1 files changed, 320 insertions, 0 deletions
diff --git a/lang/nqc/files/RCX_USBTowerPipe_fbsd.cpp b/lang/nqc/files/RCX_USBTowerPipe_fbsd.cpp
new file mode 100644
index 000000000000..fd0eaacf61aa
--- /dev/null
+++ b/lang/nqc/files/RCX_USBTowerPipe_fbsd.cpp
@@ -0,0 +1,320 @@
+
+#include <sys/types.h>
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <dev/usb/usb.h>
+
+#include "RCX_Pipe.h"
+
+#include "PDebug.h"
+
+#define kVendorID 1684
+#define kProductID 1
+#define kConfiguration 0
+#define kReadPipe 1
+#define kWritePipe 2
+
+// these should come from a LEGO include
+#define LTW_REQ_GET_PARM	1
+#define LTW_REQ_SET_PARM	2
+#define LTW_PARM_RANGE		2
+#define LTW_RANGE_SHORT		1
+#define LTW_RANGE_MEDIUM	2
+
+
+#define LTW_REQ_SET_TX_SPEED	0xEF
+#define LTW_REQ_SET_RX_SPEED	0xF1
+
+#define SPEED_COMM_BAUD_2400	8	
+#define SPEED_COMM_BAUD_4800	0x10
+
+#define LTW_REQ_SET_TX_CARRIER_FREQUENCY	0xF4 
+
+#define UInt32	uint32_t
+#define UInt16	uint16_t
+#define UInt8	uint8_t
+#define IOReturn	int
+
+typedef struct LTW_REQ_REPLY_HEADER {
+	UInt16 wNoOfBytes;			// Number of bytes in the reply
+	UInt8 bErrCode;				// Request return code
+	UInt8 bValue;				// Request return value
+} LTW_REQ_REPLY_HEADER; 
+
+typedef LTW_REQ_REPLY_HEADER LTW_REQ_GET_SET_PARM_REPLY;
+
+class RCX_USBTowerPipe_fbsd : public RCX_Pipe
+{
+public:
+	RCX_USBTowerPipe_fbsd();
+	~RCX_USBTowerPipe_fbsd()	{ Close(); }
+
+	virtual RCX_Result	Open(const char *name, int mode);
+	virtual void		Close();
+
+	virtual int		GetCapabilities() const;
+	virtual RCX_Result	SetMode(int mode);
+
+	virtual long		Read(void *ptr, long count, long timeout_ms);
+	virtual long		Write(const void *ptr, long count);
+
+private:
+	enum {
+		kReadPacketSize = 8
+	};
+	
+	IOReturn	OpenDevice(short vendorID, short productID);
+	IOReturn	OpenInterface();
+	IOReturn	ControlRequest(UInt8 request, UInt16 value);
+	IOReturn	ControlRequest(UInt8 request, UInt8 loByte, UInt8 hiByte) {
+		return ControlRequest(request, loByte + (hiByte << 8));
+	}
+
+	int fdCntrl;
+	int fdRd;
+	int fdWr;
+
+	char *devname;
+};
+
+
+RCX_Pipe* RCX_NewUSBTowerPipe()
+{
+	return new RCX_USBTowerPipe_fbsd();
+}
+
+
+RCX_USBTowerPipe_fbsd::RCX_USBTowerPipe_fbsd()
+	: fdCntrl(0), devname(0)
+{
+}
+
+
+RCX_Result RCX_USBTowerPipe_fbsd::Open(const char *name, int mode)
+{
+	IOReturn err;
+
+	if (mode != kNormalIrMode) return kRCX_PipeModeError;
+
+	err = OpenDevice(kVendorID, kProductID);
+	PREQUIRENOT(err, Fail_OpenDevice);
+
+	err = OpenInterface();
+	PREQUIRENOT(err, Fail_OpenInterface);
+
+	UInt8 range;
+	range = (strcmp(name, "short")==0) ? LTW_RANGE_SHORT : LTW_RANGE_MEDIUM;
+	ControlRequest(LTW_REQ_SET_PARM, LTW_PARM_RANGE,range);
+
+	return 0;
+
+Fail_OpenInterface:
+Fail_OpenDevice:
+	Close();
+	return kRCX_OpenSerialError;
+}
+
+
+void RCX_USBTowerPipe_fbsd::Close()
+{
+	if (devname != NULL) {
+		close(fdWr);
+		close(fdRd);
+		close(fdCntrl);
+		devname = NULL;
+	}
+}
+
+
+int RCX_USBTowerPipe_fbsd::GetCapabilities() const
+{
+	return kNormalIrMode | kFastIrMode | kFastOddParityFlag | kAbsorb55Flag;
+}
+
+
+RCX_Result RCX_USBTowerPipe_fbsd::SetMode(int mode)
+{
+	switch(mode) {
+	case kNormalIrMode:
+		ControlRequest(LTW_REQ_SET_TX_SPEED, SPEED_COMM_BAUD_2400);
+		ControlRequest(LTW_REQ_SET_RX_SPEED, SPEED_COMM_BAUD_2400);
+		return kRCX_OK;
+	case kFastIrMode:
+		ControlRequest(LTW_REQ_SET_PARM, LTW_PARM_RANGE, LTW_RANGE_SHORT);
+		ControlRequest(LTW_REQ_SET_TX_SPEED, SPEED_COMM_BAUD_4800);
+		ControlRequest(LTW_REQ_SET_RX_SPEED, SPEED_COMM_BAUD_4800);
