Squashed 'motors/teensy_loader_cli/' content from commit f5b6d7a
Change-Id: Ib5def334133aef8a8556a30e0b726d40c5a2ab85
git-subtree-dir: motors/teensy_loader_cli
git-subtree-split: f5b6d7aafda9a8b014b4bb08660833ca45c136d2
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ea0c43c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+teensy_loader_cli
+teensy_loader_cli.exe*
+*.swp
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..8bbf28f
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,59 @@
+OS ?= LINUX
+#OS ?= WINDOWS
+#OS ?= MACOSX
+#OS ?= BSD
+
+# uncomment this to use libusb on Macintosh, instead of Apple's HID manager via IOKit
+# this is technically not the "correct" way to support Macs, but it's been reported to
+# work.
+#USE_LIBUSB ?= YES
+
+ifeq ($(OS), LINUX) # also works on FreeBSD
+CC ?= gcc
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli: teensy_loader_cli.c
+ $(CC) $(CFLAGS) -s -DUSE_LIBUSB -o teensy_loader_cli teensy_loader_cli.c -lusb
+
+
+else ifeq ($(OS), WINDOWS)
+CC = i586-mingw32msvc-gcc
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli.exe: teensy_loader_cli.c
+ $(CC) $(CFLAGS) -s -DUSE_WIN32 -o teensy_loader_cli.exe teensy_loader_cli.c -lhid -lsetupapi -lwinmm
+
+
+else ifeq ($(OS), MACOSX)
+ifeq ($(USE_LIBUSB), YES)
+CC ?= gcc
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli: teensy_loader_cli.c
+ $(CC) $(CFLAGS) -s -DUSE_LIBUSB -DMACOSX -o teensy_loader_cli teensy_loader_cli.c -lusb -I /usr/local/include -L/usr/local/lib
+
+else
+CC ?= gcc
+SDK ?= $(shell xcrun --show-sdk-path)
+#SDK ?= /Developer/SDKs/MacOSX10.6.sdk # the old way...
+#SDK = /Developer_xcode32/SDKs/MacOSX10.5.sdk # the very old way!
+#CC = /Developer_xcode32/usr/bin/gcc-4.0
+#CFLAGS = -O2 -Wall -arch i386 -arch ppc
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli: teensy_loader_cli.c
+ifeq ($(SDK),)
+ $(error SDK was not found. To use this type of compilation please install Xcode)
+endif
+ $(CC) $(CFLAGS) -DUSE_APPLE_IOKIT -isysroot $(SDK) -o teensy_loader_cli teensy_loader_cli.c -Wl,-syslibroot,$(SDK) -framework IOKit -framework CoreFoundation
+
+endif
+
+else ifeq ($(OS), BSD) # works on NetBSD and OpenBSD
+CC ?= gcc
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli: teensy_loader_cli.c
+ $(CC) $(CFLAGS) -s -DUSE_UHID -o teensy_loader_cli teensy_loader_cli.c
+
+
+endif
+
+
+clean:
+ rm -f teensy_loader_cli teensy_loader_cli.exe*
diff --git a/Makefile.bsd b/Makefile.bsd
new file mode 100644
index 0000000..2aea86d
--- /dev/null
+++ b/Makefile.bsd
@@ -0,0 +1,21 @@
+OS ?= FreeBSD
+#OS ?= NetBSD
+#OS ?= OpenBSD
+
+CFLAGS ?= -O2 -Wall
+CC ?= gcc
+
+.if $(OS) == "FreeBSD"
+CFLAGS += -DUSE_LIBUSB
+LIBS = -lusb
+.elif $(OS) == "NetBSD" || $(OS) == "OpenBSD"
+CFLAGS += -DUSE_UHID
+LIBS =
+.endif
+
+
+teensy_loader_cli: teensy_loader_cli.c
+ $(CC) $(CFLAGS) -s -o teensy_loader_cli teensy_loader_cli.c $(LIBS)
+
+clean:
+ rm -f teensy_loader_cli
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..85db21c
--- /dev/null
+++ b/README.md
@@ -0,0 +1,95 @@
+# Teensy Loader - Command Line Version#
+
+The Teensy Loader is available in a command line version for advanced users who want to automate programming, typically using a Makefile. For most uses, the graphical version in Automatic Mode is much easier.
+
+http://www.pjrc.com/teensy/loader_cli.html
+
+## Compiling From Source
+
+The command line version is provided as source code for most platforms. To compile, you must have gcc or mingw installed. Edit the Makefile to select your operating system, then just type "make". If you have a BSD compatible make, replace "Makefile" with "Makefile.bsd".
+Version 2.0 has been tested on Ubuntu 9.04, Mac OS-X 10.5, Windows XP, FreeBSD 8.0, OpenBSD (20-Jan-2010 snapshot), and NetBSD 5.0.1. All versions of NT-based Windows with USB support (2000 and later) are believed to work.
+
+On Ubuntu, you may need to install "libusb-dev" to compile.
+
+ `sudo apt-get install libusb-dev`
+
+Other Linux systems may [require other package installation](https://forum.pjrc.com/threads/40965-Linux-64bit-Arduino-1-6-13-Issues-starting-Teensy-Loader-and-libusb-0-1-so-4-error?p=127873&viewfull=1#post127873) to compile.
+
+## Usage and Command Line Options
+
+A typical usage from the command line may look like this:
+
+`teensy_loader_cli --mcu=mk20dx256 -w blink_slow_Teensy32.hex`
+
+Required command line parameters:
+
+```
+--mcu=<MCU> : Specify Processor. You must specify the target processor. This syntax is the same as used by gcc, which makes integrating with your Makefile easier. Valid options are:
+--mcu=mk66fx1m0 : Teensy 3.6
+--mcu=mk64fx512 : Teensy 3.5
+--mcu=mk20dx256 : Teensy 3.2 & 3.1
+--mcu=mk20dx128 : Teensy 3.0
+--mcu=mkl26z64 : Teensy LC
+--mcu=at90usb1286 : Teensy++ 2.0
+--mcu=atmega32u4 : Teensy 2.0
+--mcu=at90usb646 : Teensy++ 1.0
+--mcu=at90usb162 : Teensy 1.0
+```
+
+Caution: HEX files compiled with USB support must be compiled for the correct chip. If you load a file built for a different chip, often it will hang while trying to initialize the on-chip USB controller (each chip has a different PLL-based clock generator). On some PCs, this can "confuse" your USB port and a cold reboot may be required to restore USB functionality. When a Teensy has been programmed with such incorrect code, the reset button must be held down BEFORE the USB cable is connected, and then released only after the USB cable is fully connected.
+
+Optional command line parameters:
+
+`-w` : Wait for device to appear. When the pushbuttons has not been pressed and HalfKay may not be running yet, this option makes teensy_loader_cli wait. It is safe to use this when HalfKay is already running. The hex file is read before waiting to verify it exists, and again immediately after the device is detected.
+
+`-r` : Use hard reboot if device not online. Perform a hard reset using a second Teensy running this [rebooter](rebootor) code, with pin C7 connected to the reset pin on your main Teensy. While this requires using a second board, it allows a Makefile to fully automate reprogramming your Teensy. No manual button press is required!
+
+`-s` : Use soft reboot (Linux only) if device not online. Perform a soft reset request by searching for any Teensy running USB Serial code built by Teensyduino. A request to reboot is transmitted to the first device found.
+
+`-n` : No reboot after programming. After programming the hex file, do not reboot. HalfKay remains running. This option may be useful if you wish to program the code but do not intend for it to run until the Teensy is installed inside a system with its I/O pins connected.
+
+`-v` : Verbose output. Normally teensy_loader_cli prints only error messages if any operation fails. This enables verbose output, which can help with troubleshooting, or simply show you more status information.
+
+## System Specific Setup
+
+Linux requires UDEV rules for non-root users.
+
+http://www.pjrc.com/teensy/49-teensy.rules
+
+FreeBSD requires a [device configuration file](freebsd-teensy.conf) for non-root users.
+
+OpenBSD's make is incompatible with most AVR makefiles. Use "`pkg_add -r gmake`", and then compile code with "`gmake all`" to obtain the .hex file.
+
+On Macintosh OS-X 10.8, Casey Rodarmor shared this tip:
+
+I recently had a little trouble getting the teensy cli loader working on Mac OSX 10.8. Apple moved the location of the SDKs around, so that they now reside inside of the xcode app itself. This is the line in the makefile that got it working for me:
+SDK ?= /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.8.sdk
+
+## Makefile Integration
+
+You can use teensy_loader_cli from your Makefile, to autoamtically program your freshly compiled code. Here is an example:
+
+```
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+ @echo
+ @echo $(MSG_FLASH) $@
+ $(OBJCOPY) -O $(FORMAT) -R .eeprom -R .fuse -R .lock -R .signature $< $@
+ teensy_loader_cli --mcu=$(MCU) -w -v $@
+```
+
+Make requires the white space before any command to be a tab character (not 8 spaces), so please make sure you use tab.
+
+If you connect a second Teensy using the rebootor code, add the "-r" option and your code will always be programmed automaticallly without having to manually press the reset button!
+
+Scott Bronson contributed a [Makefile patch](http://www.pjrc.com/teensy/loader_cli.makefile.patch) to allow "make program" to work for the blinky example.
+
+## PlatformIO Integration
+
+[Platformio](http://platformio.org) includes support for loading via teensy_loader.
+
+## Errata
+
+Compiling on Mac OS-X 10.6 may require adding "-mmacosx-version-min=10.5" to the Makefile. Thanks to Morgan Sutherland for reporting this.
+
+`$(CC) $(CFLAGS) -DUSE_APPLE_IOKIT -isysroot $(SDK) -o teensy_loader_cli teensy_loader_cli.c -Wl,-syslibroot,$(SDK) -framework IOKit -framework CoreFoundation -mmacosx-version-min=10.5`
diff --git a/blink_slow_Teensy30.hex b/blink_slow_Teensy30.hex
new file mode 100644
index 0000000..bf064b2
--- /dev/null
+++ b/blink_slow_Teensy30.hex
@@ -0,0 +1,767 @@
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diff --git a/blinky-at90usb1286.hex b/blinky-at90usb1286.hex
new file mode 100644
index 0000000..b9bbe56
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new file mode 100644
index 0000000..400df52
--- /dev/null
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diff --git a/blinky-at90usb646.hex b/blinky-at90usb646.hex
new file mode 100644
index 0000000..1e5b9c0
--- /dev/null
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diff --git a/blinky-atmega32u4.hex b/blinky-atmega32u4.hex
new file mode 100644
index 0000000..a690b74
--- /dev/null
+++ b/blinky-atmega32u4.hex
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diff --git a/freebsd-teensy.conf b/freebsd-teensy.conf
new file mode 100644
index 0000000..f82a79c
--- /dev/null
+++ b/freebsd-teensy.conf
@@ -0,0 +1,19 @@
+# To make Teensy user-accessible in FreeBSD, it's necessary (as root)
+# to put the attached file in the directory /usr/local/etc/devd, and
+# then type "/etc/rc.d/devd restart". Then when the Teensy is
+# attached, the device will be readable/writable by everybody.
