Subject:
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Linux USB-support for BrickOS.
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Newsgroups:
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lugnet.robotics
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Date:
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Sun, 3 Nov 2002 02:46:47 GMT
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Original-From:
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P.C. Chan <pc.chan@alcatel.!spamcake!com>
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Viewed:
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965 times
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Dear Markus,
This probably already been done. Here is one way of patching
brickos-0.2.6.08.newConf to work with usb tower under linux.
It involves patching firmdl.c, rcx_comm.c, loader.c and rcxtty.c
--- brickos-0.2.6.08.newConf/util/firmdl/firmdl.c Fri Oct 11
23:22:26 2002
+++ brickos-0.2.6.08.newConf/util/firmdl/firmdl.c.patched Sat Nov
2 21:03:11 2002
@@ -417,6 +417,14 @@
fprintf(stderr, "Hary Mahesan - USB IR Tower Mode.\n");
tty = "\\\\.\\legotower1"; // Set the correct usb tower if you
have more than one (unlikely).
}
+#elif defined(LINUX) || defined(linux)
+ /* If the tty string contains "tower", e.g. /dev/tower0, we assume
it is */
+ /* an USB tower. If you use something else, link it. */
+ if (strstr(tty,"tower") !=0) {
+ tty_usb=1;
+ if (__comm_debug)
+ fprintf(stderr, "USB IR Tower Mode for Linux.\n");
+ }
#endif
if (use_fast && (tty_usb==0)) { //For now, run USB only at 2400bps
(slow mode).
--- brickos-0.2.6.08.newConf/util/firmdl/rcx_comm.c Wed Aug 28
23:52:50 2002
+++ brickos-0.2.6.08.newConf/util/firmdl/rcx_comm.c.patched Sat Nov
2 10:31:24 2002
@@ -46,6 +46,7 @@
#include <stdio.h>
#include <ctype.h>
#include <string.h>
+#include <errno.h>
#if defined(_WIN32)
#include <windows.h>
@@ -167,6 +168,13 @@
tv.tv_sec = timeout / 1000;
tv.tv_usec = (timeout % 1000) * 1000;
+ /* For linux usb tower, I personally use mode 4, high power
with */
+ /* 10ms urb interval, the original 50ms timeout is not good
enough */
+ /* in turnng around a multi-urb send. I'll give it at least 1
sec. */
+
+ if ((tty_usb == 1) && (tv.tv_sec < 1))
+ tv.tv_sec=1;
+
if (select(fd+1, &fds, NULL, NULL, &tv) < 0) {
perror("select");
exit(1);
@@ -210,7 +218,31 @@
WriteFile(fd, buf, len, &nBytesWritten, NULL);
return nBytesWritten;
#else
- return write(fd, buf, len);
+ /* For usb tower, the driver, legousbtower, uses interrupt */
+ /* urb which can only carry up to 8 bytes at a time. To */
+ /* transmit more we have to check and send the rest. It is */
+ /* a good thing to check, so I'll make it general. */
+
+ int actual = 0;
+ int rc;
+ char * cptr;
+ int retry = 1000;
+
+ if (len < 1) return len;
+ cptr = (char *) buf;
+ while (actual < len) {
+ rc = (long) write(fd, cptr+actual, len-actual);
+ if (rc == -1) {
+ if ((errno == EINTR) || (errno == EAGAIN)) {
+ rc = 0;
+ usleep(10);
+ retry --;
+ } else return -1;
+ }
+ actual += rc;
+ if (retry < 1) return actual;
+ }
+ return len;
#endif
}
@@ -269,29 +301,31 @@
perror(tty);
exit(1);
}
-
- if (!isatty(fd)) {
+
+ if (tty_usb == 0) {
+ if (!isatty(fd)) {
close(fd);
fprintf(stderr, "%s: not a tty\n", tty);
exit(1);
- }
+ }
- memset(&ios, 0, sizeof(ios));
+ memset(&ios, 0, sizeof(ios));
- if (is_fast) {
+ if (is_fast) {
ios.c_cflag = CREAD | CLOCAL | CS8;
cfsetispeed(&ios, B4800);
cfsetospeed(&ios, B4800);
- }
- else {
+ }
+ else {
ios.c_cflag = CREAD | CLOCAL | CS8 | PARENB | PARODD;
cfsetispeed(&ios, B2400);
cfsetospeed(&ios, B2400);
- }
+ }
- if (tcsetattr(fd, TCSANOW, &ios) == -1) {
+ if (tcsetattr(fd, TCSANOW, &ios) == -1) {
perror("tcsetattr");
exit(1);
+ }
}
#endif
--- brickos-0.2.6.08.newConf/util/dll-src/loader.c Wed Aug 28
23:52:50 2002
+++ brickos-0.2.6.08.newConf/util/dll-src/loader.c.patched Sat Nov
2 11:14:37 2002
@@ -171,7 +171,10 @@
// transmit
//
- keepaliveRenew();
+#if defined(LINUX) || defined(linux)
+ if (tty_usb == 0)
+#endif
+ keepaliveRenew();
return mywrite(rcxFD(), data, length)!=length;
}
@@ -302,22 +305,31 @@
myperror("opening tty");
exit(1);
}
- keepaliveInit();
-
- // wait for IR to settle
- //
- gettimeofday(&timeout,0);
- do {
- usleep(100000);
- gettimeofday(&now,0);
- diff=1000000*(now.tv_sec - timeout.tv_sec ) +
+#if defined(LINUX) || defined(linux)
+ if (tty_usb == 0) {
+#endif
+ keepaliveInit();
+
+ // wait for IR to settle
+ //
+ gettimeofday(&timeout,0);
+ do {
+ usleep(100000);
+ gettimeofday(&now,0);
+ diff=1000000*(now.tv_sec - timeout.tv_sec ) +
now.tv_usec - timeout.tv_usec;
- } while(diff < 100000);
+ } while(diff < 100000);
+#if defined(LINUX) || defined(linux)
+ }
+#endif
#if defined(_WIN32)
PurgeComm(rcxFD(), PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR |
PURGE_RXCLEAR);
#else
- read(rcxFD(),buffer,256);
+ #if defined(LINUX) || defined(linux)
+ if (tty_usb == 0)
+ #endif
+ read(rcxFD(),buffer,256);
#endif
}
@@ -476,6 +488,14 @@
fputs("\n\n Hary Mahesan - LEGO USB IR Tower
Mode\n\n",stderr);
tty="\\\\.\\legotower1"; // Set the correct usb tower if you
have more than one (unlikely).
