File content as of revision 25:86137c182a17:

/*
* Los Putacos
* Copyright (C) 2017, All rights reserved.
* ________________________________________
*
* Created by: Gustavo Campana, Michael Schmidt, Miguel Lopez
*       Date: 11-Oct-2017
*    Version: V0.1
*/
//-----------------------------------------------------------------

//-----------------------------------------------------------------
//     Board: NUCLEO - F401RE
//   Version: MR1136 rev C
//-----------------------------------------------------------------

//-----------------------------------------------------------------
// Includes
// #include "rtos.h"
// #include "mbed_events.h"

#include "mbed.h"
#include "configuration.h"
#include "pin.h"

#include "XBeeLib.h"
#include "SDFileSystem.h"
#include "MPU9250.h"

#include "event.h"
//-----------------------------------------------------------------

//-----------------------------------------------------------------
// Declarations
FILE *fp;                                   // FILE Type for SD-Card
Timer time_stamp;                           // Timer µS time-stamp

// Global Variables
const char DeviceNr[6] = "DEV01";
char Data_Buffer[10] = "";

// Events
EventQueue queue(32 * EVENTS_EVENT_SIZE);   // Event Setup
EventQueue Event1;

// Tickers
Ticker Ticker1;

// Threads
Thread Thread1;

// PC Serial (Debug)
Serial PC(USBTX, USBRX);
XBeeLib::XBeeZB XBee = XBeeLib::XBeeZB(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 115200);

int task1_id = queue.call_every(200, CheckInputBuffer);
int task2_id = queue.call_every(1, ReadIMUData);

// Create an SDFileSystem object
SDFileSystem sd(SD_MOSI, SD_MISO, SD_CLK, SD_CS, "sd");
// Create an MPU9250 object
SPI spi(MPU_MOSI, MPU_MISO, MPU_SCK);
mpu9250_spi imu(spi, MPU_CS);

//-----------------------------------------------------------------

//-----------------------------------------------------------------
/* Callback function, invoked at packet reception */
static void receive_cb(const XBeeLib::RemoteXBeeZB& remote, bool broadcast, const uint8_t *const data, uint16_t len)
{
    PC.printf("Package Length: %i \r\n", len);
    for (int i = 0; i < len; i++) {
        Data_Buffer[i] = char(data[i]);
        PC.printf("%c", Data_Buffer[i]);
    }

    if (len == 9) {
        if ((char(Data_Buffer[0]) == '#') && (char(Data_Buffer[6]) == ',')) {
            PC.printf(" - Command Detected!\r\n");

            if (strstr(Data_Buffer, DeviceNr) != NULL)
                PC.printf("Correct Package ID!\r\n");
            else
                PC.printf("Wrong Package ID!\r\n");
        } else
            PC.printf(" - Non-valid Command Delimiter!\r\n");
    } else
        PC.printf(" - Non-valid Package Length!\r\n");
}
//-----------------------------------------------------------------

//-----------------------------------------------------------------
void Setup()
{
    // Initialize PC Serial Connection
    PC.baud(115200);
    PC.printf("\r\n------------- Booting! -------------\r\n");
    PC.printf("CPU SystemCoreClock is %d Hz", SystemCoreClock);

    // Initialize XBee Serial Connection
    XBee.init();
    XBee.register_receive_cb(&receive_cb);       // Register Callbacks

    // Initialize IMU SPI Connection
    if(imu.init(1, BITS_DLPF_CFG_188HZ))         // Initialize the MPU9250
        PC.printf("\nCouldn't initialize MPU9250 via SPI!");
    PC.printf("\nWHOAMI = 0x%2x", imu.whoami());                        // Output I2C Address to check SPI (correct: 104)
    PC.printf("\nAcc_Scale = %u\n", imu.set_acc_scale(BITS_FS_16G));    // Set Full Range for Acc.

    // Initialize SD-Card SPI Connection


}

void SDTest()
{
    mkdir("/sd/Log", 0777);

    fp = fopen("/sd/Log/Data_Log.txt", "w");
    if(fp == NULL) {
        error("File Writing Failed!\n");
    }
    fprintf(fp, "12345");
    fclose(fp);

    fp = fopen("/sd/Log/Data_Log.txt", "r");  // open the file in 'read' mode

    PC.printf("\nRead from file: ");
    while (!feof(fp)) {     // While Not End-Of-File
        fread((char*) Data_Buffer, 1, 100, fp);
    }
    PC.printf("\r\n");
    fclose(fp);

    // data_len = sizeof(Data_Buffer); // / sizeof Data_Buffer[0] - 1;

    XBeeLib::TxStatus txStatus = XBee.send_data_to_coordinator((uint8_t*) Data_Buffer, sizeof(Data_Buffer));
    if (txStatus != XBeeLib::TxStatusSuccess)
        PC.printf("send_data_to_coordinator() failed with error %d\n", (int) txStatus);

    PC.printf("SD Test Successful!\n");
}

//-----------------------------------------------------------------

//-----------------------------------------------------------------
int main()
{
    Setup();    // Initial Setups

    led1 = 1;
    PC.printf("\r\n----------- Ready! --------------\r\n");
    SDTest();

    Thread1.start(callback(&Event1, &EventQueue::dispatch_forever));
    Ticker1.attach(Event1.event(&ReadIMUData), 0.1);

    fp = fopen("/sd/Log/Data_Log.txt", "w");
    time_stamp.reset();
    time_stamp.start();
    queue.dispatch();
    while (true) {


    }
}
//-----------------------------------------------------------------