+		ControlRequest(LTW_REQ_SET_TX_CARRIER_FREQUENCY, 38);
+		return kRCX_OK;
+	default:
+		return kRCX_PipeModeError;
+	}
+}
+
+
+#define MAX_PACKET 200
+
+long RCX_USBTowerPipe_fbsd::Write(const void *ptr, long length)
+{
+	const unsigned char *data = (const unsigned char *)ptr;
+	
+	int total = 0;
+	
+//	printf("Write %ld\n", length);
+
+	while(length > 0) {
+		IOReturn err;
+		int count = length;
+		if (count > MAX_PACKET)
+			count = MAX_PACKET;
+		err = write(fdWr, (void *)data, count);
+		if (err == count)
+			err = 0;
+		PREQUIRENOT(err, Fail_WritePipe);
+		
+		length -= count;
+		data += count;
+		total += count;
+	}
+	
+Fail_WritePipe:
+//	printf("Done %d\n", total);
+	return total;
+}
+
+
+
+long RCX_USBTowerPipe_fbsd::Read(void *data, long length, long timeout_ms)
+{
+	const unsigned char *rdptr = (const unsigned char *)data;
+	IOReturn err;
+	int count;
+	int total = 0;
+	struct pollfd pfd;
+
+//	printf("Read %ld, timeout %ld\n", length, timeout_ms);
+	while(length > 0) {
+		pfd.fd = fdRd;
+		pfd.events = POLLIN;
+		err = poll(&pfd, 1, timeout_ms);
+		if (err == 0)
+			break;
+		if (err == -1) {
+			if(errno == EINTR)
+				continue;
+			else
+				break;
+		}
+		count = length;
+		if (count > MAX_PACKET)
+			count = MAX_PACKET;
+		err = read(fdRd, (void *)rdptr, count);
+		if (err == -1)
+			break;
+
+//		printf("err %d\n", err);
+		if (err == 0 || err == -1)
+			goto Fail_ReadPipe;
+
+		count = err;
+		length -= count;
+		rdptr += count;
+		total += count;
+	}
+
+Fail_ReadPipe:
+//	printf("Got %d\n", total);
+	return total;
+}
+
+
+IOReturn RCX_USBTowerPipe_fbsd::OpenDevice(short vendorID, short productID)
+{
+	char *dn = "/dev/ugen0";
+	int err, fd;
+	usb_device_descriptor_t usbdd;
+
+	fd = open(dn, O_RDWR);
+	if (fd == -1)
+		return errno;
+	err = ioctl(fd, USB_GET_DEVICE_DESC, &usbdd);
+	if (err == -1) {
+		perror("ioctl error");
+		return errno;
+	}
+//	printf("idVendor %d\n", UGETW(usbdd.idVendor));
+//	printf("idProduct %d\n", UGETW(usbdd.idProduct));
+	if (UGETW(usbdd.idVendor) != kVendorID ||
+	    UGETW(usbdd.idProduct) != kProductID) {
+		fprintf(stderr, "This is not an USB IR Tower!\n");
+		return -1;
+	}
+
+	devname = dn;
+	fdCntrl = fd;
+
+	return 0;
+}
+
+
+IOReturn RCX_USBTowerPipe_fbsd::OpenInterface()
+{
+	char *dn;
+	int err, iov;
+
+	dn = (char *)malloc(strlen(devname) + 2 + 1);
+	strcpy(dn, devname);
+	strcat(dn, ".1");
+	fdRd = open(dn, O_RDONLY|O_NONBLOCK);
+	if (fdRd == -1) {
+		perror(dn);
+		return -1;
+	}
+	iov = 1;
+	err = ioctl(fdRd, USB_SET_SHORT_XFER, &iov);
+	if (fdRd == -1) {
+		perror("ioctl USB_SET_SHORT_XFER");
+		return -1;
+	}
+	iov = 5000;
+	err = ioctl(fdRd, USB_SET_TIMEOUT, &iov);
+	if (fdRd == -1) {
+		perror("ioctl USB_SET_TIMEOUT");
+		return -1;
+	}
+
+	strcpy(dn, devname);
+	strcat(dn, ".2");
+	fdWr = open(dn, O_WRONLY);
+	iov = 5000;
+//	ioctl(fdWr, USB_SET_TIMEOUT, &iov);
+
+	return 0;
+}
+
+
+IOReturn RCX_USBTowerPipe_fbsd::ControlRequest(UInt8 request, UInt16 value)
+{
+	IOReturn err;
+	struct usb_ctl_request req;
+	LTW_REQ_GET_SET_PARM_REPLY reply;
+	
+	req.ucr_request.bmRequestType = UT_READ_VENDOR_DEVICE;
+	req.ucr_request.bRequest = request;
+	USETW(req.ucr_request.wValue, value);
+	USETW(req.ucr_request.wIndex, 0);
+	USETW(req.ucr_request.wLength, sizeof(reply));
+	req.ucr_data = &reply;
+	
+	err = ioctl(fdCntrl, USB_DO_REQUEST, &req);
+
+	// size of actual reply in req.wLenDone	
+	//printf("%d %d %d\n", reply.wNoOfBytes, reply.bErrCode, reply.bValue);
+
+	return err;
+}