Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

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SDHCFileSystem.h

00001 /* mbed SDFileSystem Library, for providing file access to SD cards
00002  * Copyright (c) 2008-2010, sford
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #ifndef MBED_SDHCFILESYSTEM_H
00024 #define MBED_SDHCFILESYSTEM_H
00025 
00026 /** Implements FAT32 filesystem on SDHC cards, Copyright (c) 2008-2010, sford */
00027 
00028 #include "mbed.h"
00029 #include "FATFileSystem.h"
00030 
00031 /* Double Words */
00032 typedef unsigned long long uint64_t;
00033 typedef long long sint64_t;
00034 
00035 /** Access the filesystem on an SD Card using SPI
00036  *
00037  * @code
00038  * #include "mbed.h"
00039  * #include "SDFileSystem.h"
00040  *
00041  * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
00042  *  
00043  * int main() {
00044  *     FILE *fp = fopen("/sd/myfile.txt", "w");
00045  *     fprintf(fp, "Hello World!\n");
00046  *     fclose(fp);
00047  * }
00048  */
00049 class SDFileSystem : public FATFileSystem {
00050 public:
00051 
00052     /** Create the File System for accessing an SD Card using SPI
00053      *
00054      * @param mosi SPI mosi pin connected to SD Card
00055      * @param miso SPI miso pin conencted to SD Card
00056      * @param sclk SPI sclk pin connected to SD Card
00057      * @param cs   DigitalOut pin used as SD Card chip select
00058      * @param name The name used to access the virtual filesystem
00059      */
00060     SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
00061     virtual int disk_initialize();
00062     virtual int disk_status();
00063     virtual int disk_read(unsigned char *buffer, unsigned long block_number, unsigned char count);    
00064     virtual int disk_write(const unsigned char *buffer, unsigned long block_number, unsigned char count);
00065     virtual int disk_sync();
00066     virtual unsigned long disk_sector_count();
00067 
00068 protected:
00069 
00070     int _cmd(int cmd, int arg);
00071     int _cmdx(int cmd, int arg);
00072     int _cmd8();
00073     int _cmd58();
00074     int initialise_card();
00075     int initialise_card_v1();
00076     int initialise_card_v2();
00077     
00078     int _read(unsigned char *buffer, int length);
00079     int _write(const unsigned char *buffer, int length);
00080     unsigned long _sd_sectors();
00081     unsigned long _sectors;
00082     
00083     SPI _spi;
00084     DigitalOut _cs; 
00085     int cdv;    
00086 };
00087 
00088 #endif