+(int_of_char str.[i]))
- in aux (String.length str - 2) 0
-
-let parse_line str =
- let str = string_of_hexline str in
- let get i = int_of_char str.[i] in
- let n = String.length str in
- assert (n >= 5 && compute_checksum str = int_of_char str.[n-1]);
- let count = get 0 in
- assert (count+5 = n);
- let address = ((get 1) lsl 8) lor (get 2) in
- let record_type = get 3 in
- let data = String.sub str 4 count in
- match record_type with
- | 0x00 ->
- Data (address, data)
- | 0x01 ->
- assert (count = 0);
- EndOfFile address
- | 0x04 ->
- assert (count = 2 && address = 0);
- let msb = int_of_char data.[0] and lsb = int_of_char data.[1] in
- (* check for possible overflow *)
- assert (msb land 0x80 = 0);
- ExtendedLinearAddress ((msb lsl 8) lor lsb)
- | _ -> assert false
-
-let parse_file fi
le =
- let ic = Lwt_io.open_file ~mode:input file in
- let lines = Lwt_io.read_lines ic in
- let lines = Lwt_stream.map parse_line lines in
- lwt lines = Lwt_stream.get_while (fun _ -> true) lines in
- lwt _ = Lwt_io.close ic in
- return lines
-
-let print_record = function
- | Data (address, data) ->
- Printf.printf "DAT %04x" address;
- String.iter (fun c -> Printf.printf " %02x" (int_of_char c)) data;
- Printf.printf "\n"
- | ExtendedLinearAddress address ->
- Printf.printf "ELA %04x\n" address
- | EndOfFile address ->
- Printf.printf "EOF %04x\n" address
-
-let validate_and_copy hex addr_base buffer offset length =
- assert (offset+length <= String.length buffer);
- let min_address = addr_base+offset in
- let max_address = min_address+length in
- let addr_high = ref 0 in
- let execute_record = function
- | Data (address, data) ->
- assert (address land 0xFFFF = address);
- let address = !addr_high lor address in
- if address < min_address || address >= max_address then
- Printf.eprintf
- "0x%04x is outside range, all bytes dropped\n"
- address
- else begin
- let length =
- let n = String.length data in
- if address+n >= max_address then begin
- Printf.eprintf
- "some bytes at address 0x%04x are outside range (dropped)\n"
- address;
- max_address-address
- end else n
- in
- let offset2 = address-addr_base in
- String.blit data 0 buffer offset2 length;
- end
- | ExtendedLinearAddress address ->
- assert (address land 0x8000 = 0);
- addr_high := address lsl 16
- | EndOfFile address ->
- assert (address = 0);
- raise Exit
- in
- try List.iter execute_record hex with Exit -> ()
diff --git a/PC_Mainboard/card-tools/src/hexfile.mli b/PC_Mainboard/card-tools/src/hexfile.mli
deleted file mode 100644
index c6fa563..0000000
--- a/PC_Mainboard/card-tools/src/hexfile.mli
+++ /dev/null
@@ -1,26 +0,0 @@
-(*
- * hexfile.mli
- * -----------
- * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
- * Licence : BSD3
- *
- * This file is a part of Krobot.
