interface to chr_6dm and Baro bmp085

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Comitter:
belloula
Date:
Mon Oct 17 19:43:06 2011 +0000
Commit message:

Changed in this revision

BMP085.cpp Show annotated file Show diff for this revision Revisions of this file
BMP085.h Show annotated file Show diff for this revision Revisions of this file
FATFileSystem.lib Show annotated file Show diff for this revision Revisions of this file
MSCFileSystem.cpp Show annotated file Show diff for this revision Revisions of this file
MSCFileSystem.h Show annotated file Show diff for this revision Revisions of this file
SDFileSystem.cpp Show annotated file Show diff for this revision Revisions of this file
SDFileSystem.h Show annotated file Show diff for this revision Revisions of this file
USBHostLite/usbhost_cpu.h Show annotated file Show diff for this revision Revisions of this file
USBHostLite/usbhost_err.h Show annotated file Show diff for this revision Revisions of this file
USBHostLite/usbhost_inc.h Show annotated file Show diff for this revision Revisions of this file
USBHostLite/usbhost_lpc17xx.c Show annotated file Show diff for this revision Revisions of this file
USBHostLite/usbhost_lpc17xx.h Show annotated file Show diff for this revision Revisions of this file
USBHostLite/usbhost_ms.c Show annotated file Show diff for this revision Revisions of this file
USBHostLite/usbhost_ms.h Show annotated file Show diff for this revision Revisions of this file
chr.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r d07617f8ede9 BMP085.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMP085.cpp	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,206 @@
+/*
+ * mbed library to use a Bosch Sensortec BMP085 sensor
+ * Copyright (c) 2010 Hiroshi Suga
+ * Released under the MIT License: http://mbed.org/license/mit
+ */
+
+/** @file BMP085.cpp
+ * @brief mbed library to use a Bosch Sensortec BMP085 sensor
+ * barometric pressure sensor BMP085 (Bosch Sensortec)
+ * interface: I2C digital
+ */
+
+#include "mbed.h"
+#include "BMP085.h"
+
+#define WEATHER_BMP085 0xee
+#define xpow(x, y) ((long)1 << y)
+
+/**
+ * @brief Initializes interface (private I2C)
+ * @param p_sda port of I2C SDA
+ * @param p_scl port of I2C SCL
+ * @param p_oss parameter of OSS
+ */
+BMP085::BMP085 (PinName p_sda, PinName p_scl, BMP085_oss p_oss) : i2c(p_sda, p_scl) 
+{
+    init(p_oss);
+    ok=0;
+}
+
+/**
+ * @brief Initializes interface (public I2C)
+ * @param p_i2c instance of I2C class
+ * @param p_oss parameter of OSS
+ */
+BMP085::BMP085 (I2C& p_i2c, BMP085_oss p_oss) : i2c(p_i2c) 
+{ 
+    init(p_oss);
+    ok=0;
+}
+
+/**
+ * @brief Get temperature
+ * @return temperature (`C)
+ */
+float BMP085::get_temperature() 
+{
+    return temperature;
+}
+
+/**
+ * @brief Get pressure
+ * @return pressure (hPa)
+ */
+float BMP085::get_pressure() 
+{
+    return pressure;
+}
+/**
+ * @brief Get altitude e
+ * @return altitude (m)
+ */
+float BMP085::get_altitude() 
+{
+    return altitude;
+}
+
+
+/**
+ * @brief Update results
+ */
+void BMP085::update () 
+{
+   static long t, p, ut, up, x1, x2, x3, b3, b5, b6;
+   static unsigned long b4, b7;
+   static unsigned int nbtick=0;
+
+    switch(nbtick){
+        case 0 : twi_writechar(WEATHER_BMP085, 0xf4, 0x2e);
+                 nbtick=1;
+                 break;
+        case 1 : ut = twi_readshort(WEATHER_BMP085, 0xf6);
+                 twi_writechar(WEATHER_BMP085, 0xf4, 0x34 | (oss << 6));
+                 nbtick=2;
+                 break;
+        case 2 :
+        case 3 :
+        case 4 :
+        case 5 :
+        case 6 :
+        //case 7 : 
+                 nbtick++;
+                 break;
+        case 7 : up = twi_readlong(WEATHER_BMP085, 0xf6) >> (8 - oss);
+                 x1 = (ut - ac6) * ac5 / xpow(2, 15);
+                 x2 = (long)mc * xpow(2, 11) / (x1 + md);
+                 b5 = x1 + x2;
+                 t = (b5 + 8) / xpow(2, 4);
+                 temperature = (float)t / 10.0;
+                 b6 = b5 - 4000;
+                 x1 = (b2 * (b6 * b6 / xpow(2, 12))) / xpow(2, 11);
+                 x2 = ac2 * b6 / xpow(2, 11);
+                 x3 = x1 + x2;
+                 b3 = ((((unsigned long)ac1 * 4 + x3) << oss) + 2) / 4;
+                 x1 = ac3 * b6 / xpow(2, 13);
+                 x2 = (b1 * (b6 * b6 / xpow(2, 12))) / xpow(2, 16);
+                 x3 = ((x1 + x2) + 2) / xpow(2, 2);
+                 b4 = ac4 * (unsigned long)(x3 + 32768) / xpow(2, 15);
+                 b7 = ((unsigned long)up - b3) * (50000 >> oss);
+                 if (b7 < (unsigned long)0x80000000) {
+                        p = (b7 * 2) / b4;
+                 } else {
+                        p = (b7 / b4) * 2;
+                 }
+                 x1 = (p / xpow(2, 8)) * (p / xpow(2, 8));
+                 x1 = (x1 * 3038) / xpow(2, 16);
+                 x2 = (-7357 * p) / xpow(2, 16);
+                 p = p + (x1 + x2 + 3791) / xpow(2, 4);
+                 pressure = (float)p / 100.0;
+                 ok=1;
+                 nbtick=0;
+                 break;
+         default: nbtick=0; 
+                  break;
+      }
+    /*float To=231; // 298    273,15 + 25
+    float ho=0;
+    float Po=102400; //101325
+    //ecuacion
+    float c=(To-0.0065*ho);
+    float e=(p/Po);
+    float d=exp(0.19082*log(e));  
+    float b=c*d;
+    altitude = 153.84615*(To-b); 
+    
+   /*altitude = (float)44330 * (1 - pow(((float) pressure/Po), 0.190295));
+    float A = pressure/1024.00;
+    float B = 1/5.25588;
+    altitude = pow(A,B);
+    altitude = 1 - altitude;
+    altitude = altitude /0.0000225577;*/
+    
+    
+
+
+    
+}
+
+void BMP085::init (BMP085_oss p_oss) {
+    ac1 = twi_readshort(WEATHER_BMP085, 0xaa);
+    ac2 = twi_readshort(WEATHER_BMP085, 0xac);
+    ac3 = twi_readshort(WEATHER_BMP085, 0xae);
+    ac4 = twi_readshort(WEATHER_BMP085, 0xb0);
+    ac5 = twi_readshort(WEATHER_BMP085, 0xb2);
+    ac6 = twi_readshort(WEATHER_BMP085, 0xb4);
+    b1 = twi_readshort(WEATHER_BMP085, 0xb6);
+    b2 = twi_readshort(WEATHER_BMP085, 0xb8);
+    mb = twi_readshort(WEATHER_BMP085, 0xba);
+    mc = twi_readshort(WEATHER_BMP085, 0xbc);
+    md = twi_readshort(WEATHER_BMP085, 0xbe);
+    oss = p_oss;
+}
+
+unsigned short BMP085::twi_readshort (int id, int addr) {
+    unsigned short i;
+
+    i2c.start();
+    i2c.write(id);
+    i2c.write(addr);
+
+    i2c.start();
+    i2c.write(id | 1);
+    i = i2c.read(1) << 8;
+    i |= i2c.read(0);
+    i2c.stop();
+
+    return i;
+}
+
+unsigned long BMP085::twi_readlong (int id, int addr) {
+    unsigned long i;
+
+    i2c.start();
+    i2c.write(id);
+    i2c.write(addr);
+
+    i2c.start();
+    i2c.write(id | 1);
+    i = i2c.read(1) << 16;
+    i |= i2c.read(1) << 8;
+    i |= i2c.read(0);
+    i2c.stop();
+
+    return i;
+}
+
+void BMP085::twi_writechar (int id, int addr, int dat)
+ {
+
+    i2c.start();
+    i2c.write(id);
+    i2c.write(addr);
+    i2c.write(dat);
+    i2c.stop();
+}
+
diff -r 000000000000 -r d07617f8ede9 BMP085.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMP085.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,47 @@
+#ifndef BMP085_H
+#define BMP085_H
+
+#include "mbed.h"
+
+/**
+ * @brief over sampling setting
+ */
+enum BMP085_oss {
+    BMP085_oss1 = 0, ///< ultra low power (1 time)
+    BMP085_oss2 = 1, ///< standard (2 times)
+    BMP085_oss4 = 2, ///< high resolution (4 times)
+    BMP085_oss8 = 3  ///< ultra high resolution (8 times)
+};
+
+/**
+ * @brief BMP085 class
+ */
+class BMP085 : public Base {
+public:
+    BMP085(PinName p_sda, PinName p_scl, BMP085_oss p_oss = BMP085_oss1);
+    BMP085(I2C& p_i2c, BMP085_oss p_oss = BMP085_oss1);
+
+    float get_temperature();
+    float get_pressure();
+    float get_altitude();
+    void update();
+    unsigned char ok;
+
+protected:
+    void init(BMP085_oss);
+    unsigned short twi_readshort (int, int);
+    unsigned long twi_readlong (int, int);
+    void twi_writechar (int, int, int);
+
+    I2C i2c;
+    float temperature;
+    float pressure;
+    float altitude;
+
+private:
+
+    short ac1, ac2, ac3, b1, b2, mb, mc, md, oss;
+    unsigned short ac4, ac5, ac6;
+};
+
+#endif
diff -r 000000000000 -r d07617f8ede9 FATFileSystem.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FATFileSystem.lib	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_unsupported/code/fatfilesystem/
\ No newline at end of file
diff -r 000000000000 -r d07617f8ede9 MSCFileSystem.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MSCFileSystem.cpp	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,113 @@
+/* USB Mass Storage device file system
+ * Copyrigh (c) 2010, Igor Skochinsky
+ * based on SDFileStorage
+ * Copyright (c) 2008-2009, sford
+ */
+ 
+/* Introduction
+ * ------------
+ * TODO: write one
+ * we're basically using NXP's USBHotLite sample code, just plugging in our own FAT library
+ */
+ 
+#include "MSCFileSystem.h"
+#include "usbhost_inc.h"
+
+MSCFileSystem::MSCFileSystem(const char* name) :
+  FATFileSystem(name)
+{
+}
+
+void print_inquiry(USB_INT08U *inqReply)
+{
+    // see USB Mass Storage Class &#65533; UFI Command Specification,
+    // 4.2 INQUIRY Command
+    printf("Inquiry reply:\n");
+    uint8_t tmp = inqReply[0]&0x1F;
+    printf("Peripheral device type: %02Xh\n", tmp);
+    if ( tmp == 0 )
+        printf("\t- Direct access (floppy)\n");
+    else if ( tmp == 0x1F )
+        printf("\t- none (no FDD connected)\n");
+    else
+        printf("\t- unknown type\n");
+    tmp = inqReply[1] >> 7;
+    printf("Removable Media Bit: %d\n", tmp);
+    tmp = inqReply[2] & 3;
+    printf("ANSI Version: %02Xh\n", tmp);
+    if ( tmp != 0 )
+        printf("\t- warning! must be 0\n");
+    tmp = (inqReply[2]>>3) & 3;
+    printf("ECMA Version: %02Xh\n", tmp);
+    if ( tmp != 0 )
+        printf("\t- warning! should be 0\n");
+    tmp = inqReply[2]>>6;
+    printf("ISO Version: %02Xh\n", tmp);
+    if ( tmp != 0 )
+        printf("\t- warning! should be 0\n");
+    tmp = inqReply[3] & 0xF;
+    printf("Response Data Format: %02Xh\n", tmp);
+    if ( tmp != 1 )
+        printf("\t- warning! should be 1\n");
+    tmp = inqReply[4];
+    printf("Additional length: %02Xh\n", tmp);
+    if ( tmp != 0x1F )
+        printf("\t- warning! should be 1Fh\n");
+    printf("Vendor Information: '%.8s'\n", &inqReply[8]);
+    printf("Product Identification: '%.16s'\n", &inqReply[16]);
+    printf("Product Revision: '%.4s'\n", &inqReply[32]);        
+}
+
+int MSCFileSystem::initialise_msc()
+{
+    USB_INT32S  rc;
+    USB_INT08U  inquiryResult[INQUIRY_LENGTH];
+    
+    //print_clock();
+    Host_Init();               /* Initialize the  host controller                                    */
+    rc = Host_EnumDev();       /* Enumerate the device connected                                            */
+    if (rc != OK)
+    {
+        fprintf(stderr, "Could not enumerate device: %d\n", rc);
+        return rc;
+    }
+        
+    
+    /* Initialize the mass storage and scsi interfaces */
+    rc = MS_Init( &_blkSize, &_numBlks, inquiryResult );
+    if (rc != OK)
+    {
+        fprintf(stderr, "Could not initialize mass storage interface: %d\n", rc);
+        return rc;
+    }
+    printf("Successfully initialized mass storage interface; %d blocks of size %d\n", _numBlks, _blkSize);
+    print_inquiry(inquiryResult);
+    // FATFileSystem supports only 512-byte blocks
+    return _blkSize == 512 ? OK : 1;
+}
+
+int MSCFileSystem::disk_initialize()
+{
+    if ( initialise_msc() != OK )
+        return 1;
+        
+    return 0;
+}
+
+int MSCFileSystem::disk_write(const char *buffer, int block_number)
+{
+    if ( OK == MS_BulkSend(block_number, 1, (USB_INT08U *)buffer) )
+        return 0;
+    return 1;
+}
+
+int MSCFileSystem::disk_read(char *buffer, int block_number)
+{
+    if ( OK == MS_BulkRecv(block_number, 1, (USB_INT08U *)buffer) )
+        return 0;
+    return 1;
+}
+
+int MSCFileSystem::disk_status() { return 0; }
+int MSCFileSystem::disk_sync() { return 0; }
+int MSCFileSystem::disk_sectors() { return _numBlks; }
diff -r 000000000000 -r d07617f8ede9 MSCFileSystem.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MSCFileSystem.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,49 @@
+/* USB Mass Storage device file system
+ * Copyrigh (c) 2010, Igor Skochinsky
+ * based on SDFileStorage
+ * Copyright (c) 2008-2009, sford
+ */
+ 
+#ifndef MSCFILESYSTEM_H
+#define MSCFILESYSTEM_H
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+
+/* Class: MSCFileSystem
+ *  Access the filesystem on an attached USB mass storage device (e.g. a memory stick)
+ *
+ * Example:
+ * > MSCFileSystem msc("msc");
+ * > 
+ * > int main() {
+ * >     FILE *fp = fopen("/msc/myfile.txt", "w");
+ * >     fprintf(fp, "Hello World!\n");
+ * >     fclose(fp);
+ * > }
+ */
+class MSCFileSystem : public FATFileSystem {
+public:
+
+    /* Constructor: MSCFileSystem
+     *  Create the File System for accessing a USB mass storage device
+     *
+     * Parameters:
+     *  name - The name used to access the filesystem
+     */
+    MSCFileSystem(const char* name);
+    virtual int disk_initialize();
+    virtual int disk_write(const char *buffer, int block_number);
+    virtual int disk_read(char *buffer, int block_number);    
+    virtual int disk_status();
+    virtual int disk_sync();
+    virtual int disk_sectors();
+
+protected:
+
+    int initialise_msc();
+    uint32_t _numBlks;
+    uint32_t _blkSize;
+};
+
+#endif
diff -r 000000000000 -r d07617f8ede9 SDFileSystem.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.cpp	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,457 @@
+/* mbed SDFileSystem Library, for providing file access to SD cards
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/* Introduction
+ * ------------
+ * SD and MMC cards support a number of interfaces, but common to them all
+ * is one based on SPI. This is the one I'm implmenting because it means
+ * it is much more portable even though not so performant, and we already 
+ * have the mbed SPI Interface!
