Ermis Gasetopulos / Mbed 2 deprecated Mapping

Mapping programm, using an minimu9 V3 sensormodule and an USB-library to save the sensorvalues on.

Dependencies:   FatFileSystem m3pi_TUB mbed

Fork of USB-A by Chris Styles

MSCFileSystem.cpp@1:c92781bb4d5e, 2016-01-30 (annotated)

Committer:
ErmGas
Date:
Sat Jan 30 18:56:10 2016 +0000
Revision:
1:c92781bb4d5e
Parent:
0:4e756c4c88a7 
Programm to use a minimu9 V3 sensormodule and save its values on an USB-Stick. Additionally an EKF (extended Kalman-Filter) is implemented, but commented because the m3pi works not fast enough to do this on runtime.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:4e756c4c88a7 1 /* USB Mass Storage device file system
chris 0:4e756c4c88a7 2 * Copyrigh (c) 2010, Igor Skochinsky
chris 0:4e756c4c88a7 3 * based on SDFileStorage
chris 0:4e756c4c88a7 4 * Copyright (c) 2008-2009, sford
chris 0:4e756c4c88a7 5 */
chris 0:4e756c4c88a7 6
chris 0:4e756c4c88a7 7 /* Introduction
chris 0:4e756c4c88a7 8 * ------------
chris 0:4e756c4c88a7 9 * TODO: write one
chris 0:4e756c4c88a7 10 * we're basically using NXP's USBHotLite sample code, just plugging in our own FAT library
chris 0:4e756c4c88a7 11 */
chris 0:4e756c4c88a7 12
chris 0:4e756c4c88a7 13 #include "MSCFileSystem.h"
chris 0:4e756c4c88a7 14 #include "usbhost_inc.h"
chris 0:4e756c4c88a7 15
chris 0:4e756c4c88a7 16 MSCFileSystem::MSCFileSystem(const char* name) :
chris 0:4e756c4c88a7 17 FATFileSystem(name)
chris 0:4e756c4c88a7 18 {
chris 0:4e756c4c88a7 19 }
chris 0:4e756c4c88a7 20
chris 0:4e756c4c88a7 21 void print_inquiry(USB_INT08U *inqReply)
chris 0:4e756c4c88a7 22 {
chris 0:4e756c4c88a7 23 // see USB Mass Storage Class – UFI Command Specification,
chris 0:4e756c4c88a7 24 // 4.2 INQUIRY Command
chris 0:4e756c4c88a7 25 printf("Inquiry reply:\n");
chris 0:4e756c4c88a7 26 uint8_t tmp = inqReply[0]&0x1F;
chris 0:4e756c4c88a7 27 printf("Peripheral device type: %02Xh\n", tmp);
chris 0:4e756c4c88a7 28 if ( tmp == 0 )
chris 0:4e756c4c88a7 29 printf("\t- Direct access (floppy)\n");
chris 0:4e756c4c88a7 30 else if ( tmp == 0x1F )
chris 0:4e756c4c88a7 31 printf("\t- none (no FDD connected)\n");
chris 0:4e756c4c88a7 32 else
chris 0:4e756c4c88a7 33 printf("\t- unknown type\n");
chris 0:4e756c4c88a7 34 tmp = inqReply[1] >> 7;
chris 0:4e756c4c88a7 35 printf("Removable Media Bit: %d\n", tmp);
chris 0:4e756c4c88a7 36 tmp = inqReply[2] & 3;
chris 0:4e756c4c88a7 37 printf("ANSI Version: %02Xh\n", tmp);
chris 0:4e756c4c88a7 38 if ( tmp != 0 )
chris 0:4e756c4c88a7 39 printf("\t- warning! must be 0\n");
chris 0:4e756c4c88a7 40 tmp = (inqReply[2]>>3) & 3;
chris 0:4e756c4c88a7 41 printf("ECMA Version: %02Xh\n", tmp);
chris 0:4e756c4c88a7 42 if ( tmp != 0 )
chris 0:4e756c4c88a7 43 printf("\t- warning! should be 0\n");
chris 0:4e756c4c88a7 44 tmp = inqReply[2]>>6;
chris 0:4e756c4c88a7 45 printf("ISO Version: %02Xh\n", tmp);
chris 0:4e756c4c88a7 46 if ( tmp != 0 )
chris 0:4e756c4c88a7 47 printf("\t- warning! should be 0\n");
chris 0:4e756c4c88a7 48 tmp = inqReply[3] & 0xF;
chris 0:4e756c4c88a7 49 printf("Response Data Format: %02Xh\n", tmp);
chris 0:4e756c4c88a7 50 if ( tmp != 1 )
