Hi,
recently LEGO brought out version 2.0 of their Robotics Invention
System, which contains a so-called USB Tower to communicate with
the programmable brick (called RCX) via infrared at 2400 baud.
Now obviously we need a Linux USB driver for this beast,
to make all those people buying RIS 2.0 happy and avoid
that they turn to some other OS ;-)
Currently we are two (Brendan and me) who have started
thinking about it.
Our problem is that this device uses interrupt transfers
instead of bulk transfers to communicate, and there doesn't
seem to be an obvious other driver to adapt. Especially
for sending data via interrupt transfers there seems to be
no example, the other devices use bulk transfers there.
Apart from that it seems very simple, the data transferred
is exactly the data that get sent via IR, no funny encoding
or the like. As I understand it the Linux driver must
interface to either the file or the tty interface above and
to the USB interface below, and basically hand through the
data with minimal extra complications.
Specific questions:
- Is there anybody else working on this?
- What would be the best existing driver(s) to start from?
- Is there documentation somewhere on the USB driver interface?
The file/tty interfaces (apart from the man pages for read,...)?
- What about packets longer than the limit specified in
the configuration (8 bytes here), who's responsible
for splitting larger data packets? Can the USB core do it?
- Is the file interface ok for this, or will we need the
flow control in the more complicated tty interface?
- Are IOCTLs the right thing to switch between configurations?
Here we have four, two speeds (RCX/VLL) times two power levels
(low/high).
- Is the first configuration enabled by default (* in /proc/usb/devices)?
That would already make it work for most people.
FYI, here is what /proc/usb/devices says:
T: Bus=01 Lev=00 Prnt=00 Port=00 Cnt=00 Dev#= 1 Spd=12 MxCh= 2
B: Alloc= 0/900 us ( 0%), #Int= 0, #Iso= 0
D: Ver= 1.00 Cls=09(hub ) Sub=00 Prot=00 MxPS= 8 #Cfgs= 1
P: Vendor=0000 ProdID=0000 Rev= 0.00
S: Product=USB UHCI-alt Root Hub
S: SerialNumber=fce0
C:* #Ifs= 1 Cfg#= 1 Atr=40 MxPwr= 0mA
I: If#= 0 Alt= 0 #EPs= 1 Cls=09(hub ) Sub=00 Prot=00 Driver=hub
E: Ad=81(I) Atr=03(Int.) MxPS= 8 Ivl=255ms
T: Bus=01 Lev=01 Prnt=01 Port=00 Cnt=01 Dev#= 2 Spd=1.5 MxCh= 0
D: Ver= 1.10 Cls=ff(vend.) Sub=00 Prot=00 MxPS= 8 #Cfgs= 4
P: Vendor=0694 ProdID=0001 Rev= 1.00
S: Manufacturer=LEGO Group
S: Product=LEGO USB Tower
C:* #Ifs= 1 Cfg#= 1 Atr=80 MxPwr=100mA
I: If#= 0 Alt= 0 #EPs= 2 Cls=ff(vend.) Sub=00 Prot=ff Driver=(none)
E: Ad=81(I) Atr=03(Int.) MxPS= 8 Ivl= 1ms
E: Ad=02(O) Atr=03(Int.) MxPS= 8 Ivl= 1ms
C: #Ifs= 1 Cfg#= 2 Atr=80 MxPwr=500mA
I: If#= 0 Alt= 0 #EPs= 2 Cls=ff(vend.) Sub=00 Prot=ff Driver=(none)
E: Ad=81(I) Atr=03(Int.) MxPS= 8 Ivl= 1ms
E: Ad=02(O) Atr=03(Int.) MxPS= 8 Ivl= 1ms
C: #Ifs= 1 Cfg#= 3 Atr=80 MxPwr=100mA
I: If#= 0 Alt= 0 #EPs= 2 Cls=ff(vend.) Sub=00 Prot=ff Driver=(none)
E: Ad=81(I) Atr=03(Int.) MxPS= 8 Ivl= 10ms
E: Ad=02(O) Atr=03(Int.) MxPS= 8 Ivl= 10ms
C: #Ifs= 1 Cfg#= 4 Atr=80 MxPwr=500mA
I: If#= 0 Alt= 0 #EPs= 2 Cls=ff(vend.) Sub=00 Prot=ff Driver=(none)
E: Ad=81(I) Atr=03(Int.) MxPS= 8 Ivl= 10ms
E: Ad=02(O) Atr=03(Int.) MxPS= 8 Ivl= 10ms
Here's a typical snippet from a log:
00011399 318.44869120 >>>>>>> URB 496 going down...
00011400 318.44873120 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011401 318.44875920 PipeHandle = c1554f8c
00011402 318.44880960 TransferFlags = 00000000
(USBD_TRANSFER_DIRECTION_OUT, ~USBD_SHORT_TRANSFER_OK)
00011403 318.44883840 TransferBufferLength = 0000000d
00011404 318.44886400 TransferBuffer = 035508d0
00011405 318.44889520 TransferBufferMDL = 00000000
00011406 318.44890960
00011407 318.44892080 0000:
00011408 318.44906720 55 ff 00 63 9c b0 4f c8 37 01 fe dc 23
00011409 318.44909200 UrbLink = 00000000
00011410 318.45130960
00011411 318.45131840 <<<<<<< URB 496 coming back...
