// MMC card insertion event
static void InsertHandler(eventid_t id)
{
FRESULT err;
(void) id;
if(mmcConnect(&MMCD1))
{
chprintf((BaseChannel *) &SD2, "SD: Failed to connect to card\r\n");
return;
}
else
{
chprintf((BaseChannel *) &SD2, "SD: Connected to card\r\n");
}
err = f_mount(0, &MMC_FS);
if(err != FR_OK)
{
chprintf((BaseChannel *) &SD2, "SD: f_mount() failed %d\r\n", err);
mmcDisconnect(&MMCD1);
return;
}
else
{
chprintf((BaseChannel *) &SD2, "SD: File system mounted\r\n");
}
fs_ready = TRUE;
// quick and dirty
// directly decode all mp3's in the
// cards root in a loop (assuming the card is never pulled)
while(1)
{
Mp3PlayAllFiles("/");
}
}
/*
* MMC card insertion event.
*/
static void InsertHandler(eventid_t id) {
FRESULT err;
(void)id;
buzzPlayWait(1000, MS2ST(100));
buzzPlayWait(2000, MS2ST(100));
chprintf((BaseSequentialStream *)&SD1, "MMC: inserted\r\n");
/*
* On insertion MMC initialization and FS mount.
*/
chprintf((BaseSequentialStream *)&SD1, "MMC: initialization ");
if (mmcConnect(&MMCD1)) {
chprintf((BaseSequentialStream *)&SD1, "failed\r\n");
return;
}
chprintf((BaseSequentialStream *)&SD1, "ok\r\n");
chprintf((BaseSequentialStream *)&SD1, "FS: mount ");
err = f_mount(0, &MMC_FS);
if (err != FR_OK) {
chprintf((BaseSequentialStream *)&SD1, "failed\r\n");
mmcDisconnect(&MMCD1);
return;
}
fs_ready = TRUE;
chprintf((BaseSequentialStream *)&SD1, "ok\r\n");
buzzPlay(440, MS2ST(200));
}
/*
* MMC card removal event.
*/
static void RemoveHandler(eventid_t id) {
(void)id;
chprintf((BaseSequentialStream *)&SD1, "MMC: removed\r\n");
mmcDisconnect(&MMCD1);
fs_ready = FALSE;
buzzPlayWait(2000, MS2ST(100));
buzzPlayWait(1000, MS2ST(100));
}
// MMC card removal event.
static void RemoveHandler(eventid_t id) {
(void)id;
chprintf(chp1, "MMC: removed\r\n");
mmcDisconnect(&MMCD1);
fs_ready = FALSE;
// buzzPlayWait(2000, MS2ST(100));
// buzzPlayWait(1000, MS2ST(100));
palSetPad(GPIO0, GPIO0_MMC_PWR);
}
/*
* MMC card insertion event.
*/
static void InsertHandler(eventid_t id) {
FRESULT err;
(void)id;
/*
* On insertion MMC initialization and FS mount.
*/
if (mmcConnect(&MMCD1)) {
return;
}
err = f_mount(0, &MMC_FS);
if (err != FR_OK) {
mmcDisconnect(&MMCD1);
return;
}
fs_ready = TRUE;
}
/**
* Mount a default filesystem on the root FS
**/
static int mountFS(void)
{
FRESULT err;
if (mmcConnect(&MMCD1))
{
chprintf((BaseSequentialStream *)&SERIAL_DRIVER, "Can not connect to MMC!\r\n");
return 0;
}
err = f_mount(0, &MMC_FS);
if (err != FR_OK)
{
mmcDisconnect(&MMCD1);
return 0;
}
chprintf((BaseSequentialStream *)&SERIAL_DRIVER, "Card mounted!\r\n");
fs_ready = TRUE;
return 1;
}
// MMC card insertion event
static void InsertHandler(eventid_t id)
{
FRESULT err;
(void) id;
if(mmcConnect(&MMCD1))
{
chprintf((BaseChannel *) &SD2, "SD: Failed to connect to card\r\n");
return;
}
else
{
chprintf((BaseChannel *) &SD2, "SD: Connected to card\r\n");
}
err = f_mount(0, &MMC_FS);
if(err != FR_OK)
{
chprintf((BaseChannel *) &SD2, "SD: f_mount() failed %d\r\n", err);
mmcDisconnect(&MMCD1);
return;
}
else
{
chprintf((BaseChannel *) &SD2, "SD: File system mounted\r\n");
}
fs_ready = TRUE;
// quick and dirty
// directly decode all mp3's in the
// cards root in a loop (assuming the card is never pulled)
{
rc = f_open(&Fil, "Quad_Handler.TXT", FA_WRITE | FA_CREATE_ALWAYS);
// rc = f_printf(&Fil, "moin\r\n");
rc = f_sync(&Fil);
}
}
/*
* MMC card insertion event.
