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Now using global filesystem mounting on bootup.

Browse Source 
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
This commit is contained in:
gussy 2010-01-24 08:13:48 +00:00 committed by gussy
parent 26410ad8de
commit 39403ee20d
7 changed files with 186 additions and 114 deletions
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7
flight/Libraries/dosfs/README_1st.txt
View File

@ -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
in dosemu.c) and MIOS32_SDCARD functions (located in ../mios32/mios32_sdcard.c)
dfs_sdcard has been added as access layer between DFS functions and PIOS_SDCARD functions
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:

9
flight/Libraries/dosfs/dosfs.h
View File

@ -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

81
flight/Libraries/minIni/minGlue.c
View File

@ -2,28 +2,16 @@
#include "pios.h"
#include "minGlue.h"
/* TODO: Use global filesystem mounting */
/* TODO: Implement error handling properly */
static uint8_t Sector[SECTOR_SIZE];
static VOLINFO vi;
static uint32_t pstart, psize;
static uint8_t pactive, ptype;
static uint32_t successcount;
/* Global Variables */
extern uint8_t Sector[SECTOR_SIZE];
extern VOLINFO VolInfo;
/* Local Variables */
static uint32_t SuccessCount;
int dosfs_ini_openread(const char *filename, PFILEINFO file)
{
pstart = DFS_GetPtnStart(0, Sector, 0, &pactive, &ptype, &psize);
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)) {
if(DFS_OpenFile(&VolInfo, (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);
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_WRITE, Sector, file)) {
/* TODO: Check this works */
if(DFS_OpenFile(&VolInfo, (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;

172
flight/PiOS/Common/pios_sdcard.c
View File

@ -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 -1 Cannot find first partition
* return -2 No volume information
* return -3 Error opening file
* return 0 No errors
* return -1 Error deleting file
* return -2 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) {
/* Connected */
/*
SDCARDCidTypeDef cid;
PIOS_SDCARD_CIDRead(&cid);
if(!sdcard_available) {
/* Disconnected */
return -1;
}
SDCARDCsdTypeDef csd;
PIOS_SDCARD_CSDRead(&csd);
*/
/* Connected */
/* Try to mount file system */
uint32_t pstart, psize;
uint8_t pactive, ptype;
pstart = DFS_GetPtnStart(0, Sector, 0, &pactive, &ptype, &psize);
if (pstart == 0xffffffff) {
/* 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 (pstart == 0xffffffff) {
/* Cannot find first partition */
return -1;
}
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);
if(CreateStartupLog == 1) {
if(PIOS_SDCARD_StartupLog()) {
/* Error writing startup log file */
return -4;
}
}
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;
}

1
flight/PiOS/inc/pios_config.h
View File

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

7
flight/PiOS/inc/pios_sdcard.h
View File

@ -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 */

23
flight/PiOS/pios.c
View File

@ -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);
//for(int i = 0; i < 1000000; i++);
//PIOS_LED_Toggle(LED2);
PIOS_DELAY_Wait_mS(250);
}
}