+#
+# contributed by George Mitchell, george at m5p dot com
+#
+# Change permissions for Teensy device
+notify 100 {
+ match "system" "USB";
+ match "subsystem" "DEVICE";
+ match "type" "ATTACH";
+ match "vendor" "0x16c0";
+ match "product" "0x0478";
+# Select appropriate action
+# action "chown YOURUSERNAME /dev/$cdev";
+# action "chgrp YOURGROUPNAME /dev/$cdev";
+ action "chmod 666 /dev/$cdev";
+};
diff --git a/gpl3.txt b/gpl3.txt
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/gpl3.txt
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
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+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
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+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
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+you modify it: responsibilities to respect the freedom of others.
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+ Developers that use the GNU GPL protect your rights with two steps:
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+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
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+pattern of such abuse occurs in the area of products for individuals to
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+ "This License" refers to version 3 of the GNU General Public License.
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+in force. You may convey covered works to others for the sole purpose
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+circumvention of technological measures to the extent such circumvention
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+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
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+ 4. Conveying Verbatim Copies.
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+ You may convey verbatim copies of the Program's source code as you
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+keep intact all notices of the absence of any warranty; and give all
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+source code form), and must require no special password or key for
+unpacking, reading or copying.
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+
+ "Additional permissions" are terms that supplement the terms of this
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+be treated as though they were included in this License, to the extent
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+restriction, you may remove that term. If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+ If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+ Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+ 8. Termination.
+
+ You may not propagate or modify a covered work except as expressly
+provided under this License. Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+ However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+ Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+ Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License. If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance. However,
+nothing other than this License grants you permission to propagate or
+modify any covered work. These actions infringe copyright if you do
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+covered work, you indicate your acceptance of this License to do so.
+
+ 10. Automatic Licensing of Downstream Recipients.
+
+ Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License. You are not responsible
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+
+ An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations. If propagation of a covered
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+transaction who receives a copy of the work also receives whatever
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+give under the previous paragraph, plus a right to possession of the
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+the predecessor has it or can get it with reasonable efforts.
+
+ You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License. For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
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+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
+
+ A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+ Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+ In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ 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 3 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, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/rebootor/Makefile b/rebootor/Makefile
new file mode 100644
index 0000000..a17292d
--- /dev/null
+++ b/rebootor/Makefile
@@ -0,0 +1,614 @@
+# Hey Emacs, this is a -*- makefile -*-
+#----------------------------------------------------------------------------
+# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
+#
+# Released to the Public Domain
+#
+# Additional material for this makefile was written by:
+# Peter Fleury
+# Tim Henigan
+# Colin O'Flynn
+# Reiner Patommel
+# Markus Pfaff
+# Sander Pool
+# Frederik Rouleau
+# Carlos Lamas
+#
+#----------------------------------------------------------------------------
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF.
+#
+# make extcoff = Convert ELF to AVR Extended COFF.
+#
+# make program = Download the hex file to the device, using avrdude.
+# Please customize the avrdude settings below first!
+#
+# make debug = Start either simulavr or avarice as specified for debugging,
+# with avr-gdb or avr-insight as the front end for debugging.
+#
+# make filename.s = Just compile filename.c into the assembler code only.
+#
+# make filename.i = Create a preprocessed source file for use in submitting
+# bug reports to the GCC project.
+#
+# To rebuild project do "make clean" then "make all".
+#----------------------------------------------------------------------------
+
+
+# Target file name (without extension).
+TARGET = rebootor
+
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c \
+ usb.c
+
+
+# MCU name, you MUST set this to match the board you are using
+# type "make clean" after changing this, so all files will be rebuilt
+#
+#MCU = at90usb162 # Teensy 1.0
+MCU = atmega32u4 # Teensy 2.0
+#MCU = at90usb646 # Teensy++ 1.0
+#MCU = at90usb1286 # Teensy++ 2.0
+
+
+# Processor frequency.
+# This will define a symbol, F_CPU, in all source code files equal to the
+# processor frequency. You can then use this symbol in your source code to
+# calculate timings. Do NOT tack on a 'UL' at the end, this will be done
+# automatically to create a 32-bit value in your source code.
+F_CPU = 1000000
+
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+
+# Object files directory
+# To put object files in current directory, use a dot (.), do NOT make
+# this an empty or blank macro!
+OBJDIR = .
+
+
+# List C++ source files here. (C dependencies are automatically generated.)
+CPPSRC =
+
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+
+# Debugging format.
+# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
+# AVR Studio 4.10 requires dwarf-2.
+# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
+DEBUG = dwarf-2
+
+
+# List any extra directories to look for include files here.
+# Each directory must be seperated by a space.
+# Use forward slashes for directory separators.
+# For a directory that has spaces, enclose it in quotes.
+EXTRAINCDIRS =
+
+
+# Compiler flag to set the C Standard level.
+# c89 = "ANSI" C
+# gnu89 = c89 plus GCC extensions
+# c99 = ISO C99 standard (not yet fully implemented)
+# gnu99 = c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+
+# Place -D or -U options here for C sources
+CDEFS = -DF_CPU=$(F_CPU)UL
+
+
+# Place -D or -U options here for ASM sources
+ADEFS = -DF_CPU=$(F_CPU)
+
+
+# Place -D or -U options here for C++ sources
+CPPDEFS = -DF_CPU=$(F_CPU)UL
+#CPPDEFS += -D__STDC_LIMIT_MACROS
+#CPPDEFS += -D__STDC_CONSTANT_MACROS
+
+
+
+#---------------- Compiler Options C ----------------
+# -g*: generate debugging information
+# -O*: optimization level
+# -f...: tuning, see GCC manual and avr-libc documentation
+# -Wall...: warning level
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns...: create assembler listing
+CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char
+CFLAGS += -funsigned-bitfields
+CFLAGS += -ffunction-sections
+CFLAGS += -fpack-struct
+CFLAGS += -fshort-enums
+CFLAGS += -Wall
+CFLAGS += -Wstrict-prototypes
+#CFLAGS += -mshort-calls
+#CFLAGS += -fno-unit-at-a-time
+#CFLAGS += -Wundef
+#CFLAGS += -Wunreachable-code
+#CFLAGS += -Wsign-compare
+CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+
+
+#---------------- Compiler Options C++ ----------------
+# -g*: generate debugging information
+# -O*: optimization level
+# -f...: tuning, see GCC manual and avr-libc documentation
+# -Wall...: warning level
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns...: create assembler listing
+CPPFLAGS = -g$(DEBUG)
+CPPFLAGS += $(CPPDEFS)
+CPPFLAGS += -O$(OPT)
+CPPFLAGS += -funsigned-char
+CPPFLAGS += -funsigned-bitfields
+CPPFLAGS += -fpack-struct
+CPPFLAGS += -fshort-enums
+CPPFLAGS += -fno-exceptions
+CPPFLAGS += -Wall
+CPPFLAGS += -Wundef
+#CPPFLAGS += -mshort-calls
+#CPPFLAGS += -fno-unit-at-a-time
+#CPPFLAGS += -Wstrict-prototypes
+#CPPFLAGS += -Wunreachable-code
+#CPPFLAGS += -Wsign-compare
+CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst)
+CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+#CPPFLAGS += $(CSTANDARD)
+
+
+#---------------- Assembler Options ----------------
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns: create listing
+# -gstabs: have the assembler create line number information; note that
+# for use in COFF files, additional information about filenames
+# and function names needs to be present in the assembler source
+# files -- see avr-libc docs [FIXME: not yet described there]
+# -listing-cont-lines: Sets the maximum number of continuation lines of hex
+# dump that will be displayed for a given single line of source input.
+ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs,--listing-cont-lines=100
+
+
+#---------------- Library Options ----------------
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+
+# If this is left blank, then it will use the Standard printf version.
+PRINTF_LIB =
+#PRINTF_LIB = $(PRINTF_LIB_MIN)
+#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
+
+
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+
+# If this is left blank, then it will use the Standard scanf version.
+SCANF_LIB =
+#SCANF_LIB = $(SCANF_LIB_MIN)
+#SCANF_LIB = $(SCANF_LIB_FLOAT)
+
+
+MATH_LIB = -lm
+
+
+# List any extra directories to look for libraries here.
+# Each directory must be seperated by a space.
+# Use forward slashes for directory separators.
+# For a directory that has spaces, enclose it in quotes.
+EXTRALIBDIRS =
+
+
+
+#---------------- External Memory Options ----------------
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff
+
+EXTMEMOPTS =
+
+
+
+#---------------- Linker Options ----------------
+# -Wl,...: tell GCC to pass this to linker.
+# -Map: create map file
+# --cref: add cross reference to map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += -Wl,--relax
+LDFLAGS += -Wl,--gc-sections
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS))
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+#LDFLAGS += -T linker_script.x
+
+
+
+#---------------- Programming Options (avrdude) ----------------
+
+# Programming hardware
+# Type: avrdude -c ?
+# to get a full listing.
+#
+AVRDUDE_PROGRAMMER = stk500v2
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = com1 # programmer connected to serial device
+
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+
+
+# Uncomment the following if you want avrdude's erase cycle counter.
+# Note that this counter needs to be initialized first using -Yn,
+# see avrdude manual.
+#AVRDUDE_ERASE_COUNTER = -y
+
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -V
+
+# Increase verbosity level. Please use this when submitting bug
+# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
+# to submit bug reports.
+#AVRDUDE_VERBOSE = -v -v
+
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+
+
+
+#---------------- Debugging Options ----------------
+
+# For simulavr only - target MCU frequency.
+DEBUG_MFREQ = $(F_CPU)
+
+# Set the DEBUG_UI to either gdb or insight.
+# DEBUG_UI = gdb
+DEBUG_UI = insight
+
+# Set the debugging back-end to either avarice, simulavr.
+DEBUG_BACKEND = avarice
+#DEBUG_BACKEND = simulavr
+
+# GDB Init Filename.
+GDBINIT_FILE = __avr_gdbinit
+
+# When using avarice settings for the JTAG
+JTAG_DEV = /dev/com1
+
+# Debugging port used to communicate between GDB / avarice / simulavr.
+DEBUG_PORT = 4242
+
+# Debugging host used to communicate between GDB / avarice / simulavr, normally
+# just set to localhost unless doing some sort of crazy debugging when
+# avarice is running on a different computer.
+DEBUG_HOST = localhost
+
+
+
+#============================================================================
+
+
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+AR = avr-ar rcs
+NM = avr-nm
+AVRDUDE = avrdude
+REMOVE = rm -f
+REMOVEDIR = rm -rf
+COPY = cp
+WINSHELL = cmd
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = -------- begin --------
+MSG_END = -------- end --------
+MSG_SIZE_BEFORE = Size before:
+MSG_SIZE_AFTER = Size after:
+MSG_COFF = Converting to AVR COFF:
+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
+MSG_FLASH = Creating load file for Flash:
+MSG_EEPROM = Creating load file for EEPROM:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling C:
+MSG_COMPILING_CPP = Compiling C++:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+MSG_CREATING_LIBRARY = Creating library:
+
+
+
+
+# Define all object files.
+OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o)
+
+# Define all listing files.
+LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst)
+
+
+# Compiler flags to generate dependency files.
+GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d
+
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter end
+
+# Change the build target to build a HEX file or a library.
+build: elf hex eep lss sym
+#build: lib
+
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+LIBNAME=lib$(TARGET).a
+lib: $(LIBNAME)
+
+
+
+# Eye candy.
+# AVR Studio 3.x does not check make's exit code but relies on
+# the following magic strings to be generated by the compile job.
