Abdelmalek BELLOULA
/
DataLogIMU-BARO
interface to chr_6dm and Baro bmp085
Revision 0:d07617f8ede9, committed 2011-10-17
- Comitter:
- belloula
- Date:
- Mon Oct 17 19:43:06 2011 +0000
- Commit message:
Changed in this revision
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 � 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; // �/LSB + const double SCALE_PITCH = 0.0109863; + const double SCALE_ROLL = 0.0109863; + const double SCALE_YAW_RATE = 0.0137329; // �/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; // �/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