Now using global filesystem mounting on bootup.

Changed bootup procedure for how the SD Card is handled.
Completed, optimised and added error handling to minGlue.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@137 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/Libraries/dosfs/README_1st.txt

@@ -8,15 +8,10 @@ This package has been downloaded from:
 Version 1.03 from 9/30/06 is used.
 
 
-dfs_sdcard has been added as access layer between DFS functions (located
+dfs_sdcard has been added as access layer between DFS functions and PIOS_SDCARD functions
-in dosemu.c) and MIOS32_SDCARD functions (located in ../mios32/mios32_sdcard.c)
 
 The original usage examples can be found under unused/main.c
 
-MIOS32 based usage examples can be found under
-   $MIOS32_PATH/apps/examples/sdcard
-
-
 Addendum:
 
 TK 2008-12-18: 

flight/Libraries/dosfs/dosfs.h

@@ -366,6 +366,15 @@ void DFS_Seek(PFILEINFO fileinfo, uint32_t offset, uint8_t *scratch);
 */
 uint32_t DFS_UnlinkFile(PVOLINFO volinfo, uint8_t *path, uint8_t *scratch);
 
+/*
+        Fetch FAT entry for specified cluster number
+        You must provide a scratch buffer for one sector (SECTOR_SIZE) and a populated VOLINFO
+        Returns a FAT32 BAD_CLUSTER value for any error, otherwise the contents of the desired
+        FAT entry.
+        scratchcache should point to a UINT32. This variable caches the physical sector number
+        last read into the scratch buffer for performance enhancement reasons.
+*/
+uint32_t DFS_GetFAT(PVOLINFO volinfo, uint8_t *scratch, uint32_t *scratchcache, uint32_t cluster);
 
 /*
 // TK: added 2009-02-12

flight/Libraries/minIni/minGlue.c

@@ -2,28 +2,16 @@
 #include "pios.h"
 #include "minGlue.h"
 
-/* TODO: Use global filesystem mounting */
+/* Global Variables */
-/* TODO: Implement error handling properly */
+extern uint8_t Sector[SECTOR_SIZE];
-static uint8_t Sector[SECTOR_SIZE];
+extern VOLINFO VolInfo;
-static VOLINFO vi;
+
-static uint32_t pstart, psize;
+/* Local Variables */
-static uint8_t  pactive, ptype;
+static uint32_t SuccessCount;
-static uint32_t successcount;
 
 int dosfs_ini_openread(const char *filename, PFILEINFO file)
 {
-	pstart = DFS_GetPtnStart(0, Sector, 0, &pactive, &ptype, &psize);
+	if(DFS_OpenFile(&VolInfo, (uint8_t *)filename, DFS_READ, Sector, file)) {
-	if (pstart == 0xffffffff) {
-		/* Cannot find first partition */
-		return 0;
-	}
-
-	if(DFS_GetVolInfo(0, Sector, pstart, &vi) != DFS_OK) {
-		/* No volume information */
-		return 0;
-	}
-
-	if(DFS_OpenFile(&vi, (uint8_t *)filename, DFS_READ, Sector, file)) {
 		/* Error opening file */
 		return 0;
 	}
@@ -34,18 +22,8 @@ int dosfs_ini_openread(const char *filename, PFILEINFO file)
 
 int dosfs_ini_openwrite(const char *filename, PFILEINFO file)
 {
-	pstart = DFS_GetPtnStart(0, Sector, 0, &pactive, &ptype, &psize);
+	/* TODO: Check this works */
-	if (pstart == 0xffffffff) {
+	if(DFS_OpenFile(&VolInfo, (uint8_t *)filename, DFS_WRITE, Sector, file)) {
-		/* Cannot find first partition */
-		return 0;
-	}
-
-	if(DFS_GetVolInfo(0, Sector, pstart, &vi) != DFS_OK) {
-		/* No volume information */
-		return 0;
-	}
-
-	if(DFS_OpenFile(&vi, (uint8_t *)filename, DFS_WRITE, Sector, file)) {
 		/* Error opening file */
 		return 0;
 	}
@@ -65,9 +43,9 @@ int dosfs_ini_close(PFILEINFO file)
 
 int dosfs_ini_read(char *buffer, int size, PFILEINFO file)
 {
-	DFS_ReadFile(file, Sector, (uint8_t *)buffer, &successcount, size);
+	DFS_ReadFile(file, Sector, (uint8_t *)buffer, &SuccessCount, size);
 