+begin:
+ @echo
+ @echo $(MSG_BEGIN)
+
+end:
+ @echo $(MSG_END)
+ @echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+#ELFSIZE = $(SIZE) --mcu=$(MCU) --format=avr $(TARGET).elf
+ELFSIZE = $(SIZE) $(TARGET).elf
+
+sizebefore:
+ @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
+ 2>/dev/null; echo; fi
+
+sizeafter:
+ @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
+ 2>/dev/null; echo; fi
+
+
+
+# Display compiler version information.
+gccversion :
+ @$(CC) --version
+
+
+
+# Program the device.
+program: $(TARGET).hex $(TARGET).eep
+ $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+# Generate avr-gdb config/init file which does the following:
+# define the reset signal, load the target file, connect to target, and set
+# a breakpoint at main().
+gdb-config:
+ @$(REMOVE) $(GDBINIT_FILE)
+ @echo define reset >> $(GDBINIT_FILE)
+ @echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
+ @echo end >> $(GDBINIT_FILE)
+ @echo file $(TARGET).elf >> $(GDBINIT_FILE)
+ @echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE)
+ifeq ($(DEBUG_BACKEND),simulavr)
+ @echo load >> $(GDBINIT_FILE)
+endif
+ @echo break main >> $(GDBINIT_FILE)
+
+debug: gdb-config $(TARGET).elf
+ifeq ($(DEBUG_BACKEND), avarice)
+ @echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
+ @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
+ $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
+ @$(WINSHELL) /c pause
+
+else
+ @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
+ $(DEBUG_MFREQ) --port $(DEBUG_PORT)
+endif
+ @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
+
+
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT = $(OBJCOPY) --debugging
+COFFCONVERT += --change-section-address .data-0x800000
+COFFCONVERT += --change-section-address .bss-0x800000
+COFFCONVERT += --change-section-address .noinit-0x800000
+COFFCONVERT += --change-section-address .eeprom-0x810000
+
+
+
+coff: $(TARGET).elf
+ @echo
+ @echo $(MSG_COFF) $(TARGET).cof
+ $(COFFCONVERT) -O coff-avr $< $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+ @echo
+ @echo $(MSG_EXTENDED_COFF) $(TARGET).cof
+ $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
+
+
+
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+ @echo
+ @echo $(MSG_FLASH) $@
+ $(OBJCOPY) -O $(FORMAT) -R .eeprom -R .fuse -R .lock -R .signature $< $@
+
+%.eep: %.elf
+ @echo
+ @echo $(MSG_EEPROM) $@
+ -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+ --change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) $< $@ || exit 0
+
+# Create extended listing file from ELF output file.
+%.lss: %.elf
+ @echo
+ @echo $(MSG_EXTENDED_LISTING) $@
+ $(OBJDUMP) -h -S -z $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+ @echo
+ @echo $(MSG_SYMBOL_TABLE) $@
+ $(NM) -n $< > $@
+
+
+
+# Create library from object files.
+.SECONDARY : $(TARGET).a
+.PRECIOUS : $(OBJ)
+%.a: $(OBJ)
+ @echo
+ @echo $(MSG_CREATING_LIBRARY) $@
+ $(AR) $@ $(OBJ)
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+ @echo
+ @echo $(MSG_LINKING) $@
+ $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
+
+
+# Compile: create object files from C source files.
+$(OBJDIR)/%.o : %.c
+ @echo
+ @echo $(MSG_COMPILING) $<
+ $(CC) -c $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create object files from C++ source files.
+$(OBJDIR)/%.o : %.cpp
+ @echo
+ @echo $(MSG_COMPILING_CPP) $<
+ $(CC) -c $(ALL_CPPFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C source files.
+%.s : %.c
+ $(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C++ source files.
+%.s : %.cpp
+ $(CC) -S $(ALL_CPPFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+$(OBJDIR)/%.o : %.S
+ @echo
+ @echo $(MSG_ASSEMBLING) $<
+ $(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+# Create preprocessed source for use in sending a bug report.
+%.i : %.c
+ $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
+
+
+# Target: clean project.
+clean: begin clean_list end
+
+clean_list :
+ @echo
+ @echo $(MSG_CLEANING)
+ $(REMOVE) $(TARGET).hex
+ $(REMOVE) $(TARGET).eep
+ $(REMOVE) $(TARGET).cof
+ $(REMOVE) $(TARGET).elf
+ $(REMOVE) $(TARGET).map
+ $(REMOVE) $(TARGET).sym
+ $(REMOVE) $(TARGET).lss
+ $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.o)
+ $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.lst)
+ $(REMOVE) $(SRC:.c=.s)
+ $(REMOVE) $(SRC:.c=.d)
+ $(REMOVE) $(SRC:.c=.i)
+ $(REMOVEDIR) .dep
+
+
+# Create object files directory
+$(shell mkdir $(OBJDIR) 2>/dev/null)
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff \
+clean clean_list program debug gdb-config
diff --git a/rebootor/rebootor.c b/rebootor/rebootor.c
new file mode 100644
index 0000000..cfdba24
--- /dev/null
+++ b/rebootor/rebootor.c
@@ -0,0 +1,74 @@
+/* Teensy Rebootor
+ * http://www.pjrc.com/teensy
+ * Copyright (c) 2010 PJRC.COM, LLC
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above description, website URL and copyright notice and this permission
+ * notice shall be included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <avr/io.h>
+#include <avr/sleep.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+#include "usb.h"
+
+#define CPU_PRESCALE(n) (CLKPR = 0x80, CLKPR = (n))
+
+int main(void)
+{
+ // set for 1 MHz clock
+ CPU_PRESCALE(4);
+
+ // set all pins as inputs with pullup resistors
+ #if defined(PORTA)
+ DDRF = 0;
+ PORTF = 0xFF;
+ #endif
+ DDRB = 0;
+ PORTB = 0xFF;
+ DDRC = 0;
+ PORTC = 0xFF;
+ DDRD = 0;
+ PORTD = 0xFF;
+ #if defined(PORTE)
+ DDRE = 0;
+ PORTE = 0xFF;
+ #endif
+ #if defined(PORTF)
+ DDRF = 0;
+ PORTF = 0xFF;
+ #endif
+
+ // initialize USB
+ usb_init();
+
+ // do nothing (USB code handles reboot message)
+ while (1) {
+ _delay_ms(1);
+ // put the CPU into low power idle mode
+ set_sleep_mode(SLEEP_MODE_IDLE);
+ cli();
+ sleep_enable();
+ sei();
+ sleep_cpu();
+ sleep_disable();
+ }
+}
+
+
+
diff --git a/rebootor/rebootor.elf b/rebootor/rebootor.elf
new file mode 100755
index 0000000..d25b9df
--- /dev/null
+++ b/rebootor/rebootor.elf
Binary files differ
diff --git a/rebootor/rebootor.hex b/rebootor/rebootor.hex
new file mode 100644
index 0000000..c451e6c
--- /dev/null
+++ b/rebootor/rebootor.hex
@@ -0,0 +1,83 @@
+:10000000A8C00000C1C00000BFC00000BDC000000B
+:10001000BBC00000B9C00000B7C00000B5C0000000
+:10002000B3C00000B1C00000EBC000000AC1000076
+:10003000ABC00000A9C00000A7C00000A5C0000020
+:10004000A3C00000A1C000009FC000009DC0000030
+:100050009BC0000099C0000097C0000095C0000040
+:1000600093C0000091C000008FC000008DC0000050
+:100070008BC0000089C0000087C0000085C0000060
+:1000800083C0000081C000007FC000007DC0000070
+:100090007BC0000079C0000077C0000075C0000080
+:1000A00073C0000071C000006FC0000000010000BC
+:1000B000E3001200020000F50022002200001701F8
+:1000C0001600210000070109000300002D010401B2
+:1000D00003090431010A020309043D011201C102AE
+:1000E0000000001201000200000020C0167704008A
+:1000F000010102000109022200010100C0320904CD
+:100100000000010300000009211101000122160076
+:10011000070581030800800600FF0A0001A10175A0
+:1001200008150026FF00950609029102C004030984
+:10013000040A0350004A0052004300000012035218
+:1001400000650062006F006F0074006F00720000B5
+:10015000000011241FBECFEFDAE0DEBFCDBF11E0FB
+:10016000A0E0B1E0E0E2F5E002C005900D92A03021
+:10017000B107D9F711E0A0E0B1E001C01D92A130B4
+:10018000B107E1F702D0CAC13BCF80E8809361009C
+:1001900084E08093610014B88FEF85B917B888B9EF
+:1001A0001AB88BB91DB88EB910BA81BB12D02AEF1C
+:1001B00030E0C9010197F1F783B7817F83BFF894DD
+:1001C00083B7816083BF7894889583B78E7F83BF20
+:1001D000F0CF81E08093D70080EA8093D80082E15D
+:1001E00089BD09B400FEFDCF80E98093D80010924C
+:1001F000E0001092000188E08093E2007894089576
+:100200001F920F920FB60F9211248F938091E100ED
+:100210001092E10083FF0FC01092E90081E080930B
+:10022000EB001092EC0082E28093ED0088E0809376
+:10023000F000109200018F910F900FBE0F901F9051
+:1002400018951F920F920FB60F9211240F931F93C0
+:100250002F933F934F935F936F937F938F939F93CE
+:10026000AF93BF93EF93FF931092E9008091E80062
+:1002700083FF3EC14091F1003091F1008091F10087
+:10028000A82FB0E02091F100922F80E0A82BB92B8D
+:100290008091F100682F70E02091F100922F80E0B2
+:1002A000682B792B1091F1000091F10082EF80937F
+:1002B000E800363009F05AC023EB30E0A901455080
+:1002C0005040F9013797859194918A179B0701F562
+:1002D000FA018591949186179707D1F49A012E5FC0
+:1002E0003F4FF901659174912E5F3F4FF9014491A1
+:1002F000212F30E0902F80E0282B392B2F3F310524
+:1003000019F010F02FEF30E0241758F4422F09C0F5
+:10031000295F3F4F495F5F4FF0E0243E3F0789F67A
+:10032000E7C05EEF8091E800282F30E0C9018570BA
+:100330009070892BB9F322FDDEC0342F413208F0D2
+:1003400030E2232FCB0106C0FC010196E491E0933B
+:10035000F10021502223C1F7630F711D431B5093FD
+:10036000E8004423F9F63032E9F2C5C0353061F4D3
+:100370008EEF8093E8008091E80080FFFCCF8A2F09
+:1003800080688093E300B7C0393031F5442309F029
+:1003900072C0A09300018EEF8093E8008DED90E095
+:1003A00021E02093E900FC010196E491E093EB0049
+:1003B000EE2369F0AC014F5F5F4FFC0184918093A5
+:1003C000EC00CA010196FA0134913093ED002F5FE1
+:1003D000253039F78EE14AC0383061F4403809F0F1
+:1003E0004AC08091E80080FFFCCF8091000180939B
+:1003F000F1007AC03323D1F48091E80080FFFCCF74
+:10040000423811F080E00DC06093E9008091EB006C
+:1004100090E025E0969587952A95E1F781701092F6
+:10042000E9008093F1001092F1005EC0313011F0CC
+:10043000333009F54230F9F4AB2BE9F4262F2F774E
+:10044000822F81508430B8F48EEF8093E80020939F
+:10045000E900333009F44CC089E18093EB0081E07E
+:1004600090E002C0880F991F2A95E2F78093EA0076
+:100470001092EA0040C0672BD9F54132C9F53930F6
+:10048000B9F58091E80082FFFCCF8091F100909156
+:10049000F1002091F1003091F1004091F100509174
+:1004A000F1008237D1F49536C1F42236B1F43F36EB
+:1004B000A1F44F3691F4543781F415B818B81BB82D
+:1004C0008FEF84B987B98AB998E09A95F1F714B893
+:1004D00017B81AB885B988B98BB98BEF8093E80043
+:1004E0008091E80080FFFCCF8EEF8093E80003C08E
+:1004F00081E28093EB00FF91EF91BF91AF919F91CB
+:100500008F917F916F915F914F913F912F911F91AB
+:100510000F910F900FBE0F901F901895F894FFCF7A
+:00000001FF
diff --git a/rebootor/usb.c b/rebootor/usb.c
new file mode 100644
index 0000000..5ba28f4
--- /dev/null
+++ b/rebootor/usb.c
@@ -0,0 +1,446 @@
+/* Teensy Rebootor
+ * http://www.pjrc.com/teensy/
+ * Copyright (c) 2010 PJRC.COM, LLC
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above description, website URL and copyright notice and this permission
+ * notice shall be included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+// Version 1.0: Initial Release
+
+#define USB_PRIVATE_INCLUDE
+#include "usb.h"
+#include <util/delay.h>
+
+/**************************************************************************
+ *
+ * Configurable Options
+ *
+ **************************************************************************/
+
+#define STR_MANUFACTURER L"PJRC"
+#define STR_PRODUCT L"Rebootor"
+#define VENDOR_ID 0x16C0
+#define PRODUCT_ID 0x0477
+#define RX_SIZE 6 // receive packet size
+
+
+/**************************************************************************
+ *
+ * Endpoint Buffer Configuration
+ *
+ **************************************************************************/
+
+#define ENDPOINT0_SIZE 32
+
+
+static const uint8_t PROGMEM endpoint_config_table[] = {
+ 1, EP_TYPE_INTERRUPT_IN, EP_SIZE(8) | EP_SINGLE_BUFFER,
+ 0,
+ 0,
+ 0
+};
+
+
+/**************************************************************************
+ *
+ * Descriptor Data
+ *
+ **************************************************************************/
+
+// Descriptors are the data that your computer reads when it auto-detects
+// this USB device (called "enumeration" in USB lingo). The most commonly
+// changed items are editable at the top of this file. Changing things
+// in here should only be done by those who've read chapter 9 of the USB
+// spec and relevant portions of any USB class specifications!
