-
/*
- * Copyright (c) 2006-2012 by Roland Riegel <feedback@roland-riegel.de>
- *
- * This file is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
+ * Copyright (c) 2011, Olivier MATZ <zer0@droids-corp.org>
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the University of California, Berkeley nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
-#include <string.h>
-#include <avr/pgmspace.h>
-#include <avr/sleep.h>
-#include "fat.h"
-#include "fat_config.h"
-#include "partition.h"
-#include "sd_raw.h"
-#include "sd_raw_config.h"
-#include "uart.h"
-
-#define DEBUG 1
-
-/**
- * \mainpage MMC/SD/SDHC card library
- *
- * This project provides a general purpose library which implements read and write
- * support for MMC, SD and SDHC memory cards.
- *
- * It includes
- * - low-level \link sd_raw MMC, SD and SDHC read/write routines \endlink
- * - \link partition partition table support \endlink
- * - a simple \link fat FAT16/FAT32 read/write implementation \endlink
- *
- * \section circuit The circuit
- * The circuit which was mainly used during development consists of an Atmel AVR
- * microcontroller with some passive components. It is quite simple and provides
- * an easy test environment. The circuit which can be downloaded on the
- * <a href="http://www.roland-riegel.de/sd-reader/">project homepage</a> has been
- * improved with regard to operation stability.
- *
- * I used different microcontrollers during development, the ATmega8 with 8kBytes
- * of flash, and its pin-compatible alternative, the ATmega168 with 16kBytes flash.
- * The first one is the one I started with, but when I implemented FAT16 write
- * support, I ran out of flash space and switched to the ATmega168. For FAT32, an
- * ATmega328 is required.
- *
- * The circuit board is a self-made and self-soldered board consisting of a single
- * copper layer and standard DIL components, except of the MMC/SD card connector.
- *
- * The connector is soldered to the bottom side of the board. It has a simple
- * eject button which, when a card is inserted, needs some space beyond the connector
- * itself. As an additional feature the connector has two electrical switches
- * to detect wether a card is inserted and wether this card is write-protected.
- *
- * \section pictures Pictures
- * \image html pic01.jpg "The circuit board used to implement and test this application."
- * \image html pic02.jpg "The MMC/SD card connector on the soldering side of the circuit board."
- *
- * \section software The software
- * The software is written in C (ISO C99). It might not be the smallest or
- * the fastest one, but I think it is quite flexible. See the project's
- * <a href="http://www.roland-riegel.de/sd-reader/benchmarks/">benchmark page</a> to get an
- * idea of the possible data rates.
- *
- * I implemented an example application providing a simple command prompt which is accessible
- * via the UART at 9600 Baud. With commands similiar to the Unix shell you can browse different
- * directories, read and write files, create new ones and delete them again. Not all commands are
- * available in all software configurations.
- * - <tt>cat \<file\></tt>\n
- * Writes a hexdump of \<file\> to the terminal.
- * - <tt>cd \<directory\></tt>\n
- * Changes current working directory to \<directory\>.
- * - <tt>disk</tt>\n
- * Shows card manufacturer, status, filesystem capacity and free storage space.
- * - <tt>init</tt>\n
- * Reinitializes and reopens the memory card.
- * - <tt>ls</tt>\n
- * Shows the content of the current directory.
- * - <tt>mkdir \<directory\></tt>\n
- * Creates a directory called \<directory\>.
- * - <tt>mv \<file\> \<file_new\></tt>\n
- * Renames \<file\> to \<file_new\>.
- * - <tt>rm \<file\></tt>\n
- * Deletes \<file\>.
- * - <tt>sync</tt>\n
- * Ensures all buffered data is written to the card.
- * - <tt>touch \<file\></tt>\n
- * Creates \<file\>.
- * - <tt>write \<file\> \<offset\></tt>\n
- * Writes text to \<file\>, starting from \<offset\>. The text is read
- * from the UART, line by line. Finish with an empty line.