-	if(successcount == size) {
+	if(SuccessCount == size) {
 		/* No errors */
 		return 1;
 	} else {
@@ -79,7 +57,7 @@ int dosfs_ini_read(char *buffer, int size, PFILEINFO file)
 int dosfs_ini_write(char *buffer, PFILEINFO file)
 {
 	/* TODO: Check this works */
-	DFS_WriteFile(file, Sector, (uint8_t *)buffer, &successcount, sizeof(buffer));
+	DFS_WriteFile(file, Sector, (uint8_t *)buffer, &SuccessCount, sizeof(buffer));
 
 	/* No errors */
 	return 1;
@@ -87,7 +65,38 @@ int dosfs_ini_write(char *buffer, PFILEINFO file)
 
 int dosfs_ini_rename(const char *source, const char *dest)
 {
-	/* TODO: Implement, or just don't, since we aren't planning on using renaming */
+	/* TODO: Check this works */
+	FILEINFO SourceFile, DestFile;
+
+	/* Disable caching to avoid file inconsistencies while using different sector buffers! */
+	DFS_CachingEnabledSet(0);
+
+	if(DFS_OpenFile(&VolInfo, (uint8_t *)source, DFS_READ, Sector, &SourceFile)) {
+		/* Source file doesn't exist */
+		return 1;
+	} else {
+		/* Delete destination file if it already exists - ignore errors */
+		DFS_UnlinkFile(&VolInfo, (uint8_t *)dest, Sector);
+
+		if(DFS_OpenFile(&VolInfo, (uint8_t *)dest, DFS_WRITE, Sector, &DestFile)) {
+			/* Failed to create destination file */
+			return 1;
+		}
+	}
+
+	/* Copy operation */
+	uint8_t WriteBuffer[SECTOR_SIZE];
+	uint32_t SuccessCountRead;
+	uint32_t SuccessCountWrite;
+	do {
+		if(DFS_ReadFile(&SourceFile, Sector, WriteBuffer, &SuccessCountRead, SECTOR_SIZE)) {
+			/* DFS_ReadFile failed */
+			return 1;
+		} else if(DFS_WriteFile(&DestFile, Sector, WriteBuffer, &SuccessCountWrite, SuccessCountRead)) {
+			/* DFS_WriteFile failed */
+			return 1;
+		}
+	} while(SuccessCountRead > 0);
 
 	/* No errors */
 	return 1;
@@ -95,6 +104,7 @@ int dosfs_ini_rename(const char *source, const char *dest)
 
 int dosfs_ini_remove(const char *filename)
 {
+	/* TODO: Check this works */
 	VOLINFO vi;
 	uint32_t pstart, psize;
 	uint8_t  pactive, ptype;
@@ -119,6 +129,7 @@ int dosfs_ini_remove(const char *filename)
 
 int dosfs_ini_rewind(PFILEINFO file)
 {
+	/* TODO: Check this works */
 	DFS_Seek(file, 0, Sector);
 	/* No errors */
 	return 1;

flight/PiOS/Common/pios_sdcard.c

@@ -29,6 +29,11 @@
 /* Project Includes */
 #include "pios.h"
 
+/* Global Variables */
+VOLINFO VolInfo;
+uint32_t pstart, psize;
+uint8_t  pactive, ptype;
+uint8_t Sector[SECTOR_SIZE];
 
 /* Local Definitions */
 #if !defined(SDCARD_MUTEX_TAKE)
@@ -753,87 +758,116 @@ int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd)
 
 /**
 * Attempts to write a startup log to the SDCard
-* return 0 Successful
+* return 0 No errors
-* return -1 Cannot find first partition
+* return -1 Error deleting file
-* return -2 No volume information
+* return -2 Error opening file
-* return -3 Error opening file
+* return -3 Error writing file
 */
 int32_t PIOS_SDCARD_StartupLog(void)
 {
-	PIOS_SDCARD_Init();
+	FILEINFO File;
+	char Buffer[1024];
+	uint32_t Cache;
 
-	static uint8_t sdcard_available = 0;
+	/* Delete the file if it exists */
+	if(DFS_UnlinkFile(&VolInfo, (uint8_t *)LOG_FILENAME, Sector)) {
+		/* Error deleting file */
+		return -1;
+	}
 