00011412 318.45136880 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011413 318.45139600 PipeHandle = c1554f8c
00011414 318.45144800 TransferFlags = 00000000
(USBD_TRANSFER_DIRECTION_OUT, ~USBD_SHORT_TRANSFER_OK)
00011415 318.45147200 TransferBufferLength = 0000000d
00011416 318.45149920 TransferBuffer = 035508d0
00011417 318.45152560 TransferBufferMDL = c15c2da0
00011418 318.45154960 UrbLink = 00000000
00011419 318.52193680
00011420 318.52194560 <<<<<<< URB 495 coming back...
00011421 318.52198880 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011422 318.52201680 PipeHandle = c1554f78
00011423 318.52206000 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011424 318.52208400 TransferBufferLength = 00000001
00011425 318.52211040 TransferBuffer = c15aabd8
00011426 318.52214160 TransferBufferMDL = c15bd220
00011427 318.52215680
00011428 318.52216640 0000:
00011429 318.52218560 55
00011430 318.52220960 UrbLink = 00000000
00011431 318.52227680 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011432 318.52230080
00011433 318.52230720 >>>>>>> URB 497 going down...
00011434 318.52234160 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011435 318.52236880 PipeHandle = c1554f78
00011436 318.52241280 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011437 318.52244400 TransferBufferLength = 00000008
00011438 318.52247040 TransferBuffer = c15aabd8
00011439 318.52249360 TransferBufferMDL = 00000000
00011440 318.52251760 UrbLink = 00000000
00011441 318.52669520
00011442 318.52670160 <<<<<<< URB 497 coming back...
00011443 318.52675120 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011444 318.52677920 PipeHandle = c1554f78
00011445 318.52682240 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011446 318.52684720 TransferBufferLength = 00000001
00011447 318.52687280 TransferBuffer = c15aabd8
00011448 318.52690400 TransferBufferMDL = c15bd220
00011449 318.52691840
00011450 318.52692960 0000:
00011451 318.52694880 ff
00011452 318.52697280 UrbLink = 00000000
00011453 318.52703600 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011454 318.52706080
00011455 318.52706720 >>>>>>> URB 498 going down...
00011456 318.52709840 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011457 318.52712480 PipeHandle = c1554f78
00011458 318.52716800 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011459 318.52719200 TransferBufferLength = 00000008
00011460 318.52721760 TransferBuffer = c15aabd8
00011461 318.52724160 TransferBufferMDL = 00000000
00011462 318.52727040 UrbLink = 00000000
00011463 318.53050320
00011464 318.53050960 <<<<<<< URB 498 coming back...
00011465 318.53054720 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011466 318.53058560 PipeHandle = c1554f78
00011467 318.53062880 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011468 318.53065360 TransferBufferLength = 00000001
00011469 318.53067920 TransferBuffer = c15aabd8
00011470 318.53070640 TransferBufferMDL = c15bd220
00011471 318.53072640
00011472 318.53073440 0000:
00011473 318.53075600 00
00011474 318.53078000 UrbLink = 00000000
00011475 318.53084240 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011476 318.53086800
00011477 318.53087360 >>>>>>> URB 499 going down...
00011478 318.53090640 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011479 318.53093280 PipeHandle = c1554f78
00011480 318.53097600 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011481 318.53099920 TransferBufferLength = 00000008
00011482 318.53102640 TransferBuffer = c15aabd8
00011483 318.53105040 TransferBufferMDL = 00000000
00011484 318.53107920 UrbLink = 00000000
00011485 318.53528080
00011486 318.53528720 <<<<<<< URB 499 coming back...
00011487 318.53531920 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011488 318.53536080 PipeHandle = c1554f78
00011489 318.53540880 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011490 318.53543360 TransferBufferLength = 00000001
00011491 318.53545920 TransferBuffer = c15aabd8
00011492 318.53548640 TransferBufferMDL = c15bd220
00011493 318.53550080
00011494 318.53550640 0000:
00011495 318.53552560 9c
00011496 318.53554880 UrbLink = 00000000
00011497 318.53561120 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011498 318.53563520
00011499 318.53564080 >>>>>>> URB 500 going down...
00011500 318.53567520 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011501 318.53570240 PipeHandle = c1554f78
00011502 318.53574480 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011503 318.53576880 TransferBufferLength = 00000008
00011504 318.53580000 TransferBuffer = c15aabd8
00011505 318.53582320 TransferBufferMDL = 00000000
00011506 318.53584720 UrbLink = 00000000
00011507 318.53909040
00011508 318.53909680 <<<<<<< URB 500 coming back...
00011509 318.53913360 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011510 318.53916880 PipeHandle = c1554f78
00011511 318.53921840 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011512 318.53924320 TransferBufferLength = 00000001
00011513 318.53926880 TransferBuffer = c15aabd8
00011514 318.53929520 TransferBufferMDL = c15bd220
00011515 318.53930960
00011516 318.53931520 0000:
00011517 318.53933440 63
00011518 318.53935840 UrbLink = 00000000
00011519 318.53942000 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011520 318.53944400
00011521 318.53945040 >>>>>>> URB 501 going down...