- *
- * \htmlonly
- * <p>
- * The following table shows some typical code sizes in bytes, using the 20090330 release with a
- * buffered read-write MMC/SD configuration, FAT16 and static memory allocation:
- * </p>
- *
- * <table border="1" cellpadding="2">
- * <tr>
- * <th>layer</th>
- * <th>code size</th>
- * <th>static RAM usage</th>
- * </tr>
- * <tr>
- * <td>MMC/SD</td>
- * <td align="right">2410</td>
- * <td align="right">518</td>
- * </tr>
- * <tr>
- * <td>Partition</td>
- * <td align="right">456</td>
- * <td align="right">17</td>
- * </tr>
- * <tr>
- * <td>FAT16</td>
- * <td align="right">7928</td>
- * <td align="right">188</td>
- * </tr>
- * </table>
- *
- * <p>
- * The static RAM is mostly used for buffering memory card access, which
- * improves performance and reduces implementation complexity.
- * </p>
- *
- * <p>
- * Please note that the numbers above do not include the C library functions
- * used, e.g. some string functions. These will raise the numbers somewhat
- * if they are not already used in other program parts.
- * </p>
- *
- * <p>
- * When opening a partition, filesystem, file or directory, a little amount
- * of RAM is used, as listed in the following table. Depending on the library
- * configuration, the memory is either allocated statically or dynamically.
- * </p>
- *
- * <table border="1" cellpadding="2">
- * <tr>
- * <th>descriptor</th>
- * <th>dynamic/static RAM</th>
- * </tr>
- * <tr>
- * <td>partition</td>
- * <td align="right">17</td>
- * </tr>
- * <tr>
- * <td>filesystem</td>
- * <td align="right">26</td>
- * </tr>
- * <tr>
- * <td>file</td>
- * <td align="right">53</td>
- * </tr>
- * <tr>
- * <td>directory</td>
- * <td align="right">49</td>
- * </tr>
- * </table>
- *
- * \endhtmlonly
- *
- * \section adaptation Adapting the software to your needs
- * The only hardware dependent part is the communication layer talking to the
- * memory card. The other parts like partition table and FAT support are
- * completely independent, you could use them even for managing Compact Flash
- * cards or standard ATAPI hard disks.
- *
- * By changing the MCU* variables in the Makefile, you can use other Atmel
- * microcontrollers or different clock speeds. You might also want to change
- * the configuration defines in the files fat_config.h, partition_config.h,
- * sd_raw_config.h and sd-reader_config.h. For example, you could disable
- * write support completely if you only need read support.
- *
- * For further information, visit the project's
- * <a href="http://www.roland-riegel.de/sd-reader/faq/">FAQ page</a>.
- *
- * \section bugs Bugs or comments?
- * If you have comments or found a bug in the software - there might be some
- * of them - you may contact me per mail at feedback@roland-riegel.de.
- *
- * \section acknowledgements Acknowledgements
- * Thanks go to Ulrich Radig, who explained on his homepage how to interface
- * MMC cards to the Atmel microcontroller (http://www.ulrichradig.de/).
- * I adapted his work for my circuit.
- *
- * \section copyright Copyright 2006-2012 by Roland Riegel
- * This program is free software; you can redistribute it and/or modify it under
- * the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation (http://www.gnu.org/copyleft/gpl.html).
- * At your option, you can alternatively redistribute and/or modify the following
- * files under the terms of the GNU Lesser General Public License version 2.1
- * as published by the Free Software Foundation (http://www.gnu.org/copyleft/lgpl.html):
- * - byteordering.c
- * - byteordering.h
- * - fat.c
- * - fat.h
- * - fat_config.h
- * - partition.c
- * - partition.h
- * - partition_config.h
- * - sd_raw.c
- * - sd_raw.h
- * - sd_raw_config.h
- * - sd-reader_config.h
+/* fuses:
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x91:m -U efuse:w:0xff:m
+ * -> it failed but I answered y, then make reset and it was ok
*/
-static uint8_t read_line(char* buffer, uint8_t buffer_length);
-static uint32_t strtolong(const char* str);
-static uint8_t find_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name, struct fat_dir_entry_struct* dir_entry);
-static struct fat_file_struct* open_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name);
-static uint8_t print_disk_info(const struct fat_fs_struct* fs);
-
-int main()
-{
- /* we will just use ordinary idle mode */
- set_sleep_mode(SLEEP_MODE_IDLE);
-
- /* setup uart */
- uart_init();
-
- while(1)
- {
- /* setup sd card slot */
- if(!sd_raw_init())
- {
-#if DEBUG
- uart_puts_p(PSTR("MMC/SD initialization failed\n"));
-#endif
- continue;
- }
-
- /* open first partition */
- struct partition_struct* partition = partition_open(sd_raw_read,
- sd_raw_read_interval,
-#if SD_RAW_WRITE_SUPPORT
- sd_raw_write,
- sd_raw_write_interval,
-#else
- 0,
- 0,
-#endif
- 0
- );
-
- if(!partition)
- {
- /* If the partition did not open, assume the storage device
- * is a "superfloppy", i.e. has no MBR.