+ *
+ * The main reference I'm using is Chapter 7, "SPI Mode" of: 
+ *  http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
+ *
+ * SPI Startup
+ * -----------
+ * The SD card powers up in SD mode. The SPI interface mode is selected by
+ * asserting CS low and sending the reset command (CMD0). The card will 
+ * respond with a (R1) response.
+ *
+ * CMD8 is optionally sent to determine the voltage range supported, and 
+ * indirectly determine whether it is a version 1.x SD/non-SD card or 
+ * version 2.x. I'll just ignore this for now.
+ *
+ * ACMD41 is repeatedly issued to initialise the card, until "in idle"
+ * (bit 0) of the R1 response goes to '0', indicating it is initialised.
+ *
+ * You should also indicate whether the host supports High Capicity cards,
+ * and check whether the card is high capacity - i'll also ignore this
+ *
+ * SPI Protocol
+ * ------------
+ * The SD SPI protocol is based on transactions made up of 8-bit words, with
+ * the host starting every bus transaction by asserting the CS signal low. The
+ * card always responds to commands, data blocks and errors.
+ * 
+ * The protocol supports a CRC, but by default it is off (except for the 
+ * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
+ * I'll leave the CRC off I think! 
+ * 
+ * Standard capacity cards have variable data block sizes, whereas High 
+ * Capacity cards fix the size of data block to 512 bytes. I'll therefore
+ * just always use the Standard Capacity cards with a block size of 512 bytes.
+ * This is set with CMD16.
+ *
+ * You can read and write single blocks (CMD17, CMD25) or multiple blocks 
+ * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
+ * the card gets a read command, it responds with a response token, and then 
+ * a data token or an error.
+ * 
+ * SPI Command Format
+ * ------------------
+ * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
+ *
+ * +---------------+------------+------------+-----------+----------+--------------+
+ * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
+ * +---------------+------------+------------+-----------+----------+--------------+
+ *
+ * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
+ *
+ * All Application Specific commands shall be preceded with APP_CMD (CMD55).
+ *
+ * SPI Response Format
+ * -------------------
+ * The main response format (R1) is a status byte (normally zero). Key flags:
+ *  idle - 1 if the card is in an idle state/initialising 
+ *  cmd  - 1 if an illegal command code was detected
+ *
+ *    +-------------------------------------------------+
+ * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
+ *    +-------------------------------------------------+
+ *
+ * R1b is the same, except it is followed by a busy signal (zeros) until
+ * the first non-zero byte when it is ready again.
+ *
+ * Data Response Token
+ * -------------------
+ * Every data block written to the card is acknowledged by a byte 
+ * response token
+ *
+ * +----------------------+
+ * | xxx | 0 | status | 1 |
+ * +----------------------+
+ *              010 - OK!
+ *              101 - CRC Error
+ *              110 - Write Error
+ *
+ * Single Block Read and Write
+ * ---------------------------
+ *
+ * Block transfers have a byte header, followed by the data, followed
+ * by a 16-bit CRC. In our case, the data will always be 512 bytes.
+ *  
+ * +------+---------+---------+- -  - -+---------+-----------+----------+
+ * | 0xFE | data[0] | data[1] |        | data[n] | crc[15:8] | crc[7:0] | 
+ * +------+---------+---------+- -  - -+---------+-----------+----------+
+ */
+ 
+#include "SDFileSystem.h"
+
+#define SD_COMMAND_TIMEOUT 5000
+
+SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
+  FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) {
+      _cs = 1; 
+}
+
+#define R1_IDLE_STATE           (1 << 0)
+#define R1_ERASE_RESET          (1 << 1)
+#define R1_ILLEGAL_COMMAND      (1 << 2)
+#define R1_COM_CRC_ERROR        (1 << 3)
+#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
+#define R1_ADDRESS_ERROR        (1 << 5)
+#define R1_PARAMETER_ERROR      (1 << 6)
+
+// Types
+//  - v1.x Standard Capacity
+//  - v2.x Standard Capacity
+//  - v2.x High Capacity
+//  - Not recognised as an SD Card
+
+#define SDCARD_FAIL 0
+#define SDCARD_V1   1
+#define SDCARD_V2   2
+#define SDCARD_V2HC 3
+
+int SDFileSystem::initialise_card() {
+    // Set to 100kHz for initialisation, and clock card with cs = 1
+    _spi.frequency(100000); 
+    _cs = 1;
+    for(int i=0; i<16; i++) {   
+        _spi.write(0xFF);
+    }
+
+    // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
+    if(_cmd(0, 0) != R1_IDLE_STATE) { 
+        fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n");
+        return SDCARD_FAIL;
+    }
+
+    // send CMD8 to determine whther it is ver 2.x
+    int r = _cmd8();
+    if(r == R1_IDLE_STATE) {
+        return initialise_card_v2();
+    } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
+        return initialise_card_v1();
+    } else {
+        fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n");
+        return SDCARD_FAIL;
+    }
+}
+
+int SDFileSystem::initialise_card_v1() {
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        _cmd(55, 0); 
+        if(_cmd(41, 0) == 0) { 
+            return SDCARD_V1;
+        }
+    }
+
+    fprintf(stderr, "Timeout waiting for v1.x card\n");
+    return SDCARD_FAIL;
+}
+
+int SDFileSystem::initialise_card_v2() {
+    
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        _cmd(55, 0); 
+        if(_cmd(41, 0) == 0) { 
+            _cmd58();
+            return SDCARD_V2;
+        }
+    }
+
+    fprintf(stderr, "Timeout waiting for v2.x card\n");
+    return SDCARD_FAIL;
+}
+
+int SDFileSystem::disk_initialize() {
+
+    int i = initialise_card();
+//    printf("init card = %d\n", i);
+//    printf("OK\n");
+
+    _sectors = _sd_sectors();
+
+    // Set block length to 512 (CMD16)
+    if(_cmd(16, 512) != 0) {
+        fprintf(stderr, "Set 512-byte block timed out\n");
+        return 1;
+    }
+        
+    _spi.frequency(1000000); // Set to 1MHz for data transfer
+    return 0;
+}
+
+int SDFileSystem::disk_write(const char *buffer, int block_number) {
+    // set write address for single block (CMD24)
+    if(_cmd(24, block_number * 512) != 0) {
+        return 1;
+    }
+
+    // send the data block
+    _write(buffer, 512);    
+    return 0;    
+}
+
+int SDFileSystem::disk_read(char *buffer, int block_number) {        
+    // set read address for single block (CMD17)
+    if(_cmd(17, block_number * 512) != 0) {
+        return 1;
+    }
+    
+    // receive the data
+    _read(buffer, 512);
+    return 0;
+}
+
+int SDFileSystem::disk_status() { return 0; }
+int SDFileSystem::disk_sync() { return 0; }
+int SDFileSystem::disk_sectors() { return _sectors; }
+
+// PRIVATE FUNCTIONS
+
+int SDFileSystem::_cmd(int cmd, int arg) {
+    _cs = 0; 
+
+    // send a command
+    _spi.write(0x40 | cmd);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            _cs = 1;
+            _spi.write(0xFF);
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+int SDFileSystem::_cmdx(int cmd, int arg) {
+    _cs = 0; 
+
+    // send a command
+    _spi.write(0x40 | cmd);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+
+int SDFileSystem::_cmd58() {
+    _cs = 0; 
+    int arg = 0;
+    
+    // send a command
+    _spi.write(0x40 | 58);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            int ocr = _spi.write(0xFF) << 24;
+            ocr |= _spi.write(0xFF) << 16;
+            ocr |= _spi.write(0xFF) << 8;
+            ocr |= _spi.write(0xFF) << 0;
+//            printf("OCR = 0x%08X\n", ocr);
+            _cs = 1;
+            _spi.write(0xFF);
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+int SDFileSystem::_cmd8() {
+    _cs = 0; 
+    
+    // send a command
+    _spi.write(0x40 | 8); // CMD8
+    _spi.write(0x00);     // reserved
+    _spi.write(0x00);     // reserved
+    _spi.write(0x01);     // 3.3v
+    _spi.write(0xAA);     // check pattern
+    _spi.write(0x87);     // crc
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) {
+        char response[5];
+        response[0] = _spi.write(0xFF);
+        if(!(response[0] & 0x80)) {
+                for(int j=1; j<5; j++) {
+                    response[i] = _spi.write(0xFF);
+                }
+                _cs = 1;
+                _spi.write(0xFF);
+                return response[0];
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+int SDFileSystem::_read(char *buffer, int length) {
+    _cs = 0;
+
+    // read until start byte (0xFF)
+    while(_spi.write(0xFF) != 0xFE);
+
+    // read data
+    for(int i=0; i<length; i++) {
+        buffer[i] = _spi.write(0xFF);
+    }
+    _spi.write(0xFF); // checksum
+    _spi.write(0xFF);
+
+    _cs = 1;    
+    _spi.write(0xFF);
+    return 0;
+}
+
+int SDFileSystem::_write(const char *buffer, int length) {
+    _cs = 0;
+    
+    // indicate start of block
+    _spi.write(0xFE);
+    
+    // write the data
+    for(int i=0; i<length; i++) {
+        _spi.write(buffer[i]);
+    }
+    
+    // write the checksum
+    _spi.write(0xFF); 
+    _spi.write(0xFF);
+
+    // check the repsonse token
+    if((_spi.write(0xFF) & 0x1F) != 0x05) {
+        _cs = 1;
+        _spi.write(0xFF);        
+        return 1;
+    }
+
+    // wait for write to finish
+    while(_spi.write(0xFF) == 0);
+
+    _cs = 1; 
+    _spi.write(0xFF);
+    return 0;
+}
+
+static int ext_bits(char *data, int msb, int lsb) {
+    int bits = 0;
+    int size = 1 + msb - lsb; 
+    for(int i=0; i<size; i++) {
+        int position = lsb + i;
+        int byte = 15 - (position >> 3);
+        int bit = position & 0x7;
+        int value = (data[byte] >> bit) & 1;
+        bits |= value << i;
+    }
+    return bits;
+}
+
+int SDFileSystem::_sd_sectors() {
+
+    // CMD9, Response R2 (R1 byte + 16-byte block read)
+    if(_cmdx(9, 0) != 0) {
+        fprintf(stderr, "Didn't get a response from the disk\n");
+        return 0;
+    }
+    
+    char csd[16];    
+    if(_read(csd, 16) != 0) {
+        fprintf(stderr, "Couldn't read csd response from disk\n");
+        return 0;
+    }
+
+    // csd_structure : csd[127:126]
+    // c_size        : csd[73:62]
+    // c_size_mult   : csd[49:47]
+    // read_bl_len   : csd[83:80] - the *maximum* read block length
+
+    int csd_structure = ext_bits(csd, 127, 126);
+    int c_size = ext_bits(csd, 73, 62);
+    int c_size_mult = ext_bits(csd, 49, 47);
+    int read_bl_len = ext_bits(csd, 83, 80);
+
+//    printf("CSD_STRUCT = %d\n", csd_structure);
+    
+    if(csd_structure != 0) {
+        fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n");
+        return 0;
+    }
+             
+    // memory capacity = BLOCKNR * BLOCK_LEN
+    // where
+    //  BLOCKNR = (C_SIZE+1) * MULT
+    //  MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8)
+    //  BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12)         
+                            
+    int block_len = 1 << read_bl_len;
+    int mult = 1 << (c_size_mult + 2);
+    int blocknr = (c_size + 1) * mult;
+    int capacity = blocknr * block_len;
+        
+    int blocks = capacity / 512;
+        
+    return blocks;
+}
diff -r 000000000000 -r d07617f8ede9 SDFileSystem.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,81 @@
+/* mbed SDFileSystem Library, for providing file access to SD cards
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_SDFILESYSTEM_H
+#define MBED_SDFILESYSTEM_H
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+
+/** Access the filesystem on an SD Card using SPI
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "SDFileSystem.h"
+ *
+ * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
+ *  
+ * int main() {
+ *     FILE *fp = fopen("/sd/myfile.txt", "w");
+ *     fprintf(fp, "Hello World!\n");
+ *     fclose(fp);
+ * }
+ */
+class SDFileSystem : public FATFileSystem {
+public:
+
+    /** Create the File System for accessing an SD Card using SPI
+     *
+     * @param mosi SPI mosi pin connected to SD Card
