Based on myBlueUSB and rosserial_mbed
Dependencies: mbed myUSBHost AvailableMemory myBlueUSB
main.cpp@1:18139954944b, 2011-09-17 (annotated)
- Committer:
- OTL
- Date:
- Sat Sep 17 14:24:13 2011 +0000
- Revision:
- 1:18139954944b
- Parent:
- 0:7684b95768c7
remove m3pi and main
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
OTL | 0:7684b95768c7 | 1 | /* |
OTL | 0:7684b95768c7 | 2 | Copyright (c) 2010 Peter Barrett |
OTL | 0:7684b95768c7 | 3 | |
OTL | 0:7684b95768c7 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
OTL | 0:7684b95768c7 | 5 | of this software and associated documentation files (the "Software"), to deal |
OTL | 0:7684b95768c7 | 6 | in the Software without restriction, including without limitation the rights |
OTL | 0:7684b95768c7 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
OTL | 0:7684b95768c7 | 8 | copies of the Software, and to permit persons to whom the Software is |
OTL | 0:7684b95768c7 | 9 | furnished to do so, subject to the following conditions: |
OTL | 0:7684b95768c7 | 10 | |
OTL | 0:7684b95768c7 | 11 | The above copyright notice and this permission notice shall be included in |
OTL | 0:7684b95768c7 | 12 | all copies or substantial portions of the Software. |
OTL | 0:7684b95768c7 | 13 | |
OTL | 0:7684b95768c7 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
OTL | 0:7684b95768c7 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
OTL | 0:7684b95768c7 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
OTL | 0:7684b95768c7 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
OTL | 0:7684b95768c7 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
OTL | 0:7684b95768c7 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
OTL | 0:7684b95768c7 | 20 | THE SOFTWARE. |
OTL | 0:7684b95768c7 | 21 | */ |
OTL | 0:7684b95768c7 | 22 | |
OTL | 0:7684b95768c7 | 23 | #include "mbed.h" |
OTL | 0:7684b95768c7 | 24 | #include "USBHost.h" |
OTL | 0:7684b95768c7 | 25 | #include "Utils.h" |
OTL | 0:7684b95768c7 | 26 | #include "FATFileSystem.h" |
OTL | 0:7684b95768c7 | 27 | #include "MassStorage.h" |
OTL | 0:7684b95768c7 | 28 | |
OTL | 0:7684b95768c7 | 29 | int MassStorage_ReadCapacity(int device, u32* blockCount, u32* blockSize); |
OTL | 0:7684b95768c7 | 30 | int MassStorage_Read(int device, u32 blockAddr, u32 blockCount, u8* dst, u32 blockSize); |
OTL | 0:7684b95768c7 | 31 | int MassStorage_Write(int device, u32 blockAddr, u32 blockCount, u8* dst, u32 blockSize); |
OTL | 0:7684b95768c7 | 32 | |
OTL | 0:7684b95768c7 | 33 | class USBFileSystem : public FATFileSystem, public USBSCSI |
OTL | 0:7684b95768c7 | 34 | { |
OTL | 0:7684b95768c7 | 35 | //int _device; |
OTL | 0:7684b95768c7 | 36 | u32 _blockSize; |
