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This is the project for the Old Model Robots for OU's Dr. Davis's Configurable Robots Research. This is being published so future robots can be set up easily.
Dependencies: FatFileSystem MCP3008 Motor PinDetect QTR_8A SRF05 SSD1308_128x64_I2C mbed
blueusb/MassStorageFS.cpp@0:bcad524c1856, 2017-11-01 (annotated)
- Committer:
- DrewSchaef
- Date:
- Wed Nov 01 15:57:59 2017 +0000
- Revision:
- 0:bcad524c1856
Published the project to allow access for future work on the Configurable Robots Research Project(s).
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DrewSchaef | 0:bcad524c1856 | 1 | #include "mbed.h" |
DrewSchaef | 0:bcad524c1856 | 2 | #include "FATFileSystem.h" |
DrewSchaef | 0:bcad524c1856 | 3 | #include "Utils.h" |
DrewSchaef | 0:bcad524c1856 | 4 | |
DrewSchaef | 0:bcad524c1856 | 5 | int MassStorage_ReadCapacity(int device, u32* blockCount, u32* blockSize); |
DrewSchaef | 0:bcad524c1856 | 6 | int MassStorage_Read(int device, u32 blockAddr, u32 blockCount, u8* dst, u32 blockSize); |
DrewSchaef | 0:bcad524c1856 | 7 | int MassStorage_Write(int device, u32 blockAddr, u32 blockCount, u8* dst, u32 blockSize); |
DrewSchaef | 0:bcad524c1856 | 8 | |
DrewSchaef | 0:bcad524c1856 | 9 | class USBFileSystem : public FATFileSystem |
DrewSchaef | 0:bcad524c1856 | 10 | { |
DrewSchaef | 0:bcad524c1856 | 11 | int _device; |
DrewSchaef | 0:bcad524c1856 | 12 | u32 _blockSize; |
DrewSchaef | 0:bcad524c1856 | 13 | u32 _blockCount; |
DrewSchaef | 0:bcad524c1856 | 14 | |
DrewSchaef | 0:bcad524c1856 | 15 | public: |
DrewSchaef | 0:bcad524c1856 | 16 | USBFileSystem() : FATFileSystem("usb"),_device(0),_blockSize(0),_blockCount(0) |
DrewSchaef | 0:bcad524c1856 | 17 | { |
DrewSchaef | 0:bcad524c1856 | 18 | } |
DrewSchaef | 0:bcad524c1856 | 19 | |
DrewSchaef | 0:bcad524c1856 | 20 | void SetDevice(int device) |
DrewSchaef | 0:bcad524c1856 | 21 | { |
DrewSchaef | 0:bcad524c1856 | 22 | _device = device; |
DrewSchaef | 0:bcad524c1856 | 23 | } |
DrewSchaef | 0:bcad524c1856 | 24 | |
DrewSchaef | 0:bcad524c1856 | 25 | virtual int disk_initialize() |
DrewSchaef | 0:bcad524c1856 | 26 | { |
DrewSchaef | 0:bcad524c1856 | 27 | return MassStorage_ReadCapacity(_device,&_blockCount,&_blockSize); |
DrewSchaef | 0:bcad524c1856 | 28 | } |
DrewSchaef | 0:bcad524c1856 | 29 | |
DrewSchaef | 0:bcad524c1856 | 30 | virtual int disk_write(const char *buffer, int block_number) |
DrewSchaef | 0:bcad524c1856 | 31 | { |
DrewSchaef | 0:bcad524c1856 | 32 | return MassStorage_Write(_device,block_number,1,(u8*)buffer,_blockSize); |
DrewSchaef | 0:bcad524c1856 | 33 | } |
DrewSchaef | 0:bcad524c1856 | 34 | |
DrewSchaef | 0:bcad524c1856 | 35 | virtual int disk_read(char *buffer, int block_number) |
DrewSchaef | 0:bcad524c1856 | 36 | { |
DrewSchaef | 0:bcad524c1856 | 37 | return MassStorage_Read(_device,block_number,1,(u8*)buffer,_blockSize); |
DrewSchaef | 0:bcad524c1856 | 38 | } |
DrewSchaef | 0:bcad524c1856 | 39 | |
DrewSchaef | 0:bcad524c1856 | 40 | virtual int disk_sectors() |
DrewSchaef | 0:bcad524c1856 | 41 | { |
DrewSchaef | 0:bcad524c1856 | 42 | return _blockCount; |
DrewSchaef | 0:bcad524c1856 | 43 | } |
DrewSchaef | 0:bcad524c1856 | 44 | }; |
DrewSchaef | 0:bcad524c1856 | 45 | |
DrewSchaef | 0:bcad524c1856 | 46 | void DumpFS(int depth, int count) |
DrewSchaef | 0:bcad524c1856 | 47 | { |
DrewSchaef | 0:bcad524c1856 | 48 | DIR *d = opendir("/usb"); |
DrewSchaef | 0:bcad524c1856 | 49 | if (!d) |
DrewSchaef | 0:bcad524c1856 | 50 | { |
DrewSchaef | 0:bcad524c1856 | 51 | printf("USB file system borked\n"); |
DrewSchaef | 0:bcad524c1856 | 52 | return; |
DrewSchaef | 0:bcad524c1856 | 53 | } |
DrewSchaef | 0:bcad524c1856 | 54 | |
DrewSchaef | 0:bcad524c1856 | 55 | printf("\nDumping root dir\n"); |
DrewSchaef | 0:bcad524c1856 | 56 | struct dirent *p; |
DrewSchaef | 0:bcad524c1856 | 57 | for(;;) |
DrewSchaef | 0:bcad524c1856 | 58 | { |
DrewSchaef | 0:bcad524c1856 | 59 | p = readdir(d); |
DrewSchaef | 0:bcad524c1856 | 60 | if (!p) |
DrewSchaef | 0:bcad524c1856 | 61 | break; |
DrewSchaef | 0:bcad524c1856 | 62 | int len = sizeof( dirent); |
DrewSchaef | 0:bcad524c1856 | 63 | printf("%s %d\n", p->d_name, len); |
DrewSchaef | 0:bcad524c1856 | 64 | } |
DrewSchaef | 0:bcad524c1856 | 65 | closedir(d); |
DrewSchaef | 0:bcad524c1856 | 66 | } |
DrewSchaef | 0:bcad524c1856 | 67 | |
DrewSchaef | 0:bcad524c1856 | 68 | int OnDiskInsert(int device) |
DrewSchaef | 0:bcad524c1856 | 69 | { |
DrewSchaef | 0:bcad524c1856 | 70 | USBFileSystem fs; |
DrewSchaef | 0:bcad524c1856 | 71 | fs.SetDevice(device); |
DrewSchaef | 0:bcad524c1856 | 72 | DumpFS(0,0); |
DrewSchaef | 0:bcad524c1856 | 73 | return 0; |
DrewSchaef | 0:bcad524c1856 | 74 | } |