+	if(DFS_OpenFile(&VolInfo, (uint8_t *)LOG_FILENAME, DFS_WRITE, Sector, &File)) {
+		/* Error opening file */
+		return -2;
+	}
+
+	sprintf(Buffer, "PiOS Startup Log\r\n\r\nLog file creation completed.\r\n");
+	if(DFS_WriteFile(&File, Sector, (uint8_t *)Buffer, &Cache, strlen(Buffer))) {
+		/* Error writing to file */
+		return -3;
+	}
+
+	sprintf(Buffer, "------------------------------\r\nSD Card Information\r\n------------------------------\r\n");
+	if(DFS_WriteFile(&File, Sector, (uint8_t *)Buffer, &Cache, strlen(Buffer))) {
+		/* Error writing to file */
+		return -2;
+	}
+
+	/* Disabled because it takes ca. 7 seconds with my 2GB card */
+	/* sprintf(Buffer, "Total Space: %u MB\r\nFree Space: %u MB\r\n", (uint16_t)((VolInfo.numclusters * (VolInfo.secperclus / 2)) / 1024), (uint16_t)(PIOS_SDCARD_GetFree() / 1048576)); */
+
+	sprintf(Buffer, "Total Space: %u MB\r\n\r\n", (uint16_t)((VolInfo.numclusters * (VolInfo.secperclus / 2)) / 1024));
+	if(DFS_WriteFile(&File, Sector, (uint8_t *)Buffer, &Cache, strlen(Buffer))) {
+		/* Error writing to file */
+		return -2;
+	}
+
+	/* No errors */
+	return 0;
+}
+
+
+/**
+* Mounts the file system
+* param[in] CreateStartupLog 1 = True, 0 = False
+* return 0 No errors
+* return -1 SDCard not available
+* return -2 Cannot find first partition
+* return -3 No volume information
+* return -4 Error writing startup log file
+*/
+int32_t PIOS_SDCARD_MountFS(uint32_t CreateStartupLog)
+{
+	uint8_t sdcard_available = 0;
 	sdcard_available = PIOS_SDCARD_CheckAvailable(0);
 
-	if(sdcard_available) {
+	if(!sdcard_available) {
-		/* Connected */
+		/* Disconnected */
-		/*
+		return -1;
-		SDCARDCidTypeDef cid;
+	}
-		PIOS_SDCARD_CIDRead(&cid);
 
-		SDCARDCsdTypeDef csd;
+	/* Connected */
-		PIOS_SDCARD_CSDRead(&csd);
-		*/
 
-		/* Try to mount file system */
+	pstart = DFS_GetPtnStart(0, Sector, 0, &pactive, &ptype, &psize);
-		uint32_t pstart, psize;
+	if (pstart == 0xffffffff) {
-		uint8_t  pactive, ptype;
+		/* Cannot find first partition */
+		return -2;
+	}
 
-		static uint8_t Buffer1[SECTOR_SIZE], Buffer2[1024];
+	if(DFS_GetVolInfo(0, Sector, pstart, &VolInfo) != DFS_OK) {
+		/* No volume information */
+		return -3;
+	}
 
-		pstart = DFS_GetPtnStart(0, Buffer1, 0, &pactive, &ptype, &psize);
+	if(CreateStartupLog == 1) {
-		if (pstart == 0xffffffff) {
+		if(PIOS_SDCARD_StartupLog()) {
-			/* Cannot find first partition */
+			/* Error writing startup log file */
-			return -1;
+			return -4;
-		}
-
-		VOLINFO vi;
-		if(DFS_GetVolInfo(0, Buffer1, pstart, &vi) != DFS_OK) {
-			/* No volume information */
-			return -2;
-		}
-
-		FILEINFO fi;
-		uint32_t cache;
-
-		/* Delete the file if it exists */
-		DFS_UnlinkFile(&vi, LOG_FILENAME, Buffer1);
-
-		if(DFS_OpenFile(&vi, LOG_FILENAME, DFS_WRITE, Buffer1, &fi)) {
-			/* Error opening file */
-			return -3;
-		}
-		sprintf(Buffer2, "PiOS Startup Log\r\n\r\nLog file creation completed.\r\n");
-		DFS_WriteFile(&fi, Buffer1, Buffer2, &cache, strlen(Buffer2));
-
-		sprintf(Buffer2, "------------------------------\r\nSD Card Information\r\n------------------------------\r\n");
-		DFS_WriteFile(&fi, Buffer1, Buffer2, &cache, strlen(Buffer2));
-
-		sprintf(Buffer2, "Total Space: %d MB\r\n\r\n", ((vi.numclusters * (vi.secperclus / 2)) / 1024));
-		DFS_WriteFile(&fi, Buffer1, Buffer2, &cache, strlen(Buffer2));
-
-
-
-		uint32_t successcount;
-		uint8_t buff[80];
-
-		DFS_OpenFile(&vi, LOG_FILENAME, DFS_READ, Buffer1, &fi);
-		//result = DFS_ReadFile(file, Sector, (uint8_t *)buffer, &successcount, size); /* file->filelen */
-		DFS_ReadFile(&fi, Buffer1, buff, &successcount, 80);
-
-
-
-		return 0;
-	} else if(!sdcard_available) {
-		/* Disconnected - lock up and flash LEDs */
-		PIOS_LED_On(LED1);
-		PIOS_LED_On(LED2);
-		for(;;) {
-			PIOS_LED_Toggle(LED2);
-			PIOS_DELAY_Wait_mS(100);
 		}
 	}
 