00011522 318.53948400 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011523 318.53951040 PipeHandle = c1554f78
00011524 318.53955280 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011525 318.53957680 TransferBufferLength = 00000008
00011526 318.53960880 TransferBuffer = c15aabd8
00011527 318.53963200 TransferBufferMDL = 00000000
00011528 318.53965600 UrbLink = 00000000
00011529 318.54387200
00011530 318.54387920 <<<<<<< URB 501 coming back...
00011531 318.54392240 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011532 318.54395040 PipeHandle = c1554f78
00011533 318.54399360 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011534 318.54402400 TransferBufferLength = 00000001
00011535 318.54404960 TransferBuffer = c15aabd8
00011536 318.54407600 TransferBufferMDL = c15bd220
00011537 318.54409040
00011538 318.54409520 0000:
00011539 318.54411440 01
00011540 318.54413840 UrbLink = 00000000
00011541 318.54420160 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011542 318.54422640
00011543 318.54423200 >>>>>>> URB 502 going down...
00011544 318.54426560 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011545 318.54429200 PipeHandle = c1554f78
00011546 318.54433440 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011547 318.54435840 TransferBufferLength = 00000008
00011548 318.54438560 TransferBuffer = c15aabd8
00011549 318.54441440 TransferBufferMDL = 00000000
00011550 318.54443760 UrbLink = 00000000
00011551 318.54864480
00011552 318.54865600 <<<<<<< URB 502 coming back...
00011553 318.54870000 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011554 318.54872720 PipeHandle = c1554f78
00011555 318.54877040 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011556 318.54879600 TransferBufferLength = 00000001
00011557 318.54882160 TransferBuffer = c15aabd8
00011558 318.54885280 TransferBufferMDL = c15bd220
00011559 318.54887280
00011560 318.54887760 0000:
00011561 318.54889680 fe
00011562 318.54892080 UrbLink = 00000000
00011563 318.54898400 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011564 318.54900880
00011565 318.54901520 >>>>>>> URB 503 going down...
00011566 318.54904560 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011567 318.54907280 PipeHandle = c1554f78
00011568 318.54911520 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011569 318.54913920 TransferBufferLength = 00000008
00011570 318.54916640 TransferBuffer = c15aabd8
00011571 318.54918960 TransferBufferMDL = 00000000
00011572 318.54921920 UrbLink = 00000000
00011573 318.55247920
00011574 318.55249040 <<<<<<< URB 503 coming back...
00011575 318.55254000 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011576 318.55256880 PipeHandle = c1554f78
00011577 318.55262240 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011578 318.55264880 TransferBufferLength = 00000001
00011579 318.55267440 TransferBuffer = c15aabd8
00011580 318.55270560 TransferBufferMDL = c15bd220
00011581 318.55272480
00011582 318.55273040 0000:
00011583 318.55274880 9d
00011584 318.55277280 UrbLink = 00000000
00011585 318.55284640 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011586 318.55287600
00011587 318.55288240 >>>>>>> URB 504 going down...
00011588 318.55291200 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011589 318.55294480 PipeHandle = c1554f78
00011590 318.55299280 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011591 318.55301680 TransferBufferLength = 00000008
00011592 318.55304240 TransferBuffer = c15aabd8
00011593 318.55307120 TransferBufferMDL = 00000000
00011594 318.55309520 UrbLink = 00000000
00011595 318.55725120
00011596 318.55725840 <<<<<<< URB 504 coming back...
00011597 318.55730640 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011598 318.55733920 PipeHandle = c1554f78
00011599 318.55738240 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011600 318.55740960 TransferBufferLength = 00000001
00011601 318.55743520 TransferBuffer = c15aabd8
00011602 318.55746640 TransferBufferMDL = c15bd220
00011603 318.55748080
00011604 318.55749120 0000:
00011605 318.55751040 62
00011606 318.55753360 UrbLink = 00000000
00011607 318.55759600 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
00011608 318.55761920
00011609 318.55762560 >>>>>>> URB 505 going down...
00011610 318.55765440 -- URB_FUNCTION_BULK_OR_INTERRUPT_TRANSFER:
00011611 318.55768560 PipeHandle = c1554f78
00011612 318.55773280 TransferFlags = 00000003
(USBD_TRANSFER_DIRECTION_IN, USBD_SHORT_TRANSFER_OK)
00011613 318.55775680 TransferBufferLength = 00000008
00011614 318.55778240 TransferBuffer = c15aabd8
00011615 318.55781200 TransferBufferMDL = 00000000
00011616 318.55783600 UrbLink = 00000000
00011617 318.68465280 UsbSnoop - IRP_MJ_INTERNAL_DEVICE_CONTROL,
IOCTL_INTERNAL_USB_SUBMIT_URB
We'd be grateful for any hints/comments/help/...
J�rgen
--
J�rgen Stuber <[EMAIL PROTECTED]>
http://www.loria.fr/~stuber/
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