int main( void ) {
unsigned char inc;
unsigned int rx_time=0, tx_time=0;
mcu_init();
sys_time_init();
led_init();
VCOM_allow_linecoding(1);
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
mcu_int_enable();
LED_ON(3);
#ifdef USE_UART0
while(1) {
if (T0TC > (rx_time+((PCLK / T0_PCLK_DIV) / BLINK_MIN))) LED_OFF(1);
if (T0TC > (tx_time+((PCLK / T0_PCLK_DIV) / BLINK_MIN))) LED_OFF(2);
if (uart_char_available(&uart0) && VCOM_check_free_space(1)) {
LED_ON(1);
rx_time = T0TC;
inc = uart_getch(&uart0);
VCOM_putchar(inc);
}
if (VCOM_check_available() && uart_check_free_space(&uart0, 1)) {
LED_ON(2);
tx_time = T0TC;
inc = VCOM_getchar();
uart_transmit(&uart0, inc);
}
}
#else
while(1) {
if (T0TC > (rx_time+((PCLK / T0_PCLK_DIV) / BLINK_MIN))) LED_OFF(1);
if (T0TC > (tx_time+((PCLK / T0_PCLK_DIV) / BLINK_MIN))) LED_OFF(2);
if (uart_char_available(&uart1) && VCOM_check_free_space(1)) {
LED_ON(1);
rx_time = T0TC;
inc = uart_getch(&uart1);
VCOM_putchar(inc);
}
if (VCOM_check_available() && uart_check_free_space(&uart1, 1)) {
LED_ON(2);
tx_time = T0TC;
inc = VCOM_getchar();
uart_transmit(&uart1, inc);
}
}
#endif
return 0;
}
/**
* @brief sdlogger_spi_direct_periodic
* Periodic function called at module frequency
*/
void sdlogger_spi_direct_periodic(void)
{
sdcard_spi_periodic(&sdcard1);
#if SDLOGGER_ON_ARM
if(autopilot_motors_on) {
sdlogger_spi.do_log = 1;
} else {
sdlogger_spi.do_log = 0;
}
#endif
switch (sdlogger_spi.status) {
case SDLogger_Initializing:
if (sdcard1.status == SDCard_Idle) {
sdcard_spi_read_block(&sdcard1, 0x00002000, &sdlogger_spi_direct_index_received);
sdlogger_spi.status = SDLogger_RetreivingIndex;
}
break;
case SDLogger_Ready:
if ((sdlogger_spi.do_log == 1) &&
sdcard1.status == SDCard_Idle) {
LOGGER_LED_ON;
sdcard_spi_multiwrite_start(&sdcard1, sdlogger_spi.next_available_address);
sdlogger_spi.status = SDLogger_Logging;
}
break;
case SDLogger_Logging:
/* This line is NOT unit-tested because it is an inline function */
#if PERIODIC_TELEMETRY
periodic_telemetry_send_Logger(DefaultPeriodic,
&pprzlog_tp.trans_tx,
&sdlogger_spi.device);
#endif
/* Check if SD Card buffer is full and SD Card is ready for new data */
if (sdlogger_spi.sdcard_buf_idx > 512 &&
sdcard1.status == SDCard_MultiWriteIdle) {
sdcard_spi_multiwrite_next(&sdcard1, &sdlogger_spi_direct_multiwrite_written);
}
/* Check if switch is flipped to stop logging */
if (sdlogger_spi.do_log == 0) {
sdlogger_spi.status = SDLogger_LoggingFinalBlock;
}
break;
case SDLogger_LoggingFinalBlock:
if (sdcard1.status == SDCard_MultiWriteIdle) {
if (sdlogger_spi.sdcard_buf_idx > 512) {
sdcard_spi_multiwrite_next(&sdcard1, &sdlogger_spi_direct_multiwrite_written);
}
else if (sdlogger_spi.sdcard_buf_idx > 1) {
/* Fill with trailing zero's */
for (uint16_t i = sdlogger_spi.sdcard_buf_idx; i < (SD_BLOCK_SIZE+1); i++) {
sdcard1.output_buf[i] = 0x00;
}
sdcard_spi_multiwrite_next(&sdcard1, &sdlogger_spi_direct_multiwrite_written);
}
else if (sdlogger_spi.sdcard_buf_idx == 1) {
sdcard_spi_multiwrite_stop(&sdcard1);
sdlogger_spi.status = SDLogger_StoppedLogging;
}
}
break;
case SDLogger_StoppedLogging:
if (sdcard1.status == SDCard_Idle) {
sdcard_spi_read_block(&sdcard1, 0x00002000, &sdlogger_spi_direct_index_received);
sdlogger_spi.status = SDLogger_GettingIndexForUpdate;
}
break;
case SDLogger_UpdatingIndex:
if (sdcard1.status == SDCard_Idle) {
LOGGER_LED_OFF;
sdlogger_spi.status = SDLogger_Ready;
}
break;
case SDLogger_Downloading:
if (sdcard1.status == SDCard_Idle) {
/* Put bytes to the buffer until all is written or buffer is full */
for (uint16_t i = sdlogger_spi.sdcard_buf_idx; i < SD_BLOCK_SIZE; i++) {
long fd = 0;
if (uart_check_free_space(&(DOWNLINK_DEVICE), &fd, 1)) {
uart_put_byte(&(DOWNLINK_DEVICE), fd, sdcard1.input_buf[i]);
}
else {
/* No free space left, abort for-loop */
break;
}
sdlogger_spi.sdcard_buf_idx++;
}
/* Request next block if entire buffer was written to uart */
if (sdlogger_spi.sdcard_buf_idx >= SD_BLOCK_SIZE) {
if (sdlogger_spi.download_length > 0) {
sdcard_spi_read_block(&sdcard1, sdlogger_spi.download_address, NULL);
sdlogger_spi.download_address++;
sdlogger_spi.download_length--;
}
else {
LOGGER_LED_OFF;
sdlogger_spi.status = SDLogger_Ready;
}
sdlogger_spi.sdcard_buf_idx = 0;
}
}
break;
default:
break;
}
}