- *)
-
-type hex_record =
- | Data of int * string
- | ExtendedLinearAddress of int
- | EndOfFile of int
-
-val parse_file : string -> hex_record list Lwt.t
-
-val print_record : hex_record -> unit
- (** Prints one record on standard output. *)
-
-val validate_and_copy : hex_record list -> int -> string -> int -> int -> unit
- (** [validate_and_copy hex addr_base buffer offset length] copies
- the contents of the (parsed) [hex] file to [buffer]. [offset]
- and [length] denote the valid range inside [buffer] that can be
- written. [addr_base] is the address [buffer] is mapped to on the
- microcontroller. Bytes outside the range are ignored (and a
- warning is printed on standard error. *)
diff --git a/PC_Mainboard/card-tools/src/myocamlbuild.ml b/PC_Mainboard/card-tools/src/myocamlbuild.ml
deleted file mode 100644
index 593f6b9..0000000
--- a/PC_Mainboard/card-tools/src/myocamlbuild.ml
+++ /dev/null
@@ -1,126 +0,0 @@
-(*
- * myocamlbuild.ml
- * ---------------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-open Printf
-open Ocamlbuild_plugin
-
-(* +-----------------------------------------------------------------+
- | Ocamlfind |
- +-----------------------------------------------------------------+ *)
-
-(* Put here packages you may use in this project: *)
-let packages = [
- "type-conv";
- "type-conv.syntax";
- "camlp4";
- "camlp4.extend";
- "camlp4.lib";
- "camlp4.macro";
- "camlp4.quotations.o";
- "camlp4.quotations.r";
- "lwt";
- "lwt.unix";
- "lwt.syntax";
- "lwt.syntax.log";
- "lwt.text";
- "text";
- "text.pcre";
- "str";
- "xmlm";
- "react";
- "usb";
- "obus";
- "obus.syntax";
- "bitstring";
- "bitstring.syntax";
- "sdl";
-]
-
-(* List of available syntaxes :*)
-let syntaxes = [
- "camlp4o";
- "camlp4r";
-]
-
-(* +-----------------------------------------------------------------+
- | Utils |
- +-----------------------------------------------------------------+ *)
-
-let flag_all_stages_except_link tag f =
- flag ["ocaml"; "compile"; tag] f;
- flag ["ocaml"; "ocamldep"; tag] f;
- flag ["ocaml"; "doc"; tag] f
-
-let flag_all_stages tag f =
- flag_all_stages_except_link tag f;
- flag ["ocaml"; "link"; tag] f
-
-let _ =
- dispatch begin function
- | Before_options ->
-
- (* override default commands by ocamlfind ones *)
- let ocamlfind x = S[A"ocamlfind"; A x] in
- Options.ocamlc := ocamlfind "ocamlc";
- Options.ocamlopt := ocamlfind "ocamlopt";
- Options.ocamldep := ocamlfind "ocamldep";
- (* FIXME: sometimes ocamldoc say that elements are not found
- even if they are present: *)
- Options.ocamldoc := S[A"ocamlfind"; A"ocamldoc"; A"-hide-warnings"]
-
- | After_rules ->
-
- (* D-Bus drivers can see the lowlevel interfaces *)
- Pathname.define_context "dbus-drivers" [ "usb" ];
-
- (* Génération du fichier contenant les détails du protocol à
- partir du fichier .h *)
- rule "protocol du krobot" ~dep:"PcInterface.h" ~prod:"protocol.ml"
- (fun _ _ ->
- Cmd(S[Sh"awk '$1 == \"#define\" && $3 != \"\" { print \"let \" tolower($2) \" = \" $3 }' PcInterface.h > protocol.ml"]));
-
- (* +---------------------------------------------------------+
- | Virtual targets |
- +---------------------------------------------------------+ *)
-
- let virtual_rule name deps =
- rule name ~stamp:name ~deps (fun _ _ -> Nop)
- in
-
- virtual_rule "all" [
- "lib-krobot/krobot.cma";
- "lib-krobot/krobot.cmxa";
- "tools/status.native";
- "tools/controller.native";
- "remote/forward_dbus.native";
- "tools/joy_control.native";
- ];
-
- (* +---------------------------------------------------------+
- | Ocamlfind stuff |
- +---------------------------------------------------------+ *)
-
- (* When one link an OCaml binary, one should use -linkpkg *)
- flag ["ocaml"; "link"; "program"] & A"-linkpkg";
-
- (* For each ocamlfind package one inject the -package option
- when compiling, computing dependencies, generating
- documentation and linking. *)
- List.iter
- (fun package -> flag_all_stages ("pkg_" ^ package) (S[A"-package"; A package]))
- packages;
-
- (* Like -package but for extensions syntax. Morover -syntax is
- useless when linking. *)
- List.iter
- (fun syntax -> flag_all_stages_except_link ("syntax_" ^ syntax) (S[A"-syntax"; A syntax]))
- syntaxes;
-
- | _ -> ()
- end
diff --git a/PC_Mainboard/card-tools/src/send_firmware.ml b/PC_Mainboard/card-tools/src/send_firmware.ml
deleted file mode 100644
index 1dedd01..0000000
--- a/PC_Mainboard/card-tools/src/send_firmware.ml
+++ /dev/null
@@ -1,69 +0,0 @@
-(*
- * send_firmware.ml
- * ----------------
- * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
- * Licence : BSD3
- *
- * This file is a part of Krobot.