+     * @param miso SPI miso pin conencted to SD Card
+     * @param sclk SPI sclk pin connected to SD Card
+     * @param cs   DigitalOut pin used as SD Card chip select
+     * @param name The name used to access the virtual filesystem
+     */
+    SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
+    virtual int disk_initialize();
+    virtual int disk_write(const char *buffer, int block_number);
+    virtual int disk_read(char *buffer, int block_number);    
+    virtual int disk_status();
+    virtual int disk_sync();
+    virtual int disk_sectors();
+
+protected:
+
+    int _cmd(int cmd, int arg);
+    int _cmdx(int cmd, int arg);
+    int _cmd8();
+    int _cmd58();
+    int initialise_card();
+    int initialise_card_v1();
+    int initialise_card_v2();
+    
+    int _read(char *buffer, int length);
+    int _write(const char *buffer, int length);
+    int _sd_sectors();
+    int _sectors;
+    
+    SPI _spi;
+    DigitalOut _cs;     
+};
+
+#endif
diff -r 000000000000 -r d07617f8ede9 USBHostLite/usbhost_cpu.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_cpu.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,35 @@
+/*
+**************************************************************************************************************
+*                                                 NXP USB Host Stack
+*
+*                                     (c) Copyright 2008, NXP SemiConductors
+*                                     (c) Copyright 2008, OnChip  Technologies LLC
+*                                                 All Rights Reserved
+*
+*                                                  www.nxp.com
+*                                               www.onchiptech.com
+*
+* File           : usbhost_cpu.h
+* Programmer(s)  : Ravikanth.P
+* Version        :
+*
+**************************************************************************************************************
+*/
+
+#ifndef  USBHOST_CPU_H
+#define  USBHOST_CPU_H
+
+/*
+**************************************************************************************************************
+*                                           TYPE DEFINITIONS OF DATA TYPES
+**************************************************************************************************************
+*/
+
+typedef  unsigned int    USB_INT32U;
+typedef  signed   int    USB_INT32S;
+typedef  unsigned short  USB_INT16U;
+typedef  signed   short  USB_INT16S;
+typedef  unsigned char   USB_INT08U;
+typedef  signed   char   USB_INT08S;
+
+#endif
diff -r 000000000000 -r d07617f8ede9 USBHostLite/usbhost_err.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_err.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,63 @@
+/*
+**************************************************************************************************************
+*                                                 NXP USB Host Stack
+*
+*                                     (c) Copyright 2008, NXP SemiConductors
+*                                     (c) Copyright 2008, OnChip  Technologies LLC
+*                                                 All Rights Reserved
+*
+*                                                  www.nxp.com
+*                                               www.onchiptech.com
+*
+* File           : usbhost_err.h
+* Programmer(s)  : Ravikanth.P
+* Version        :
+*
+**************************************************************************************************************
+*/
+
+#ifndef  USBHOST_ERR_H
+#define  USBHOST_ERR_H
+
+
+/*
+**************************************************************************************************************
+*                                        GENERAL DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define  OK                        0
+#define  MATCH_FOUND               0
+
+/*
+**************************************************************************************************************
+*                                HOST CONTROLLER SPECIFIC ERROR CODES
+**************************************************************************************************************
+*/
+
+#define  ERR_TD_FAIL              -1
+
+/*
+**************************************************************************************************************
+*                                  MASS STORAGE SPECIFIC ERROR CODES
+**************************************************************************************************************
+*/
+
+#define  ERR_MS_CMD_FAILED       -10
+#define  ERR_BAD_CONFIGURATION   -11
+#define  ERR_NO_MS_INTERFACE     -12
+
+/*
+**************************************************************************************************************
+*                                      FAT SPECIFIC ERROR CODES
+**************************************************************************************************************
+*/
+
+#define  MATCH_NOT_FOUND         -20
+#define  ERR_FAT_NOT_SUPPORTED   -21
+#define  ERR_OPEN_LIMIT_REACHED  -22
+#define  ERR_INVALID_BOOT_SIG    -23
+#define  ERR_INVALID_BOOT_SEC    -24
+#define  ERR_ROOT_DIR_FULL       -25
+
+#endif
diff -r 000000000000 -r d07617f8ede9 USBHostLite/usbhost_inc.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_inc.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,39 @@
+/*
+**************************************************************************************************************
+*                                                 NXP USB Host Stack
+*
+*                                     (c) Copyright 2008, NXP SemiConductors
+*                                     (c) Copyright 2008, OnChip  Technologies LLC
+*                                                 All Rights Reserved
+*
+*                                                  www.nxp.com
+*                                               www.onchiptech.com
+*
+* File           : usbhost_inc.h
+* Programmer(s)  : Ravikanth.P
+* Version        :
+*
+**************************************************************************************************************
+*/
+
+#ifndef  USBHOST_INC_H
+#define  USBHOST_INC_H
+
+/*
+**************************************************************************************************************
+*                                       INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include  "usbhost_cpu.h"
+#include  "usbhost_err.h"
+#include  "usbhost_lpc17xx.h"
+#include  "usbhost_ms.h"
+#include  "mbed.h"
+
+
+#ifdef TARGET_LPC2368
+#error "There is no USB host on the LPC2368!"
+#endif
+
+#endif
diff -r 000000000000 -r d07617f8ede9 USBHostLite/usbhost_lpc17xx.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_lpc17xx.c	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,820 @@
+/*
+**************************************************************************************************************
+*                                                 NXP USB Host Stack
+*
+*                                     (c) Copyright 2008, NXP SemiConductors
+*                                     (c) Copyright 2008, OnChip  Technologies LLC
+*                                                 All Rights Reserved
+*
+*                                                  www.nxp.com
+*                                               www.onchiptech.com
+*
+* File           : usbhost_lpc17xx.c
+* Programmer(s)  : Ravikanth.P
+* Version        :
+*
+**************************************************************************************************************
+*/
+ 
+/*
+**************************************************************************************************************
+*                                            INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include  "usbhost_lpc17xx.h"
+
+/*
+**************************************************************************************************************
+*                                              GLOBAL VARIABLES
+**************************************************************************************************************
+*/
+int gUSBConnected;
+
+volatile  USB_INT32U   HOST_RhscIntr = 0;         /* Root Hub Status Change interrupt                       */
+volatile  USB_INT32U   HOST_WdhIntr  = 0;         /* Semaphore to wait until the TD is submitted            */
+volatile  USB_INT08U   HOST_TDControlStatus = 0;
+volatile  HCED        *EDCtrl;                    /* Control endpoint descriptor structure                  */
+volatile  HCED        *EDBulkIn;                  /* BulkIn endpoint descriptor  structure                  */
+volatile  HCED        *EDBulkOut;                 /* BulkOut endpoint descriptor structure                  */
+volatile  HCTD        *TDHead;                    /* Head transfer descriptor structure                     */
+volatile  HCTD        *TDTail;                    /* Tail transfer descriptor structure                     */
+volatile  HCCA        *Hcca;                      /* Host Controller Communications Area structure          */ 
+          USB_INT16U  *TDBufNonVol;               /* Identical to TDBuffer just to reduce compiler warnings */
+volatile  USB_INT08U  *TDBuffer;                  /* Current Buffer Pointer of transfer descriptor          */
+
+// USB host structures
+// AHB SRAM block 1
+#define HOSTBASEADDR 0x2007C000
+// reserve memory for the linker
+static USB_INT08U HostBuf[0x200] __attribute__((at(HOSTBASEADDR)));
+/*
+**************************************************************************************************************
+*                                         DELAY IN MILLI SECONDS
+*
+* Description: This function provides a delay in milli seconds
+*
+* Arguments  : delay    The delay required
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  Host_DelayMS (USB_INT32U  delay)
+{
+    volatile  USB_INT32U  i;
+
+
+    for (i = 0; i < delay; i++) {
+        Host_DelayUS(1000);
+    }
+}
+
+/*
+**************************************************************************************************************
+*                                         DELAY IN MICRO SECONDS
+*
+* Description: This function provides a delay in micro seconds
+*
+* Arguments  : delay    The delay required
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  Host_DelayUS (USB_INT32U  delay)
+{
+    volatile  USB_INT32U  i;
+
+
+    for (i = 0; i < (4 * delay); i++) {    /* This logic was tested. It gives app. 1 micro sec delay        */
+        ;
+    }
+}
+
+// bits of the USB/OTG clock control register
+#define HOST_CLK_EN     (1<<0)
+#define DEV_CLK_EN      (1<<1)
+#define PORTSEL_CLK_EN  (1<<3)
+#define AHB_CLK_EN      (1<<4)
+
+// bits of the USB/OTG clock status register
+#define HOST_CLK_ON     (1<<0)
+#define DEV_CLK_ON      (1<<1)
+#define PORTSEL_CLK_ON  (1<<3)
+#define AHB_CLK_ON      (1<<4)
+
+// we need host clock, OTG/portsel clock and AHB clock
+#define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
+
+/*
+**************************************************************************************************************
+*                                         INITIALIZE THE HOST CONTROLLER
+*
+* Description: This function initializes lpc17xx host controller
+*
+* Arguments  : None
+*
+* Returns    : 
+*
+**************************************************************************************************************
+*/
+void  Host_Init (void)
+{
+    PRINT_Log("In Host_Init\n");
+    NVIC_DisableIRQ(USB_IRQn);                           /* Disable the USB interrupt source           */
+    
+    // turn on power for USB
+    LPC_SC->PCONP       |= (1UL<<31);
+    // Enable USB host clock, port selection and AHB clock
+    LPC_USB->USBClkCtrl |= CLOCK_MASK;
+    // Wait for clocks to become available
+    while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
+        ;
+    
+    // it seems the bits[0:1] mean the following
+    // 0: U1=device, U2=host
+    // 1: U1=host, U2=host
+    // 2: reserved
+    // 3: U1=host, U2=device
+    // NB: this register is only available if OTG clock (aka "port select") is enabled!!
