春ロボ　ロケット団 / Mbed 2 deprecated spring_ps3_2

test

Dependencies:   mbed KondoServoLibrary Encoder

main.cpp@21:0f12ee2322e4, 2020-03-12 (annotated)

Committer:
koheim
Date:
Thu Mar 12 07:32:03 2020 +0000
Revision:
21:0f12ee2322e4
Parent:
0:736c76a75def 
a;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hirokimineshita 0:736c76a75def 1 /*
hirokimineshita 0:736c76a75def 2 Copyright (c) 2010 Peter Barrett
hirokimineshita 0:736c76a75def 3
hirokimineshita 0:736c76a75def 4 Permission is hereby granted, free of charge, to any person obtaining a copy
hirokimineshita 0:736c76a75def 5 of this software and associated documentation files (the "Software"), to deal
hirokimineshita 0:736c76a75def 6 in the Software without restriction, including without limitation the rights
hirokimineshita 0:736c76a75def 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
hirokimineshita 0:736c76a75def 8 copies of the Software, and to permit persons to whom the Software is
hirokimineshita 0:736c76a75def 9 furnished to do so, subject to the following conditions:
hirokimineshita 0:736c76a75def 10
hirokimineshita 0:736c76a75def 11 The above copyright notice and this permission notice shall be included in
hirokimineshita 0:736c76a75def 12 all copies or substantial portions of the Software.
hirokimineshita 0:736c76a75def 13
hirokimineshita 0:736c76a75def 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
hirokimineshita 0:736c76a75def 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
hirokimineshita 0:736c76a75def 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
hirokimineshita 0:736c76a75def 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
hirokimineshita 0:736c76a75def 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
hirokimineshita 0:736c76a75def 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
hirokimineshita 0:736c76a75def 20 THE SOFTWARE.
hirokimineshita 0:736c76a75def 21 */
hirokimineshita 0:736c76a75def 22
hirokimineshita 0:736c76a75def 23 #include "mbed.h"
hirokimineshita 0:736c76a75def 24 #include "USBHost.h"
hirokimineshita 0:736c76a75def 25 #include "Utils.h"
hirokimineshita 0:736c76a75def 26 #include "FATFileSystem.h"
hirokimineshita 0:736c76a75def 27 #include "User.h"
hirokimineshita 0:736c76a75def 28
hirokimineshita 0:736c76a75def 29 int MassStorage_ReadCapacity(int device, u32* blockCount, u32* blockSize);
hirokimineshita 0:736c76a75def 30 int MassStorage_Read(int device, u32 blockAddr, u32 blockCount, u8* dst, u32 blockSize);
hirokimineshita 0:736c76a75def 31 int MassStorage_Write(int device, u32 blockAddr, u32 blockCount, u8* dst, u32 blockSize);
hirokimineshita 0:736c76a75def 32
hirokimineshita 0:736c76a75def 33 class USBFileSystem : public FATFileSystem
hirokimineshita 0:736c76a75def 34 {
hirokimineshita 0:736c76a75def 35 int _device;
hirokimineshita 0:736c76a75def 36 u32 _blockSize;
hirokimineshita 0:736c76a75def 37 u32 _blockCount;
hirokimineshita 0:736c76a75def 38
hirokimineshita 0:736c76a75def 39 public:
hirokimineshita 0:736c76a75def 40 USBFileSystem() : FATFileSystem("usb"),_device(0),_blockSize(0),_blockCount(0)
hirokimineshita 0:736c76a75def 41 {
hirokimineshita 0:736c76a75def 42 }
hirokimineshita 0:736c76a75def 43
hirokimineshita 0:736c76a75def 44 void SetDevice(int device)
hirokimineshita 0:736c76a75def 45 {
hirokimineshita 0:736c76a75def 46 _device = device;
hirokimineshita 0:736c76a75def 47 }
hirokimineshita 0:736c76a75def 48
hirokimineshita 0:736c76a75def 49 virtual int disk_initialize()
hirokimineshita 0:736c76a75def 50 {
hirokimineshita 0:736c76a75def 51 return MassStorage_ReadCapacity(_device,&_blockCount,&_blockSize);
hirokimineshita 0:736c76a75def 52 }
hirokimineshita 0:736c76a75def 53