- *)
-
-open Lwt
-open Lwt_io
-
-let do_flash force filename =
- lwt hex = Hexfile.parse_file filename in
- let memory =
- let buffer = String.make 0x8000 '\255' in
- Hexfile.validate_and_copy hex 0x0 buffer 0 0x8000;
- buffer
- in
- let firmware_name = Boardname.get_board_name memory in
- lwt () = match firmware_name with
- | Some s -> printf "Detected firmware: %S\n" s
- | None -> printf "Unable to identify firmware!\n"
- in
- let address = 0x800 and length = 0x8000-0x800 in
- lwt k = Bootloader.open_card () in
- lwt () = printf "Card opened\n" in
- lwt data = Bootloader.get_flash k ~address:0x0 ~length:0x8000 in
- let board_name = Boardname.get_board_name data in
- lwt () = match board_name with
- | Some s -> printf "Detected card: %S\n" s
- | None -> printf "Unable to identify card!\n"
- in
- lwt () =
- if not force && (board_name = None || firmware_name = None || board_name <> firmware_name) then begin
- lwt () = eprintf "board name and firmware name do not match, use --force\n" in
- exit 1
- end else return ()
- in
- lwt () = Bootloader.erase_flash k ~address ~length in
- lwt () = printf "Flash erased\n" in
- lwt () = Bootloader.write_flash k ~address memory address length in
- lwt () = printf "Flashing completed\n" in
- return ()
-
-let _ =
- let force = ref false in
- let filename = ref None in
- let speclist = [
- "--force", Arg.Set force, "Force flashing even if board id and firmware id do not match";
- ] in
- Arg.parse speclist
- (fun s ->
- match !filename with
- | None -> filename := Some s
- | Some _ -> raise (Arg.Bad s))
- "Send a firmware to a board in bootloader mode";
- let filename = match !filename with
- | None -> Printf.eprintf "You must specify a .hex file!\n"; exit 1
- | Some s -> s
- in
- Lwt_main.run
- (try_lwt
- do_flash !force filename
- with
- | Bootloader.Error e ->
- eprintl (Bootloader.string_of_error e)
- | e ->
- eprintl (Printexc.to_string e))
diff --git a/PC_Mainboard/card_tools/boardname.mli b/PC_Mainboard/card_tools/boardname.mli
new file mode 100644
index 0000000..23b0032
--- /dev/null
+++ b/PC_Mainboard/card_tools/boardname.mli
@@ -0,0 +1,12 @@
+(*
+ * boardname.mli
+ * -------------
+ * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
+ * Licence : BSD3
+ *
+ * This file is a part of Krobot.
+ *)
+
+val get_board_name : string -> string option
+ (** [get_board_name dump] recherche dans le [dump] mémoire (peut
+ être également un fichier .hex chargé) le nom de la carte. *)
diff --git a/PC_Mainboard/card_tools/boardname.mll b/PC_Mainboard/card_tools/boardname.mll
new file mode 100644
index 0000000..30f99cf
--- /dev/null
+++ b/PC_Mainboard/card_tools/boardname.mll
@@ -0,0 +1,22 @@
+(*
+ * boardname.mll
+ * -------------
+ * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
+ * Licence : BSD3
+ *
+ * This file is a part of Krobot.
+ *)
+
+
+let boardname_regex = ("Carte " | "Robot Interface") [^'\n']+
+
+rule boardname = parse
+ | (boardname_regex as name) '\n' { Some name }
+ | _ { boardname lexbuf }
+ | eof { None }
+
+{
+ let get_board_name str =
+ let lexbuf = Lexing.from_string str in
+ boardname lexbuf
+}
diff --git a/PC_Mainboard/card_tools/bootloader.ml b/PC_Mainboard/card_tools/bootloader.ml
new file mode 100644
index 0000000..28044cc
--- /dev/null
+++ b/PC_Mainboard/card_tools/bootloader.ml
@@ -0,0 +1,184 @@
+(*
+ * bootloader.ml
+ * -------------
+ * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
+ * Licence : BSD3
+ *
+ * This file is a part of Krobot.