+
+
+static uint8_t PROGMEM device_descriptor[] = {
+ 18, // bLength
+ 1, // bDescriptorType
+ 0x00, 0x02, // bcdUSB
+ 0, // bDeviceClass
+ 0, // bDeviceSubClass
+ 0, // bDeviceProtocol
+ ENDPOINT0_SIZE, // bMaxPacketSize0
+ LSB(VENDOR_ID), MSB(VENDOR_ID), // idVendor
+ LSB(PRODUCT_ID), MSB(PRODUCT_ID), // idProduct
+ 0x00, 0x01, // bcdDevice
+ 1, // iManufacturer
+ 2, // iProduct
+ 0, // iSerialNumber
+ 1 // bNumConfigurations
+};
+
+static uint8_t PROGMEM rawhid_hid_report_desc[] = {
+ 0x06, 0x00, 0xFF,
+ 0x0A, 0x00, 0x01,
+ 0xA1, 0x01, // Collection 0x01
+ 0x75, 0x08, // report size = 8 bits
+ 0x15, 0x00, // logical minimum = 0
+ 0x26, 0xFF, 0x00, // logical maximum = 255
+ 0x95, RX_SIZE, // report count
+ 0x09, 0x02, // usage
+ 0x91, 0x02, // Output (array)
+ 0xC0 // end collection
+};
+
+
+#define CONFIG1_DESC_SIZE (9+9+9+7)
+#define RAWHID_HID_DESC_OFFSET (9+9)
+static uint8_t PROGMEM config1_descriptor[CONFIG1_DESC_SIZE] = {
+ // configuration descriptor, USB spec 9.6.3, page 264-266, Table 9-10
+ 9, // bLength;
+ 2, // bDescriptorType;
+ LSB(CONFIG1_DESC_SIZE), // wTotalLength
+ MSB(CONFIG1_DESC_SIZE),
+ 1, // bNumInterfaces
+ 1, // bConfigurationValue
+ 0, // iConfiguration
+ 0xC0, // bmAttributes
+ 50, // bMaxPower
+
+ // interface descriptor, USB spec 9.6.5, page 267-269, Table 9-12
+ 9, // bLength
+ 4, // bDescriptorType
+ 0, // bInterfaceNumber
+ 0, // bAlternateSetting
+ 1, // bNumEndpoints
+ 0x03, // bInterfaceClass (0x03 = HID)
+ 0x00, // bInterfaceSubClass
+ 0x00, // bInterfaceProtocol
+ 0, // iInterface
+ // HID interface descriptor, HID 1.11 spec, section 6.2.1
+ 9, // bLength
+ 0x21, // bDescriptorType
+ 0x11, 0x01, // bcdHID
+ 0, // bCountryCode
+ 1, // bNumDescriptors
+ 0x22, // bDescriptorType
+ sizeof(rawhid_hid_report_desc), // wDescriptorLength
+ 0,
+ // endpoint descriptor, USB spec 9.6.6, page 269-271, Table 9-13
+ 7, // bLength
+ 5, // bDescriptorType
+ 1 | 0x80, // bEndpointAddress
+ 0x03, // bmAttributes (0x03=intr)
+ 8, 0, // wMaxPacketSize
+ 0x80 // bInterval
+};
+
+// If you're desperate for a little extra code memory, these strings
+// can be completely removed if iManufacturer, iProduct, iSerialNumber
+// in the device desciptor are changed to zeros.
+struct usb_string_descriptor_struct {
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ int16_t wString[];
+};
+static struct usb_string_descriptor_struct PROGMEM string0 = {
+ 4,
+ 3,
+ {0x0409}
+};
+static struct usb_string_descriptor_struct PROGMEM string1 = {
+ sizeof(STR_MANUFACTURER),
+ 3,
+ STR_MANUFACTURER
+};
+static struct usb_string_descriptor_struct PROGMEM string2 = {
+ sizeof(STR_PRODUCT),
+ 3,
+ STR_PRODUCT
+};
+
+// This table defines which descriptor data is sent for each specific
+// request from the host (in wValue and wIndex).
+static struct descriptor_list_struct {
+ uint16_t wValue;
+ uint16_t wIndex;
+ const uint8_t *addr;
+ uint8_t length;
+} PROGMEM descriptor_list[] = {
+ {0x0100, 0x0000, device_descriptor, sizeof(device_descriptor)},
+ {0x0200, 0x0000, config1_descriptor, sizeof(config1_descriptor)},
+ {0x2200, 0, rawhid_hid_report_desc, sizeof(rawhid_hid_report_desc)},
+ {0x2100, 0, config1_descriptor+RAWHID_HID_DESC_OFFSET, 9},
+ {0x0300, 0x0000, (const uint8_t *)&string0, 4},
+ {0x0301, 0x0409, (const uint8_t *)&string1, sizeof(STR_MANUFACTURER)},
+ {0x0302, 0x0409, (const uint8_t *)&string2, sizeof(STR_PRODUCT)}
+};
+#define NUM_DESC_LIST (sizeof(descriptor_list)/sizeof(struct descriptor_list_struct))
+
+
+/**************************************************************************
+ *
+ * Variables - these are the only non-stack RAM usage
+ *
+ **************************************************************************/
+
+// zero when we are not configured, non-zero when enumerated
+static volatile uint8_t usb_configuration=0;
+
+
+
+/**************************************************************************
+ *
+ * Public Functions - these are the API intended for the user
+ *
+ **************************************************************************/
+
+
+// initialize USB
+void usb_init(void)
+{
+ HW_CONFIG();
+ USB_FREEZE(); // enable USB
+ PLL_CONFIG(); // config PLL
+ while (!(PLLCSR & (1<<PLOCK))) ; // wait for PLL lock
+ USB_CONFIG(); // start USB clock
+ UDCON = 0; // enable attach resistor
+ usb_configuration = 0;
+ UDIEN = (1<<EORSTE);
+ sei();
+}
+
+
+
+/**************************************************************************
+ *
+ * Private Functions - not intended for general user consumption....
+ *
+ **************************************************************************/
+
+
+#if (GCC_VERSION >= 40300) && (GCC_VERSION < 40302)
+#error "Buggy GCC 4.3.0 compiler, please upgrade!"
+#endif
+
+
+// USB Device Interrupt - handle all device-level events
+// the transmit buffer flushing is triggered by the start of frame
+//
+ISR(USB_GEN_vect)
+{
+ uint8_t intbits;
+
+ intbits = UDINT;
+ UDINT = 0;
+ if (intbits & (1<<EORSTI)) {
+ UENUM = 0;
+ UECONX = 1;
+ UECFG0X = EP_TYPE_CONTROL;
+ UECFG1X = EP_SIZE(ENDPOINT0_SIZE) | EP_SINGLE_BUFFER;
+ UEIENX = (1<<RXSTPE);
+ usb_configuration = 0;
+ }
+}
+
+
+
+// Misc functions to wait for ready and send/receive packets
+static inline void usb_wait_in_ready(void)
+{
+ while (!(UEINTX & (1<<TXINI))) ;
+}
+static inline void usb_send_in(void)
+{
+ UEINTX = ~(1<<TXINI);
+}
+static inline void usb_wait_receive_out(void)
+{
+ while (!(UEINTX & (1<<RXOUTI))) ;
+}
+static inline void usb_ack_out(void)
+{
+ UEINTX = ~(1<<RXOUTI);
+}
+
+
+
+// USB Endpoint Interrupt - endpoint 0 is handled here. The
+// other endpoints are manipulated by the user-callable
+// functions, and the start-of-frame interrupt.
