Suga koubou / Mbed 2 deprecated Drone_ground

DJI NAZA-M controller (remote controller side) see: https://developer.mbed.org/users/okini3939/notebook/drone/

Dependencies:   NECnfc SpiOLED USBHost mbed

usbmsd.cpp@1:d83f8332ebfe, 2016-05-19 (annotated)

Committer:
okini3939
Date:
Thu May 19 09:05:02 2016 +0000
Revision:
1:d83f8332ebfe
Parent:
0:9f11e7a30865 
1st build;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
okini3939 0:9f11e7a30865 1 #include "mbed.h"
okini3939 0:9f11e7a30865 2 #include "drone.h"
okini3939 0:9f11e7a30865 3 #include "USBHostMSD.h"
okini3939 0:9f11e7a30865 4
okini3939 0:9f11e7a30865 5 Thread *thread_msd;
okini3939 0:9f11e7a30865 6 volatile int log_flg = 0;
okini3939 0:9f11e7a30865 7 char log_buf[256];
okini3939 0:9f11e7a30865 8
okini3939 0:9f11e7a30865 9 extern struct AirData send_data;
okini3939 0:9f11e7a30865 10 extern struct Status stat, stat_gnd;
okini3939 0:9f11e7a30865 11
okini3939 0:9f11e7a30865 12 void log () {
okini3939 0:9f11e7a30865 13 time_t sec = time(NULL);
okini3939 0:9f11e7a30865 14 struct tm *t = localtime(&sec);
okini3939 0:9f11e7a30865 15
okini3939 0:9f11e7a30865 16 snprintf(log_buf, sizeof(log_buf), "%04d%02d%02d,%02d%02d%02d", t->tm_year + 1900, t->tm_mon + 1, t->tm_mday, t->tm_hour, t->tm_min, t->tm_sec);
okini3939 0:9f11e7a30865 17
okini3939 0:9f11e7a30865 18 snprintf(&log_buf[15], sizeof(log_buf) - 15, ",G,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d",
okini3939 0:9f11e7a30865 19 stat_gnd.gps_lat, stat_gnd.gps_lng, stat_gnd.gps_h, stat_gnd.gps_sat, stat_gnd.gps_type,
okini3939 0:9f11e7a30865 20 send_data.aileron, send_data.elevator, send_data.throttle, send_data.rudder,
okini3939 0:9f11e7a30865 21 send_data.analog1, send_data.analog2, send_data.sw1, send_data.sw2
okini3939 0:9f11e7a30865 22 );
okini3939 0:9f11e7a30865 23 snprintf(&log_buf[strlen(log_buf)], sizeof(log_buf) - strlen(log_buf), ",A,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",
okini3939 0:9f11e7a30865 24 stat.gps_lat, stat.gps_lng, stat.gps_h,
okini3939 0:9f11e7a30865 25 stat.gps_sat, stat.gps_type, stat.gps_flg, stat.gps_lost,
okini3939 0:9f11e7a30865 26 stat.compass_x, stat.compass_y, stat.compass_z, stat.compass,
okini3939 0:9f11e7a30865 27 stat.uptime, stat.battery, stat.current, stat.amphour, stat.distance1, stat.distance2
okini3939 0:9f11e7a30865 28 );
okini3939 0:9f11e7a30865 29
okini3939 0:9f11e7a30865 30 // printf(log_buf);
okini3939 0:9f11e7a30865 31 log_flg = strlen(log_buf);
okini3939 0:9f11e7a30865 32 }
okini3939 0:9f11e7a30865 33
okini3939 0:9f11e7a30865 34 void taskMsd (void const *args) {
okini3939 0:9f11e7a30865 35 int num;
okini3939 0:9f11e7a30865 36 FILE *fp;
okini3939 0:9f11e7a30865 37 char buf[20];
okini3939 0:9f11e7a30865 38 USBHostMSD msd("usb");
okini3939 0:9f11e7a30865 39
okini3939 0:9f11e7a30865 40 for (;;) {
okini3939 0:9f11e7a30865 41 // usb connect
okini3939 0:9f11e7a30865 42 while(! msd.connect()) {
okini3939 0:9f11e7a30865 43 Thread::wait(500);
okini3939 0:9f11e7a30865 44 }
okini3939 0:9f11e7a30865 45
okini3939 0:9f11e7a30865 46 num = 1;
okini3939 0:9f11e7a30865 47 fp = fopen("/usb/seq.txt", "r");
okini3939 0:9f11e7a30865 48 if (fp) {
okini3939 0:9f11e7a30865 49 if (fgets(buf, sizeof(buf), fp) != NULL) {
okini3939 0:9f11e7a30865 50 num = atoi(buf);
okini3939 0:9f11e7a30865 51 if (! num) num = 1;
okini3939 0:9f11e7a30865 52 }
okini3939 0:9f11e7a30865 53 fclose(fp);
okini3939 0:9f11e7a30865 54 }
okini3939 0:9f11e7a30865 55 fp = fopen("/usb/seq.txt", "w");
okini3939 0:9f11e7a30865 56 if (fp) {
okini3939 0:9f11e7a30865 57 fprintf(fp, "%d", num + 1);
okini3939 0:9f11e7a30865 58 fclose(fp);
okini3939 0:9f11e7a30865 59 }
okini3939 0:9f11e7a30865 60 // filename
okini3939 0:9f11e7a30865 61 sprintf(buf, "/usb/drone%03d.log", num);
okini3939 0:9f11e7a30865 62 printf("log: %s\r\n", buf);
okini3939 0:9f11e7a30865 63
okini3939 0:9f11e7a30865 64 while (msd.connected()) {
okini3939 0:9f11e7a30865 65 if (log_flg) {
okini3939 0:9f11e7a30865 66 // log
okini3939 0:9f11e7a30865 67 fp = fopen(buf, "a");
okini3939 0:9f11e7a30865 68 if (fp) {
okini3939 0:9f11e7a30865 69 fwrite(log_buf, sizeof(char), log_flg, fp);
okini3939 0:9f11e7a30865 70 fclose(fp);
okini3939 0:9f11e7a30865 71 }
okini3939 0:9f11e7a30865 72 log_flg = 0;
okini3939 0:9f11e7a30865 73 }
okini3939 0:9f11e7a30865 74
okini3939 0:9f11e7a30865 75 Thread::wait(1);
okini3939 0:9f11e7a30865 76 }
okini3939 0:9f11e7a30865 77 }
okini3939 0:9f11e7a30865 78 }
okini3939 0:9f11e7a30865 79
okini3939 0:9f11e7a30865 80 int initMsd () {
okini3939 0:9f11e7a30865 81 thread_msd = new Thread(taskMsd, NULL, osPriorityNormal, 1024 * 4);
okini3939 0:9f11e7a30865 82 }