+ *)
+
+open Lwt
+open Lwt_io
+
+(* Code très inspiré de kard.ml, mais mis à part car le mode de
+ communication avec la carte est différent (bulk au lieu
+ d'interrupt). *)
+
+type t = {
+ mutable is_open : bool;
+ (* La carte est-elle ouverte ? *)
+
+ handle : USB.handle;
+ (* Handle pour le périphérique usb *)
+
+ kernel_active : bool;
+ (* Est-ce qu'un driver noyau était attaché à la carte avant qu'on
+ l'utilise ? *)
+}
+
+type error =
+ | IncompleteWrite of int * int
+ | IncompleteRead of int * int
+ | UnexpectedReply of string * string
+ | WriteError of string * string
+
+let string_of_error = function
+ | IncompleteWrite (a, b) -> Printf.sprintf "%d byte(s) written instead of %d" a b
+ | IncompleteRead (a, b) -> Printf.sprintf "%d byte(s) read instead of %d" a b
+ | UnexpectedReply (a, b) -> Printf.sprintf "received unexpected reply %S instead of %S" a b
+ | WriteError (a, b) -> Printf.sprintf "written: %S, read back: %S" a b
+
+exception Error of error
+
+let failwith e = fail (Error e)
+
+let close k =
+ if k.is_open then begin
+ lwt _ = USB.release_interface k.handle 0 in
+ lwt _ = USB.reset_device k.handle in
+ (*if k.kernel_active then USB.attach_kernel_driver k.handle 0;*)
+ (*USB.close k.handle;*)
+ k.is_open <- false;
+ return ()
+ end else return ()
+
+let open_card () =
+ let handle = USB.open_device_with
+ ~vendor_id:Protocol.usb_vid
+ ~product_id:Protocol.usb_pid_bootloader
+ in
+ let kernel_active = USB.kernel_driver_active handle 0 in
+ if kernel_active then USB.detach_kernel_driver handle 0;
+ lwt _ = USB.set_configuration handle 1 in
+ lwt _ = USB.claim_interface handle 0 in
+ let k = { is_open = true;
+ handle = handle;
+ kernel_active = kernel_active } in
+ let _ = Lwt_sequence.add_l (fun _ -> close k) Lwt_main.exit_hooks in
+ return k
+
+let header_length = 5
+
+let put_message buffer cmd length address data =
+ let body_length = String.length data in
+ assert (String.length buffer >= header_length+body_length);
+ let set i n = buffer.[i] <- char_of_int n in
+ set 0 cmd;
+ assert (length < 0x100);
+ set 1 length;
+ assert (address <= 0x1000000);
+ set 2 (address land 0xff);
+ set 3 ((address lsr 8) land 0xff);
+ set 4 ((address lsr 16) land 0xff);
+ String.blit data 0 buffer 5 body_length
+
+let send_receive_packet k send_buffer send_length receive_buffer receive_length send_delay receive_delay =
+ let handle = k.handle and endpoint = 1 in
+ lwt sent = USB.bulk_send ~handle ~endpoint ~timeout:1. send_buffer 0 send_length in
+ if sent <> send_length then
+ failwith (IncompleteWrite (sent, send_length))
+ else begin
+ lwt received = USB.bulk_recv ~handle ~endpoint ~timeout:3. receive_buffer 0 receive_length in
+ if received <> receive_length then
+ failwith (IncompleteRead (received, receive_length))
+ else
+ return ()
+ end
+
+let get_flash k ~address ~length =
+ let response_length = 64 in
+ let increment = response_length-header_length in
+ assert (increment < 256);
+ let send_buffer = String.create header_length in
+ let receive_buffer = String.create response_length in
+ let result_buffer = String.create length in
+ let rec loop offset total_length =
+ if total_length <= 0 then
+ return result_buffer
+ else begin
+ let length = min increment total_length in
+ let response_length = length+header_length in
+ let address = address+offset in
+ put_message send_buffer Protocol.read_flash length address "";
+ lwt () = send_receive_packet k send_buffer header_length receive_buffer response_length 1. 3. in
+ let receive_header = String.sub receive_buffer 0 header_length in
+ if receive_header <> send_buffer then
+ failwith (UnexpectedReply (receive_header, send_buffer))
+ else begin
+ String.blit receive_buffer header_length result_buffer offset length;
+ loop (offset+length) (total_length-length);
+ end
+ end
+ in loop 0 length
+
