int mmc_dump(char **argv, unsigned short argc){
int resp;
char *buffer=NULL;
unsigned long sector=0;
int i;
//check if sector given
if(argc!=0){
//read sector
if(1!=sscanf(argv[1],"%ul",§or)){
//print error
printf("Error parsing sector \"%s\"\r\n",argv[1]);
return -1;
}
}
//get buffer, set a timeout of 2 secconds
buffer=BUS_get_buffer(CTL_TIMEOUT_DELAY,2048);
//check for error
if(buffer==NULL){
printf("Error : Timeout while waiting for buffer.\r\n");
return -1;
}
//read from SD card
resp=mmcReadBlock(sector,(unsigned char*)buffer);
//print response from SD card
printf("%s\r\n",SD_error_str(resp));
//print out buffer
for(i=0;i<512/16;i++){
printf(HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR "\r\n",
buffer[i*16],buffer[i*16+1],buffer[i*16+2],buffer[i*16+3],buffer[i*16+4],buffer[i*16+5],buffer[i*16+6],buffer[i*16+7],buffer[i*16+8],buffer[i*16+9],buffer[i*16+10],
buffer[i*16+11],buffer[i*16+12],buffer[i*16+13],buffer[i*16+14],buffer[i*16+15]);
}
//free buffer
BUS_free_buffer();
return 0;
}
int pictlist_Cmd(char **argv,unsigned short argc){
IMG_DAT *block;
int found,i,num;
int res;
ticker time;
unsigned short check;
// locate pictures on SD card
block=(IMG_DAT*)BUS_get_buffer(CTL_TIMEOUT_DELAY,1000);
if(block==NULL){
printf("Error: Buffer busy\r\n");
return -2;
}
//print header
printf("Slot\tImage\tBlocks\t Timestamp\r\n");
//look at all the images
for(i = 0,num=0; i < NUM_IMG_SLOTS; i++){
//read from SD card
res=mmcReadBlock(IMG_ADDR_START+i*IMG_SLOT_SIZE,(unsigned char*)block);
if(res==MMC_SUCCESS){
//check block type
if(block->magic==BT_IMG_START){
//calculate CRC
check=crc16(block,sizeof(*block)-sizeof(block->CRC));
//check if CRC's match
if(check==block->CRC){
num++;
//time is at the beginning of data
time=*(ticker*)block->dat;
//print info
printf("%4i\t%5i\t%6i\t%10lu\r\n",i,block->num,block->block,time);
}
}
}else{
printf("Error Reading from SD card %s\r\n",SD_error_str(res));
break;
}
}
BUS_free_buffer();
//check how many images were found
switch(num){
case 0:
printf("\r\nNo images found in memory\r\n");
break;
case 1:
printf("\r\n1 image in memory\r\n");
break;
default:
printf("\r\nThere are %i images in memory\r\n",num);
break;
}
return 0;
}
void putCharToMMCBuffer(char c)
{
if (mmc_buffer_index < 512)
{
mmc_buffer[mmc_buffer_index] = c;
mmc_buffer_index++;
}
else
{
mmc_buffer_index = 0;
mmcWriteBlock(mmc_block_index);
mmc_block_index += 512;
memset(&mmc_buffer, 0x00, 512);
mmcReadBlock(mmc_block_index - 512, 512);
//pCDC.Write(&pCDC, mmc_buffer, 512);
}
}
int mmc_read(char **argv, unsigned short argc){
char *ptr=NULL,*buffer=NULL;
int resp;
//get buffer, set a timeout of 2 secconds
buffer=BUS_get_buffer(CTL_TIMEOUT_DELAY,2048);
//check for error
if(buffer==NULL){
printf("Error : Timeout while waiting for buffer.\r\n");
return -1;
}
//init buffer
memset(buffer,0,513);
//read from SD card
resp=mmcReadBlock(0,(unsigned char*)buffer);
//check for error
if(resp!=MMC_SUCCESS){
//print error from SD card
printf("%s\r\n",SD_error_str(resp));
return 1;
}
//force termination after last byte
