Electric Locomotive control system. Touch screen driver control, includes regenerative braking, drives 4 brushless motors, displays speed MPH, system volts and power
Dependencies: BSP_DISCO_F746NG FastPWM LCD_DISCO_F746NG SD_DISCO_F746NG TS_DISCO_F746NG mbed
sd_card.cpp
- Committer:
- JonFreeman
- Date:
- 2017-11-13
- Revision:
- 1:8ef34deb5177
File content as of revision 1:8ef34deb5177:
#include "mbed.h" #include "Electric_Loco.h" #include "SD_DISCO_F746NG.h" /* SD card used only to keep log of total distance travelled. Odometer is trivial. This file treats SD card as random access memory. A better implementation would use library functions for FAT file system etc. May revisit this. */ SD_DISCO_F746NG sd; extern Serial pc; extern uint32_t historic_distance; extern uint32_t get_pulse_total () ; static const int SD_BLOCKSIZE = 512; /* SD card data Block Size in Bytes */ // Assume SD card size is 4Gbyte, might be 8 Gbyte // Then can use 8388608 blocks (8 * 1024 * 1024) uint64_t SD_blockptr = 0; uint32_t SDBuffer[(SD_BLOCKSIZE >> 2)]; // = space for (512 / 4) uint32_t uint8_t SD_state = SD_OK, sd_jf = 0; static const uint64_t GIGAB = 1024 * 1024 * 1024; //static const uint64_t SDBLOCKS = (GIGAB / SD_BLOCKSIZE) * 4; // software drives SD up to 4Gbyte only - 8 M block static const uint64_t SDBLOCKS = (GIGAB / SD_BLOCKSIZE) * 2; // software drives SD up to 4Gbyte only - 8 M block // If data logger takes 2 minutes to fill 1 block, a 4G card takes 32 years run-time to fill // If system generates approx 320 pulses per metre travelled, max distance recordable in uint32_t is 65536 * 65536 / 320 = 13421.772 km bool sd_error () { // Test and Clear error code sd_jf, return true if any error bits set, false on 0 bool retval = false; if (sd_jf != 0) { retval = true; sd_jf = 0; } return retval; } bool check_SD_block_clear (uint32_t block) { uint32_t b[(SD_BLOCKSIZE >> 2)]; SD_state = sd.ReadBlocks(b, (uint64_t)(SD_BLOCKSIZE * block), SD_BLOCKSIZE, 1); if(SD_state != SD_OK) { sd_jf = 1; pc.printf ("Failed, not SD_OK, erasing block %d\r\n", block); return false; } for (int i = 0; i < (SD_BLOCKSIZE >> 2); i++) if (b[i] != 0) return false; return true; } bool read_SD_state () { if (SD_state == SD_OK) return true; return false; } /*bool erase_block (uint32_t block2erase) { uint64_t addr = SD_BLOCKSIZE * (uint64_t)block2erase; SD_state = sd.Erase(addr, addr + SD_BLOCKSIZE); if (SD_state != SD_OK) { sd_jf = 1; // Assert error flag pc.printf ("Failed, not SD_OK, erasing block %d\r\n", block2erase); return false; } return check_SD_block_clear (block2erase); }*/ bool SD_find_next_clear_block (uint64_t * blok) { // Successive approximation algorithm to quickly find next vacant SD card 512 byte block uint64_t toaddsub = SDBLOCKS / 2, stab = SDBLOCKS - 1; pc.printf ("At SD_find_next_clear_block \r\n"); while (toaddsub) { pc.printf ("stab = %lld, toadsub = %lld\r\n", stab, toaddsub); // lld for long long int bool clear_block = true; SD_state = sd.ReadBlocks(SDBuffer, SD_BLOCKSIZE * stab, SD_BLOCKSIZE, 1); if(SD_state != SD_OK) { sd_jf = 1; pc.printf ("SD error in SD_find_next_clear_block, returning -1\r\n"); return false; } for (int i = 0; i < (SD_BLOCKSIZE >> 2); i++) { if (SDBuffer[i] != 0) { clear_block = false; pc.printf ("Buff at %d contains %x\r\n", i, SDBuffer[i]); i = SD_BLOCKSIZE; // to exit loop } } if (clear_block) stab -= toaddsub; else stab += toaddsub; toaddsub >>= 1; } if (!check_SD_block_clear(stab)) stab++; if (sd_error()) { // sd_error() tests and clears error bits pc.printf ("check_SD_block_clear(%ld)returned ERROR in SD_find_next_clear_block\r\n", stab); sd_jf = 1; // reassert error flag return false; } pc.printf ("Completed find_next, stab = %d\r\n", stab); *blok = stab; // block number of next free block return true; } bool SD_card_erase_all (void) { // assumes sd card is 4 Gbyte, erases 4 Gbyte. Called from CLI uint64_t EndAddr = GIGAB * 4, StartAddr = 0LL; sd_jf = 0; pc.printf ("Erasing SD card ... "); // uint8_t Erase(uint64_t StartAddr, uint64_t EndAddr); SD_state = sd.Erase(StartAddr, EndAddr); if (SD_state != SD_OK) { pc.printf ("SD_card_erase_all FAILED\r\n"); sd_jf = 1; return false; } pc.printf ("no error detected\r\n"); return true; } bool mainSDtest() { SD_state = sd.Init(); if(SD_state != SD_OK) { pc.printf ("sd.Init set SD_state to %0x\r\n", SD_state); if(SD_state == MSD_ERROR_SD_NOT_PRESENT) { pc.printf("SD shall be inserted before running test\r\n"); } else { pc.printf("SD Initialization : FAIL.\r\n"); } pc.printf("SD Test Aborted.\r\n"); return false; } // else { // SD_state is SD_OK pc.printf("SD Initialization : OK.\r\n"); // SD_card_erase_all(); // if (sd_error()) // pc.printf ("SD_card_erase_all() reports ERROR"); SD_find_next_clear_block(& SD_blockptr); pc.printf ("SD_find_next_clear_block returned %lld\r\n\n\n", SD_blockptr); if (sd_error()) { pc.printf ("***** ERROR returned from SD_find_next_clear_block ***** SD ops aborted\r\n"); return false; } pc.printf("SD_find_next_clear_block() returned %ld\r\n", SD_blockptr); if (SD_blockptr < 1) { pc.printf ("Looks like card newly erased, SD_blockptr value of %d\r\n", SD_blockptr); SD_blockptr = 0; historic_distance = 0; } else { SD_state = sd.ReadBlocks(SDBuffer, SD_BLOCKSIZE * (SD_blockptr - 1), SD_BLOCKSIZE, 1); if (SD_state != SD_OK) { pc.printf ("Error reading last block from SD block %d\r\n", SD_blockptr - 1); return false; } for (int i = 0; i < (SD_BLOCKSIZE >> 2); i++) pc.printf ("%lx\t", SDBuffer[i]); historic_distance = SDBuffer[(SD_BLOCKSIZE >> 2) - 1]; pc.printf ("\r\nAbove, data read from last filled SD block %lld, using historic_distance = %lx\r\n", SD_blockptr - 1, historic_distance); } if (SD_blockptr > 2) { for (int i = SD_blockptr - 2; i < SD_blockptr + 2; i++) { pc.printf ("check_SD_block_clear (%d) ", i); if (check_SD_block_clear(i)) pc.printf ("block %ld is CLEAR\r\n", i); else pc.printf ("block %ld is NOT clear\r\n", i); if (sd_error()) { pc.printf ("ERROR from check_SD_block_clear ()\r\n"); } } } return true; } void update_SD_card () { // Hall pulse total updated once per sec and saved in blocks of 128 to SD card static int index = 0; static uint32_t buff[(SD_BLOCKSIZE >> 2) + 2]; // buff[index++] = speed.pulse_total(); // pulse_total for all time, add this to buffer to write to SD buff[index++] = get_pulse_total(); // pulse_total for all time, add this to buffer to write to SD if (index >= (SD_BLOCKSIZE >> 2)) { pc.printf ("Writing new SD block %d ... ", SD_blockptr); SD_state = sd.WriteBlocks(buff, SD_BLOCKSIZE * SD_blockptr, SD_BLOCKSIZE, 1); SD_blockptr++; if (SD_state == SD_OK) pc.printf ("OK, distance %d\r\n", buff[index - 1] / (int)PULSES_PER_METRE); else pc.printf ("ERROR\r\n"); index = 0; } }