+let erase_flash k ~address ~length =
+ let response_length = 1 in
+ (* les effacements se font par blocs de 64 octets *)
+ let increment = 64 in
+ let send_buffer = String.create header_length in
+ let receive_buffer = String.create response_length in
+ let rec loop offset total_length =
+ if total_length <= 0 then
+ return ()
+ else begin
+ let address = address+offset in
+ put_message send_buffer Protocol.erase_flash 1 address "";
+ lwt () = send_receive_packet k send_buffer header_length receive_buffer response_length 1. 5. in
+ if int_of_char receive_buffer.[0] <> Protocol.erase_flash then
+ failwith (UnexpectedReply (receive_buffer, String.make 1 (char_of_int Protocol.erase_flash)))
+ else
+ loop (offset+increment) (total_length-increment);
+ end
+ in loop 0 length
+
+let reference = String.make 16 '\255'
+
+let write_flash k ~address data offset length =
+ let send_length = 64 and receive_length = 1 in
+ (* les écritures se font par blocs de 16 octets *)
+ let increment = 16 in
+ let send_buffer = String.create send_length in
+ let receive_buffer = String.create receive_length in
+ let rec loop address offset total_length =
+ (* address: sur le PIC, offset: dans data, total_length: taille restante *)
+ if total_length <= 0 then
+ return ()
+ else begin
+ let packet = String.make increment '\255' in
+ String.blit data offset packet 0 (min total_length increment);
+ if packet = reference then begin
+ (* le paquet n'a pas de contenu, on l'ignore *)
+ (* lwt () = printf "Skipping address 0x%06X...\n" address in *)
+ loop (address+increment) (offset+increment) (total_length-increment)
+ end else begin
+ (* lwt () = printf "Processing address 0x%06X...\n" address in *)
+ put_message send_buffer Protocol.write_flash increment address packet;
+ lwt () = send_receive_packet k send_buffer send_length receive_buffer receive_length 0.5 1. in
+ if int_of_char receive_buffer.[0] <> Protocol.write_flash then
+ failwith (UnexpectedReply (receive_buffer, String.make 1 (char_of_int Protocol.erase_flash)))
+ else begin
+ lwt written = get_flash k ~address ~length:increment in
+ if written <> packet then
+ failwith (WriteError (packet, written))
+ else
+ loop (address+increment) (offset+increment) (total_length-increment)
+ end
+ end
+ end
+ in loop address offset length
+
+let reset_board k =
+ let send_buffer = String.create 64 and receive_buffer = String.create 64 in
+ send_buffer.[0] <- char_of_int Protocol.reset;
+ lwt () = send_receive_packet k send_buffer 1 receive_buffer 64 5. 5. in
+ return ()
diff --git a/PC_Mainboard/card_tools/dump_memory.ml b/PC_Mainboard/card_tools/dump_memory.ml
new file mode 100644
index 0000000..5c746e0
--- /dev/null
+++ b/PC_Mainboard/card_tools/dump_memory.ml
@@ -0,0 +1,30 @@
+(*
+ * dump_memory.ml
+ * --------------
+ * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
+ * Licence : BSD3
+ *
+ * This file is a part of Krobot.
+ *)
+
+open Printf
+open Lwt
+open Lwt_io
+
+let main =
+ lwt k = Bootloader.open_card () in
+ try_lwt
+ lwt data = Bootloader.get_flash k ~address:0x0 ~length:0x8000 in
+ let msg = match Boardname.get_board_name data with
+ | Some s -> sprintf "Board: %S" s
+ | None -> "Unable to identify board!"
+ in
+ lwt () = eprintlf "%s" msg in
+ (if Unix.isatty Unix.stdout then hexdump else write) stdout data >> flush stdout
+ with
+ | Bootloader.Error e ->
+ eprintlf "%s" (Bootloader.string_of_error e)
+ | e ->
+ eprintlf "%s" (Printexc.to_string e)
+
+let _ = Lwt_main.run main
diff --git a/PC_Mainboard/card_tools/hexfile.ml b/PC_Mainboard/card_tools/hexfile.ml
new file mode 100644
index 0000000..a667957
--- /dev/null
+++ b/PC_Mainboard/card_tools/hexfile.ml
@@ -0,0 +1,112 @@
+(*
+ * hexfile.ml
+ * ----------
+ * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
+ * Licence : BSD3
+ *
+ * This file is a part of Krobot.