buffer[512]=0;
//check for non printable chars
for(ptr=(char*)buffer;ptr!=0;ptr++){
//check for non printable chars
if(!isprint(*ptr)){
//check for null
if(*ptr){
//not null, non printable char encountered
printf("String prematurely terminated due to a non printable character.\r\n");
}
//terminate string
*ptr=0;
//exit loop
break;
}
}
//print out the string
printf("Here is the string you wrote:\r\n\'%s\'\r\n",buffer);
//free buffer
BUS_free_buffer();
return 0;
}
int mmc_multiRTstCmd(char **argv, unsigned short argc){
unsigned char *ptr,*buffer;
int resp;
unsigned long i,start,end;
unsigned short multi=1;
if(argc<2){
printf("Error : too few arguments\r\n");
return -1;
}
if(argc>3){
printf("Error : too many arguments\r\n");
return -2;
}
//get start and end
errno=0;
start=strtoul(argv[1],NULL,0);
end=strtoul(argv[2],NULL,0);
if(errno){
printf("Error : could not parse arguments\r\n");
return -4;
}
if((end-start)*512>BUS_get_buffer_size()){
printf("Error : data size too large for buffer.\r\n");
return -5;
}
if(argc>2){
if(!strcmp("single",argv[3])){
multi=0;
}else if(!strcmp("multi",argv[3])){
multi=1;
}else{
//unknown argument
printf("Error : unknown argument \"%s\".\r\n",argv[3]);
return -3;
}
}
//get buffer, set a timeout of 2 secconds
buffer=BUS_get_buffer(CTL_TIMEOUT_DELAY,2048);
#ifndef ACDS_BUILD
//TESTING: set line high
P8OUT|=BIT0;
#endif
if(!multi){
//write each block in sequence
for(i=start,ptr=buffer;i<end;i++,ptr+=512){
if((resp=mmcReadBlock(i,ptr))!=MMC_SUCCESS){
printf("Error reading block %li. Aborting.\r\n",i);
printf("%s\r\n",SD_error_str(resp));
//free buffer
BUS_free_buffer();
return 1;
}
}
}else{
//write all blocks with one command
if((resp=mmcReadBlocks(start,end-start,buffer))!=MMC_SUCCESS){
printf("Error with read.\r\n");
printf("resp = 0x%04X\r\n%s\r\n",resp,SD_error_str(resp));
//free buffer
BUS_free_buffer();
return 1;
}
}
#ifndef ACDS_BUILD
//TESTING: set line low
P8OUT&=~BIT0;
#endif
//print out buffer
for(i=0;i<(end-start)*512/16;i++){
printf(HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR HEXOUT_STR "\r\n",
buffer[i*16],buffer[i*16+1],buffer[i*16+2],buffer[i*16+3],buffer[i*16+4],buffer[i*16+5],buffer[i*16+6],buffer[i*16+7],buffer[i*16+8],buffer[i*16+9],buffer[i*16+10],
buffer[i*16+11],buffer[i*16+12],buffer[i*16+13],buffer[i*16+14],buffer[i*16+15]);
}
printf("Data read sucussfully\r\n");
//free buffer
BUS_free_buffer();
return 0;
}
//write LFSR pattern onto SD card sectors and read it back
int mmc_TstCmd(char **argv, unsigned short argc){
int resp;
char seed,*buffer=NULL;
short lfsr;
int j,count,tc,dat=DAT_LFSR,have_seed=0;
unsigned long i,start,end;
if(argc<2){
printf("Error : Too few arguments\r\n");
return 1;
}
errno=0;
start=strtoul(argv[1],NULL,0);
end=strtoul(argv[2],NULL,0);
if(argc>=3){
//other arguments are optional
for(i=3;i<=argc;i++){
if(!strcmp(argv[i],"LFSR")){
dat=DAT_LFSR;
}else if(!strcmp(argv[i],"count")){
dat=DAT_COUNT;
}else if(!strncmp("seed=",argv[i],sizeof("seed"))){
//parse seed
seed=atoi(argv[i]+sizeof("seed"));