+    // since we don't care about port 2, set just bit 0 to 1 (U1=host)
+    LPC_USB->OTGStCtrl |= 1;
+    
+    // now that we've configured the ports, we can turn off the portsel clock
+    LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN;
+    
+    // power pins are not connected on mbed, so we can skip them
+    /* P1[18] = USB_UP_LED, 01 */
+    /* P1[19] = /USB_PPWR,     10 */
+    /* P1[22] = USB_PWRD, 10 */
+    /* P1[27] = /USB_OVRCR, 10 */
+    /*LPC_PINCON->PINSEL3 &= ~((3<<4) | (3<<6) | (3<<12) | (3<<22));  
+    LPC_PINCON->PINSEL3 |=  ((1<<4)|(2<<6) | (2<<12) | (2<<22));   // 0x00802080
+    */
+
+    // configure USB D+/D- pins
+    /* P0[29] = USB_D+, 01 */
+    /* P0[30] = USB_D-, 01 */
+    LPC_PINCON->PINSEL1 &= ~((3<<26) | (3<<28));  
+    LPC_PINCON->PINSEL1 |=  ((1<<26)|(1<<28));     // 0x14000000
+        
+    PRINT_Log("Initializing Host Stack\n");
+
+    Hcca       = (volatile  HCCA       *)(HostBuf+0x000);
+    TDHead     = (volatile  HCTD       *)(HostBuf+0x100);
+    TDTail     = (volatile  HCTD       *)(HostBuf+0x110);
+    EDCtrl     = (volatile  HCED       *)(HostBuf+0x120); 
+    EDBulkIn   = (volatile  HCED       *)(HostBuf+0x130);
+    EDBulkOut  = (volatile  HCED       *)(HostBuf+0x140);
+    TDBuffer   = (volatile  USB_INT08U *)(HostBuf+0x150);
+    
+    /* Initialize all the TDs, EDs and HCCA to 0  */
+    Host_EDInit(EDCtrl);
+    Host_EDInit(EDBulkIn);
+    Host_EDInit(EDBulkOut);
+    Host_TDInit(TDHead);
+    Host_TDInit(TDTail);
+    Host_HCCAInit(Hcca);
+    
+    Host_DelayMS(50);                                   /* Wait 50 ms before apply reset              */
+    LPC_USB->HcControl       = 0;                       /* HARDWARE RESET                             */
+    LPC_USB->HcControlHeadED = 0;                       /* Initialize Control list head to Zero       */
+    LPC_USB->HcBulkHeadED    = 0;                       /* Initialize Bulk list head to Zero          */
+    
+                                                        /* SOFTWARE RESET                             */
+    LPC_USB->HcCommandStatus = OR_CMD_STATUS_HCR;
+    LPC_USB->HcFmInterval    = DEFAULT_FMINTERVAL;      /* Write Fm Interval and Largest Data Packet Counter */
+
+                                                        /* Put HC in operational state                */
+    LPC_USB->HcControl  = (LPC_USB->HcControl & (~OR_CONTROL_HCFS)) | OR_CONTROL_HC_OPER;
+    LPC_USB->HcRhStatus = OR_RH_STATUS_LPSC;            /* Set Global Power                           */
+    
+    LPC_USB->HcHCCA = (USB_INT32U)Hcca;
+    LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;                   /* Clear Interrrupt Status                    */
+
+
+    LPC_USB->HcInterruptEnable  = OR_INTR_ENABLE_MIE |
+                         OR_INTR_ENABLE_WDH |
+                         OR_INTR_ENABLE_RHSC;
+
+    NVIC_SetPriority(USB_IRQn, 0);       /* highest priority */
+    /* Enable the USB Interrupt */
+    NVIC_EnableIRQ(USB_IRQn);
+    PRINT_Log("Host Initialized\n");
+}
+
+/*
+**************************************************************************************************************
+*                                         INTERRUPT SERVICE ROUTINE
+*
+* Description: This function services the interrupt caused by host controller
+*
+* Arguments  : None
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void USB_IRQHandler (void) __irq
+{
+    USB_INT32U   int_status;
+    USB_INT32U   ie_status;
+
+    int_status    = LPC_USB->HcInterruptStatus;                          /* Read Interrupt Status                */
+    ie_status     = LPC_USB->HcInterruptEnable;                          /* Read Interrupt enable status         */
+ 
+    if (!(int_status & ie_status)) {
+        return;
+    } else {
+
+        int_status = int_status & ie_status;
+        if (int_status & OR_INTR_STATUS_RHSC) {                 /* Root hub status change interrupt     */
+            if (LPC_USB->HcRhPortStatus1 & OR_RH_PORT_CSC) {
+                if (LPC_USB->HcRhStatus & OR_RH_STATUS_DRWE) {
+                    /*
+                     * When DRWE is on, Connect Status Change
+                     * means a remote wakeup event.
+                    */
+                    HOST_RhscIntr = 1;// JUST SOMETHING FOR A BREAKPOINT
+                }
+                else {
+                    /*
+                     * When DRWE is off, Connect Status Change
+                     * is NOT a remote wakeup event
+                    */
+                    if (LPC_USB->HcRhPortStatus1 & OR_RH_PORT_CCS) {
+                        if (!gUSBConnected) {
+                            HOST_TDControlStatus = 0;
+                            HOST_WdhIntr = 0;
+                            HOST_RhscIntr = 1;
+                            gUSBConnected = 1;
+                        }
+                        else
+                            PRINT_Log("Spurious status change (connected)?\n");
+                    } else {
+                        if (gUSBConnected) {
+                            LPC_USB->HcInterruptEnable = 0; // why do we get multiple disc. rupts???
+                            HOST_RhscIntr = 0;
+                            gUSBConnected = 0;
+                        }
+                        else
+                            PRINT_Log("Spurious status change (disconnected)?\n");
+                    }
+                }
+                LPC_USB->HcRhPortStatus1 = OR_RH_PORT_CSC;
+            }
+            if (LPC_USB->HcRhPortStatus1 & OR_RH_PORT_PRSC) {
+                LPC_USB->HcRhPortStatus1 = OR_RH_PORT_PRSC;
+            }
+        }
+        if (int_status & OR_INTR_STATUS_WDH) {                  /* Writeback Done Head interrupt        */
+            HOST_WdhIntr = 1;
+            HOST_TDControlStatus = (TDHead->Control >> 28) & 0xf;
+        }            
+        LPC_USB->HcInterruptStatus = int_status;                         /* Clear interrupt status register      */
+    }
+    return;
+}
+
+/*
+**************************************************************************************************************
+*                                     PROCESS TRANSFER DESCRIPTOR
+*
+* Description: This function processes the transfer descriptor
+*
+* Arguments  : ed            Endpoint descriptor that contains this transfer descriptor
+*              token         SETUP, IN, OUT
+*              buffer        Current Buffer Pointer of the transfer descriptor
+*              buffer_len    Length of the buffer
+*
+* Returns    : OK       if TD submission is successful
+*              ERROR    if TD submission fails
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S  Host_ProcessTD (volatile  HCED       *ed,
+                            volatile  USB_INT32U  token,
+                            volatile  USB_INT08U *buffer,
+                                      USB_INT32U  buffer_len)
+{
+    volatile  USB_INT32U   td_toggle;
+
+
+    if (ed == EDCtrl) {
+        if (token == TD_SETUP) {
+            td_toggle = TD_TOGGLE_0;
+        } else {
+            td_toggle = TD_TOGGLE_1;
+        }
+    } else {
+        td_toggle = 0;
+    }
+    TDHead->Control = (TD_ROUNDING    |
+                      token           |
+                      TD_DELAY_INT(0) |                           
+                      td_toggle       |
+                      TD_CC);
+    TDTail->Control = 0;
+    TDHead->CurrBufPtr   = (USB_INT32U) buffer;
+    TDTail->CurrBufPtr   = 0;
+    TDHead->Next         = (USB_INT32U) TDTail;
+    TDTail->Next         = 0;
+    TDHead->BufEnd       = (USB_INT32U)(buffer + (buffer_len - 1));
+    TDTail->BufEnd       = 0;
+
+    ed->HeadTd  = (USB_INT32U)TDHead | ((ed->HeadTd) & 0x00000002);
+    ed->TailTd  = (USB_INT32U)TDTail;
+    ed->Next    = 0;
+
+    if (ed == EDCtrl) {
+        LPC_USB->HcControlHeadED = (USB_INT32U)ed;
+        LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | OR_CMD_STATUS_CLF;
+        LPC_USB->HcControl       = LPC_USB->HcControl       | OR_CONTROL_CLE;
+    } else {
+        LPC_USB->HcBulkHeadED    = (USB_INT32U)ed;
+        LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | OR_CMD_STATUS_BLF;
+        LPC_USB->HcControl       = LPC_USB->HcControl       | OR_CONTROL_BLE;
+    }    
+
+    Host_WDHWait();
+
+//    if (!(TDHead->Control & 0xF0000000)) {
+    if (!HOST_TDControlStatus) {
+        return (OK);
+    } else {      
+        return (ERR_TD_FAIL);
+    }
+}
+
+/*
+**************************************************************************************************************
+*                                       ENUMERATE THE DEVICE
+*
+* Description: This function is used to enumerate the device connected
+*
+* Arguments  : None
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S  Host_EnumDev (void)
+{
+    USB_INT32S  rc;
+
+    PRINT_Log("Connect a Mass Storage device\n");
+    while (!HOST_RhscIntr)
+        __WFI();
+    Host_DelayMS(100);                             /* USB 2.0 spec says atleast 50ms delay beore port reset */
+    LPC_USB->HcRhPortStatus1 = OR_RH_PORT_PRS; // Initiate port reset
+    while (LPC_USB->HcRhPortStatus1 & OR_RH_PORT_PRS)
+        __WFI(); // Wait for port reset to complete...
+    LPC_USB->HcRhPortStatus1 = OR_RH_PORT_PRSC; // ...and clear port reset signal
+    Host_DelayMS(200);                                                 /* Wait for 100 MS after port reset  */
+
+    EDCtrl->Control = 8 << 16;                                         /* Put max pkt size = 8              */
+                                                                       /* Read first 8 bytes of device desc */
+    rc = HOST_GET_DESCRIPTOR(USB_DESCRIPTOR_TYPE_DEVICE, 0, TDBuffer, 8);
+    if (rc != OK) {
+        PRINT_Err(rc);
+        return (rc);
+    }
+    EDCtrl->Control = TDBuffer[7] << 16;                               /* Get max pkt size of endpoint 0    */
+    rc = HOST_SET_ADDRESS(1);                                          /* Set the device address to 1       */
+    if (rc != OK) {
+        PRINT_Err(rc);
+        return (rc);
+    }
+    Host_DelayMS(2);
+    EDCtrl->Control = (EDCtrl->Control) | 1;                          /* Modify control pipe with address 1 */
+                                                                      /* Get the configuration descriptor   */
+    rc = HOST_GET_DESCRIPTOR(USB_DESCRIPTOR_TYPE_CONFIGURATION, 0, TDBuffer, 9);
+    if (rc != OK) {
+        PRINT_Err(rc);
+        return (rc);
+    }
+                                                                       /* Get the first configuration data  */
+    rc = HOST_GET_DESCRIPTOR(USB_DESCRIPTOR_TYPE_CONFIGURATION, 0, TDBuffer, ReadLE16U(&TDBuffer[2]));
+    if (rc != OK) {
+        PRINT_Err(rc);
+        return (rc);
+    }
+    rc = MS_ParseConfiguration();                                      /* Parse the configuration           */
+    if (rc != OK) {
+        PRINT_Err(rc);
+        return (rc);
+    }
+    rc = USBH_SET_CONFIGURATION(1);                                    /* Select device configuration 1     */
+    if (rc != OK) {
+        PRINT_Err(rc);
+    }
+    Host_DelayMS(100);                                               /* Some devices may require this delay */
+    return (rc);
+}
+
+/*
+**************************************************************************************************************
+*                                        RECEIVE THE CONTROL INFORMATION
+*
+* Description: This function is used to receive the control information
+*
+* Arguments  : bm_request_type
+*              b_request
+*              w_value
+*              w_index
+*              w_length
+*              buffer
+*
+* Returns    : OK       if Success
+*              ERROR    if Failed
+*
+**************************************************************************************************************
+*/
+   
+USB_INT32S  Host_CtrlRecv (         USB_INT08U   bm_request_type,
+                                    USB_INT08U   b_request,
+                                    USB_INT16U   w_value,
+                                    USB_INT16U   w_index,
+                                    USB_INT16U   w_length,
+                          volatile  USB_INT08U  *buffer)
+{
+    USB_INT32S  rc;
+
+
+    Host_FillSetup(bm_request_type, b_request, w_value, w_index, w_length);
+    rc = Host_ProcessTD(EDCtrl, TD_SETUP, TDBuffer, 8);
+    if (rc == OK) {
+        if (w_length) {
+            rc = Host_ProcessTD(EDCtrl, TD_IN, TDBuffer, w_length);
+        }
+        if (rc == OK) {
+            rc = Host_ProcessTD(EDCtrl, TD_OUT, NULL, 0);
+        }
+    }
+    return (rc);
+}
+
+/*
+**************************************************************************************************************
+*                                         SEND THE CONTROL INFORMATION
+*
+* Description: This function is used to send the control information
+*
+* Arguments  : None
+*
+* Returns    : OK                      if Success
+*              ERR_INVALID_BOOTSIG    if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S  Host_CtrlSend (          USB_INT08U   bm_request_type,
+                                     USB_INT08U   b_request,
+                                     USB_INT16U   w_value,
+                                     USB_INT16U   w_index,
+                                     USB_INT16U   w_length,
+                           volatile  USB_INT08U  *buffer)
+{
+    USB_INT32S  rc;
+
+
+    Host_FillSetup(bm_request_type, b_request, w_value, w_index, w_length);
+
+    rc = Host_ProcessTD(EDCtrl, TD_SETUP, TDBuffer, 8);
+    if (rc == OK) {
+        if (w_length) {
+            rc = Host_ProcessTD(EDCtrl, TD_OUT, TDBuffer, w_length);
+        }