*/
static void InsertHandler(eventid_t id) {
(void)id;
/*
* On insertion MMC initialization and FS mount.
*/
tried = 1;
connected = 5;
if (mmcConnect(&MMCD1)) {
connected = 2;
return;
}
connected = 6;
err = f_mount(0, &MMC_FS);
connected = 7;
if (err != FR_OK) {
connected = 3;
mmcDisconnect(&MMCD1);
return;
}
connected = 1;
fs_ready = TRUE;
}
void cmd_sdiotest(BaseSequentialStream *chp, int argc, char *argv[]){
(void)argc;
(void)argv;
FRESULT err;
uint32_t clusters;
FATFS *fsp;
FIL FileObject;
//FILINFO FileInfo;
size_t bytes_written;
struct tm timp;
// set time to 2011-03-13 07:06:40
//rtcSetTimeUnixSec(&RTCD1, 1300000000);
#if !HAL_USE_RTC
chprintf(chp, "ERROR! Chibios compiled without RTC support.");
chprintf(chp, "Enable HAL_USE_RCT in you halconf.h");
chThdSleepMilliseconds(100);
return;
#endif
chprintf(chp, "Trying to connect SDIO... ");
chThdSleepMilliseconds(100);
if (!mmcConnect(&MMCD1)) {
chprintf(chp, "OK\r\n");
chprintf(chp, "Register working area for filesystem... ");
chThdSleepMilliseconds(100);
err = f_mount(0, &MMC_FS);
if (err != FR_OK){
chSysHalt();
}
else{
fs_ready = TRUE;
chprintf(chp, "OK\r\n");
}
chprintf(chp, "Mounting filesystem... ");
chThdSleepMilliseconds(100);
err = f_getfree("/", &clusters, &fsp);
if (err != FR_OK) {
chSysHalt();
}
chprintf(chp, "OK\r\n");
chprintf(chp,
"FS: %lu free clusters, %lu sectors per cluster, %lu bytes free\r\n",
clusters, (uint32_t)MMC_FS.csize,
clusters * (uint32_t)MMC_FS.csize * (uint32_t)MMCSD_BLOCK_SIZE);
rtcGetTimeTm(&RTCD1, &timp);
chprintf(chp, "Current RTC time is: ");
chprintf(chp, "%u-%u-%u %u:%u:%u\r\n",
timp.tm_year+1900, timp.tm_mon+1, timp.tm_mday, timp.tm_hour, timp.tm_min,
timp.tm_sec);
chprintf(chp, "Creating empty file 'tmstmp.tst'... ");
chThdSleepMilliseconds(100);
err = f_open(&FileObject, "0:tmstmp.tst", FA_WRITE | FA_OPEN_ALWAYS);
if (err != FR_OK) {
chSysHalt();
}
chprintf(chp, "OK\r\n");
chprintf(chp, "Write some data in it... ");
chThdSleepMilliseconds(100);
err = f_write(&FileObject, "tst", sizeof("tst"), (void *)&bytes_written);
if (err != FR_OK) {
chSysHalt();
}
else
chprintf(chp, "OK\r\n");
chprintf(chp, "Closing file 'tmstmp.tst'... ");
chThdSleepMilliseconds(100);
err = f_close(&FileObject);
if (err != FR_OK) {
chSysHalt();
}
else
chprintf(chp, "OK\r\n");
// chprintf(chp, "Obtaining file info ... ");
// chThdSleepMilliseconds(100);
// err = f_stat("0:tmstmp.tst", &FileInfo);
// if (err != FR_OK) {
// chSysHalt();
// }
// else{
// chprintf(chp, "OK\r\n");
// chprintf(chp, " Timestamp: %u-%u-%u %u:%u:%u\r\n",
// ((FileInfo.fdate >> 9) & 127) + 1980,
// (FileInfo.fdate >> 5) & 15,
// FileInfo.fdate & 31,
// (FileInfo.ftime >> 11) & 31,
// (FileInfo.ftime >> 5) & 63,
// (FileInfo.ftime & 31) * 2);
// }
chprintf(chp, "Umounting filesystem... ");
f_mount(0, NULL);
chprintf(chp, "OK\r\n");
chprintf(chp, "Disconnecting from SDIO...");
chThdSleepMilliseconds(100);
if (mmcDisconnect(&MMCD1))
chSysHalt();
chprintf(chp, " OK\r\n");
chprintf(chp, "------------------------------------------------------\r\n");
chprintf(chp, "Now you can remove memory card and check timestamp on PC.\r\n");
chThdSleepMilliseconds(100);
}
else{
chSysHalt();
}
}
/*
* MMC card removal event.