OTL | 0:7684b95768c7 | 37 | u32 _blockCount; |
OTL | 0:7684b95768c7 | 38 | |
OTL | 0:7684b95768c7 | 39 | public: |
OTL | 0:7684b95768c7 | 40 | USBFileSystem() : FATFileSystem("usb")/*,_device(0)*/,_blockSize(0),_blockCount(0) |
OTL | 0:7684b95768c7 | 41 | { |
OTL | 0:7684b95768c7 | 42 | } |
OTL | 0:7684b95768c7 | 43 | /* |
OTL | 0:7684b95768c7 | 44 | void SetDevice(int device, unsigned char in, unsigned char out) |
OTL | 0:7684b95768c7 | 45 | { |
OTL | 0:7684b95768c7 | 46 | _device = device; |
OTL | 0:7684b95768c7 | 47 | } |
OTL | 0:7684b95768c7 | 48 | */ |
OTL | 0:7684b95768c7 | 49 | virtual int disk_initialize() |
OTL | 0:7684b95768c7 | 50 | { |
OTL | 0:7684b95768c7 | 51 | return SCSIReadCapacity(&_blockCount,&_blockSize); |
OTL | 0:7684b95768c7 | 52 | //return MassStorage_ReadCapacity(_device,&_blockCount,&_blockSize); |
OTL | 0:7684b95768c7 | 53 | } |
OTL | 0:7684b95768c7 | 54 | |
OTL | 0:7684b95768c7 | 55 | virtual int disk_write(const char *buffer, int block_number) |
OTL | 0:7684b95768c7 | 56 | { |
OTL | 0:7684b95768c7 | 57 | return SCSITransfer(block_number, 1,(u8*)buffer,_blockSize,HOST_TO_DEVICE); |
OTL | 0:7684b95768c7 | 58 | //return MassStorage_Write(_device,block_number,1,(u8*)buffer,_blockSize); |
OTL | 0:7684b95768c7 | 59 | } |
OTL | 0:7684b95768c7 | 60 | |
OTL | 0:7684b95768c7 | 61 | virtual int disk_read(char *buffer, int block_number) |
OTL | 0:7684b95768c7 | 62 | { |
OTL | 0:7684b95768c7 | 63 | return SCSITransfer(block_number, 1, (u8*)buffer, _blockSize, DEVICE_TO_HOST); |
OTL | 0:7684b95768c7 | 64 | //return MassStorage_Read(_device,block_number,1,(u8*)buffer,_blockSize); |
OTL | 0:7684b95768c7 | 65 | } |
OTL | 0:7684b95768c7 | 66 | |
OTL | 0:7684b95768c7 | 67 | virtual int disk_sectors() |
OTL | 0:7684b95768c7 | 68 | { |
OTL | 0:7684b95768c7 | 69 | return _blockCount; |
OTL | 0:7684b95768c7 | 70 | } |
OTL | 0:7684b95768c7 | 71 | }; |
OTL | 0:7684b95768c7 | 72 | |
OTL | 0:7684b95768c7 | 73 | void DumpFS(int depth, int count) |
OTL | 0:7684b95768c7 | 74 | { |
OTL | 0:7684b95768c7 | 75 | DIR *d = opendir("/usb"); |
OTL | 0:7684b95768c7 | 76 | if (!d) |
OTL | 0:7684b95768c7 | 77 | { |
OTL | 0:7684b95768c7 | 78 | printf("USB file system borked\n"); |
OTL | 0:7684b95768c7 | 79 | return; |
OTL | 0:7684b95768c7 | 80 | } |
OTL | 0:7684b95768c7 | 81 | |
OTL | 0:7684b95768c7 | 82 | printf("\nDumping root dir\n"); |
OTL | 0:7684b95768c7 | 83 | struct dirent *p; |
OTL | 0:7684b95768c7 | 84 | for(;;) |
OTL | 0:7684b95768c7 | 85 | { |
OTL | 0:7684b95768c7 | 86 | p = readdir(d); |
OTL | 0:7684b95768c7 | 87 | if (!p) |
OTL | 0:7684b95768c7 | 88 | break; |
OTL | 0:7684b95768c7 | 89 | int len = sizeof( dirent); |