+        if (rc == OK) {
+            rc = Host_ProcessTD(EDCtrl, TD_IN, NULL, 0);
+        }
+    }
+    return (rc);
+}
+
+/*
+**************************************************************************************************************
+*                                          FILL SETUP PACKET
+*
+* Description: This function is used to fill the setup packet
+*
+* Arguments  : None
+*
+* Returns    : OK                      if Success
+*              ERR_INVALID_BOOTSIG    if Failed
+*
+**************************************************************************************************************
+*/
+
+void  Host_FillSetup (USB_INT08U   bm_request_type,
+                      USB_INT08U   b_request,
+                      USB_INT16U   w_value,
+                      USB_INT16U   w_index,
+                      USB_INT16U   w_length)
+{
+    int i;
+    for (i=0;i<w_length;i++)
+        TDBuffer[i] = 0;
+    
+    TDBuffer[0] = bm_request_type;
+    TDBuffer[1] = b_request;
+    WriteLE16U(&TDBuffer[2], w_value);
+    WriteLE16U(&TDBuffer[4], w_index);
+    WriteLE16U(&TDBuffer[6], w_length);
+}
+
+
+
+/*
+**************************************************************************************************************
+*                                         INITIALIZE THE TRANSFER DESCRIPTOR
+*
+* Description: This function initializes transfer descriptor
+*
+* Arguments  : Pointer to TD structure
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  Host_TDInit (volatile  HCTD *td)
+{
+
+    td->Control    = 0;
+    td->CurrBufPtr = 0;
+    td->Next       = 0;
+    td->BufEnd     = 0;
+}
+
+/*
+**************************************************************************************************************
+*                                         INITIALIZE THE ENDPOINT DESCRIPTOR
+*
+* Description: This function initializes endpoint descriptor
+*
+* Arguments  : Pointer to ED strcuture
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  Host_EDInit (volatile  HCED *ed)
+{
+
+    ed->Control = 0;
+    ed->TailTd  = 0;
+    ed->HeadTd  = 0;
+    ed->Next    = 0;
+}
+
+/*
+**************************************************************************************************************
+*                                 INITIALIZE HOST CONTROLLER COMMUNICATIONS AREA
+*
+* Description: This function initializes host controller communications area
+*
+* Arguments  : Pointer to HCCA
+*
+* Returns    : 
+*
+**************************************************************************************************************
+*/
+
+void  Host_HCCAInit (volatile  HCCA  *hcca)
+{
+    USB_INT32U  i;
+
+
+    for (i = 0; i < 32; i++) {
+
+        hcca->IntTable[i] = 0;
+        hcca->FrameNumber = 0;
+        hcca->DoneHead    = 0;
+    }
+
+}
+
+/*
+**************************************************************************************************************
+*                                         WAIT FOR WDH INTERRUPT
+*
+* Description: This function is infinite loop which breaks when ever a WDH interrupt rises
+*
+* Arguments  : None
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  Host_WDHWait (void)
+{
+  while (!HOST_WdhIntr)
+      __WFI();
+
+  HOST_WdhIntr = 0;
+}
+
+/*
+**************************************************************************************************************
+*                                         READ LE 32U
+*
+* Description: This function is used to read an unsigned integer from a character buffer in the platform
+*              containing little endian processor
+*
+* Arguments  : pmem    Pointer to the character buffer
+*
+* Returns    : val     Unsigned integer
+*
+**************************************************************************************************************
+*/
+
+USB_INT32U  ReadLE32U (volatile  USB_INT08U  *pmem)
+{
+    USB_INT32U val = *(USB_INT32U*)pmem;
+#ifdef __BIG_ENDIAN
+    return __REV(val);
+#else
+    return val;
+#endif    
+}
+
+/*
+**************************************************************************************************************
+*                                        WRITE LE 32U
+*
+* Description: This function is used to write an unsigned integer into a charecter buffer in the platform 
+*              containing little endian processor.
+*
+* Arguments  : pmem    Pointer to the charecter buffer
+*              val     Integer value to be placed in the charecter buffer
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  WriteLE32U (volatile  USB_INT08U  *pmem,
+                            USB_INT32U   val)
+{
+#ifdef __BIG_ENDIAN
+    *(USB_INT32U*)pmem = __REV(val);
+#else
+    *(USB_INT32U*)pmem = val;
+#endif
+}
+
+/*
+**************************************************************************************************************
+*                                          READ LE 16U
+*
+* Description: This function is used to read an unsigned short integer from a charecter buffer in the platform
+*              containing little endian processor
+*
+* Arguments  : pmem    Pointer to the charecter buffer
+*
+* Returns    : val     Unsigned short integer
+*
+**************************************************************************************************************
+*/
+
+USB_INT16U  ReadLE16U (volatile  USB_INT08U  *pmem)
+{
+    USB_INT16U val = *(USB_INT16U*)pmem;
+#ifdef __BIG_ENDIAN
+    return __REV16(val);
+#else
+    return val;
+#endif    
+}
+
+/*
+**************************************************************************************************************
+*                                         WRITE LE 16U
+*
+* Description: This function is used to write an unsigned short integer into a charecter buffer in the
+*              platform containing little endian processor
+*
+* Arguments  : pmem    Pointer to the charecter buffer
+*              val     Value to be placed in the charecter buffer
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  WriteLE16U (volatile  USB_INT08U  *pmem,
+                            USB_INT16U   val)
+{
+#ifdef __BIG_ENDIAN
+    *(USB_INT16U*)pmem = (__REV16(val) & 0xFFFF);
+#else
+    *(USB_INT16U*)pmem = val;
+#endif
+}
+
+/*
+**************************************************************************************************************
+*                                         READ BE 32U
+*
+* Description: This function is used to read an unsigned integer from a charecter buffer in the platform
+*              containing big endian processor
+*
+* Arguments  : pmem    Pointer to the charecter buffer
+*
+* Returns    : val     Unsigned integer
+*
+**************************************************************************************************************
+*/
+
+USB_INT32U  ReadBE32U (volatile  USB_INT08U  *pmem)
+{
+    USB_INT32U val = *(USB_INT32U*)pmem;
+#ifdef __BIG_ENDIAN
+    return val;
+#else
+    return __REV(val);
+#endif
+}
+
+/*
+**************************************************************************************************************
+*                                         WRITE BE 32U
+*
+* Description: This function is used to write an unsigned integer into a charecter buffer in the platform
+*              containing big endian processor
+*
+* Arguments  : pmem    Pointer to the charecter buffer
+*              val     Value to be placed in the charecter buffer
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  WriteBE32U (volatile  USB_INT08U  *pmem,
+                            USB_INT32U   val)
+{
+#ifdef __BIG_ENDIAN
+    *(USB_INT32U*)pmem = val;
+#else
+    *(USB_INT32U*)pmem = __REV(val);
+#endif
+}
+
+/*
+**************************************************************************************************************
+*                                         READ BE 16U
+*
+* Description: This function is used to read an unsigned short integer from a charecter buffer in the platform
+*              containing big endian processor
+*
+* Arguments  : pmem    Pointer to the charecter buffer
+*
+* Returns    : val     Unsigned short integer
+*
+**************************************************************************************************************
+*/
+
+USB_INT16U  ReadBE16U (volatile  USB_INT08U  *pmem)
+{
+    USB_INT16U val = *(USB_INT16U*)pmem;
+#ifdef __BIG_ENDIAN
+    return val;
+#else
+    return __REV16(val);
+#endif    
+}
+
+/*
+**************************************************************************************************************
+*                                         WRITE BE 16U
+*
+* Description: This function is used to write an unsigned short integer into the charecter buffer in the
+*              platform containing big endian processor
+*
+* Arguments  : pmem    Pointer to the charecter buffer
+*              val     Value to be placed in the charecter buffer
+*
+* Returns    : None
+*
+**************************************************************************************************************
+*/
+
+void  WriteBE16U (volatile  USB_INT08U  *pmem,
+                            USB_INT16U   val)
+{
+#ifdef __BIG_ENDIAN
+    *(USB_INT16U*)pmem = val;
+#else
+    *(USB_INT16U*)pmem = (__REV16(val) & 0xFFFF);
+#endif
+}
diff -r 000000000000 -r d07617f8ede9 USBHostLite/usbhost_lpc17xx.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_lpc17xx.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,254 @@
+/*
+**************************************************************************************************************
+*                                                 NXP USB Host Stack
+*
+*                                     (c) Copyright 2008, NXP SemiConductors
+*                                     (c) Copyright 2008, OnChip  Technologies LLC
+*                                                 All Rights Reserved
+*
+*                                                  www.nxp.com
+*                                               www.onchiptech.com
+*
+* File           : usbhost_lpc17xx.h
+* Programmer(s)  : Ravikanth.P
+* Version        :
+*
+**************************************************************************************************************
+*/
+
+#ifndef USBHOST_LPC17xx_H
+#define USBHOST_LPC17xx_H
+
+/*
+**************************************************************************************************************
+*                                       INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include    "usbhost_inc.h"
+
+/*
+**************************************************************************************************************
+*                                        PRINT CONFIGURATION
+**************************************************************************************************************
+*/
+
+#define  PRINT_ENABLE         1
+
+#if PRINT_ENABLE
+#define  PRINT_Log(...)       printf(__VA_ARGS__)
+#define  PRINT_Err(rc)        printf("ERROR: In %s at Line %u - rc = %d\n", __FUNCTION__, __LINE__, rc)
+
+#else 
+#define  PRINT_Log(...)       do {} while(0)
+#define  PRINT_Err(rc)        do {} while(0)
+
+#endif
+
+/*
+**************************************************************************************************************
+*                                        GENERAL DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define  DESC_LENGTH(x)  x[0]
+#define  DESC_TYPE(x)    x[1]
+
+
+#define  HOST_GET_DESCRIPTOR(descType, descIndex, data, length)                      \
+         Host_CtrlRecv(USB_DEVICE_TO_HOST | USB_RECIPIENT_DEVICE, GET_DESCRIPTOR,    \
+         (descType << 8)|(descIndex), 0, length, data)
+
+#define  HOST_SET_ADDRESS(new_addr)                                                  \
+         Host_CtrlSend(USB_HOST_TO_DEVICE | USB_RECIPIENT_DEVICE, SET_ADDRESS,       \
+         new_addr, 0, 0, NULL)
+
+#define  USBH_SET_CONFIGURATION(configNum)                                           \
+         Host_CtrlSend(USB_HOST_TO_DEVICE | USB_RECIPIENT_DEVICE, SET_CONFIGURATION, \
+         configNum, 0, 0, NULL)
+
+#define  USBH_SET_INTERFACE(ifNum, altNum)                                           \
+         Host_CtrlSend(USB_HOST_TO_DEVICE | USB_RECIPIENT_INTERFACE, SET_INTERFACE,  \
+         altNum, ifNum, 0, NULL)
+
+/*
+**************************************************************************************************************
+*                                  OHCI OPERATIONAL REGISTER FIELD DEFINITIONS
+**************************************************************************************************************
+*/
+
+                                            /* ------------------ HcControl Register ---------------------  */
+#define  OR_CONTROL_CLE                 0x00000010
+#define  OR_CONTROL_BLE                 0x00000020
+#define  OR_CONTROL_HCFS                0x000000C0
+#define  OR_CONTROL_HC_OPER             0x00000080
+                                            /* ----------------- HcCommandStatus Register ----------------- */
+#define  OR_CMD_STATUS_HCR              0x00000001
+#define  OR_CMD_STATUS_CLF              0x00000002
+#define  OR_CMD_STATUS_BLF              0x00000004
+                                            /* --------------- HcInterruptStatus Register ----------------- */
+#define  OR_INTR_STATUS_WDH             0x00000002
+#define  OR_INTR_STATUS_RHSC            0x00000040
+                                            /* --------------- HcInterruptEnable Register ----------------- */
+#define  OR_INTR_ENABLE_WDH             0x00000002
+#define  OR_INTR_ENABLE_RHSC            0x00000040
+#define  OR_INTR_ENABLE_MIE             0x80000000
+                                            /* ---------------- HcRhDescriptorA Register ------------------ */
+#define  OR_RH_STATUS_LPSC              0x00010000
+#define  OR_RH_STATUS_DRWE              0x00008000