chris 0:4e756c4c88a7 51 printf("\t- warning! should be 1\n");
chris 0:4e756c4c88a7 52 tmp = inqReply[4];
chris 0:4e756c4c88a7 53 printf("Additional length: %02Xh\n", tmp);
chris 0:4e756c4c88a7 54 if ( tmp != 0x1F )
chris 0:4e756c4c88a7 55 printf("\t- warning! should be 1Fh\n");
chris 0:4e756c4c88a7 56 printf("Vendor Information: '%.8s'\n", &inqReply[8]);
chris 0:4e756c4c88a7 57 printf("Product Identification: '%.16s'\n", &inqReply[16]);
chris 0:4e756c4c88a7 58 printf("Product Revision: '%.4s'\n", &inqReply[32]);
chris 0:4e756c4c88a7 59 }
chris 0:4e756c4c88a7 60
chris 0:4e756c4c88a7 61 int MSCFileSystem::initialise_msc()
chris 0:4e756c4c88a7 62 {
chris 0:4e756c4c88a7 63 USB_INT32S rc;
chris 0:4e756c4c88a7 64 USB_INT08U inquiryResult[INQUIRY_LENGTH];
chris 0:4e756c4c88a7 65
chris 0:4e756c4c88a7 66 //print_clock();
chris 0:4e756c4c88a7 67 Host_Init(); /* Initialize the host controller */
chris 0:4e756c4c88a7 68 rc = Host_EnumDev(); /* Enumerate the device connected */
chris 0:4e756c4c88a7 69 if (rc != OK)
chris 0:4e756c4c88a7 70 {
chris 0:4e756c4c88a7 71 fprintf(stderr, "Could not enumerate device: %d\n", rc);
chris 0:4e756c4c88a7 72 return rc;
chris 0:4e756c4c88a7 73 }
chris 0:4e756c4c88a7 74
chris 0:4e756c4c88a7 75
chris 0:4e756c4c88a7 76 /* Initialize the mass storage and scsi interfaces */
chris 0:4e756c4c88a7 77 rc = MS_Init( &_blkSize, &_numBlks, inquiryResult );
chris 0:4e756c4c88a7 78 if (rc != OK)
chris 0:4e756c4c88a7 79 {
chris 0:4e756c4c88a7 80 fprintf(stderr, "Could not initialize mass storage interface: %d\n", rc);
chris 0:4e756c4c88a7 81 return rc;
chris 0:4e756c4c88a7 82 }
chris 0:4e756c4c88a7 83 printf("Successfully initialized mass storage interface; %d blocks of size %d\n", _numBlks, _blkSize);
chris 0:4e756c4c88a7 84 print_inquiry(inquiryResult);
chris 0:4e756c4c88a7 85 // FATFileSystem supports only 512-byte blocks
chris 0:4e756c4c88a7 86 return _blkSize == 512 ? OK : 1;
chris 0:4e756c4c88a7 87 }
chris 0:4e756c4c88a7 88
chris 0:4e756c4c88a7 89 int MSCFileSystem::disk_initialize()
chris 0:4e756c4c88a7 90 {
chris 0:4e756c4c88a7 91 if ( initialise_msc() != OK )
chris 0:4e756c4c88a7 92 return 1;
chris 0:4e756c4c88a7 93
chris 0:4e756c4c88a7 94 return 0;
chris 0:4e756c4c88a7 95 }
chris 0:4e756c4c88a7 96
chris 0:4e756c4c88a7 97 int MSCFileSystem::disk_write(const char *buffer, int block_number)
chris 0:4e756c4c88a7 98 {
chris 0:4e756c4c88a7 99 if ( OK == MS_BulkSend(block_number, 1, (USB_INT08U *)buffer) )
chris 0:4e756c4c88a7 100 return 0;
chris 0:4e756c4c88a7 101 return 1;
chris 0:4e756c4c88a7 102 }
chris 0:4e756c4c88a7 103
chris 0:4e756c4c88a7 104 int MSCFileSystem::disk_read(char *buffer, int block_number)
chris 0:4e756c4c88a7 105 {
chris 0:4e756c4c88a7 106 if ( OK == MS_BulkRecv(block_number, 1, (USB_INT08U *)buffer) )
chris 0:4e756c4c88a7 107 return 0;
chris 0:4e756c4c88a7 108 return 1;
chris 0:4e756c4c88a7 109 }
chris 0:4e756c4c88a7 110
chris 0:4e756c4c88a7 111 int MSCFileSystem::disk_status() { return 0; }
chris 0:4e756c4c88a7 112 int MSCFileSystem::disk_sync() { return 0; }
chris 0:4e756c4c88a7 113 int MSCFileSystem::disk_sectors() { return _numBlks; }