OTL | 0:7684b95768c7 | 90 | printf("%s %d\n", p->d_name, len); |
OTL | 0:7684b95768c7 | 91 | } |
OTL | 0:7684b95768c7 | 92 | closedir(d); |
OTL | 0:7684b95768c7 | 93 | } |
OTL | 0:7684b95768c7 | 94 | |
OTL | 0:7684b95768c7 | 95 | int OnDiskInsert(int device, unsigned char in, unsigned char out) |
OTL | 0:7684b95768c7 | 96 | { |
OTL | 0:7684b95768c7 | 97 | USBFileSystem fs; |
OTL | 0:7684b95768c7 | 98 | fs.SetDevice(device, in, out); |
OTL | 0:7684b95768c7 | 99 | DumpFS(0,0); |
OTL | 0:7684b95768c7 | 100 | return 0; |
OTL | 0:7684b95768c7 | 101 | } |
OTL | 0:7684b95768c7 | 102 | |
OTL | 0:7684b95768c7 | 103 | /* |
OTL | 0:7684b95768c7 | 104 | Simple test shell to exercise mouse,keyboard,mass storage and hubs. |
OTL | 0:7684b95768c7 | 105 | Add 2 15k pulldown resistors between D+/D- and ground, attach a usb socket and have at it. |
OTL | 0:7684b95768c7 | 106 | */ |
OTL | 0:7684b95768c7 | 107 | |
OTL | 0:7684b95768c7 | 108 | Serial pc(USBTX, USBRX); |
OTL | 0:7684b95768c7 | 109 | int GetConsoleChar() |
OTL | 0:7684b95768c7 | 110 | { |
OTL | 0:7684b95768c7 | 111 | if (!pc.readable()) |
OTL | 0:7684b95768c7 | 112 | return -1; |
OTL | 0:7684b95768c7 | 113 | char c = pc.getc(); |
OTL | 0:7684b95768c7 | 114 | pc.putc(c); // echo |
OTL | 0:7684b95768c7 | 115 | return c; |
OTL | 0:7684b95768c7 | 116 | } |
OTL | 0:7684b95768c7 | 117 | |
OTL | 0:7684b95768c7 | 118 | void TestShell(); |
OTL | 0:7684b95768c7 | 119 | |
OTL | 0:7684b95768c7 | 120 | #ifdef ROS_MAIN |
OTL | 0:7684b95768c7 | 121 | #include "ros_mbedbt.h" |
OTL | 0:7684b95768c7 | 122 | #include <std_msgs/String.h> |
OTL | 0:7684b95768c7 | 123 | |
OTL | 0:7684b95768c7 | 124 | ros::NodeHandle nh; |
OTL | 0:7684b95768c7 | 125 | |
OTL | 0:7684b95768c7 | 126 | std_msgs::String str_msg; |
OTL | 0:7684b95768c7 | 127 | ros::Publisher chatter("chatter", &str_msg); |
OTL | 0:7684b95768c7 | 128 | |
OTL | 0:7684b95768c7 | 129 | char hello[13] = "hello world!"; |
OTL | 0:7684b95768c7 | 130 | |
OTL | 0:7684b95768c7 | 131 | int main() { |
OTL | 0:7684b95768c7 | 132 | |
OTL | 0:7684b95768c7 | 133 | pc.baud(9600); |
OTL | 0:7684b95768c7 | 134 | |
OTL | 0:7684b95768c7 | 135 | nh.initNode(); |
OTL | 0:7684b95768c7 | 136 | nh.advertise(chatter); |
OTL | 0:7684b95768c7 | 137 | while (1) { |
OTL | 0:7684b95768c7 | 138 | USBLoop(); |
OTL | 0:7684b95768c7 | 139 | wait_ms(100); |
OTL | 0:7684b95768c7 | 140 | str_msg.data = hello; |
OTL | 0:7684b95768c7 | 141 | chatter.publish( &str_msg ); |
OTL | 0:7684b95768c7 | 142 | nh.spinOnce(); |
OTL | 0:7684b95768c7 | 143 | } |
OTL | 0:7684b95768c7 | 144 | |
OTL | 0:7684b95768c7 | 145 | } |
OTL | 0:7684b95768c7 | 146 | |
OTL | 0:7684b95768c7 | 147 | #endif |