have_seed=1;
}else{
printf("Error : unknown argument \"%s\".\r\n",argv[i]);
return 3;
}
}
}
if(!have_seed){
//seed LFSR from TAR
seed=TAR; //not concerned about correct value so don't worry about diffrent clocks
//make sure seed is not zero
if(seed==0){
seed=1;
}
printf("seed = %i\r\n",(unsigned short)seed);
}
if(errno){
printf("Error : could not parse arguments\r\n");
return 2;
}
//get buffer, set a timeout of 2 secconds
buffer=BUS_get_buffer(CTL_TIMEOUT_DELAY,2048);
//check for error
if(buffer==NULL){
printf("Error : Timeout while waiting for buffer.\r\n");
return -1;
}
#ifndef ACDS_BUILD
//TESTING: set line high
P8OUT|=BIT0;
#endif
//write to sectors
for(i=start,lfsr=seed;i<=end;i++){
//fill with psudo random data
for(j=0;j<512;j++){
buffer[j]=lfsr;
//print out first few bytes
/*if(j<20){
printf("0x%02X, ",buffer[j]);
}*/
//get next in sequence
lfsr=dat_next(lfsr,dat);
}
//printf("\r\n");
//write data
resp=mmcWriteBlock(i,(unsigned char*)buffer);
if(resp!=MMC_SUCCESS){
printf("Error : write failure for sector %i\r\nresp = 0x%04X\r\n%s\r\n",i,resp,SD_error_str(resp));
//free buffer
BUS_free_buffer();
return -1;
}
}
//read back sectors and check for correctness
for(i=start,lfsr=seed,tc=0;i<=end;i++){
//clear block data
memset(buffer,0,512);
//read data from card
resp=mmcReadBlock(i,(unsigned char*)buffer);
if(resp!=MMC_SUCCESS){
printf("Error : read failure for sector %i\r\nresp = 0x%04X\r\n%s\r\n",i,resp,SD_error_str(resp));
//free buffer
BUS_free_buffer();
return -1;
}
//compare to psudo random data
for(j=0,count=0;j<512;j++){
//print out the first few bytes
/*if(j<20){
printf("0x%02X =? 0x%02X, ",lfsr,buffer[j]);
}*/
if(buffer[j]!=lfsr){
count++;
//printf("Error found in byte %i in sector %i\r\n",j,i);
//printf("Error b%i s%i\r\n",j,i);
}
//get next in sequence
lfsr=dat_next(lfsr,dat);
}
//printf("\r\n");
if(count!=0){
printf("%i errors found in sector %i\r\n",count,i);
tc+=count;
}
}
#ifndef ACDS_BUILD
//TESTING: set line low
P8OUT&=~BIT0;
#endif
if(tc==0){
printf("All sectors read susussfully!\r\n");
}
//free buffer
BUS_free_buffer();
return 0;
}
void parseSettings(char data[MSG_SIZE])
{
int i;
int settings_size;
char cmdDelim[] = "#";
char *cmdParts = NULL;
cmdParts = strtok( data, cmdDelim );
if (strcmp(cmdParts, "TEST") == 0)
{
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "TEST") == 0)
{
//INITIAL TEST
printTrace("INITIAL TEST\r\n");
for (i = 0; i < 15; i++)
{
startBlinking(50000);
}
}
if (strcmp(cmdParts, "START") == 0)
{
printTrace("TEST READING ACTIVATED\r\n");
test_read = 1;
}
if (strcmp(cmdParts, "STOP") == 0)
{
printTrace("TEST READING STOPPED\r\n");
test_read = 0;
}
}
if (strcmp(cmdParts, "ZERO") == 0)
{
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "SET") == 0)
{
set_zero = pressure;
}
if (strcmp(cmdParts, "UNSET") == 0)
{
set_zero = 0;
}
}
/*
//AAT process
if (strcmp(cmdParts, "DIAG") == 0)
{
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "START") == 0)
{
aatDiag = 1;
aatDiagStep = 0;
}
if (strcmp(cmdParts, "STOP") == 0)
{
aatDiag = 0;
}