+//
+ISR(USB_COM_vect)
+{
+ uint8_t intbits;
+ const uint8_t *list;
+ const uint8_t *cfg;
+ uint8_t i, n, len, en;
+ uint8_t bmRequestType;
+ uint8_t bRequest;
+ uint16_t wValue;
+ uint16_t wIndex;
+ uint16_t wLength;
+ uint16_t desc_val;
+ const uint8_t *desc_addr;
+ uint8_t desc_length;
+
+ UENUM = 0;
+ intbits = UEINTX;
+ if (intbits & (1<<RXSTPI)) {
+ bmRequestType = UEDATX;
+ bRequest = UEDATX;
+ wValue = UEDATX;
+ wValue |= (UEDATX << 8);
+ wIndex = UEDATX;
+ wIndex |= (UEDATX << 8);
+ wLength = UEDATX;
+ wLength |= (UEDATX << 8);
+ UEINTX = ~((1<<RXSTPI) | (1<<RXOUTI) | (1<<TXINI));
+ if (bRequest == GET_DESCRIPTOR) {
+ list = (const uint8_t *)descriptor_list;
+ for (i=0; ; i++) {
+ if (i >= NUM_DESC_LIST) {
+ UECONX = (1<<STALLRQ)|(1<<EPEN); //stall
+ return;
+ }
+ desc_val = pgm_read_word(list);
+ if (desc_val != wValue) {
+ list += sizeof(struct descriptor_list_struct);
+ continue;
+ }
+ list += 2;
+ desc_val = pgm_read_word(list);
+ if (desc_val != wIndex) {
+ list += sizeof(struct descriptor_list_struct)-2;
+ continue;
+ }
+ list += 2;
+ desc_addr = (const uint8_t *)pgm_read_word(list);
+ list += 2;
+ desc_length = pgm_read_byte(list);
+ break;
+ }
+ len = (wLength < 256) ? wLength : 255;
+ if (len > desc_length) len = desc_length;
+ do {
+ // wait for host ready for IN packet
+ do {
+ i = UEINTX;
+ } while (!(i & ((1<<TXINI)|(1<<RXOUTI))));
+ if (i & (1<<RXOUTI)) return; // abort
+ // send IN packet
+ n = len < ENDPOINT0_SIZE ? len : ENDPOINT0_SIZE;
+ for (i = n; i; i--) {
+ UEDATX = pgm_read_byte(desc_addr++);
+ }
+ len -= n;
+ usb_send_in();
+ } while (len || n == ENDPOINT0_SIZE);
+ return;
+ }
+ if (bRequest == SET_ADDRESS) {
+ usb_send_in();
+ usb_wait_in_ready();
+ UDADDR = wValue | (1<<ADDEN);
+ return;
+ }
+ if (bRequest == SET_CONFIGURATION && bmRequestType == 0) {
+ usb_configuration = wValue;
+ usb_send_in();
+ cfg = endpoint_config_table;
+ for (i=1; i<5; i++) {
+ UENUM = i;
+ en = pgm_read_byte(cfg++);
+ UECONX = en;
+ if (en) {
+ UECFG0X = pgm_read_byte(cfg++);
+ UECFG1X = pgm_read_byte(cfg++);
+ }
+ }
+ UERST = 0x1E;
+ UERST = 0;
+ return;
+ }
+ if (bRequest == GET_CONFIGURATION && bmRequestType == 0x80) {
+ usb_wait_in_ready();
+ UEDATX = usb_configuration;
+ usb_send_in();
+ return;
+ }
+
+ if (bRequest == GET_STATUS) {
+ usb_wait_in_ready();
+ i = 0;
+ if (bmRequestType == 0x82) {
+ UENUM = wIndex;
+ if (UECONX & (1<<STALLRQ)) i = 1;
+ UENUM = 0;
+ }
+ UEDATX = i;
+ UEDATX = 0;
+ usb_send_in();
+ return;
+ }
+ if ((bRequest == CLEAR_FEATURE || bRequest == SET_FEATURE)
+ && bmRequestType == 0x02 && wValue == 0) {
+ i = wIndex & 0x7F;
+ if (i >= 1 && i <= MAX_ENDPOINT) {
+ usb_send_in();
+ UENUM = i;
+ if (bRequest == SET_FEATURE) {
+ UECONX = (1<<STALLRQ)|(1<<EPEN);
+ } else {
+ UECONX = (1<<STALLRQC)|(1<<RSTDT)|(1<<EPEN);
+ UERST = (1 << i);
+ UERST = 0;
+ }
+ return;
+ }
+ }
+ if (wIndex == 0) {
+ if (bmRequestType == 0x21 && bRequest == HID_SET_REPORT) {
+ uint8_t buf[6];
+ len = RX_SIZE;
+ do {
+ n = len < ENDPOINT0_SIZE ? len : ENDPOINT0_SIZE;
+ usb_wait_receive_out();
+ buf[0] = UEDATX;
+ buf[1] = UEDATX;
+ buf[2] = UEDATX;
+ buf[3] = UEDATX;
+ buf[4] = UEDATX;
+ buf[5] = UEDATX;
+ if (buf[0] == 'r' && buf[1] == 'e' && buf[2] == 'b'
+ && buf[3] == 'o' && buf[4] == 'o' && buf[5] == 't') {
+ // When we get the "reboot" message,
+ // pulse all port B, C, & D pins low
+ PORTB = 0, PORTC = 0, PORTD = 0;
+ DDRB = 0xFF, DDRC = 0xFF, DDRD = 0xFF;
+ _delay_us(25);
+ DDRB = 0, DDRC = 0, DDRD = 0;
+ PORTB = 0xFF, PORTC = 0xFF, PORTD = 0xFF;
+ //DDRD = 0x40;
+ //PORTD = 0x40;
+ }
+ // ignore incoming bytes
+ usb_ack_out();
+ len -= n;
+ } while (len);
+ usb_wait_in_ready();
+ usb_send_in();
+ return;
+ }
+ }
+ }
+ UECONX = (1<<STALLRQ) | (1<<EPEN); // stall
+}
+
+
diff --git a/rebootor/usb.h b/rebootor/usb.h
new file mode 100644
index 0000000..3b0a062
--- /dev/null
+++ b/rebootor/usb.h
@@ -0,0 +1,76 @@
+#ifndef usb_serial_h__
+#define usb_serial_h__
+
+#include <stdint.h>
+
+void usb_init(void); // initialize everything
+
+
+// Everything below this point is only intended for usb_serial.c
+#ifdef USB_PRIVATE_INCLUDE
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+#include <avr/interrupt.h>
+
+#define EP_TYPE_CONTROL 0x00
+#define EP_TYPE_BULK_IN 0x81
+#define EP_TYPE_BULK_OUT 0x80
+#define EP_TYPE_INTERRUPT_IN 0xC1
+#define EP_TYPE_INTERRUPT_OUT 0xC0
+#define EP_TYPE_ISOCHRONOUS_IN 0x41
+#define EP_TYPE_ISOCHRONOUS_OUT 0x40
+
+#define EP_SINGLE_BUFFER 0x02
+#define EP_DOUBLE_BUFFER 0x06
+
+#define EP_SIZE(s) ((s) > 32 ? 0x30 : \
+ ((s) > 16 ? 0x20 : \
+ ((s) > 8 ? 0x10 : \
+ 0x00)))
+
+#define MAX_ENDPOINT 4
+
+#define LSB(n) (n & 255)
+#define MSB(n) ((n >> 8) & 255)
+
+#if defined(__AVR_AT90USB162__)
+#define HW_CONFIG()
+#define PLL_CONFIG() (PLLCSR = ((1<<PLLE)|(1<<PLLP0)))
+#define USB_CONFIG() (USBCON = (1<<USBE))
+#define USB_FREEZE() (USBCON = ((1<<USBE)|(1<<FRZCLK)))
+#elif defined(__AVR_ATmega32U4__)
+#define HW_CONFIG() (UHWCON = 0x01)
+#define PLL_CONFIG() (PLLCSR = 0x12)
+#define USB_CONFIG() (USBCON = ((1<<USBE)|(1<<OTGPADE)))
+#define USB_FREEZE() (USBCON = ((1<<USBE)|(1<<FRZCLK)))
+#elif defined(__AVR_AT90USB646__)
+#define HW_CONFIG() (UHWCON = 0x81)
+#define PLL_CONFIG() (PLLCSR = 0x1A)
+#define USB_CONFIG() (USBCON = ((1<<USBE)|(1<<OTGPADE)))
+#define USB_FREEZE() (USBCON = ((1<<USBE)|(1<<FRZCLK)))
+#elif defined(__AVR_AT90USB1286__)
+#define HW_CONFIG() (UHWCON = 0x81)
+#define PLL_CONFIG() (PLLCSR = 0x16)
+#define USB_CONFIG() (USBCON = ((1<<USBE)|(1<<OTGPADE)))
+#define USB_FREEZE() (USBCON = ((1<<USBE)|(1<<FRZCLK)))
+#endif
+
+// standard control endpoint request types
+#define GET_STATUS 0
+#define CLEAR_FEATURE 1
+#define SET_FEATURE 3
+#define SET_ADDRESS 5
+#define GET_DESCRIPTOR 6
+#define GET_CONFIGURATION 8
+#define SET_CONFIGURATION 9
+#define GET_INTERFACE 10
+#define SET_INTERFACE 11
+// HID (human interface device)
+#define HID_GET_REPORT 1
+#define HID_GET_IDLE 2
+#define HID_GET_PROTOCOL 3
+#define HID_SET_REPORT 9
+#define HID_SET_IDLE 10
+#define HID_SET_PROTOCOL 11
+#endif
+#endif
diff --git a/teensy_loader_cli.c b/teensy_loader_cli.c
new file mode 100644
index 0000000..d7f0e8b
--- /dev/null
+++ b/teensy_loader_cli.c
@@ -0,0 +1,1176 @@
+/* Teensy Loader, Command Line Interface
+ * Program and Reboot Teensy Board with HalfKay Bootloader
+ * http://www.pjrc.com/teensy/loader_cli.html
+ * Copyright 2008-2016, PJRC.COM, LLC
+ *
+ * You may redistribute this program and/or modify it under the terms
+ * of the GNU General Public License as published by the Free Software
+ * Foundation, version 3 of the License.
+ *
+ * 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, see http://www.gnu.org/licenses/
+ */
+
+/* Want to incorporate this code into a proprietary application??
