diff -Naur brickos-0.2.6.10.6_unpatched/h8300.rcx brickos-0.2.6.10.6_patched/h8300.rcx --- brickos-0.2.6.10.6_unpatched/h8300.rcx 2003-02-16 21:43:49.000000000 +0100 +++ brickos-0.2.6.10.6_patched/h8300.rcx 2004-09-28 10:39:55.000000000 +0200 @@ -16,7 +16,7 @@ ram : o = 0x8000, l = 0x6f30 lcddata : o = 0xef30, l = 0x0020 /* display memory */ ram2 : o = 0xef50, l = 0x00b0 - ram3 : o = 0xf002, l = 0x0b7e + ram3 : o = 0xf000, l = 0x0b80 romdata : o = 0xfd80, l = 0x0040 /* port shadows, interrupt vectors */ ram4 : o = 0xfe00, l = 0x0100 @@ -49,7 +49,7 @@ .text : { ___text = . ; - *(.text) /* must start with text for clean entry */ + *(.text) /* must start with text for clean entry */ *(.rodata) *(.strings) *(.vectors) /* vectors region (dummy) */ @@ -74,7 +74,13 @@ __edata = . ; } > ram - .bss : { + .text.hi : { + ___text_hi = . ; + *(.text.hi) + ___etext_hi = . ; + } > ram3 AT>ram + + .bss ___data_end : { ___bss = . ; _bss_start = . ; *(.bss) @@ -82,13 +88,7 @@ ___bss_end = ALIGN(2) ; _mm_start = ALIGN(2) ; /* start memory management here */ _end = ALIGN(2) ; - } >ram - - .text.hi : AT (_bss_start) { - ___text_hi = . ; - *(.text.hi) - ___etext_hi = . ; - } > ram3 + } AT>ram .lcddata : { _display_memory = 0xef43 - 0xef30 ; diff -Naur brickos-0.2.6.10.6_unpatched/lib/c++/stub.c brickos-0.2.6.10.6_patched/lib/c++/stub.c --- brickos-0.2.6.10.6_unpatched/lib/c++/stub.c 2004-01-26 04:08:10.000000000 +0100 +++ brickos-0.2.6.10.6_patched/lib/c++/stub.c 2004-09-28 10:39:55.000000000 +0200 @@ -96,3 +96,9 @@ __terminate(); } +void +__cxa_pure_virtual() +{ + __terminate(); +} + diff -Naur brickos-0.2.6.10.6_unpatched/lib/float/addsf3.s brickos-0.2.6.10.6_patched/lib/float/addsf3.s --- brickos-0.2.6.10.6_unpatched/lib/float/addsf3.s 2004-02-16 03:44:49.000000000 +0100 +++ brickos-0.2.6.10.6_patched/lib/float/addsf3.s 2004-09-28 10:39:55.000000000 +0200 @@ -184,7 +184,7 @@ mov.w @(6,r7),r1 not.b r2l ; negate exponent difference not.b r2h - adds.w #1,r2 + adds #1,r2 endif_2: diff -Naur brickos-0.2.6.10.6_unpatched/lib/float/expandsf.s brickos-0.2.6.10.6_patched/lib/float/expandsf.s --- brickos-0.2.6.10.6_unpatched/lib/float/expandsf.s 2004-02-16 03:45:14.000000000 +0100 +++ brickos-0.2.6.10.6_patched/lib/float/expandsf.s 2004-09-28 10:39:55.000000000 +0200 @@ -118,7 +118,7 @@ ; Decrement exponent - subs.w #1,r4 + subs #1,r4 ; Is one bit set? (one bit is in 1 << 23 or 00800000 position) diff -Naur brickos-0.2.6.10.6_unpatched/lib/float/fixsfsi.s brickos-0.2.6.10.6_patched/lib/float/fixsfsi.s --- brickos-0.2.6.10.6_unpatched/lib/float/fixsfsi.s 2004-02-16 03:46:17.000000000 +0100 +++ brickos-0.2.6.10.6_patched/lib/float/fixsfsi.s 2004-09-28 10:39:55.000000000 +0200 @@ -192,7 +192,7 @@ ; Subtract bias + 31 from exponent - add.b #-158,r4l ; subtract bias + 31 from exponent + add.b #256-158,r4l ; subtract bias + 31 from exponent addx.b #-1,r4h ; Is exponent < 0 ? diff -Naur brickos-0.2.6.10.6_unpatched/lib/float/floatsisf.s brickos-0.2.6.10.6_patched/lib/float/floatsisf.s --- brickos-0.2.6.10.6_unpatched/lib/float/floatsisf.s 2004-02-16 03:46:17.000000000 +0100 +++ brickos-0.2.6.10.6_patched/lib/float/floatsisf.s 2004-09-28 10:39:55.000000000 +0200 @@ -135,7 +135,7 @@ ; Increase exponent - adds.w #1,r4 ; add one to exponent + adds #1,r4 ; add one to exponent bra endif_1 diff -Naur brickos-0.2.6.10.6_unpatched/lib/float/joinsf.s brickos-0.2.6.10.6_patched/lib/float/joinsf.s --- brickos-0.2.6.10.6_unpatched/lib/float/joinsf.s 2004-02-16 03:46:17.000000000 +0100 +++ brickos-0.2.6.10.6_patched/lib/float/joinsf.s 2004-09-28 10:39:55.000000000 +0200 @@ -197,7 +197,7 @@ ; Increase exponent - adds.w #1,r4 ; add one to exponent + adds #1,r4 ; add one to exponent endif_5: diff -Naur brickos-0.2.6.10.6_unpatched/lib/float/normalsf.s brickos-0.2.6.10.6_patched/lib/float/normalsf.s --- brickos-0.2.6.10.6_unpatched/lib/float/normalsf.s 2004-02-16 03:47:58.000000000 +0100 +++ brickos-0.2.6.10.6_patched/lib/float/normalsf.s 2004-09-28 10:39:55.000000000 +0200 @@ -51,7 +51,7 @@ ; Decrement exponent - subs.w #1,r4 + subs #1,r4 ; Repeat diff -Naur brickos-0.2.6.10.6_unpatched/util/dll-src/genlds.c brickos-0.2.6.10.6_patched/util/dll-src/genlds.c --- brickos-0.2.6.10.6_unpatched/util/dll-src/genlds.c 2004-01-03 20:57:46.000000000 +0100 +++ brickos-0.2.6.10.6_patched/util/dll-src/genlds.c 2004-09-28 10:39:55.000000000 +0200 @@ -192,7 +192,7 @@ .stack : {\n\ _stack = . ; \n\ *(.stack)\n\ - } > topram\n\ + } > stack\n\ \n\ .eight 0xff00: {\n\ *(.eight)\n\ diff -Naur brickos-0.2.6.10.6_unpatched/util/dll-src/loader.c brickos-0.2.6.10.6_patched/util/dll-src/loader.c --- brickos-0.2.6.10.6_unpatched/util/dll-src/loader.c 2003-02-14 06:30:40.000000000 +0100 +++ brickos-0.2.6.10.6_patched/util/dll-src/loader.c 2004-09-28 10:41:38.000000000 +0200 @@ -175,6 +175,9 @@ // transmit // +#if defined(LINUX) || defined(linux) + if (tty_usb == 0) +#endif keepaliveRenew(); return mywrite(rcxFD(), data, length)!=length; @@ -306,6 +309,11 @@ myperror("opening tty"); exit(1); } + +#if defined(LINUX) || defined(linux) + if (tty_usb == 0) { +#endif + keepaliveInit(); // wait for IR to settle @@ -318,9 +326,15 @@ now.tv_usec - timeout.tv_usec; } while(diff < 100000); +#if defined(LINUX) || defined(linux) + } +#endif #if defined(_WIN32) PurgeComm(rcxFD(), PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR); #else +#if defined(LINUX) || defined(linux) + if (tty_usb == 0) +#endif read(rcxFD(),buffer,256); #endif } @@ -438,6 +452,8 @@ " -t , --tty= set IR Tower com port \n" #if defined(_WIN32) " -t , --tty= set IR Tower USB mode \n" +#else + " (if \"usb\" is in the port, use USB mode)\n" #endif " -i<0/1> , --irmode=<0/1> set IR mode near(0)/far(1) on RCX\n" " -e , --execute execute program after download\n" @@ -480,6 +496,16 @@ 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 "usb", e.g. /dev/usb/lego0, we */ + /* assume it is the USB tower. /dev/usb/lego0 is the default name of */ + /* the device in the LegoUSB (http://legousb.sourceforge.net) project. */ + /* If yours doesn't contain the "usb" string, just link it. */ + if (strstr(tty,"usb") !