- */
- partition = partition_open(sd_raw_read,
- sd_raw_read_interval,
-#if SD_RAW_WRITE_SUPPORT
- sd_raw_write,
- sd_raw_write_interval,
-#else
- 0,
- 0,
-#endif
- -1
- );
- if(!partition)
- {
-#if DEBUG
- uart_puts_p(PSTR("opening partition failed\n"));
-#endif
- continue;
- }
- }
-
- /* open file system */
- struct fat_fs_struct* fs = fat_open(partition);
- if(!fs)
- {
-#if DEBUG
- uart_puts_p(PSTR("opening filesystem failed\n"));
-#endif
- continue;
- }
-
- /* open root directory */
- struct fat_dir_entry_struct directory;
- fat_get_dir_entry_of_path(fs, "/", &directory);
-
- struct fat_dir_struct* dd = fat_open_dir(fs, &directory);
- if(!dd)
- {
-#if DEBUG
- uart_puts_p(PSTR("opening root directory failed\n"));
-#endif
- continue;
- }
-
- /* print some card information as a boot message */
- print_disk_info(fs);
-
- /* provide a simple shell */
- char buffer[24];
- while(1)
- {
- /* print prompt */
- uart_putc('>');
- uart_putc(' ');
-
- /* read command */
- char* command = buffer;
- if(read_line(command, sizeof(buffer)) < 1)
- continue;
-
- /* execute command */
- if(strcmp_P(command, PSTR("init")) == 0)
- {
- break;
- }
- else if(strncmp_P(command, PSTR("cd "), 3) == 0)
- {
- command += 3;
- if(command[0] == '\0')
- continue;
-
- /* change directory */
- struct fat_dir_entry_struct subdir_entry;
- if(find_file_in_dir(fs, dd, command, &subdir_entry))
- {
- struct fat_dir_struct* dd_new = fat_open_dir(fs, &subdir_entry);
- if(dd_new)
- {
- fat_close_dir(dd);
- dd = dd_new;
- continue;
- }
- }
-
- uart_puts_p(PSTR("directory not found: "));
- uart_puts(command);
- uart_putc('\n');
- }
- else if(strcmp_P(command, PSTR("ls")) == 0)
- {
- /* print directory listing */
- struct fat_dir_entry_struct dir_entry;
- while(fat_read_dir(dd, &dir_entry))
- {
- uint8_t spaces = sizeof(dir_entry.long_name) - strlen(dir_entry.long_name) + 4;
-
- uart_puts(dir_entry.long_name);
- uart_putc(dir_entry.attributes & FAT_ATTRIB_DIR ? '/' : ' ');
- while(spaces--)
- uart_putc(' ');
- uart_putdw_dec(dir_entry.file_size);
- uart_putc('\n');
- }
- }
- else if(strncmp_P(command, PSTR("cat "), 4) == 0)
- {
- command += 4;
- if(command[0] == '\0')
- continue;
-
- /* search file in current directory and open it */
- struct fat_file_struct* fd = open_file_in_dir(fs, dd, command);
- if(!fd)
- {
- uart_puts_p(PSTR("error opening "));
- uart_puts(command);
- uart_putc('\n');
- continue;
- }
-
- /* print file contents */
- uint8_t buffer[8];
- uint32_t offset = 0;
- intptr_t count;
- while((count = fat_read_file(fd, buffer, sizeof(buffer))) > 0)
- {
- uart_putdw_hex(offset);
- uart_putc(':');
- for(intptr_t i = 0; i < count; ++i)
- {
- uart_putc(' ');
- uart_putc_hex(buffer[i]);
- }
- uart_putc('\n');
- offset += 8;
- }
+#include <aversive.h>
+#include <aversive/queue.h>
+#include <aversive/endian.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
- fat_close_file(fd);
- }
- else if(strcmp_P(command, PSTR("disk")) == 0)
- {
- if(!print_disk_info(fs))
- uart_puts_p(PSTR("error reading disk info\n"));
- }
-#if FAT_WRITE_SUPPORT
- else if(strncmp_P(command, PSTR("rm "), 3) == 0)
- {
- command += 3;
- if(command[0] == '\0')
- continue;
-
- struct fat_dir_entry_struct file_entry;
- if(find_file_in_dir(fs, dd, command, &file_entry))
- {
- if(fat_delete_file(fs, &file_entry))
- continue;
- }