+ * Just email paul@pjrc.com to ask. Usually it's not a problem,
+ * but you do need to ask to use this code in any way other than
+ * those permitted by the GNU General Public License, version 3 */
+
+/* For non-root permissions on ubuntu or similar udev-based linux
+ * http://www.pjrc.com/teensy/49-teensy.rules
+ */
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <string.h>
+#include <unistd.h>
+
+void usage(const char *err)
+{
+ if(err != NULL) fprintf(stderr, "%s\n\n", err);
+ fprintf(stderr,
+ "Usage: teensy_loader_cli --mcu=<MCU> [-w] [-h] [-n] [-b] [-v] <file.hex>\n"
+ "\t-w : Wait for device to appear\n"
+ "\t-r : Use hard reboot if device not online\n"
+ "\t-s : Use soft reboot if device not online (Teensy3.x only)\n"
+ "\t-n : No reboot after programming\n"
+ "\t-b : Boot only, do not program\n"
+ "\t-v : Verbose output\n"
+ "\nUse `teensy_loader_cli --list-mcus` to list supported MCUs.\n"
+ "\nFor more information, please visit:\n"
+ "http://www.pjrc.com/teensy/loader_cli.html\n");
+ exit(1);
+}
+
+// USB Access Functions
+int teensy_open(void);
+int teensy_write(void *buf, int len, double timeout);
+void teensy_close(void);
+int hard_reboot(void);
+int soft_reboot(void);
+
+// Intel Hex File Functions
+int read_intel_hex(const char *filename);
+int ihex_bytes_within_range(int begin, int end);
+void ihex_get_data(int addr, int len, unsigned char *bytes);
+int memory_is_blank(int addr, int block_size);
+
+// Misc stuff
+int printf_verbose(const char *format, ...);
+void delay(double seconds);
+void die(const char *str, ...);
+void parse_options(int argc, char **argv);
+void boot(unsigned char *buf, int write_size);
+
+// options (from user via command line args)
+int wait_for_device_to_appear = 0;
+int hard_reboot_device = 0;
+int soft_reboot_device = 0;
+int reboot_after_programming = 1;
+int verbose = 0;
+int boot_only = 0;
+int code_size = 0, block_size = 0;
+const char *filename=NULL;
+
+
+/****************************************************************/
+/* */
+/* Main Program */
+/* */
+/****************************************************************/
+
+int main(int argc, char **argv)
+{
+ unsigned char buf[2048];
+ int num, addr, r, write_size=block_size+2;
+ int first_block=1, waited=0;
+
+ // parse command line arguments
+ parse_options(argc, argv);
+ if (!filename && !boot_only) {
+ usage("Filename must be specified");
+ }
+ if (!code_size) {
+ usage("MCU type must be specified");
+ }
+ printf_verbose("Teensy Loader, Command Line, Version 2.1\n");
+
+ if (boot_only) {
+ if (! teensy_open()) {
+ die("Could not find HalfKay");
+ }
+ printf_verbose("Found HalfKay Bootloader\n");
+
+ boot(buf, block_size+2);
+ exit(0);
+ }
+
+ // read the intel hex file
+ // this is done first so any error is reported before using USB
+ num = read_intel_hex(filename);
+ if (num < 0) die("error reading intel hex file \"%s\"", filename);
+ printf_verbose("Read \"%s\": %d bytes, %.1f%% usage\n",
+ filename, num, (double)num / (double)code_size * 100.0);
+
+ // open the USB device
+ while (1) {
+ if (teensy_open()) break;
+ if (hard_reboot_device) {
+ if (!hard_reboot()) die("Unable to find rebootor\n");
+ printf_verbose("Hard Reboot performed\n");
+ hard_reboot_device = 0; // only hard reboot once
+ wait_for_device_to_appear = 1;
+ }
+ if (soft_reboot_device) {
+ if (soft_reboot()) {
+ printf_verbose("Soft reboot performed\n");
+ }
+ soft_reboot_device = 0;
+ wait_for_device_to_appear = 1;
+ }
+ if (!wait_for_device_to_appear) die("Unable to open device\n");
+ if (!waited) {
+ printf_verbose("Waiting for Teensy device...\n");
+ printf_verbose(" (hint: press the reset button)\n");
+ waited = 1;
+ }
+ delay(0.25);
+ }
+ printf_verbose("Found HalfKay Bootloader\n");
+
+ // if we waited for the device, read the hex file again
+ // perhaps it changed while we were waiting?
+ if (waited) {
+ num = read_intel_hex(filename);
+ if (num < 0) die("error reading intel hex file \"%s\"", filename);
+ printf_verbose("Read \"%s\": %d bytes, %.1f%% usage\n",
+ filename, num, (double)num / (double)code_size * 100.0);
+ }
+
+ // program the data
+ printf_verbose("Programming");
+ fflush(stdout);
+ for (addr = 0; addr < code_size; addr += block_size) {
+ if (!first_block && !ihex_bytes_within_range(addr, addr + block_size - 1)) {
+ // don't waste time on blocks that are unused,
+ // but always do the first one to erase the chip
+ continue;
+ }
+ if (!first_block && memory_is_blank(addr, block_size)) continue;
+ printf_verbose(".");
+ if (block_size <= 256 && code_size < 0x10000) {
+ buf[0] = addr & 255;
+ buf[1] = (addr >> 8) & 255;
+ ihex_get_data(addr, block_size, buf + 2);
+ write_size = block_size + 2;
+ } else if (block_size == 256) {
+ buf[0] = (addr >> 8) & 255;
+ buf[1] = (addr >> 16) & 255;
+ ihex_get_data(addr, block_size, buf + 2);
+ write_size = block_size + 2;
+ } else if (block_size == 512 || block_size == 1024) {
+ buf[0] = addr & 255;
+ buf[1] = (addr >> 8) & 255;
+ buf[2] = (addr >> 16) & 255;
+ memset(buf + 3, 0, 61);
+ ihex_get_data(addr, block_size, buf + 64);
+ write_size = block_size + 64;
+ } else {
+ die("Unknown code/block size\n");
+ }
+ r = teensy_write(buf, write_size, first_block ? 5.0 : 0.5);
+ if (!r) die("error writing to Teensy\n");
+ first_block = 0;
+ }
+ printf_verbose("\n");
+
+ // reboot to the user's new code
+ if (reboot_after_programming) {
+ boot(buf, write_size);
+ }
+ teensy_close();
+ return 0;
+}
+
+
+
+
+/****************************************************************/
+/* */
+/* USB Access - libusb (Linux & FreeBSD) */
+/* */
+/* Uses libusb v0.1. To install: */
+/* - [debian, ubuntu, mint] apt install libusb-dev */
+/* - [redhat, centos] yum install libusb-devel */
+/* - [fedora] dnf install libusb-devel */
+/* - [arch linux] pacman -S libusb-compat */
+/* - [gentoo] emerge dev-libs/libusb-compat */
+/* */
+/* - [freebsd] seems to be preinstalled */
+/****************************************************************/
+
+#if defined(USE_LIBUSB)
+
+// http://libusb.sourceforge.net/doc/index.html
+#include <usb.h>
+
+usb_dev_handle * open_usb_device(int vid, int pid)
+{
+ struct usb_bus *bus;
+ struct usb_device *dev;
+ usb_dev_handle *h;
+ char buf[128];
+ int r;
+
+ usb_init();
+ usb_find_busses();
+ usb_find_devices();
+ //printf_verbose("\nSearching for USB device:\n");
+ for (bus = usb_get_busses(); bus; bus = bus->next) {
+ for (dev = bus->devices; dev; dev = dev->next) {
+ //printf_verbose("bus \"%s\", device \"%s\" vid=%04X, pid=%04X\n",
+ // bus->dirname, dev->filename,
+ // dev->descriptor.idVendor,
+ // dev->descriptor.idProduct
+ //);
+ if (dev->descriptor.idVendor != vid) continue;
+ if (dev->descriptor.idProduct != pid) continue;
+ h = usb_open(dev);
+ if (!h) {
+ printf_verbose("Found device but unable to open\n");
+ continue;
+ }
+ #ifdef LIBUSB_HAS_GET_DRIVER_NP
+ r = usb_get_driver_np(h, 0, buf, sizeof(buf));
+ if (r >= 0) {
+ r = usb_detach_kernel_driver_np(h, 0);
+ if (r < 0) {
+ usb_close(h);
+ printf_verbose("Device is in use by \"%s\" driver\n", buf);
+ continue;
+ }
+ }
+ #endif
+ // Mac OS-X - removing this call to usb_claim_interface() might allow
+ // this to work, even though it is a clear misuse of the libusb API.
+ // normally Apple's IOKit should be used on Mac OS-X
+ #if !defined(MACOSX)
+ r = usb_claim_interface(h, 0);
+ if (r < 0) {
+ usb_close(h);
+ printf_verbose("Unable to claim interface, check USB permissions\n");
+ continue;
+ }
+ #endif
+
+ return h;
+ }
+ }
+ return NULL;
+}
+
+static usb_dev_handle *libusb_teensy_handle = NULL;
+
+int teensy_open(void)
+{
+ teensy_close();
+ libusb_teensy_handle = open_usb_device(0x16C0, 0x0478);
+ if (libusb_teensy_handle) return 1;
+ return 0;
+}
+
+int teensy_write(void *buf, int len, double timeout)
+{
+ int r;
+
+ if (!libusb_teensy_handle) return 0;
+ while (timeout > 0) {
+ r = usb_control_msg(libusb_teensy_handle, 0x21, 9, 0x0200, 0,
+ (char *)buf, len, (int)(timeout * 1000.0));
+ if (r >= 0) return 1;
+ //printf("teensy_write, r=%d\n", r);
+ usleep(10000);
+ timeout -= 0.01; // TODO: subtract actual elapsed time
+ }
+ return 0;
+}
+
+void teensy_close(void)
+{
+ if (!libusb_teensy_handle) return;
+ usb_release_interface(libusb_teensy_handle, 0);
+ usb_close(libusb_teensy_handle);
+ libusb_teensy_handle = NULL;
+}
+
+int hard_reboot(void)
+{
+ usb_dev_handle *rebootor;
+ int r;
+
+ rebootor = open_usb_device(0x16C0, 0x0477);
+ if (!rebootor) return 0;
+ r = usb_control_msg(rebootor, 0x21, 9, 0x0200, 0, "reboot", 6, 100);
+ usb_release_interface(rebootor, 0);
+ usb_close(rebootor);
+ if (r < 0) return 0;
+ return 1;
+}
+
+int soft_reboot(void)
+{
+ usb_dev_handle *serial_handle = NULL;
+
+ serial_handle = open_usb_device(0x16C0, 0x0483);
+ if (!serial_handle) {
+ char *error = usb_strerror();
+ printf("Error opening USB device: %s\n", error);
+ return 0;
+ }
+
+ char reboot_command = 134;
+ int response = usb_control_msg(serial_handle, 0x21, 0x20, 0, 0, &reboot_command, 1, 10000);
+
+ usb_release_interface(serial_handle, 0);
+ usb_close(serial_handle);
+
+ if (response < 0) {
+ char *error = usb_strerror();
+ printf("Unable to soft reboot with USB error: %s\n", error);
+ return 0;
+ }
+
+ return 1;
+}
+
+#endif
+
+
+/****************************************************************/
+/* */
+/* USB Access - Microsoft WIN32 */
+/* */
+/****************************************************************/
+
+#if defined(USE_WIN32)
+
+// http://msdn.microsoft.com/en-us/library/ms790932.aspx
+#include <windows.h>
+#include <setupapi.h>
+#include <ddk/hidsdi.h>
+#include <ddk/hidclass.h>
+
+HANDLE open_usb_device(int vid, int pid)
+{
+ GUID guid;
+ HDEVINFO info;
+ DWORD index, required_size;
+ SP_DEVICE_INTERFACE_DATA iface;
+ SP_DEVICE_INTERFACE_DETAIL_DATA *details;
+ HIDD_ATTRIBUTES attrib;
+ HANDLE h;
+ BOOL ret;
+
+ HidD_GetHidGuid(&guid);
+ info = SetupDiGetClassDevs(&guid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);
+ if (info == INVALID_HANDLE_VALUE) return NULL;