=0) { + tty_usb=1; + if (verbose_flag) + fputs("\nC.P. Chan & Tyler Akins - USB IR Tower Mode for Linux.\n",stderr); + } #endif LNPinit(tty); diff -Naur brickos-0.2.6.10.6_unpatched/util/dll-src/rcxtty.c brickos-0.2.6.10.6_patched/util/dll-src/rcxtty.c --- brickos-0.2.6.10.6_unpatched/util/dll-src/rcxtty.c 2002-08-20 05:04:29.000000000 +0200 +++ brickos-0.2.6.10.6_patched/util/dll-src/rcxtty.c 2004-09-28 10:41:38.000000000 +0200 @@ -47,6 +47,7 @@ #else #include #include + #include #endif #include "rcxtty.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; @@ -172,6 +197,7 @@ } rcxFd=fd; #else + if (tty_usb == 0) { memset(&ios, 0, sizeof(ios)); ios.c_cflag = CREAD | CLOCAL | CS8 | (highspeed ? 0 : PARENB | PARODD); @@ -181,6 +207,7 @@ if (tcsetattr(fd, TCSANOW, &ios) == -1) { perror("tcsetattr"); exit(1); + } } rcxFd=fd; #endif diff -Naur brickos-0.2.6.10.6_unpatched/util/firmdl/firmdl.c brickos-0.2.6.10.6_patched/util/firmdl/firmdl.c --- brickos-0.2.6.10.6_unpatched/util/firmdl/firmdl.c 2002-10-12 05:22:26.000000000 +0200 +++ brickos-0.2.6.10.6_patched/util/firmdl/firmdl.c 2004-09-28 10:41:38.000000000 +0200 @@ -389,6 +389,8 @@ " --tty=TTY assume tower connected to TTY\n" #if defined(_WIN32) " --tty=usb assume tower connected to USB\n" +#else + " (if device name contains \"usb\", use USB mode\n" #endif " -h, --help display this help and exit\n" ; @@ -417,6 +419,17 @@ 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 "usb", e.g. /dev/usb/lego0, we */ + /* assume it is the USB tower. If you use something else that doesn't */ + /* have "usb" in the device name, link it. /dev/usb/lego0 is the */ + /* name of the dirver installed by LegoUSB */ + /* (http://legousb.sourceforge.net) */ + if (strstr(tty,"usb") !=0) { + tty_usb=1; + if (__comm_debug) + fprintf(stderr, "P.C. Chan & Tyler Akins - USB IR Tower Mode for Linux.\n"); + } #endif if (use_fast && (tty_usb==0)) { //For now, run USB only at 2400bps (slow mode). diff -Naur brickos-0.2.6.10.6_unpatched/util/firmdl/legousbtower.h brickos-0.2.6.10.6_patched/util/firmdl/legousbtower.h --- brickos-0.2.6.10.6_unpatched/util/firmdl/legousbtower.h 1970-01-01 01:00:00.000000000 +0100 +++ brickos-0.2.6.10.6_patched/util/firmdl/legousbtower.h 2004-09-28 11:23:03.000000000 +0200 @@ -0,0 +1,52 @@ +/* + * legousbtower Lego USB IR Tower Linux Driver + * + * Copyright (c) 2001-2002 The LegoUSB DevTeam + * + * + * 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. + * + */ + +#ifndef __LEGOUSBTOWER_H +#define __LEGOUSBTOWER_H + +#define LEGO_TOWER_SET_PARAM _IOW('u', 0xb0, int) +#define LEGO_TOWER_GET_PARAM _IOW('u', 0xb1, int) +#define LEGO_TOWER_RESET _IO('u', 0xb3) + + +#define LEGO_TOWER_SET_READ_TIMEOUT _IOW('u', 0xc8, int) +#define LEGO_TOWER_SET_WRITE_TIMEOUT _IOW('u', 0xc9, int) + + +#define LEGO_USB_TOWER_REQUEST_GET 1 +#define LEGO_USB_TOWER_REQUEST_SET 2 +#define LEGO_USB_TOWER_REQUEST_RESET 4 + + +#define LEGO_USB_TOWER_ADDRESS_MODE 1 +#define LEGO_USB_TOWER_ADDRESS_POWER_LEVEL 2 + +#define LEGO_USB_TOWER_POWER_LEVEL_LOW 1 +#define LEGO_USB_TOWER_POWER_LEVEL_MEDIUM 2 +#define LEGO_USB_TOWER_POWER_LEVEL_HIGH 3 + +#define LEGO_USB_TOWER_MODE_VLL 1 +#define LEGO_USB_TOWER_MODE_RCX 2 + + + +struct request_reply +{ + unsigned short length; + unsigned char error_code; + unsigned char value; + unsigned char buffer[16]; // variable replies from the tower + // at this stage we aren't interested in the data +}; + +#endif diff -Naur brickos-0.2.6.10.6_unpatched/util/firmdl/rcx_comm.c brickos-0.2.6.10.6_patched/util/firmdl/rcx_comm.c --- brickos-0.2.6.10.6_unpatched/util/firmdl/rcx_comm.c 2002-08-29 05:52:50.000000000 +0200 +++ brickos-0.2.6.10.6_patched/util/firmdl/rcx_comm.c 2004-09-28 11:22:28.000000000 +0200 @@ -49,6 +49,18 @@ #if defined(_WIN32) #include +#else + + /* + * Include the constants for usb tower form the LEGOUSB Project. + * The file legousbtower.h contains all this stuff. + * Matthias Ehmann, Universitaet Bayreuth, matthias.ehmann@uni-bayreuth.de + */ + #include "legousbtower.h" + // This line is not needed any more + // #include + #include + #include #endif #include "rcx_comm.h" @@ -99,6 +111,11 @@ { char *bufp = (char *)buf; int len = 0; +#if defined(LINUX) | defined(linux) + int count; + fd_set fds; + struct timeval tv; +#endif while (len < maxlen) { @@ -157,10 +174,16 @@ } } #else - int count; - fd_set fds; - struct timeval tv; - + if (tty_usb == 1) + { + // LegoUSB doesn't work with select(), so just set a read + // timeout and then later check to see if the read timed out + // without reading data. + + ioctl(fd, LEGO_TOWER_SET_READ_TIMEOUT, timeout); + } + else + { FD_ZERO(&fds); FD_SET(fd, &fds); @@ -171,11 +194,18 @@ perror("select"); exit(1); } - if (!FD_ISSET(fd, &fds)) break; + } + + count = read(fd, &bufp[len], maxlen - len); - if ((count = read(fd, &bufp[len], maxlen - len)) < 0) { + // If no data was read from a USB tower and the read() timed out, + // go ahead and assume we are done reading data. + if (tty_usb == 1 && count == -1 && errno == ETIMEDOUT) + break; + + if (count < 0) { perror("read"); exit(1); } @@ -210,7 +240,31 @@ 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 } @@ -270,6 +324,7 @@ exit(1); } + if (tty_usb == 0){ if (!isatty(fd)) { close(fd); fprintf(stderr, "%s: not a tty\n", tty); @@ -293,6 +348,7 @@ perror("tcsetattr"); exit(1); } + } #endif return fd;