+#include <uart.h>
- uart_puts_p(PSTR("error deleting file: "));
- uart_puts(command);
- uart_putc('\n');
- }
- else if(strncmp_P(command, PSTR("touch "), 6) == 0)
- {
- command += 6;
- if(command[0] == '\0')
- continue;
-
- struct fat_dir_entry_struct file_entry;
- if(!fat_create_file(dd, command, &file_entry))
- {
- uart_puts_p(PSTR("error creating file: "));
- uart_puts(command);
- uart_putc('\n');
- }
- }
- else if(strncmp_P(command, PSTR("mv "), 3) == 0)
- {
- command += 3;
- if(command[0] == '\0')
- continue;
-
- char* target = command;
- while(*target != ' ' && *target != '\0')
- ++target;
-
- if(*target == ' ')
- *target++ = '\0';
- else
- continue;
-
- struct fat_dir_entry_struct file_entry;
- if(find_file_in_dir(fs, dd, command, &file_entry))
- {
- if(fat_move_file(fs, &file_entry, dd, target))
- continue;
- }
-
- uart_puts_p(PSTR("error moving file: "));
- uart_puts(command);
- uart_putc('\n');
- }
- else if(strncmp_P(command, PSTR("write "), 6) == 0)
- {
- command += 6;
- if(command[0] == '\0')
- continue;
-
- char* offset_value = command;
- while(*offset_value != ' ' && *offset_value != '\0')
- ++offset_value;
-
- if(*offset_value == ' ')
- *offset_value++ = '\0';
- else
- continue;
-
- /* search file in current directory and open it */
- struct fat_file_struct* fd = open_file_in_dir(fs, dd, command);
- if(!fd)
- {
- uart_puts_p(PSTR("error opening "));
- uart_puts(command);
- uart_putc('\n');
- continue;
- }
-
- int32_t offset = strtolong(offset_value);
- if(!fat_seek_file(fd, &offset, FAT_SEEK_SET))
- {
- uart_puts_p(PSTR("error seeking on "));
- uart_puts(command);
- uart_putc('\n');
-
- fat_close_file(fd);
- continue;
- }
-
- /* read text from the shell and write it to the file */
- uint8_t data_len;
- while(1)
- {
- /* give a different prompt */
- uart_putc('<');
- uart_putc(' ');
-
- /* read one line of text */
- data_len = read_line(buffer, sizeof(buffer));
- if(!data_len)
- break;
-
- /* write text to file */
- if(fat_write_file(fd, (uint8_t*) buffer, data_len) != data_len)
- {
- uart_puts_p(PSTR("error writing to file\n"));
- break;
- }
- }
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+#include <inttypes.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <errno.h>
+#include <ctype.h>
- fat_close_file(fd);
- }
- else if(strncmp_P(command, PSTR("mkdir "), 6) == 0)
- {
- command += 6;
- if(command[0] == '\0')
- continue;
+#include <parse.h>
+#include <rdline.h>
+#include <timer.h>
+#include <i2cm_sw.h>
- struct fat_dir_entry_struct dir_entry;
- if(!fat_create_dir(dd, command, &dir_entry))
- {
- uart_puts_p(PSTR("error creating directory: "));
- uart_puts(command);
- uart_putc('\n');
- }
- }
-#endif
-#if SD_RAW_WRITE_BUFFERING
- else if(strcmp_P(command, PSTR("sync")) == 0)
- {
- if(!sd_raw_sync())
- uart_puts_p(PSTR("error syncing disk\n"));
- }
-#endif
- else
- {
- uart_puts_p(PSTR("unknown command: "));
- uart_puts(command);
- uart_putc('\n');
- }
- }
+#include "eeprom_config.h"
+#include "main.h"
- /* close directory */
- fat_close_dir(dd);
+struct imuboard imuboard;
+volatile uint32_t global_ms;
- /* close file system */
- fat_close(fs);
+/* global xbee device */
+struct xbee_dev *xbee_dev;
- /* close partition */
- partition_close(partition);
- }
-
- return 0;
+void bootloader(void)
+{
+#define BOOTLOADER_ADDR 0x3f000