+ for (index=0; 1 ;index++) {
+ iface.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
+ ret = SetupDiEnumDeviceInterfaces(info, NULL, &guid, index, &iface);
+ if (!ret) {
+ SetupDiDestroyDeviceInfoList(info);
+ break;
+ }
+ SetupDiGetInterfaceDeviceDetail(info, &iface, NULL, 0, &required_size, NULL);
+ details = (SP_DEVICE_INTERFACE_DETAIL_DATA *)malloc(required_size);
+ if (details == NULL) continue;
+ memset(details, 0, required_size);
+ details->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
+ ret = SetupDiGetDeviceInterfaceDetail(info, &iface, details,
+ required_size, NULL, NULL);
+ if (!ret) {
+ free(details);
+ continue;
+ }
+ h = CreateFile(details->DevicePath, GENERIC_READ|GENERIC_WRITE,
+ FILE_SHARE_READ|FILE_SHARE_WRITE, NULL, OPEN_EXISTING,
+ FILE_FLAG_OVERLAPPED, NULL);
+ free(details);
+ if (h == INVALID_HANDLE_VALUE) continue;
+ attrib.Size = sizeof(HIDD_ATTRIBUTES);
+ ret = HidD_GetAttributes(h, &attrib);
+ if (!ret) {
+ CloseHandle(h);
+ continue;
+ }
+ if (attrib.VendorID != vid || attrib.ProductID != pid) {
+ CloseHandle(h);
+ continue;
+ }
+ SetupDiDestroyDeviceInfoList(info);
+ return h;
+ }
+ return NULL;
+}
+
+int write_usb_device(HANDLE h, void *buf, int len, int timeout)
+{
+ static HANDLE event = NULL;
+ unsigned char tmpbuf[1089];
+ OVERLAPPED ov;
+ DWORD n, r;
+
+ if (len > sizeof(tmpbuf) - 1) return 0;
+ if (event == NULL) {
+ event = CreateEvent(NULL, TRUE, TRUE, NULL);
+ if (!event) return 0;
+ }
+ ResetEvent(&event);
+ memset(&ov, 0, sizeof(ov));
+ ov.hEvent = event;
+ tmpbuf[0] = 0;
+ memcpy(tmpbuf + 1, buf, len);
+ if (!WriteFile(h, tmpbuf, len + 1, NULL, &ov)) {
+ if (GetLastError() != ERROR_IO_PENDING) return 0;
+ r = WaitForSingleObject(event, timeout);
+ if (r == WAIT_TIMEOUT) {
+ CancelIo(h);
+ return 0;
+ }
+ if (r != WAIT_OBJECT_0) return 0;
+ }
+ if (!GetOverlappedResult(h, &ov, &n, FALSE)) return 0;
+ if (n <= 0) return 0;
+ return 1;
+}
+
+void print_win32_err(void)
+{
+ char buf[256];
+ DWORD err;
+
+ err = GetLastError();
+ FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, err,
+ 0, buf, sizeof(buf), NULL);
+ printf("err %ld: %s\n", err, buf);
+}
+
+static HANDLE win32_teensy_handle = NULL;
+
+int teensy_open(void)
+{
+ teensy_close();
+ win32_teensy_handle = open_usb_device(0x16C0, 0x0478);
+ if (win32_teensy_handle) return 1;
+ return 0;
+}
+
+int teensy_write(void *buf, int len, double timeout)
+{
+ int r;
+ uint32_t begin, now, total;
+
+ if (!win32_teensy_handle) return 0;
+ total = (uint32_t)(timeout * 1000.0);
+ begin = timeGetTime();
+ now = begin;
+ do {
+ r = write_usb_device(win32_teensy_handle, buf, len, total - (now - begin));
+ if (r > 0) return 1;
+ Sleep(10);
+ now = timeGetTime();
+ } while (now - begin < total);
+ return 0;
+}
+
+void teensy_close(void)
+{
+ if (!win32_teensy_handle) return;
+ CloseHandle(win32_teensy_handle);
+ win32_teensy_handle = NULL;
+}
+
+int hard_reboot(void)
+{
+ HANDLE rebootor;
+ int r;
+
+ rebootor = open_usb_device(0x16C0, 0x0477);
+ if (!rebootor) return 0;
+ r = write_usb_device(rebootor, "reboot", 6, 100);
+ CloseHandle(rebootor);
+ return r;
+}
+
+int soft_reboot(void)
+{
+ printf("Soft reboot is not implemented for Win32\n");
+ return 0;
+}
+
+#endif
+
+
+
+/****************************************************************/
+/* */
+/* USB Access - Apple's IOKit, Mac OS-X */
+/* */
+/****************************************************************/
+
+#if defined(USE_APPLE_IOKIT)
+
+// http://developer.apple.com/technotes/tn2007/tn2187.html
+#include <IOKit/IOKitLib.h>
+#include <IOKit/hid/IOHIDLib.h>
+#include <IOKit/hid/IOHIDDevice.h>
+
+struct usb_list_struct {
+ IOHIDDeviceRef ref;
+ int pid;
+ int vid;
+ struct usb_list_struct *next;
+};
+
+static struct usb_list_struct *usb_list=NULL;
+static IOHIDManagerRef hid_manager=NULL;
+
+void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
+{
+ CFTypeRef type;
+ struct usb_list_struct *n, *p;
+ int32_t pid, vid;
+
+ if (!dev) return;
+ type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDVendorIDKey));
+ if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
+ if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &vid)) return;
+ type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDProductIDKey));
+ if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
+ if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &pid)) return;
+ n = (struct usb_list_struct *)malloc(sizeof(struct usb_list_struct));
+ if (!n) return;
+ //printf("attach callback: vid=%04X, pid=%04X\n", vid, pid);
+ n->ref = dev;
+ n->vid = vid;
+ n->pid = pid;
+ n->next = NULL;
+ if (usb_list == NULL) {
+ usb_list = n;
+ } else {
+ for (p = usb_list; p->next; p = p->next) ;
+ p->next = n;
+ }
+}
+
+void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
+{
+ struct usb_list_struct *p, *tmp, *prev=NULL;
+
+ p = usb_list;
+ while (p) {
+ if (p->ref == dev) {
+ if (prev) {
+ prev->next = p->next;
+ } else {
+ usb_list = p->next;
+ }
+ tmp = p;
+ p = p->next;
+ free(tmp);
+ } else {
+ prev = p;
+ p = p->next;
+ }
+ }
+}
+
+void init_hid_manager(void)
+{
+ CFMutableDictionaryRef dict;
+ IOReturn ret;
+
+ if (hid_manager) return;
+ hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
+ if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
+ if (hid_manager) CFRelease(hid_manager);
+ printf_verbose("no HID Manager - maybe this is a pre-Leopard (10.5) system?\n");
+ return;
+ }
+ dict = CFDictionaryCreateMutable(kCFAllocatorDefault, 0,
+ &kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
+ if (!dict) return;
+ IOHIDManagerSetDeviceMatching(hid_manager, dict);
+ CFRelease(dict);
+ IOHIDManagerScheduleWithRunLoop(hid_manager, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
+ IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, attach_callback, NULL);
+ IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
+ ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
+ if (ret != kIOReturnSuccess) {
+ IOHIDManagerUnscheduleFromRunLoop(hid_manager,
+ CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
+ CFRelease(hid_manager);
+ printf_verbose("Error opening HID Manager\n");
+ }
+}
+
+static void do_run_loop(void)
+{
+ while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
+}
+
+IOHIDDeviceRef open_usb_device(int vid, int pid)
+{
+ struct usb_list_struct *p;
+ IOReturn ret;
+
+ init_hid_manager();
+ do_run_loop();
+ for (p = usb_list; p; p = p->next) {
+ if (p->vid == vid && p->pid == pid) {
+ ret = IOHIDDeviceOpen(p->ref, kIOHIDOptionsTypeNone);
+ if (ret == kIOReturnSuccess) return p->ref;
+ }
+ }
+ return NULL;
+}
+
+void close_usb_device(IOHIDDeviceRef dev)
+{
+ struct usb_list_struct *p;
+
+ do_run_loop();
+ for (p = usb_list; p; p = p->next) {
+ if (p->ref == dev) {
+ IOHIDDeviceClose(dev, kIOHIDOptionsTypeNone);
+ return;
+ }
+ }
+}
+
+static IOHIDDeviceRef iokit_teensy_reference = NULL;
+
+int teensy_open(void)
+{
+ teensy_close();
+ iokit_teensy_reference = open_usb_device(0x16C0, 0x0478);
+ if (iokit_teensy_reference) return 1;
+ return 0;
+}
+
+int teensy_write(void *buf, int len, double timeout)
+{
+ IOReturn ret;
+
+ // timeouts do not work on OS-X
+ // IOHIDDeviceSetReportWithCallback is not implemented
+ // even though Apple documents it with a code example!
+ // submitted to Apple on 22-sep-2009, problem ID 7245050
+ if (!iokit_teensy_reference) return 0;
+
+ double start = CFAbsoluteTimeGetCurrent();
+ while (CFAbsoluteTimeGetCurrent() - timeout < start) {
+ ret = IOHIDDeviceSetReport(iokit_teensy_reference,
+ kIOHIDReportTypeOutput, 0, buf, len);
+ if (ret == kIOReturnSuccess) return 1;
+ usleep(10000);
+ }
+
+ return 0;
+}
+
+void teensy_close(void)
+{
+ if (!iokit_teensy_reference) return;
+ close_usb_device(iokit_teensy_reference);
+ iokit_teensy_reference = NULL;
+}
+
+int hard_reboot(void)
+{
+ IOHIDDeviceRef rebootor;
+ IOReturn ret;
+
+ rebootor = open_usb_device(0x16C0, 0x0477);
+ if (!rebootor) return 0;
+ ret = IOHIDDeviceSetReport(rebootor,
+ kIOHIDReportTypeOutput, 0, (uint8_t *)("reboot"), 6);
+ close_usb_device(rebootor);
+ if (ret == kIOReturnSuccess) return 1;
+ return 0;
+}
+
+int soft_reboot(void)
+{
+ printf("Soft reboot is not implemented for OSX\n");
+ return 0;
+}
+
+#endif
+
+
+
+/****************************************************************/
+/* */
+/* USB Access - BSD's UHID driver */
+/* */
+/****************************************************************/
+
+#if defined(USE_UHID)
+
+// Thanks to Todd T Fries for help getting this working on OpenBSD
+// and to Chris Kuethe for the initial patch to use UHID.
+
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <dirent.h>
+#include <dev/usb/usb.h>
+#ifndef USB_GET_DEVICEINFO
+#include <dev/usb/usb_ioctl.h>
+#endif
+
+int open_usb_device(int vid, int pid)
+{
+ int r, fd;
+ DIR *dir;
+ struct dirent *d;
+ struct usb_device_info info;
+ char buf[256];
+
+ dir = opendir("/dev");
+ if (!dir) return -1;
+ while ((d = readdir(dir)) != NULL) {
+ if (strncmp(d->d_name, "uhid", 4) != 0) continue;
+ snprintf(buf, sizeof(buf), "/dev/%s", d->d_name);
+ fd = open(buf, O_RDWR);
+ if (fd < 0) continue;
+ r = ioctl(fd, USB_GET_DEVICEINFO, &info);
+ if (r < 0) {
+ // NetBSD: added in 2004
+ // OpenBSD: added November 23, 2009
+ // FreeBSD: missing (FreeBSD 8.0) - USE_LIBUSB works!
+ die("Error: your uhid driver does not support"
+ " USB_GET_DEVICEINFO, please upgrade!\n");
+ close(fd);
+ closedir(dir);
+ exit(1);
+ }
+ //printf("%s: v=%d, p=%d\n", buf, info.udi_vendorNo, info.udi_productNo);
+ if (info.udi_vendorNo == vid && info.udi_productNo == pid) {
+ closedir(dir);
+ return fd;
+ }
+ close(fd);
+ }
+ closedir(dir);
+ return -1;
+}
+
+static int uhid_teensy_fd = -1;
+
+int teensy_open(void)
+{
+ teensy_close();
+ uhid_teensy_fd = open_usb_device(0x16C0, 0x0478);
+ if (uhid_teensy_fd < 0) return 0;
+ return 1;
+}
+
+int teensy_write(void *buf, int len, double timeout)
+{
+ int r;
+
+ // TODO: imeplement timeout... how??