-	return -4;
+	/* No errors */
+	return 0;
 }
+
+/**
+* Mounts the file system
+* return Amount of free bytes
+*/
+int32_t PIOS_SDCARD_GetFree(void)
+{
+	uint32_t VolFreeBytes = 0xffffffff;
+	uint32_t ScratchCache = 0;
+
+	/* This takes very long, since it scans ALL clusters */
+	/* It takes ca. 7 seconds to determine free clusters out of ~47000 (2Gb) */
+
+	/* Scan all the clusters */
+	for(uint32_t i = 2; i < VolInfo.numclusters; ++i) {
+		if(!DFS_GetFAT(&VolInfo, Sector, &ScratchCache, i)) {
+			VolFreeBytes += VolInfo.secperclus * SECTOR_SIZE;
+		}
+	}
+
+	return VolFreeBytes;
+}
+

flight/PiOS/inc/pios_config.h

@@ -33,6 +33,7 @@
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"pios.log"
+#define STARTUP_LOG_ENABLED		1
 
 
 /* Defaults for MinIni */

flight/PiOS/inc/pios_sdcard.h

@@ -80,6 +80,11 @@ typedef struct {
   uint8_t  Reserved2;				/* always 1*/
 } SDCARDCidTypeDef;
 
+/* Global Variables */
+extern VOLINFO VolInfo;
+extern uint32_t pstart, psize;
+extern uint8_t  pactive, ptype;
+extern uint8_t Sector[SECTOR_SIZE];
 
 /* Prototypes */
 extern int32_t PIOS_SDCARD_Init(void);
@@ -92,5 +97,7 @@ extern int32_t PIOS_SDCARD_SectorWrite(uint32_t sector, uint8_t *buffer);
 extern int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef *cid);
 extern int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd);
 extern int32_t PIOS_SDCARD_StartupLog(void);
+extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
+extern int32_t PIOS_SDCARD_GetFree(void);
 
 #endif /* PIOS_SDCARD_H */

flight/PiOS/pios.c

@@ -63,9 +63,25 @@ int main()
 	/* Enables the SDCard */
 	PIOS_SDCARD_Init();
 
-	PIOS_SDCARD_StartupLog();
+	/* Wait for SD card for ever */
+	for(;;)
+	{
+		/* Check if we have an SD Card */
+		if(!PIOS_SDCARD_MountFS(STARTUP_LOG_ENABLED)) {
+			/* Found one without errors */
+			break;
+		}
 
-	/* Call LoadSettings which populates System Vars so the rest of the hardware can be configured. */
+		/* SD Card not found, flash for 1 second */
+		PIOS_LED_On(LED1);
+		PIOS_LED_On(LED2);
+		for(uint32_t i = 0; i < 10; i++) {
+			PIOS_LED_Toggle(LED2);
+			PIOS_DELAY_Wait_mS(100);
+		}
+	}
+
+	/* Call LoadSettings which populates global variables so the rest of the hardware can be configured. */
 	PIOS_Settings_Load();
 
 	Flashy();
@@ -103,8 +119,7 @@ void Flashy(void)
 		while(1)
 		{
 			PIOS_LED_Toggle(LED1);
-			PIOS_LED_Toggle(LED2);
+			//PIOS_LED_Toggle(LED2);
-			//for(int i = 0; i < 1000000; i++);
 			PIOS_DELAY_Wait_mS(250);
 		}
 	}