+                                            /* -------------- HcRhPortStatus[1:NDP] Register -------------- */
+#define  OR_RH_PORT_CCS                 0x00000001
+#define  OR_RH_PORT_PRS                 0x00000010
+#define  OR_RH_PORT_CSC                 0x00010000
+#define  OR_RH_PORT_PRSC                0x00100000
+
+
+/*
+**************************************************************************************************************
+*                                               FRAME INTERVAL
+**************************************************************************************************************
+*/
+
+#define  FI                     0x2EDF           /* 12000 bits per frame (-1)                               */
+#define  DEFAULT_FMINTERVAL     ((((6 * (FI - 210)) / 7) << 16) | FI)
+
+/*
+**************************************************************************************************************
+*                                       TRANSFER DESCRIPTOR CONTROL FIELDS
+**************************************************************************************************************
+*/
+
+#define  TD_ROUNDING        (USB_INT32U) (0x00040000)        /* Buffer Rounding                             */
+#define  TD_SETUP           (USB_INT32U)(0)                  /* Direction of Setup Packet                   */
+#define  TD_IN              (USB_INT32U)(0x00100000)         /* Direction In                                */
+#define  TD_OUT             (USB_INT32U)(0x00080000)         /* Direction Out                               */
+#define  TD_DELAY_INT(x)    (USB_INT32U)((x) << 21)          /* Delay Interrupt                             */
+#define  TD_TOGGLE_0        (USB_INT32U)(0x02000000)         /* Toggle 0                                    */
+#define  TD_TOGGLE_1        (USB_INT32U)(0x03000000)         /* Toggle 1                                    */
+#define  TD_CC              (USB_INT32U)(0xF0000000)         /* Completion Code                             */
+
+/*
+**************************************************************************************************************
+*                                       USB STANDARD REQUEST DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define  USB_DESCRIPTOR_TYPE_DEVICE                     1
+#define  USB_DESCRIPTOR_TYPE_CONFIGURATION              2
+#define  USB_DESCRIPTOR_TYPE_INTERFACE                  4
+#define  USB_DESCRIPTOR_TYPE_ENDPOINT                   5
+                                                    /*  ----------- Control RequestType Fields  ----------- */
+#define  USB_DEVICE_TO_HOST         0x80
+#define  USB_HOST_TO_DEVICE         0x00
+#define  USB_REQUEST_TYPE_CLASS     0x20
+#define  USB_RECIPIENT_DEVICE       0x00
+#define  USB_RECIPIENT_INTERFACE    0x01
+                                                    /* -------------- USB Standard Requests  -------------- */
+#define  SET_ADDRESS                 5
+#define  GET_DESCRIPTOR              6
+#define  SET_CONFIGURATION           9
+#define  SET_INTERFACE              11
+
+/*
+**************************************************************************************************************
+*                                       TYPE DEFINITIONS
+**************************************************************************************************************
+*/
+
+typedef struct hcEd {                       /* ----------- HostController EndPoint Descriptor ------------- */
+    volatile  USB_INT32U  Control;              /* Endpoint descriptor control                              */
+    volatile  USB_INT32U  TailTd;               /* Physical address of tail in Transfer descriptor list     */
+    volatile  USB_INT32U  HeadTd;               /* Physcial address of head in Transfer descriptor list     */
+    volatile  USB_INT32U  Next;                 /* Physical address of next Endpoint descriptor             */
+} HCED;
+
+typedef struct hcTd {                       /* ------------ HostController Transfer Descriptor ------------ */
+    volatile  USB_INT32U  Control;              /* Transfer descriptor control                              */
+    volatile  USB_INT32U  CurrBufPtr;           /* Physical address of current buffer pointer               */
+    volatile  USB_INT32U  Next;                 /* Physical pointer to next Transfer Descriptor             */
+    volatile  USB_INT32U  BufEnd;               /* Physical address of end of buffer                        */
+} HCTD;
+
+typedef struct hcca {                       /* ----------- Host Controller Communication Area ------------  */
+    volatile  USB_INT32U  IntTable[32];         /* Interrupt Table                                          */
+    volatile  USB_INT32U  FrameNumber;          /* Frame Number                                             */
+    volatile  USB_INT32U  DoneHead;             /* Done Head                                                */
+    volatile  USB_INT08U  Reserved[116];        /* Reserved for future use                                  */
+    volatile  USB_INT08U  Unknown[4];           /* Unused                                                   */
+} HCCA;
+
+/*
+**************************************************************************************************************
+*                                     EXTERN DECLARATIONS
+**************************************************************************************************************
+*/
+
+extern  volatile  HCED        *EDBulkIn;        /* BulkIn endpoint descriptor  structure                    */
+extern  volatile  HCED        *EDBulkOut;       /* BulkOut endpoint descriptor structure                    */
+extern  volatile  HCTD        *TDHead;          /* Head transfer descriptor structure                       */
+extern  volatile  HCTD        *TDTail;          /* Tail transfer descriptor structure                       */
+extern  volatile  USB_INT08U  *TDBuffer;        /* Current Buffer Pointer of transfer descriptor            */
+
+/*
+**************************************************************************************************************
+*                                       FUNCTION PROTOTYPES
+**************************************************************************************************************
+*/
+
+void        Host_Init     (void);
+
+extern "C" void USB_IRQHandler(void)  __irq;
+
+USB_INT32S  Host_EnumDev  (void);
+
+USB_INT32S  Host_ProcessTD(volatile  HCED       *ed,
+                           volatile  USB_INT32U  token,
+                           volatile  USB_INT08U *buffer,
+                                     USB_INT32U  buffer_len);
+
+void        Host_DelayUS  (          USB_INT32U    delay);
+void        Host_DelayMS  (          USB_INT32U    delay);
+
+
+void        Host_TDInit   (volatile  HCTD *td);
+void        Host_EDInit   (volatile  HCED *ed);
+void        Host_HCCAInit (volatile  HCCA  *hcca);
+
+USB_INT32S  Host_CtrlRecv (          USB_INT08U   bm_request_type,
+                                     USB_INT08U   b_request,
+                                     USB_INT16U   w_value,
+                                     USB_INT16U   w_index,
+                                     USB_INT16U   w_length,
+                           volatile  USB_INT08U  *buffer);
+
+USB_INT32S  Host_CtrlSend (          USB_INT08U   bm_request_type,
+                                     USB_INT08U   b_request,
+                                     USB_INT16U   w_value,
+                                     USB_INT16U   w_index,
+                                     USB_INT16U   w_length,
+                           volatile  USB_INT08U  *buffer);
+
+void        Host_FillSetup(          USB_INT08U   bm_request_type,
+                                     USB_INT08U   b_request,
+                                     USB_INT16U   w_value,
+                                     USB_INT16U   w_index,
+                                     USB_INT16U   w_length);
+
+
+void        Host_WDHWait  (void);
+
+
+USB_INT32U  ReadLE32U     (volatile  USB_INT08U  *pmem);
+void        WriteLE32U    (volatile  USB_INT08U  *pmem,
+                                     USB_INT32U   val);
+USB_INT16U  ReadLE16U     (volatile  USB_INT08U  *pmem);
+void        WriteLE16U    (volatile  USB_INT08U  *pmem,
+                                     USB_INT16U   val);
+USB_INT32U  ReadBE32U     (volatile  USB_INT08U  *pmem);
+void        WriteBE32U    (volatile  USB_INT08U  *pmem,
+                                     USB_INT32U   val);
+USB_INT16U  ReadBE16U     (volatile  USB_INT08U  *pmem);
+void        WriteBE16U    (volatile  USB_INT08U  *pmem,
+                                     USB_INT16U   val);
+
+#endif
diff -r 000000000000 -r d07617f8ede9 USBHostLite/usbhost_ms.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_ms.c	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,455 @@
+/*
+**************************************************************************************************************
+*                                                 NXP USB Host Stack
+*
+*                                     (c) Copyright 2008, NXP SemiConductors
+*                                     (c) Copyright 2008, OnChip  Technologies LLC
+*                                                 All Rights Reserved
+*
+*                                                  www.nxp.com
+*                                               www.onchiptech.com
+*
+* File           : usbhost_ms.c
+* Programmer(s)  : Ravikanth.P
+* Version        :
+*
+**************************************************************************************************************
+*/
+
+/*
+**************************************************************************************************************
+*                                       INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include  "usbhost_ms.h"
+
+/*
+**************************************************************************************************************
+*                                         GLOBAL VARIABLES
+**************************************************************************************************************
+*/
+
+USB_INT32U  MS_BlkSize;
+
+/*
+**************************************************************************************************************
+*                                      INITIALIZE MASS STORAGE INTERFACE
+*
+* Description: This function initializes the mass storage interface
+*
+* Arguments  : None
+*
+* Returns    : OK                      if Success
+*              ERR_INVALID_BOOTSIG    if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_Init (USB_INT32U *blkSize, USB_INT32U *numBlks, USB_INT08U *inquiryResult)
+{
+    USB_INT08U  retry;
+    USB_INT32S  rc;
+
+    MS_GetMaxLUN();                                                    /* Get maximum logical unit number   */
+    retry  = 80;
+    while(retry) {
+        rc = MS_TestUnitReady();                                       /* Test whether the unit is ready    */
+        if (rc == OK) {
+            break;
+        }
+        MS_GetSenseInfo();                                             /* Get sense information             */
+        retry--;
+    }
+    if (rc != OK) {
+        PRINT_Err(rc);
+        return (rc);
+    }
+    rc = MS_ReadCapacity(numBlks, blkSize);                         /* Read capacity of the disk         */
+    MS_BlkSize = *blkSize;                        // Set global
+    rc = MS_Inquire (inquiryResult);
+    return (rc);
+}
+/*
+**************************************************************************************************************
+*                                         PARSE THE CONFIGURATION
+*
+* Description: This function is used to parse the configuration
+*
+* Arguments  : None
+*
+* Returns    : OK                      if Success
+*              ERR_INVALID_BOOTSIG    if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S  MS_ParseConfiguration (void)
+{
+    volatile  USB_INT08U  *desc_ptr;
+              USB_INT08U   ms_int_found;
+
+
+    desc_ptr     = TDBuffer;
+    ms_int_found = 0;
+
+    if (desc_ptr[1] != USB_DESCRIPTOR_TYPE_CONFIGURATION) {    
+        return (ERR_BAD_CONFIGURATION);
+    }
+    desc_ptr += desc_ptr[0];
+
+    while (desc_ptr != TDBuffer + ReadLE16U(&TDBuffer[2])) {
+
+        switch (desc_ptr[1]) {
+
+            case USB_DESCRIPTOR_TYPE_INTERFACE:                       /* If it is an interface descriptor   */
+                 if (desc_ptr[5] == MASS_STORAGE_CLASS &&             /* check if the class is mass storage */
+                     desc_ptr[6] == MASS_STORAGE_SUBCLASS_SCSI &&     /* check if the subclass is SCSI      */
+                     desc_ptr[7] == MASS_STORAGE_PROTOCOL_BO) {       /* check if the protocol is Bulk only */
+                     ms_int_found = 1;
+                     desc_ptr    += desc_ptr[0];                      /* Move to next descriptor start      */
+                 }
+                 break;
+
+            case USB_DESCRIPTOR_TYPE_ENDPOINT:                        /* If it is an endpoint descriptor    */
+                 if ((desc_ptr[3] & 0x03) == 0x02) {                  /* If it is Bulk endpoint             */
+                     if (desc_ptr[2] & 0x80) {                        /* If it is In endpoint               */
+                         EDBulkIn->Control =  1                             |      /* USB address           */
+                                              ((desc_ptr[2] & 0x7F) << 7)   |      /* Endpoint address      */
+                                              (2 << 11)                     |      /* direction             */