+ *)
+
+open Lwt
+open Lwt_io
+
+type hex_record =
+ | Data of int * string
+ | ExtendedLinearAddress of int
+ | EndOfFile of int
+
+let string_of_hexline str =
+ let n = String.length str in
+ assert (n > 0 && n mod 2 = 1 && str.[0] = ':');
+ let m = n/2 in
+ let result = String.create m in
+ for i = 0 to m-1 do
+ let j = 2*i+1 in
+ result.[i] <- char_of_int (int_of_string ("0x"^(String.sub str j 2)))
+ done;
+ result
+
+let compute_checksum str =
+ let rec aux i accu =
+ if i < 0 then
+ (-accu) land 0xff
+ else
+ aux (i-1) (accu+(int_of_char str.[i]))
+ in aux (String.length str - 2) 0
+
+let parse_line str =
+ let str = string_of_hexline str in
+ let get i = int_of_char str.[i] in
+ let n = String.length str in
+ assert (n >= 5 && compute_checksum str = int_of_char str.[n-1]);
+ let count = get 0 in
+ assert (count+5 = n);
+ let address = ((get 1) lsl 8) lor (get 2) in
+ let record_type = get 3 in
+ let data = String.sub str 4 count in
+ match record_type with
+ | 0x00 ->
+ Data (address, data)
+ | 0x01 ->
+ assert (count = 0);
+ EndOfFile address
+ | 0x04 ->
+ assert (count = 2 && address = 0);
+ let msb = int_of_char data.[0] and lsb = int_of_char data.[1] in
+ (* check for possible overflow *)
+ assert (msb land 0x80 = 0);
+ ExtendedLinearAddress ((msb lsl 8) lor lsb)
+ | _ -> assert false
+
+let parse_file file =
+ let ic = Lwt_io.open_file ~mode:input file in
+ let lines = Lwt_io.read_lines ic in
+ let lines = Lwt_stream.map parse_line lines in
+ lwt lines = Lwt_stream.get_while (fun _ -> true) lines in
+ lwt _ = Lwt_io.close ic in
+ return lines
+
+let print_record = function
+ | Data (address, data) ->
+ Printf.printf "DAT %04x" address;
+ String.iter (fun c -> Printf.printf " %02x" (int_of_char c)) data;
+ Printf.printf "\n"
+ | ExtendedLinearAddress address ->
+ Printf.printf "ELA %04x\n" address
+ | EndOfFile address ->
+ Printf.printf "EOF %04x\n" address
+
+let validate_and_copy hex addr_base buffer offset length =
+ assert (offset+length <= String.length buffer);
+ let min_address = addr_base+offset in
+ let max_address = min_address+length in
+ let addr_high = ref 0 in
+ let execute_record = function
+ | Data (address, data) ->
+ assert (address land 0xFFFF = address);
+ let address = !addr_high lor address in
+ if address < min_address || address >= max_address then
+ Printf.eprintf
+ "0x%04x is outside range, all bytes dropped\n"
+ address
+ else begin
+ let length =
+ let n = String.length data in
+ if address+n >= max_address then begin
+ Printf.eprintf
+ "some bytes at address 0x%04x are outside range (dropped)\n"
+ address;
+ max_address-address
+ end else n
+ in
+ let offset2 = address-addr_base in
+ String.blit data 0 buffer offset2 length;
+ end
+ | ExtendedLinearAddress address ->
+ assert (address land 0x8000 = 0);
+ addr_high := address lsl 16
+ | EndOfFile address ->
+ assert (address = 0);
+ raise Exit
+ in
+ try List.iter execute_record hex with Exit -> ()
diff --git a/PC_Mainboard/card_tools/hexfile.mli b/PC_Mainboard/card_tools/hexfile.mli
new file mode 100644
index 0000000..c6fa563
--- /dev/null
+++ b/PC_Mainboard/card_tools/hexfile.mli
@@ -0,0 +1,26 @@
+(*
+ * hexfile.mli
+ * -----------
+ * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
+ * Licence : BSD3
+ *
+ * This file is a part of Krobot.
