lejos.pc.comm
Class NXTSamba

java.lang.Object
  lejos.pc.comm.NXTSamba

public class NXTSamba
extends java.lang.Object

Implements a sub-set of the Atmel SAM-BA download protocol. Only those functions required for program download to the NXT flash are currently implemented.

Field Summary

static int	FLASH_BASE The NXT has 256KB Flash starting at 0x100000, divided into 256byte pages.
static int	FLASH_MAX
static int	PAGE_SIZE

Constructor Summary

NXTSamba()

Method Summary

void	close() Close the device.
java.io.InputStream	createInputStream(int addr, int len)
java.lang.String	getVersion() returns the SAM-BA version string for the current device.
void	jump(int addr) Start execution of code at the specified address.
boolean	open(NXTInfo nxt) Open the specified USB device and check that it is in SAM-BA mode.
void	readBytes(int addr, byte[] data, int off, int len) Read a 32 bit word from the specified address.
int	readHalfword(int addr) Read a 16 bit halfword from the specified address.
int	readOctet(int addr) Read a 8 bit octet from the specified address.
void	readPage(int page, byte[] data, int offset) Read a single page from flash memory.
void	readPages(int first, byte[] data, int start, int len) Read a series of pages from flash memory.
int	readWord(int addr) Read a 32 bit word from the specified address.
void	reboot()
NXTInfo[]	search() Locate all NXT devices that are running in SAM-BA mode.
void	unlockAllPages() Turn off the lock bits for all of flash memory.
void	writeBytes(int addr, byte[] data) Write a series of bytes to the device.
void	writeHalfword(int addr, int val) Write a 16 bit halfword to the specified address.
void	writeOctet(int addr, int val) Write a 8 bit octet to the specified address.
void	writePage(int page, byte[] data, int offset) Write a single page to flash memory.
void	writePage(int page, byte[] data, int offset, int len) Write a single page to flash memory.
void	writePages(int first, byte[] data, int start, int len) Write a series of pages to flash memory.
void	writeWord(int addr, int val) Write a 32 bit word to the specified address.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

FLASH_BASE

public static final int FLASH_BASE

The NXT has 256KB Flash starting at 0x100000, divided into 256byte pages.

See Also:

Constant Field Values

FLASH_MAX

public static final int FLASH_MAX

See Also:

Constant Field Values

PAGE_SIZE

public static final int PAGE_SIZE

See Also:

Constant Field Values

Constructor Detail

NXTSamba

public NXTSamba()

Method Detail

search

public NXTInfo[] search()
                 throws NXTCommException

Locate all NXT devices that are running in SAM-BA mode.

Returns:

An array of devices in SAM-BA mode

Throws:

NXTCommException

writeOctet

public void writeOctet(int addr,
                       int val)
                throws java.io.IOException

Write a 8 bit octet to the specified address.

Parameters:

addr -

val -

Throws:

java.io.IOException

writeHalfword

public void writeHalfword(int addr,
                          int val)
                   throws java.io.IOException

Write a 16 bit halfword to the specified address.

Parameters:

addr -

val -

Throws:

java.io.IOException

writeWord

public void writeWord(int addr,
                      int val)
               throws java.io.IOException

Write a 32 bit word to the specified address.

Parameters:

addr -

val -

Throws:

java.io.IOException

readOctet

public int readOctet(int addr)
              throws java.io.IOException

Read a 8 bit octet from the specified address.

Parameters:

addr -

Returns:

value read from addr

Throws:

java.io.IOException

readHalfword

public int readHalfword(int addr)
                 throws java.io.IOException

Read a 16 bit halfword from the specified address.

Parameters:

addr -

Returns:

value read from addr

Throws:

java.io.IOException

readWord

public int readWord(int addr)
             throws java.io.IOException

Read a 32 bit word from the specified address.

Parameters:

addr -

Returns:

value read from addr

Throws:

java.io.IOException

createInputStream

public java.io.InputStream createInputStream(int addr,
                                             int len)
                                      throws java.io.IOException

Throws:

java.io.IOException

readBytes

public void readBytes(int addr,
                      byte[] data,
                      int off,
                      int len)
               throws java.io.IOException

Read a 32 bit word from the specified address.

Parameters:

addr -

data - the return data

off - the offset

len - the length

Throws:

java.io.IOException

writeBytes

public void writeBytes(int addr,
                       byte[] data)
                throws java.io.IOException

Write a series of bytes to the device.

Parameters:

addr -

data -

Throws:

java.io.IOException

jump

public void jump(int addr)
          throws java.io.IOException

Start execution of code at the specified address.

Parameters:

addr -

Throws:

java.io.IOException

reboot

public void reboot()
            throws java.io.IOException

Throws:

java.io.IOException

unlockAllPages

public void unlockAllPages()
                    throws java.io.IOException

Turn off the lock bits for all of flash memory.

Throws:

java.io.IOException

writePage

public void writePage(int page,
                      byte[] data,
                      int offset)
               throws java.io.IOException

Write a single page to flash memory. We write the page to ram and then use the FlashWriter code to transfer this data to flash. The FlashWriter code must have already been downloaded.

Parameters:

page -

data -

offset -

Throws:

java.io.IOException

writePage

public void writePage(int page,
                      byte[] data,
                      int offset,
                      int len)
               throws java.io.IOException

Write a single page to flash memory. We write the page to ram and then use the FlashWriter code to transfer this data to flash. The FlashWriter code must have already been downloaded.

Parameters:

page -

data -

offset -

len -

Throws:

java.io.IOException

writePages

public void writePages(int first,
                       byte[] data,
                       int start,
                       int len)
                throws java.io.IOException

Write a series of pages to flash memory.

Parameters:

first -

data -

start -

len -

Throws:

java.io.IOException

readPage

public void readPage(int page,
                     byte[] data,
                     int offset)
              throws java.io.IOException

Read a single page from flash memory.

Parameters:

page -

data -

offset -

Throws:

java.io.IOException

readPages

public void readPages(int first,
                      byte[] data,
                      int start,
                      int len)
               throws java.io.IOException

Read a series of pages from flash memory.

Parameters:

first -

data -

start -

len -

Throws:

java.io.IOException

open

public boolean open(NXTInfo nxt)
             throws java.io.IOException

Open the specified USB device and check that it is in SAM-BA mode. We switch the device into "quiet" mode and also download the FlashWrite program.

Parameters:

nxt - Device to open.

Returns:

true if the device is now open, false otherwise.

Throws:

java.io.IOException

close

public void close()

Close the device.

getVersion

public java.lang.String getVersion()
                            throws java.io.IOException

returns the SAM-BA version string for the current device.

Returns:

The SAM-BA version.

Throws:

java.io.IOException