+                                              (ReadLE16U(&desc_ptr[4]) << 16);     /* MaxPkt Size           */
+                         desc_ptr += desc_ptr[0];                     /* Move to next descriptor start      */
+                     } else {                                         /* If it is Out endpoint              */
+                         EDBulkOut->Control = 1                             |      /* USB address           */
+                                              ((desc_ptr[2] & 0x7F) << 7)   |      /* Endpoint address      */
+                                              (1 << 11)                     |      /* direction             */
+                                              (ReadLE16U(&desc_ptr[4]) << 16);     /* MaxPkt Size           */
+                         desc_ptr += desc_ptr[0];                     /* Move to next descriptor start      */
+                     }
+                 } else {                                             /* If it is not bulk end point        */
+                     desc_ptr += desc_ptr[0];                         /* Move to next descriptor start      */
+                 }
+                 break;
+
+            default:                                 /* If the descriptor is neither interface nor endpoint */
+                 desc_ptr += desc_ptr[0];                             /* Move to next descriptor start      */
+                 break;
+        }
+    }
+    if (ms_int_found) {
+        PRINT_Log("Mass Storage device connected\n");
+        return (OK);
+    } else {
+        PRINT_Log("Not a Mass Storage device\n");
+        return (ERR_NO_MS_INTERFACE);
+    }
+}
+
+/*
+**************************************************************************************************************
+*                                         GET MAXIMUM LOGICAL UNIT
+*
+* Description: This function returns the maximum logical unit from the device
+*
+* Arguments  : None
+*
+* Returns    : OK                      if Success
+*              ERR_INVALID_BOOTSIG    if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S  MS_GetMaxLUN (void)
+{
+    USB_INT32S  rc;
+
+
+    rc = Host_CtrlRecv(USB_DEVICE_TO_HOST | USB_REQUEST_TYPE_CLASS | USB_RECIPIENT_INTERFACE,
+                       MS_GET_MAX_LUN_REQ,
+                       0,
+                       0,
+                       1,
+                       TDBuffer);
+    return (rc); 
+}
+
+/*
+**************************************************************************************************************
+*                                          GET SENSE INFORMATION
+*
+* Description: This function is used to get sense information from the device
+*
+* Arguments  : None
+*
+* Returns    : OK       if Success
+*              ERROR    if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S  MS_GetSenseInfo (void)
+{
+    USB_INT32S  rc;
+
+
+    Fill_MSCommand(0, 0, 0, MS_DATA_DIR_IN, SCSI_CMD_REQUEST_SENSE, 6);
+    rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+    if (rc == OK) {
+        rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, 18);
+        if (rc == OK) {
+            rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+            if (rc == OK) {
+                if (TDBuffer[12] != 0) {
+                    rc = ERR_MS_CMD_FAILED;
+                }
+            }
+        }
+    }
+    return (rc);
+}
+
+/*
+**************************************************************************************************************
+*                                           TEST UNIT READY
+*
+* Description: This function is used to test whether the unit is ready or not
+*
+* Arguments  : None
+*
+* Returns    : OK       if Success
+*              ERROR    if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S  MS_TestUnitReady (void)
+{
+    USB_INT32S  rc;
+
+
+    Fill_MSCommand(0, 0, 0, MS_DATA_DIR_NONE, SCSI_CMD_TEST_UNIT_READY, 6);
+    rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+    if (rc == OK) {
+        rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+        if (rc == OK) {        
+            if (TDBuffer[12] != 0) {
+                rc = ERR_MS_CMD_FAILED;
+            }
+        }
+    }
+    return (rc);
+}
+
+/*
+**************************************************************************************************************
+*                                            READ CAPACITY
+*
+* Description: This function is used to read the capacity of the mass storage device
+*
+* Arguments  : None
+*
+* Returns    : OK       if Success
+*              ERROR    if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S MS_ReadCapacity (USB_INT32U *numBlks, USB_INT32U *blkSize)
+{
+    USB_INT32S  rc;
+
+
+    Fill_MSCommand(0, 0, 0, MS_DATA_DIR_IN, SCSI_CMD_READ_CAPACITY, 10);
+    rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+    if (rc == OK) {
+        rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, 8);
+        if (rc == OK) {
+            if (numBlks)
+                *numBlks = ReadBE32U(&TDBuffer[0]);
+            if (blkSize)
+                *blkSize = ReadBE32U(&TDBuffer[4]);
+            rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+            if (rc == OK) {
+                if (TDBuffer[12] != 0) {
+                    rc = ERR_MS_CMD_FAILED;
+                }
+            }
+        }
+    }
+    return (rc);
+}
+
+
+
+USB_INT32S MS_Inquire (USB_INT08U *response)
+{
+    USB_INT32S rc;
+    USB_INT32U i;
+
+    Fill_MSCommand(0, 0, 0, MS_DATA_DIR_IN, SCSI_CMD_INQUIRY, 6);
+    rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+    if (rc == OK) {
+        rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, INQUIRY_LENGTH);
+        if (rc == OK) {
+            if (response) {
+                for ( i = 0; i < INQUIRY_LENGTH; i++ )
+                    *response++ = *TDBuffer++;
+#if 0
+                MemCpy (response, TDBuffer, INQUIRY_LENGTH);
+                StrNullTrailingSpace (response->vendorID, SCSI_INQUIRY_VENDORCHARS);
+                StrNullTrailingSpace (response->productID, SCSI_INQUIRY_PRODUCTCHARS);
+                StrNullTrailingSpace (response->productRev, SCSI_INQUIRY_REVCHARS);
+#endif
+            }
+            rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+            if (rc == OK) {
+                if (TDBuffer[12] != 0) {    // bCSWStatus byte
+                    rc = ERR_MS_CMD_FAILED;
+                }
+            }
+        }
+    }
+    return (rc);
+}
+
+/*
+**************************************************************************************************************
+*                                         RECEIVE THE BULK DATA
+*
+* Description: This function is used to receive the bulk data
+*
+* Arguments  : None
+*
+* Returns    : OK                      if Success
+*              ERR_INVALID_BOOTSIG    if Failed
+*
+**************************************************************************************************************
+*/
+    
+USB_INT32S  MS_BulkRecv (          USB_INT32U   block_number,
+                                   USB_INT16U   num_blocks,
+                         volatile  USB_INT08U  *user_buffer)
+{
+    USB_INT32S  rc;
+    int i;
+    volatile USB_INT08U *c = user_buffer;
+    for (i=0;i<MS_BlkSize*num_blocks;i++)
+        *c++ = 0;
+
+
+    Fill_MSCommand(block_number, MS_BlkSize, num_blocks, MS_DATA_DIR_IN, SCSI_CMD_READ_10, 10);
+
+    rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+    if (rc == OK) {
+        rc = Host_ProcessTD(EDBulkIn, TD_IN, user_buffer, MS_BlkSize * num_blocks);
+        if (rc == OK) {
+            rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+            if (rc == OK) {
+                if (TDBuffer[12] != 0) {
+                    rc = ERR_MS_CMD_FAILED;
+                }
+            }
+        }
+    }
+    return (rc);
+}
+
+/*
+**************************************************************************************************************
+*                                         SEND BULK DATA
+*
+* Description: This function is used to send the bulk data
+*
+* Arguments  : None
+*
+* Returns    : OK                      if Success
+*              ERR_INVALID_BOOTSIG    if Failed
+*
+**************************************************************************************************************
+*/
+
+USB_INT32S  MS_BulkSend (          USB_INT32U   block_number,
+                                   USB_INT16U   num_blocks,
+                         volatile  USB_INT08U  *user_buffer)
+{
+    USB_INT32S  rc;
+
+
+    Fill_MSCommand(block_number, MS_BlkSize, num_blocks, MS_DATA_DIR_OUT, SCSI_CMD_WRITE_10, 10);
+
+    rc = Host_ProcessTD(EDBulkOut, TD_OUT, TDBuffer, CBW_SIZE);
+    if (rc == OK) {
+        rc = Host_ProcessTD(EDBulkOut, TD_OUT, user_buffer, MS_BlkSize * num_blocks);
+        if (rc == OK) {
+            rc = Host_ProcessTD(EDBulkIn, TD_IN, TDBuffer, CSW_SIZE);
+            if (rc == OK) {
+                if (TDBuffer[12] != 0) {
+                    rc = ERR_MS_CMD_FAILED;
+                }
+            }
+        }
+    }
+    return (rc);
+}
+
+/*
+**************************************************************************************************************
+*                                         FILL MASS STORAGE COMMAND
+*
+* Description: This function is used to fill the mass storage command
+*
+* Arguments  : None
+*
+* Returns    : OK                      if Success
+*              ERR_INVALID_BOOTSIG    if Failed
+*
+**************************************************************************************************************
+*/
+
+void  Fill_MSCommand (USB_INT32U   block_number,
+                      USB_INT32U   block_size,
+                      USB_INT16U   num_blocks,
+                      MS_DATA_DIR  direction,
+                      USB_INT08U   scsi_cmd,
+                      USB_INT08U   scsi_cmd_len)
+{
+            USB_INT32U  data_len;
+    static  USB_INT32U  tag_cnt = 0;
+            USB_INT32U  cnt;
+
+
+    for (cnt = 0; cnt < CBW_SIZE; cnt++) {
+         TDBuffer[cnt] = 0;
+    }
+    switch(scsi_cmd) {
+
+        case SCSI_CMD_TEST_UNIT_READY:
+             data_len = 0;
+             break;
+        case SCSI_CMD_READ_CAPACITY:
+             data_len = 8;
+             break;
+        case SCSI_CMD_REQUEST_SENSE:
+             data_len = 18;
+             break;
+        case SCSI_CMD_INQUIRY:
+             data_len = 36;
+             break;
+        default:
+             data_len = block_size * num_blocks;
+             break;
+    }
+    WriteLE32U(TDBuffer, CBW_SIGNATURE);
+    WriteLE32U(&TDBuffer[4], tag_cnt);
+    WriteLE32U(&TDBuffer[8], data_len);
+    TDBuffer[12]     = (direction == MS_DATA_DIR_NONE) ? 0 : direction;
+    TDBuffer[14]     = scsi_cmd_len;                                   /* Length of the CBW                 */
+    TDBuffer[15]     = scsi_cmd;
+    if ((scsi_cmd     == SCSI_CMD_REQUEST_SENSE)
+     || (scsi_cmd     == SCSI_CMD_INQUIRY)) {
+        TDBuffer[19] = (USB_INT08U)data_len;
+    } else {
+        WriteBE32U(&TDBuffer[17], block_number);
+    }
+    WriteBE16U(&TDBuffer[22], num_blocks);
+}
diff -r 000000000000 -r d07617f8ede9 USBHostLite/usbhost_ms.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostLite/usbhost_ms.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,101 @@
+/*
+**************************************************************************************************************
+*                                                 NXP USB Host Stack
+*
+*                                     (c) Copyright 2008, NXP SemiConductors
+*                                     (c) Copyright 2008, OnChip  Technologies LLC
+*                                                 All Rights Reserved
+*
+*                                                  www.nxp.com
+*                                               www.onchiptech.com
+*
+* File           : usbhost_ms.h
+* Programmer(s)  : Ravikanth.P
+* Version        :
+*
+**************************************************************************************************************
+*/
+
+#ifndef  USBHOST_MS_H
+#define  USBHOST_MS_H
+
+/*
+**************************************************************************************************************
+*                                       INCLUDE HEADER FILES
+**************************************************************************************************************
+*/
+
+#include  "usbhost_inc.h"
+
+/*
+**************************************************************************************************************
+*                               MASS STORAGE SPECIFIC DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define    MS_GET_MAX_LUN_REQ            0xFE
+#define    MASS_STORAGE_CLASS            0x08
+#define    MASS_STORAGE_SUBCLASS_SCSI    0x06
+#define    MASS_STORAGE_PROTOCOL_BO      0x50
+
+#define    INQUIRY_LENGTH                36
+/*
+**************************************************************************************************************
+*                                  SCSI SPECIFIC DEFINITIONS
+**************************************************************************************************************
+*/
+
+#define  CBW_SIGNATURE               0x43425355
+#define  CSW_SIGNATURE               0x53425355
+#define  CBW_SIZE                      31
+#define  CSW_SIZE                      13
+#define  CSW_CMD_PASSED              0x00
+#define  SCSI_CMD_REQUEST_SENSE      0x03
+#define  SCSI_CMD_TEST_UNIT_READY    0x00
+#define  SCSI_CMD_INQUIRY            0x12
+#define  SCSI_CMD_READ_10            0x28
+#define  SCSI_CMD_READ_CAPACITY      0x25
+#define  SCSI_CMD_WRITE_10           0x2A
+
+/*