hirokimineshita 0:736c76a75def 54 virtual int disk_write(const char *buffer, int block_number)
hirokimineshita 0:736c76a75def 55 {
hirokimineshita 0:736c76a75def 56 return MassStorage_Write(_device,block_number,1,(u8*)buffer,_blockSize);
hirokimineshita 0:736c76a75def 57 }
hirokimineshita 0:736c76a75def 58
hirokimineshita 0:736c76a75def 59 virtual int disk_read(char *buffer, int block_number)
hirokimineshita 0:736c76a75def 60 {
hirokimineshita 0:736c76a75def 61 return MassStorage_Read(_device,block_number,1,(u8*)buffer,_blockSize);
hirokimineshita 0:736c76a75def 62 }
hirokimineshita 0:736c76a75def 63
hirokimineshita 0:736c76a75def 64 virtual int disk_sectors()
hirokimineshita 0:736c76a75def 65 {
hirokimineshita 0:736c76a75def 66 return _blockCount;
hirokimineshita 0:736c76a75def 67 }
hirokimineshita 0:736c76a75def 68 };
hirokimineshita 0:736c76a75def 69
hirokimineshita 0:736c76a75def 70 void DumpFS(int depth, int count)
hirokimineshita 0:736c76a75def 71 {
hirokimineshita 0:736c76a75def 72 DIR *d = opendir("/usb");
hirokimineshita 0:736c76a75def 73 if (!d)
hirokimineshita 0:736c76a75def 74 {
hirokimineshita 0:736c76a75def 75 printf("USB file system borked\r\n");
hirokimineshita 0:736c76a75def 76 return;
hirokimineshita 0:736c76a75def 77 }
hirokimineshita 0:736c76a75def 78
hirokimineshita 0:736c76a75def 79 printf("\nDumping root dir\r\n");
hirokimineshita 0:736c76a75def 80 struct dirent *p;
hirokimineshita 0:736c76a75def 81 for(;;)
hirokimineshita 0:736c76a75def 82 {
hirokimineshita 0:736c76a75def 83 p = readdir(d);
hirokimineshita 0:736c76a75def 84 if (!p)
hirokimineshita 0:736c76a75def 85 break;
hirokimineshita 0:736c76a75def 86 int len = sizeof( dirent);
hirokimineshita 0:736c76a75def 87 printf("%s %d\n", p->d_name, len);
hirokimineshita 0:736c76a75def 88 }
hirokimineshita 0:736c76a75def 89 closedir(d);
hirokimineshita 0:736c76a75def 90 }
hirokimineshita 0:736c76a75def 91
hirokimineshita 0:736c76a75def 92 int OnDiskInsert(int device)
hirokimineshita 0:736c76a75def 93 {
hirokimineshita 0:736c76a75def 94 USBFileSystem fs;
hirokimineshita 0:736c76a75def 95 fs.SetDevice(device);
hirokimineshita 0:736c76a75def 96 DumpFS(0,0);
hirokimineshita 0:736c76a75def 97 return 0;
hirokimineshita 0:736c76a75def 98 }
hirokimineshita 0:736c76a75def 99
hirokimineshita 0:736c76a75def 100 /*
hirokimineshita 0:736c76a75def 101 Simple test shell to exercise mouse,keyboard,mass storage and hubs.
hirokimineshita 0:736c76a75def 102 Add 2 15k pulldown resistors between D+/D- and ground, attach a usb socket and have at it.
hirokimineshita 0:736c76a75def 103 */
hirokimineshita 0:736c76a75def 104
hirokimineshita 0:736c76a75def 105 Serial pc(USBTX, USBRX);
hirokimineshita 0:736c76a75def 106 int GetConsoleChar()
hirokimineshita 0:736c76a75def 107 {
hirokimineshita 0:736c76a75def 108 if (!pc.readable())
hirokimineshita 0:736c76a75def 109 return -1;
hirokimineshita 0:736c76a75def 110 char c = pc.getc();
hirokimineshita 0:736c76a75def 111 pc.putc(c); // echo
hirokimineshita 0:736c76a75def 112 return c;
hirokimineshita 0:736c76a75def 113 }
hirokimineshita 0:736c76a75def 114
hirokimineshita 0:736c76a75def 115
hirokimineshita 0:736c76a75def 116 extern u8 RSX,RSY,LSX,LSY,BSU,BSL;
hirokimineshita 0:736c76a75def 117
hirokimineshita 0:736c76a75def 118 void TestShell();
hirokimineshita 0:736c76a75def 119
hirokimineshita 0:736c76a75def 120 int main()
hirokimineshita 0:736c76a75def 121 {
hirokimineshita 0:736c76a75def 122 pc.baud(9600);
hirokimineshita 0:736c76a75def 123 printf("BlueUSB\nNow get a bunch of usb or bluetooth things and plug them in\r\n");
hirokimineshita 0:736c76a75def 124 UserLoopSetting();
hirokimineshita 0:736c76a75def 125 TestShell();
hirokimineshita 0:736c76a75def 126
hirokimineshita 0:736c76a75def 127 }