}
+#elif defined(LINUX) || defined(linux)
+ /* If the tty string contains "tower", e.g. /dev/tower0, we assume
it is */
+ /* an USB tower. If you use something else, link it. */
+ if (strstr(tty,"tower") !=0) {
+ tty_usb=1;
+ if (verbose_flag)
+ fputs("\nUSB IR Tower Mode for Linux.\n",stderr);
+ }
#endif
LNPinit(tty);
--- brickos-0.2.6.08.newConf/util/dll-src/rcxtty.c Mon Aug 19
23:04:29 2002
+++ brickos-0.2.6.08.newConf/util/dll-src/rcxtty.c.patched Sat Nov
2 11:24:03 2002
@@ -41,6 +41,7 @@
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
+#include <errno.h>
#if defined(_WIN32)
#include <windows.h>
@@ -77,7 +78,31 @@
else
return -1;
#else
- return write(fd, buf, len);
+ /* For usb tower, the driver, legousbtower, uses interrupt */
+ /* urb which can only carry up to 8 bytes at a time. To */
+ /* transmit more we have to check and send the rest. It is */
+ /* a good thing to check, so I'll make it general. */
+
+ int actual = 0;
+ int rc;
+ char * cptr;
+ int retry = 1000;
+
+ if (len < 1) return len;
+ cptr = (char *) buf;
+ while (actual < len) {
+ rc = (long) write(fd, cptr+actual, len-actual);
+ if (rc == -1) {
+ if ((errno == EINTR) || (errno == EAGAIN)) {
+ rc = 0;
+ usleep(10);
+ retry --;
+ } else return -1;
+ }
+ actual += rc;
+ if (retry < 1) return actual;
+ }
+ return len;
#endif
}
@@ -124,7 +149,7 @@
}
#if !defined(_WIN32)
- if (!isatty(fd)) {
+ if ((tty_usb ==0) && (!isatty(fd))) {
close(fd);
fprintf(stderr, "%s: not a tty\n", tty);
return -1;
@@ -172,15 +197,17 @@
}
rcxFd=fd;
#else
- memset(&ios, 0, sizeof(ios));
- ios.c_cflag = CREAD | CLOCAL | CS8 | (highspeed ? 0 : PARENB | PARODD);
-
- cfsetispeed(&ios, highspeed ? B4800 : B2400);
- cfsetospeed(&ios, highspeed ? B4800 : B2400);
-
- if (tcsetattr(fd, TCSANOW, &ios) == -1) {
- perror("tcsetattr");
- exit(1);
+ if (tty_usb == 0) {
+ memset(&ios, 0, sizeof(ios));
+ ios.c_cflag = CREAD | CLOCAL | CS8 | (highspeed ? 0 : PARENB | PARODD);
+
+ cfsetispeed(&ios, highspeed ? B4800 : B2400);
+ cfsetospeed(&ios, highspeed ? B4800 : B2400);
+
+ if (tcsetattr(fd, TCSANOW, &ios) == -1) {
+ perror("tcsetattr");
+ exit(1);
+ }
}
rcxFd=fd;
#endif
To specify USB tower, export the tower device name in RCXTTY. The name
must contain "tower", e.g. export RCXTTY=/dev/tower0.
If the name does not contain "tower" just link to something does.
I am using the usb tower driver from legousbtower project at
sourceforge.net with patches. Please read my mails in the mailing list
for details of the patches we need on top of the source code posted on
the site. After the patches legousbtower would support the open, close,
read, write and poll operations on the tower.
With the combination, I am able to walk through the brickos demo's
using an usb tower on linux.
There would be options not supported on this combination.
I myself hard coded the legoustower driver in mode 4 (high power and 10
ms urb interval, in original legousbtower driver we use mode 1 i.e low
power, 1ms urb interval.) Hence the power mode would no longer be set
through dll. I haven't tried speed change, it is probably dictated by
the urb interval which is already hardcoded in my case.) To make this
user controllerable, we first have to standardize on the IOCTL on
controling the usb mode. There has not been enough stream to drive it yet.
I am not sure how to use the source port in dll. Hence I cannot verify
if it works. Sorry, this is the first time I use brickos.
If we have enough need for brickos to work with usb tower under linux,
please feel free to incorporate the patches.
Thanks,
P.C.
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