*/
static void RemoveHandler(eventid_t id) {
(void)id;
mmcDisconnect(&MMCD1);
fs_ready = FALSE;
}
bool_t bnapStorageDisconnect(BnapStorage_t *bsp){
return mmcDisconnect(bsp->mmcp);
}
/*
* Application entry point.
*/
int main(void)
{
float nick, roll, yaw;
static const evhandler_t evhndl[] = {InsertHandler, RemoveHandler};
struct EventListener el0, el1;
FRESULT err;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
sdStart(&SD2, NULL);
palSetPadMode(GPIOD, 5, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOD, 6, PAL_MODE_ALTERNATE(7));
setup_IMU();
setup_Fernsteuerung();
setup_Motoren();
setup_Regelung();
// initialize MMC driver
// setup pads to SPI1 function (connect these pads to your SD card accordingly)
palSetPadMode(GPIOC, 4, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); // NSS
palSetPadMode(GPIOA, 5, PAL_MODE_ALTERNATE(5) | PAL_STM32_OSPEED_HIGHEST); // SCK
palSetPadMode(GPIOA, 6, PAL_MODE_ALTERNATE(5)); // MISO
palSetPadMode(GPIOA, 7, PAL_MODE_ALTERNATE(5) | PAL_STM32_OSPEED_HIGHEST); // MOSI
palSetPad(GPIOC, 4); // set NSS high
// initialize MMC driver
mmcObjectInit(&MMCD1, &SPID1, &ls_spicfg, &hs_spicfg, mmc_is_protected, mmc_is_inserted);
mmcStart(&MMCD1, NULL);
chEvtRegister(&MMCD1.inserted_event, &el0, 0);
chEvtRegister(&MMCD1.removed_event, &el1, 1);
chThdSleepMilliseconds(7000);
if(mmcConnect(&MMCD1))
{
chprintf((BaseChannel *) &SD2, "SD: Failed to connect to card\r\n");
return;
}
else
{
chprintf((BaseChannel *) &SD2, "SD: Connected to card\r\n");
}
err = f_mount(0, &MMC_FS);
if(err != FR_OK)
{
chprintf((BaseChannel *) &SD2, "SD: f_mount() failed %d\r\n", err);
mmcDisconnect(&MMCD1);
return;
}
else
{
chprintf((BaseChannel *) &SD2, "SD: File system mounted\r\n");
}
fs_ready = TRUE;
rc = f_open(&Fil, "Quad.TXT", FA_WRITE | FA_CREATE_ALWAYS);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state, when the button is
* pressed the test procedure is launched with output on the serial
* driver 2.
*/
while (TRUE)
{
update_IMU(); //Ersetzen durch Interrupt Handler!!!!!!
nick = getEuler_nick();
roll = getEuler_roll();
yaw = getEuler_yaw();
f_printf(&Fil, "%d;%d;%d\r\n",(int)(nick*100),(int)(roll*100),(int)(yaw*100));
rc = f_sync(&Fil);
chThdSleepMilliseconds(10);
}
}