if (strcmp(cmdParts, "STEP4") == 0)
{
printTrace("DIAG#3#DONE\r\n");
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED3);
aatDiagStep = 4;
diagForce = maxForce;
}
}
if (strcmp(cmdParts, "POSITION") == 0)
{
// POSITION SETTING
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "MAX") == 0)
{
//MAX POSITION
maxPos = atoi(strtok( NULL, cmdDelim ));
sprintf((char *)msg,"MAX POSITION IS SET TO: %d\r\n", maxPos);
printTrace(msg);
}
if (strcmp(cmdParts, "MIN") == 0)
{
//MIN POSITION
minPos = atoi(strtok( NULL, cmdDelim ));
sprintf((char *)msg,"MIN POSITION IS SET TO: %d\r\n", minPos);
printTrace(msg);
}
if (strcmp(cmdParts, "SET") == 0)
{
//CUR POSITION
curPos = atoi(strtok( NULL, cmdDelim ));
sprintf((char *)msg,"CURRENT POSITION IS SET TO: %d\r\n", curPos);
printTrace(msg);
}
}
if (strcmp(cmdParts, "FORCE") == 0)
{
// FORCE SETTING
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "MAX") == 0)
{
//MAX FORCE
maxForce = atoi(strtok( NULL, cmdDelim ));
sprintf((char *)msg,"MAX FORCE IS SET TO: %d\r\n", maxForce);
printTrace(msg);
}
if (strcmp(cmdParts, "MIN") == 0)
{
//MIN FORCE
minForce = atoi(strtok( NULL, cmdDelim ));
sprintf((char *)msg,"MIN FORCE IS SET TO: %d\r\n", minForce);
printTrace(msg);
}
if (strcmp(cmdParts, "SET") == 0)
{
//CUR FORCE
curForce = atoi(strtok( NULL, cmdDelim ));
sprintf((char *)msg,"CURRENT FORCE IS SET TO: %d\r\n", curForce);
printTrace(msg);
}
//AAT process
if (strcmp(cmdParts, "DIAGMIN") == 0)
{
//CUR FORCE
minDiagForce = atoi(strtok( NULL, cmdDelim ));
sprintf((char *)msg,"MINIMUM DIAG FORCE IS SET TO: %d\r\n", minDiagForce);
printTrace(msg);
}
if (strcmp(cmdParts, "DIAGLOCK") == 0)
{
//CUR FORCE
lockDiagForce = atoi(strtok( NULL, cmdDelim ));
sprintf((char *)msg,"LOCK DIAG FORCE IS SET TO: %d\r\n", lockDiagForce);
printTrace(msg);
}
}
//AAT setting
if (strcmp(cmdParts, "PRESSURE") == 0)
{
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "SETLOCK") == 0)
{
//LOCK PRESSURE
lockDiagPressure = pressure;
sprintf((char *)msg,"LOCK PRESSURE IS SET TO: %d\r\n", lockDiagPressure);
printTrace(msg);
}
}
if (strcmp(cmdParts, "SETTINGS") == 0)
{
//SETTINGS
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "GET") == 0)
{
sprintf((char *)msg,"SETTINGS: %-80s\r\n", OUR_FLASH_ADDR);
printTrace(msg);
}
if (strcmp(cmdParts, "SET") == 0)
{
for(int r = 0; r < 128; r++)
{
settings[r] = '\0';
}
sprintf((char *)settings,"POSITION#MIN#%d~POSITION#MAX#%d~POSITION#SET#%d~FORCE#MIN#%d~FORCE#MAX#%d~FORCE#SET#%d", minPos, maxPos, curPos, minForce, maxForce, curForce);
settings_size = strlen(settings) + 1;
flashWrite(OUR_FLASH_ADDR, settings, settings_size);
printTrace(settings);
sprintf((char *)msg,"\r\nWrote %d bytes to flash at address 0x%08X.\r\n", (3 + settings_size) & ~3, OUR_FLASH_ADDR);
printTrace(msg);
}
}
if (strcmp(cmdParts, "READINGS") == 0)
{
// READINGS
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "START") == 0)
{
//START
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "TRACE") == 0)
{
sprintf((char *)msg,"READINGS STARTED\r\n", maxPos);
printTrace(msg);
dataReading = 0;