+ *)
+
+type hex_record =
+ | Data of int * string
+ | ExtendedLinearAddress of int
+ | EndOfFile of int
+
+val parse_file : string -> hex_record list Lwt.t
+
+val print_record : hex_record -> unit
+ (** Prints one record on standard output. *)
+
+val validate_and_copy : hex_record list -> int -> string -> int -> int -> unit
+ (** [validate_and_copy hex addr_base buffer offset length] copies
+ the contents of the (parsed) [hex] file to [buffer]. [offset]
+ and [length] denote the valid range inside [buffer] that can be
+ written. [addr_base] is the address [buffer] is mapped to on the
+ microcontroller. Bytes outside the range are ignored (and a
+ warning is printed on standard error. *)
diff --git a/PC_Mainboard/card_tools/send_firmware.ml b/PC_Mainboard/card_tools/send_firmware.ml
new file mode 100644
index 0000000..1dedd01
--- /dev/null
+++ b/PC_Mainboard/card_tools/send_firmware.ml
@@ -0,0 +1,69 @@
+(*
+ * send_firmware.ml
+ * ----------------
+ * Copyright : (c) 2009, Stéphane Glondu <st...@gl...>
+ * Licence : BSD3
+ *
+ * This file is a part of Krobot.
+ *)
+
+open Lwt
+open Lwt_io
+
+let do_flash force filename =
+ lwt hex = Hexfile.parse_file filename in
+ let memory =
+ let buffer = String.make 0x8000 '\255' in
+ Hexfile.validate_and_copy hex 0x0 buffer 0 0x8000;
+ buffer
+ in
+ let firmware_name = Boardname.get_board_name memory in
+ lwt () = match firmware_name with
+ | Some s -> printf "Detected firmware: %S\n" s
+ | None -> printf "Unable to identify firmware!\n"
+ in
+ let address = 0x800 and length = 0x8000-0x800 in
+ lwt k = Bootloader.open_card () in
+ lwt () = printf "Card opened\n" in
+ lwt data = Bootloader.get_flash k ~address:0x0 ~length:0x8000 in
+ let board_name = Boardname.get_board_name data in
+ lwt () = match board_name with
+ | Some s -> printf "Detected card: %S\n" s
+ | None -> printf "Unable to identify card!\n"
+ in
+ lwt () =
+ if not force && (board_name = None || firmware_name = None || board_name <> firmware_name) then begin
+ lwt () = eprintf "board name and firmware name do not match, use --force\n" in
+ exit 1
+ end else return ()
+ in
+ lwt () = Bootloader.erase_flash k ~address ~length in
+ lwt () = printf "Flash erased\n" in
+ lwt () = Bootloader.write_flash k ~address memory address length in
+ lwt () = printf "Flashing completed\n" in
+ return ()
+
+let _ =
+ let force = ref false in
+ let filename = ref None in
+ let speclist = [
+ "--force", Arg.Set force, "Force flashing even if board id and firmware id do not match";
+ ] in
+ Arg.parse speclist
+ (fun s ->
+ match !filename with
+ | None -> filename := Some s
+ | Some _ -> raise (Arg.Bad s))
+ "Send a firmware to a board in bootloader mode";
+ let filename = match !filename with
+ | None -> Printf.eprintf "You must specify a .hex file!\n"; exit 1
+ | Some s -> s
+ in
+ Lwt_main.run
+ (try_lwt
+ do_flash !force filename
+ with
+ | Bootloader.Error e ->
+ eprintl (Bootloader.string_of_error e)
+ | e ->
+ eprintl (Printexc.to_string e))
diff --git a/PC_Mainboard/clients/Makefile b/PC_Mainboard/clients/Makefile
deleted file mode 100644
index 56af001..0000000
--- a/PC_Mainboard/clients/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-# Makefile
-# --------
-# Copyright : (c) 2009, Jeremie Dimino <je...@di...>
-# Licence : BSD3
-#
-# This file is a part of [kro]bot.
-
-PREFIX=/usr/local
-
-OC = ocamlbuild
-OF = ocamlfind
-
-ifeq ($(TERM),dumb)
-OC += -classic-display
-endif
-
-.PHONY: all
-all:
- $(OC) all
-
-.PHONY: clean
-clean:
- $(OC) -clean
diff --git a/PC_Mainboard/clients/_tags b/PC_Mainboard/clients/_tags
deleted file mode 100644
index c23ac4f..0000000
--- a/PC_Mainboard/clients/_tags
+++ /dev/null
@@ -1,15 +0,0 @@
-# -*- conf -*-
-
-# Syntax extensions
-<**/*.ml>: syntax_camlp4o, pkg_camlp4, pkg_lwt.syntax, pkg_lwt....
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