+ r = write(uhid_teensy_fd, buf, len);
+ if (r == len) return 1;
+ return 0;
+}
+
+void teensy_close(void)
+{
+ if (uhid_teensy_fd >= 0) {
+ close(uhid_teensy_fd);
+ uhid_teensy_fd = -1;
+ }
+}
+
+int hard_reboot(void)
+{
+ int r, rebootor_fd;
+
+ rebootor_fd = open_usb_device(0x16C0, 0x0477);
+ if (rebootor_fd < 0) return 0;
+ r = write(rebootor_fd, "reboot", 6);
+ delay(0.1);
+ close(rebootor_fd);
+ if (r == 6) return 1;
+ return 0;
+}
+
+int soft_reboot(void)
+{
+ printf("Soft reboot is not implemented for UHID\n");
+ return 0;
+}
+
+#endif
+
+
+
+/****************************************************************/
+/* */
+/* Read Intel Hex File */
+/* */
+/****************************************************************/
+
+// the maximum flash image size we can support
+// chips with larger memory may be used, but only this
+// much intel-hex data can be loaded into memory!
+#define MAX_MEMORY_SIZE 0x100000
+
+static unsigned char firmware_image[MAX_MEMORY_SIZE];
+static unsigned char firmware_mask[MAX_MEMORY_SIZE];
+static int end_record_seen=0;
+static int byte_count;
+static unsigned int extended_addr = 0;
+static int parse_hex_line(char *line);
+
+int read_intel_hex(const char *filename)
+{
+ FILE *fp;
+ int i, lineno=0;
+ char buf[1024];
+
+ byte_count = 0;
+ end_record_seen = 0;
+ for (i=0; i<MAX_MEMORY_SIZE; i++) {
+ firmware_image[i] = 0xFF;
+ firmware_mask[i] = 0;
+ }
+ extended_addr = 0;
+
+ fp = fopen(filename, "r");
+ if (fp == NULL) {
+ //printf("Unable to read file %s\n", filename);
+ return -1;
+ }
+ while (!feof(fp)) {
+ *buf = '\0';
+ if (!fgets(buf, sizeof(buf), fp)) break;
+ lineno++;
+ if (*buf) {
+ if (parse_hex_line(buf) == 0) {
+ printf("Warning, HEX parse error line %d\n", lineno);
+ return -2;
+ }
+ }
+ if (end_record_seen) break;
+ if (feof(stdin)) break;
+ }
+ fclose(fp);
+ return byte_count;
+}
+
+
+/* from ihex.c, at http://www.pjrc.com/tech/8051/pm2_docs/intel-hex.html */
+
+/* parses a line of intel hex code, stores the data in bytes[] */
+/* and the beginning address in addr, and returns a 1 if the */
+/* line was valid, or a 0 if an error occured. The variable */
+/* num gets the number of bytes that were stored into bytes[] */
+
+
+int
+parse_hex_line(char *line)
+{
+ int addr, code, num;
+ int sum, len, cksum, i;
+ char *ptr;
+
+ num = 0;
+ if (line[0] != ':') return 0;
+ if (strlen(line) < 11) return 0;
+ ptr = line+1;
+ if (!sscanf(ptr, "%02x", &len)) return 0;
+ ptr += 2;
+ if ((int)strlen(line) < (11 + (len * 2)) ) return 0;
+ if (!sscanf(ptr, "%04x", &addr)) return 0;
+ ptr += 4;
+ /* printf("Line: length=%d Addr=%d\n", len, addr); */
+ if (!sscanf(ptr, "%02x", &code)) return 0;
+ if (addr + extended_addr + len >= MAX_MEMORY_SIZE) return 0;
+ ptr += 2;
+ sum = (len & 255) + ((addr >> 8) & 255) + (addr & 255) + (code & 255);
+ if (code != 0) {
+ if (code == 1) {
+ end_record_seen = 1;
+ return 1;
+ }
+ if (code == 2 && len == 2) {
+ if (!sscanf(ptr, "%04x", &i)) return 1;
+ ptr += 4;
+ sum += ((i >> 8) & 255) + (i & 255);
+ if (!sscanf(ptr, "%02x", &cksum)) return 1;
+ if (((sum & 255) + (cksum & 255)) & 255) return 1;
+ extended_addr = i << 4;
+ //printf("ext addr = %05X\n", extended_addr);
+ }
+ if (code == 4 && len == 2) {
+ if (!sscanf(ptr, "%04x", &i)) return 1;
+ ptr += 4;
+ sum += ((i >> 8) & 255) + (i & 255);
+ if (!sscanf(ptr, "%02x", &cksum)) return 1;
+ if (((sum & 255) + (cksum & 255)) & 255) return 1;
+ extended_addr = i << 16;
+ //printf("ext addr = %08X\n", extended_addr);
+ }
+ return 1; // non-data line
+ }
+ byte_count += len;
+ while (num != len) {
+ if (sscanf(ptr, "%02x", &i) != 1) return 0;
+ i &= 255;
+ firmware_image[addr + extended_addr + num] = i;
+ firmware_mask[addr + extended_addr + num] = 1;
+ ptr += 2;
+ sum += i;
+ (num)++;
+ if (num >= 256) return 0;
+ }
+ if (!sscanf(ptr, "%02x", &cksum)) return 0;
+ if (((sum & 255) + (cksum & 255)) & 255) return 0; /* checksum error */
+ return 1;
+}
+
+int ihex_bytes_within_range(int begin, int end)
+{
+ int i;
+
+ if (begin < 0 || begin >= MAX_MEMORY_SIZE ||
+ end < 0 || end >= MAX_MEMORY_SIZE) {
+ return 0;
+ }
+ for (i=begin; i<=end; i++) {
+ if (firmware_mask[i]) return 1;
+ }
+ return 0;
+}
+
+void ihex_get_data(int addr, int len, unsigned char *bytes)
+{
+ int i;
+
+ if (addr < 0 || len < 0 || addr + len >= MAX_MEMORY_SIZE) {
+ for (i=0; i<len; i++) {
+ bytes[i] = 255;
+ }
+ return;
+ }
+ for (i=0; i<len; i++) {
+ if (firmware_mask[addr]) {
+ bytes[i] = firmware_image[addr];
+ } else {
+ bytes[i] = 255;
+ }
+ addr++;
+ }
+}
+
+int memory_is_blank(int addr, int block_size)
+{
+ if (addr < 0 || addr > MAX_MEMORY_SIZE) return 1;
+
+ while (block_size && addr < MAX_MEMORY_SIZE) {
+ if (firmware_mask[addr] && firmware_image[addr] != 255) return 0;
+ addr++;
+ block_size--;
+ }
+ return 1;
+}
+
+
+
+
+/****************************************************************/
+/* */
+/* Misc Functions */
+/* */
+/****************************************************************/
+
+int printf_verbose(const char *format, ...)
+{
+ va_list ap;
+ int r;
+
+ va_start(ap, format);
+ if (verbose) {
+ r = vprintf(format, ap);
+ fflush(stdout);
+ return r;
+ }
+ return 0;
+}
+
+void delay(double seconds)
+{
+ #ifdef WIN32
+ Sleep(seconds * 1000.0);
+ #else
+ usleep(seconds * 1000000.0);
+ #endif
+}
+
+void die(const char *str, ...)
+{
+ va_list ap;
+
+ va_start(ap, str);
+ vfprintf(stderr, str, ap);
+ fprintf(stderr, "\n");
+ exit(1);
+}
+
+#if defined(WIN32)
+#define strcasecmp stricmp
+#endif
+
+
+static const struct {
+ const char *name;
+ int code_size;
+ int block_size;
+} MCUs[] = {
+ {"at90usb162", 15872, 128},
+ {"atmega32u4", 32256, 128},
+ {"at90usb646", 64512, 256},
+ {"at90usb1286", 130048, 256},
+#if defined(USE_LIBUSB) || defined(USE_APPLE_IOKIT) || defined(USE_WIN32)
+ {"mkl26z64", 63488, 512},
+ {"mk20dx128", 131072, 1024},
+ {"mk20dx256", 262144, 1024},
+ {"mk66fx1m0", 1048576, 1024},
+ {"mk64fx512", 524288, 1024},
+
+ // Add duplicates that match friendly Teensy Names
+ // Match board names in boards.txt
+ {"TEENSY2", 32256, 128},
+ {"TEENSY2PP", 130048, 256},
+ {"TEENSYLC", 63488, 512},
+ {"TEENSY30", 131072, 1024},
+ {"TEENSY31", 262144, 1024},
+ {"TEENSY35", 524288, 1024},
+ {"TEENSY36", 1048576, 1024},
+#endif
+ {NULL, 0, 0},
+};
+
+
+void list_mcus()
+{
+ int i;
+ printf("Supported MCUs are:\n");
+ for(i=0; MCUs[i].name != NULL; i++)
+ printf(" - %s\n", MCUs[i].name);
+ exit(1);
+}
+
+
+void read_mcu(char *name)
+{
+ int i;
+
+ if(name == NULL) {
+ fprintf(stderr, "No MCU specified.\n");
+ list_mcus();
+ }
+
+ for(i=0; MCUs[i].name != NULL; i++) {
+ if(strcasecmp(name, MCUs[i].name) == 0) {
+ code_size = MCUs[i].code_size;
+ block_size = MCUs[i].block_size;
+ return;
+ }
+ }
+
+ fprintf(stderr, "Unknown MCU type \"%s\"\n", name);
+ list_mcus();
+}
+
+
+void parse_flag(char *arg)
+{
+ int i;
+ for(i=1; arg[i]; i++) {
+ switch(arg[i]) {
+ case 'w': wait_for_device_to_appear = 1; break;
+ case 'r': hard_reboot_device = 1; break;
+ case 's': soft_reboot_device = 1; break;
+ case 'n': reboot_after_programming = 0; break;
+ case 'v': verbose = 1; break;
+ case 'b': boot_only = 1; break;
+ default:
+ fprintf(stderr, "Unknown flag '%c'\n\n", arg[i]);
+ usage(NULL);
+ }
+ }
+}
+
+
+void parse_options(int argc, char **argv)
+{
+ int i;
+ char *arg;
+
+ for (i=1; i<argc; i++) {
+ arg = argv[i];
+
+ //backward compatibility with previous versions.
+ if(strncmp(arg, "-mmcu=", 6) == 0) {
+ read_mcu(strchr(arg, '=') + 1);
+ }
+
+ else if(arg[0] == '-') {
+ if(arg[1] == '-') {
+ char *name = &arg[2];
+ char *val = strchr(name, '=');
+ if(val == NULL) {
+ //value must be the next string.
+ val = argv[++i];
+ }
+ else {
+ //we found an =, so split the string at it.
+ *val = '\0';
+ val = &val[1];
+ }
+
+ if(strcasecmp(name, "help") == 0) usage(NULL);
+ else if(strcasecmp(name, "mcu") == 0) read_mcu(val);
+ else if(strcasecmp(name, "list-mcus") == 0) list_mcus();
+ else {
+ fprintf(stderr, "Unknown option \"%s\"\n\n", arg);
+ usage(NULL);
+ }
+ }
+ else parse_flag(arg);
+ }
+ else filename = arg;
+ }
+}
+
+void boot(unsigned char *buf, int write_size)
+{
+ printf_verbose("Booting\n");
+ memset(buf, 0, write_size);
+ buf[0] = 0xFF;
+ buf[1] = 0xFF;
+ buf[2] = 0xFF;
+ teensy_write(buf, write_size, 0.5);
+}