static msg_t SdThread(void *arg){
chRegSetThreadName("MicroSD");
(void)arg;
FRESULT err;
uint32_t clusters;
FATFS *fsp;
FIL Log;
msg_t id;
/* wait until card not ready */
NOT_READY:
while (!sdcIsCardInserted(&SDCD1))
chThdSleepMilliseconds(SDC_POLLING_INTERVAL);
chThdSleepMilliseconds(SDC_POLLING_INTERVAL);
if (!sdcIsCardInserted(&SDCD1))
goto NOT_READY;
else
insert_handler();
/* fs mounted? */
if (!fs_ready)
return RDY_RESET;
/* are we have at least 16MB of free space? */
err = f_getfree("/", &clusters, &fsp);
err_check();
if ((clusters * (uint32_t)SDC_FS.csize * (uint32_t)MMCSD_BLOCK_SIZE) < (16*1024*1024))
return RDY_RESET;
/* open file for writing log */
char namebuf[MAX_FILENAME_SIZE];
name_from_time(namebuf);
err = f_open(&Log, namebuf, FA_WRITE | FA_CREATE_ALWAYS);
err_check();
/* main write cycle
* This writer waits msg_t with mavlink message ID. Based on that ID it
* will pack extern mavlink struct with proper packing function. */
setGlobalFlag(GlobalFlags.logger_ready);
while (TRUE){
/* wait ID */
if (logwriter_mb.fetch(&id, TIME_INFINITE) == RDY_OK){
if (!sdcIsCardInserted(&SDCD1)){
clearGlobalFlag(GlobalFlags.logger_ready);
remove_handler();
goto NOT_READY;
}
err = WriteLog(&Log, id, &fresh_data);
err_check();
}
err = fs_sync(&Log);
err_check();
}
return 0;
}
void poll_inserted() {
const auto card_present_now = sdcIsCardInserted(&SDCD1);
if( card_present_now != card_present ) {
card_present = card_present_now;
Status new_status { card_present ? Status::Present : Status::NotPresent };
if( card_present ) {
if( sdcConnect(&SDCD1) == CH_SUCCESS ) {
if( mount() == FR_OK ) {
new_status = Status::Mounted;
} else {
new_status = Status::MountError;
}
} else {
new_status = Status::ConnectError;
}
} else {
sdcDisconnect(&SDCD1);
}
status_ = new_status;
status_signal.emit(status_);
}
}
/**
* @brief Inserion monitor timer callback function.
*
* @param[in] p pointer to the @p SDCDriver object
*
* @notapi
*/
static void tmrfunc(void *p) {
SDCDriver *sdcp = p;
if (cnt > 0) {
if (sdcIsCardInserted(sdcp)) {
if (--cnt == 0) {
chEvtBroadcastI(&inserted_event);
}
}
else
cnt = SDC_POLLING_INTERVAL;
}
else {
if (!sdcIsCardInserted(sdcp)) {
cnt = SDC_POLLING_INTERVAL;
chEvtBroadcastI(&removed_event);
}
}
chVTSetI(&tmr, MS2ST(SDC_POLLING_DELAY), tmrfunc, sdcp);
}