+**************************************************************************************************************
+*                                       TYPE DEFINITIONS
+**************************************************************************************************************
+*/
+
+typedef enum  ms_data_dir {
+
+    MS_DATA_DIR_IN     = 0x80,
+    MS_DATA_DIR_OUT    = 0x00,
+    MS_DATA_DIR_NONE   = 0x01
+
+} MS_DATA_DIR;
+
+/*
+**************************************************************************************************************
+*                                     FUNCTION PROTOTYPES
+**************************************************************************************************************
+*/
+
+USB_INT32S  MS_BulkRecv          (          USB_INT32U    block_number,
+                                            USB_INT16U    num_blocks,
+                                  volatile  USB_INT08U   *user_buffer);
+
+USB_INT32S  MS_BulkSend          (          USB_INT32U    block_number,
+                                            USB_INT16U    num_blocks,
+                                  volatile  USB_INT08U   *user_buffer);
+USB_INT32S  MS_ParseConfiguration(void);
+USB_INT32S  MS_TestUnitReady     (void);
+USB_INT32S  MS_ReadCapacity (USB_INT32U *numBlks, USB_INT32U *blkSize);
+USB_INT32S  MS_GetMaxLUN         (void);
+USB_INT32S  MS_GetSenseInfo      (void);
+USB_INT32S  MS_Init (USB_INT32U *blkSize, USB_INT32U *numBlks, USB_INT08U *inquiryResult);
+USB_INT32S  MS_Inquire (USB_INT08U *response);
+
+void        Fill_MSCommand       (          USB_INT32U    block_number,
+                                            USB_INT32U    block_size,
+                                            USB_INT16U    num_blocks,
+                                            MS_DATA_DIR   direction,
+                                            USB_INT08U    scsi_cmd,
+                                            USB_INT08U    scsi_cmd_len);
+#endif
diff -r 000000000000 -r d07617f8ede9 chr.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/chr.h	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,133 @@
+#include "mbed.h"
+
+
+// Null packet
+
+     #define  NO_DATA = 0x00;
+     #define  FAILED_CHECKSUM = 0x01;
+
+
+     int packet[100];
+     int packet_length = 0;
+
+// Tx packet types (responses) 
+
+   
+     const int  SET_ACTIVE_CHANNELS       =  0x80;
+     const int  SET_SILENT_MODE           =  0x81;
+     const int  SET_BROADCAST_MODE        =  0x82;
+     const int  SET_GYRO_BIAS             =  0x83;
+     const int  SET_ACCEL_BIAS            =  0x84;
+     const int  SET_ACCEL_REF_VECTOR      =  0x85;
+     const int  AUTO_SET_ACCEL_REF        =  0x86;
+     const int  ZERO_RATE_GYROS           =  0x87;
+     const int  SELF_TEST                 =  0x88;
+     const int  SET_START_CAL             =  0x89;
+     const int  SET_PROCESS_COVARIANCE    =  0x8A;
+     const int  SET_MAG_COVARIANCE        =  0x8B;
+     const int  SET_ACCEL_COVARIANCE      =  0x8C;
+     const int  SET_EKF_CONFIG            =  0x8D;
+     const int  SET_GYRO_ALIGNMENT        =  0x8E;
+     const int  SET_ACCEL_ALIGNMENT       =  0x8F;
+     const int  SET_MAG_REF_VECTOR        =  0x90;
+     const int  AUTO_SET_MAG_REF          =  0x91;
+     const int  SET_MAG_CAL               =  0x92;
+     const int  SET_MAG_BIAS              =  0x93;
+     const int  SET_GYRO_SCALE            =  0x94;
+     const int  EKF_RESET                 =  0x95;
+     const int  RESET_TO_FACTORY          =  0x96;
+     const int  WRITE_TO_FLASH            =  0xA0;
+     const int  GET_DATA                  =  0x01;
+     const int  GET_ACTIVE_CHANNELS       =  0x02;
+     const int  GET_BROADCAST_MODE        =  0x03;
+     const int  GET_ACCEL_BIAS            =  0x04;
+     const int  GET_ACCEL_REF_VECTOR      =  0x05;
+     const int  GET_GYRO_BIAS             =  0x06;
+     const int  GET_GYRO_SCALE            =  0x07;
+     const int  GET_START_CAL             =  0x08;
+     const int  GET_EKF_CONFIG            =  0x09;
+     const int  GET_ACCEL_COVARIANCE      =  0x0A;
+     const int  GET_MAG_COVARIANCE        =  0x0B;
+     const int  GET_PROCESS_COVARIANCE    =  0x0C;
+     const int  GET_STATE_COVARIANCE      =  0x0D;
+     const int  GET_GYRO_ALIGNMENT        =  0x0E;
+     const int  GET_ACCEL_ALIGNMENT       =  0x0F;
+     const int  GET_MAG_REF_VECTOR        =  0x10;
+     const int  GET_MAG_CAL               =  0x11;
+     const int  GET_MAG_BIAS              =  0x12;
+
+ // Board status and data packets
+ #define PT_COMMAND_COMPLETE             0xB0
+#define PT_COMMAND_FAILED               0xB1
+#define PT_BAD_CHECKSUM                 0xB2
+#define PT_BAD_DATA_LENGTH              0xB3
+#define PT_UNRECOGNIZED_PACKET          0xB4  
+#define PT_BUFFER_OVERFLOW              0xB5
+#define PT_STATUS_REPORT                0xB6
+#define PT_SENSOR_DATA                  0xB7
+#define PT_GYRO_BIAS_REPORT             0xB8
+#define PT_GYRO_SCALE_REPORT            0xB9
+#define PT_START_CAL_REPORT             0xBA
+#define PT_ACCEL_BIAS_REPORT            0xBB
+#define PT_ACCEL_REF_VECTOR_REPORT      0xBC
+#define PT_ACTIVE_CHANNEL_REPORT        0xBD
+#define PT_ACCEL_COVARIANCE_REPORT      0xBE
+#define PT_MAG_COVARIANCE_REPORT        0xBF
+#define PT_PROCESS_COVARIANCE_REPORT    0xC0
+#define PT_STATE_COVARIANCE_REPORT      0xC1
+#define PT_EKF_CONFIG_REPORT            0xC2
+#define PT_GYRO_ALIGNMENT_REPORT        0xC3
+#define PT_ACCEL_ALIGNMENT_REPORT       0xC4
+#define PT_MAG_REF_VECTOR_REPORT        0xC5
+#define PT_MAG_CAL_REPORT               0xC6
+#define PT_MAG_BIAS_REPORT              0xC7
+#define PT_BROADCAST_MODE_REPORT        0xC8
+
+
+     /* D1 */
+#define YAW_FLAG                0x80
+#define PITCH_FLAG              0x40
+#define ROLL_FLAG               0x20
+#define YAW_RATE_FLAG           0x10
+#define PITCH_RATE_FLAG         0x08
+#define ROLL_RATE_FLAG          0x04
+#define MX_FLAG                 0x02
+#define MY_FLAG                 0x01
+/* D2 */
+#define MZ_FLAG                 0x80
+#define GX_FLAG                 0x40
+#define GY_FLAG                 0x20
+#define GZ_FLAG                 0x10
+#define AX_FLAG                 0x08
+#define AY_FLAG                 0x04
+#define AZ_FLAG                 0x02
+#define ZERO_FLAG               0x01
+
+
+    /* Scale factors
+     const double SCALE_YAW        = 0.0109863; // &#65533;/LSB
+     const double SCALE_PITCH      = 0.0109863;
+     const double SCALE_ROLL       = 0.0109863;
+     const double SCALE_YAW_RATE   = 0.0137329; // &#65533;/s/LSB
+     const double SCALE_PITCH_RATE = 0.0137329;
+     const double SCALE_ROLL_RATE  = 0.0137329;
+     const double SCALE_MAG_X      = 0.061035; // mGauss/LSB
+     const double SCALE_MAG_Y      = 0.061035;
+     const double SCALE_MAG_Z      = 0.061035;
+     const double SCALE_GYRO_X     = 0.01812; // &#65533;/s/LSB
+     const double SCALE_GYRO_Y     = 0.01812;
+     const double SCALE_GYRO_Z     = 0.01812;
+     const double SCALE_ACCEL_X    = 0.106812; // mg/LSB
+     const double SCALE_ACCEL_Y    = 0.106812;
+     const double SCALE_ACCEL_Z    = 0.106812;*/
+
+    const char PACKET_HEADER[] = {'s','n','p'};
+    const int HEADER_CHECKSUM = 's'+'n'+'p';
+   
+
+
+
+
+#define MAX_BYTES 32
+enum _states { WAIT_s, WAIT_n, WAIT_p,PT, N, RX_PACKET, PROCESS_PACKET };
+
diff -r 000000000000 -r d07617f8ede9 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,218 @@
+#include "mbed.h"
+#include "chr.h"
+#include "SDFileSystem.h"
+#include "BMP085.h"
+#include "MSCFileSystem.h"
+
+SDFileSystem sd(p5, p6, p7, p8, "sd"); // mosi, miso, sclk, cs, name
+BMP085 bmp085(p28, p27);
+Serial imu(p13, p14);
+Serial pc(USBTX, USBRX);
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+InterruptIn event_EOC(p23);
+
+//DigitalIn BPM085_EOC (p23); 
+DigitalOut activate(p22);
+DigitalIn enable(p21);
+
+
+MSCFileSystem msc("msc");
+ 
+char data[MAX_BYTES];
+int _state = WAIT_s;
+char c;
+int d;
+unsigned char pt;
+unsigned int n;
+int yaw;
+int pitch;
+int roll;
+unsigned short int tag_imu;
+
+FILE *fp,*usbp;
+Timer tt,tmesure;
+Ticker periode1;
+void sendPacket(unsigned char pt, unsigned int n,char data[])
+{
+    //unsigned int checksum;    
+    int checksum = HEADER_CHECKSUM +pt+n; 
+    if (imu.writeable()) 
+        {
+            imu.printf("snp");
+            imu.putc(pt);
+            imu.putc(n);
+            
+            for (int i=0; i < n; i++) 
+                {
+                    imu.putc(data[i]);
+                    checksum += data[i];
+                }
+            imu.putc((char) (checksum >> 8));   // MSByte
+            imu.putc((char) (checksum & 0x0FF)); // LSByte
+        }
+      
+}
+
+
+void Int_DataLogger ()
+{
+    myled1 = 1;
+    myled2 = 1;
+    myled3 = 1;
+    myled4 = 1;
+    wait_ms(300);
+    pc.baud(115200);
+    myled1 = 0;
+    imu.baud(115200);
+    
+    myled2 = 0;
+    pc.printf("Hello!\n CHR-6dm Test Program \r/");
+    
+    //event_EOC.rise(&trigger);
+    //Enables "Broadcast Mode." the AHRS automatically transmits sensor data every Ts
+       
+    data[0]= 0xA4;   //= 100Hz
+    sendPacket(SET_BROADCAST_MODE, 1,data );
+    myled3 = 0; 
+    wait_ms(100);
+       
+    //Specifies which channel data should be transmitted over the UART.
+    data[0]= 0xFF; //{yaw, pitch, roll, yaw_rate, pitch_rate, roll_rate,mag_x, mag_y}
+    data[1]= 0xFF; //{mag_z, gyro_x, gyro_y,gyro_z, accel_x, accel_y,accel_z,0 }
+    sendPacket(SET_ACTIVE_CHANNELS,2,data );
+    myled3 = 1;
+    myled4 = 0;
+    wait_ms(100); 
+    
+       
+}
+
+void attimu()
+{
+    if (imu.readable()) 
+    {
+        c = imu.getc();
+        switch (_state)
+        {
+            case WAIT_s :
+                if (c == 's') _state = WAIT_n;
+                break;
+            case WAIT_n :
+                _state = (c == 'n') ? WAIT_p : WAIT_s;
+                break;
+            case WAIT_p :
+                _state = (c == 'p') ? PT : WAIT_p;
+                break;
+            case PT :
+                pt = c;
+                _state = N;
+                break;
+            case N :
+                n = ((unsigned int) c) - 2;
+                d = 0;
+                _state = (n < MAX_BYTES) ? RX_PACKET : WAIT_s;
+                break;
+            case RX_PACKET :
+                data[d++] = c;
+                if (d >= n || d >= MAX_BYTES) _state = PROCESS_PACKET;
+                break;
+            case  PROCESS_PACKET :
+                switch (pt)
+                {
+                    // SENSOR_DATA 
+                    case PT_SENSOR_DATA :
+                        tag_imu=1;
+                        break;
+                    case PT_COMMAND_COMPLETE :
+                        pc.printf("Command Complete\n");
+                        break;
+                    case PT_COMMAND_FAILED :
+                        pc.printf("Command Failed\n");
+                        break;
+                    case PT_BAD_CHECKSUM :
+                        pc.printf("Bad Checksum\n");
+                        break;
+                    case PT_BAD_DATA_LENGTH :
+                        pc.printf("Bad Data Length\n");
+                        break;
+                    case PT_UNRECOGNIZED_PACKET :
+                        pc.printf("Unrecognized Packet\n");
+                        break;
+                    case PT_BUFFER_OVERFLOW :
+                        pc.printf("Buffer Overflow\n");
+                        break;            
+                     default :
+                        break;
+                }
+                _state = WAIT_s;
+                    break;
+                default :
+                    _state = WAIT_s;
+                    break;
+        }         
+    }   
+}
+
+void tick1()
+{
+      bmp085.update();
+}
+
+int main() {
+   
+    imu.attach(attimu);
+    Int_DataLogger ();
+    activate=1;  
+    periode1.attach_us(tick1,10000); 
+    
+    //event_EOC.rise(&trigger);
+    
+    /*    FILE *fp = fopen("/sd/sdtest.txt", "w");
+    if (fp == NULL) 
+    {
+      error("Could not open file for write SD\n");
+    }*/
+   
+    
+    
+    FILE *usbp = fopen("/msc/sdtest.txt", "w");
+    if (usbp == NULL) 
+    {
+        error("Could not open file for write  MSC\n");
+    }
+    
+        
+    tmesure.start();
+    tt.start();
+    while (enable) 
+    {  
+         if(tt.read_us()>(unsigned long)50000)
+         {
+             tt.stop();
+             tt.reset();
+       
+             if(tag_imu==1)
+                {
+                    fprintf(usbp,"IMU %u %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n",tmesure.read_us(),(int16_t)data[0]<<8|data[1],(int16_t)data[2]<<8|data[3],(int16_t)data[4]<<8|data[5],(int16_t)data[6]<<8|data[7],(int16_t)data[8]<<8|data[9],(int16_t)data[10]<<8|data[11],(int16_t)data[12]<<8|data[13],(int16_t)data[14]<<8|data[15],(int16_t)data[16]<<8|data[17],(int16_t)data[18]<<8|data[19],(int16_t)data[20]<<8|data[21],(int16_t)data[22]<<8|data[23],(int16_t)data[24]<<8|data[25],(int16_t)data[26]<<8|data[27],(int16_t)data[28]<<8|data[29]);
+                    tag_imu=0;
+                    if(bmp085.ok==1)
+                        {
+                            fprintf(usbp,"PRT %u %6.2f %6.2f \r", tmesure.read_us(),bmp085.get_pressure(), bmp085.get_temperature());
+                            bmp085.ok=0;
+                        }
+                }
+            tt.start();
+         }  
+    }
+    
+    // fclose(fp);
+    fclose(usbp);
+    periode1.detach();
+    pc.printf("fin enregistrement");
+
+}
\ No newline at end of file
diff -r 000000000000 -r d07617f8ede9 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Oct 17 19:43:06 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912