}
if (strcmp(cmdParts, "DATA") == 0)
{
dataReading = 1;
}
reading = 1;
}
if (strcmp(cmdParts, "STOP") == 0)
{
//STOP
sprintf((char *)msg,"READINGS STOPPED\r\n", minPos);
printTrace(msg);
reading = 0;
}
}
if (strcmp(cmdParts, "VALUES") == 0)
{
// GET CURRENT VALUES
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "GET") == 0)
{
sprintf((char *)msg,"POSITION#MIN#%d~POSITION#MAX#%d~POSITION#SET#%d~FORCE#MIN#%d~FORCE#MAX#%d~FORCE#SET#%d", minPos, maxPos, curPos, minForce, maxForce, curForce);
printTrace(msg);
}
}
if (strcmp(cmdParts, "LED") == 0)
{
// LEDs control
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "RED") == 0)
{
//GREEN LED
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "ON") == 0)
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED1);
}
if (strcmp(cmdParts, "OFF") == 0)
{
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED1);
}
if (strcmp(cmdParts, "SET") == 0)
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED1);
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED2);
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED3);
}
}
if (strcmp(cmdParts, "YELLOW") == 0)
{ne MMC_SUCCESS 0x00
//YELLOW LED
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "ON") == 0)
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED2);
}
if (strcmp(cmdParts, "OFF") == 0)
{
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED2);
}
if (strcmp(cmdParts, "SET") == 0)
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED2);
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED1);
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED3);
}
}
if (strcmp(cmdParts, "GREEN") == 0)
{
//RED LED
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "ON") == 0)
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED3);
}
if (strcmp(cmdParts, "OFF") == 0)
{
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED3);
}
if (strcmp(cmdParts, "SET") == 0)
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED3);
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED2);
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED1);
}
}
if (strcmp(cmdParts, "ALLOFF") == 0)
{
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED1);
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED2);
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED3);
}
}
*/
if (strcmp(cmdParts, "MMC") == 0)
{
cmdParts = strtok( NULL, cmdDelim );
if (strcmp(cmdParts, "READ") == 0)
{
//INITIAL TEST
printTrace("STORED MMC VALUES:\r\n");
int blockIndex;
for (blockIndex = 0; blockIndex < 2048; blockIndex++)
{
memset(&mmc_buffer, 0x00, 512);
mmcReadBlock(blockIndex * 512, 512);
pCDC.Write(&pCDC, mmc_buffer, 512);
}
printTrace("\r\n");
Delay(2500000);
}
if (strcmp(cmdParts, "CLEAR") == 0)
{
printTrace("CLEARING SD CARD...\r\n");
clearMMCCard();
printTrace("CLEARING DONE\r\n");
}
if (strcmp(cmdParts, "START") == 0)
{
storingOnMMC = 1;
}
if (strcmp(cmdParts, "STOP") == 0)
{
storingOnMMC = 0;
}
}
}
unsigned char mmcReadBuf(unsigned long sector)
{
return mmcReadBlock(sector << 9, 512, mmc_buffer);
}