+ if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
+ printf_P(PSTR("Bootloader is not present\r\n"));
+ return;
+ }
+ cli();
+ /* ... very specific :( */
+ TIMSK0 = 0;
+ TIMSK1 = 0;
+ TIMSK2 = 0;
+ TIMSK3 = 0;
+ EIMSK = 0;
+ UCSR0B = 0;
+ UCSR1B = 0;
+ SPCR = 0;
+ TWCR = 0;
+ ACSR = 0;
+ ADCSRA = 0;
+
+ /* XXX */
+ /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
+ /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
+ /* __asm__ __volatile__ ("eijmp\n"); */
}
-uint8_t read_line(char* buffer, uint8_t buffer_length)
+/* return time in milliseconds on unsigned 16 bits */
+uint16_t get_time_ms(void)
{
- memset(buffer, 0, buffer_length);
-
- uint8_t read_length = 0;
- while(read_length < buffer_length - 1)
- {
- uint8_t c = uart_getc();
-
- if(c == 0x08 || c == 0x7f)
- {
- if(read_length < 1)
- continue;
-
- --read_length;
- buffer[read_length] = '\0';
-
- uart_putc(0x08);
- uart_putc(' ');
- uart_putc(0x08);
-
- continue;
- }
-
- uart_putc(c);
-
- if(c == '\n')
- {
- buffer[read_length] = '\0';
- break;
- }
- else
- {
- buffer[read_length] = c;
- ++read_length;
- }
- }
-
- return read_length;
+ uint16_t ms;
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ ms = global_ms;
+ IRQ_UNLOCK(flags);
+ return ms;
}
-uint32_t strtolong(const char* str)
+static void main_timer_interrupt(void)
{
- uint32_t l = 0;
- while(*str >= '0' && *str <= '9')
- l = l * 10 + (*str++ - '0');
-
- return l;
+ static uint16_t cycles;
+ static uint8_t stack = 0;
+ static uint8_t cpt = 0;
+ cpt++;
+
+ /* LED blink */
+ if (global_ms & 0x80)
+ LED1_ON();
+ else
+ LED1_OFF();
+
+ if ((cpt & 0x03) != 0)
+ return;
+
+ /* the following code is only called one interrupt among 4: every 682us
+ * (at 12 Mhz) = 8192 cycles */
+ cycles += 8192;
+ if (cycles >= 12000) {
+ cycles -= 12000;
+ global_ms ++;
+ }
+
+ /* called */
+ if (stack++ == 0)
+ LED2_ON();
+ sei();
+ if ((cpt & 0x3) == 0)
+ callout_manage(&imuboard.intr_cm);
+ cli();
+ if (--stack == 0)
+ LED2_OFF();
}
-uint8_t find_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name, struct fat_dir_entry_struct* dir_entry)
+/* XXX */
+int imu_loop(void);
+int sd_main(void);
+
+int main(void)
{
- while(fat_read_dir(dd, dir_entry))
- {
- if(strcmp(dir_entry->long_name, name) == 0)
- {
- fat_reset_dir(dd);
- return 1;
- }
- }
+ DDRB = 0x18 /* LEDs */;
- return 0;
-}
+ uart_init();
+ uart_register_rx_event(CMDLINE_UART, emergency);
-struct fat_file_struct* open_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name)
-{
- struct fat_dir_entry_struct file_entry;
- if(!find_file_in_dir(fs, dd, name, &file_entry))
- return 0;
+ fdevopen(cmdline_dev_send, cmdline_dev_recv);
+ timer_init();
+ timer0_register_OV_intr(main_timer_interrupt);
- return fat_open_file(fs, &file_entry);
-}
+ callout_mgr_init(&imuboard.intr_cm, get_time_ms);
-uint8_t print_disk_info(const struct fat_fs_struct* fs)
-{
- if(!fs)
- return 0;
+ cmdline_init();
+ /* LOGS */
+ error_register_emerg(mylog);
+ error_register_error(mylog);
+ error_register_warning(mylog);
+ error_register_notice(mylog);
+ error_register_debug(mylog);
- struct sd_raw_info disk_info;
- if(!sd_raw_get_info(&disk_info))
- return 0;
+ /* communication with mpu6050 */
+ i2cm_init();
- uart_puts_p(PSTR("manuf: 0x")); uart_putc_hex(disk_info.manufacturer); uart_putc('\n');
- uart_puts_p(PSTR("oem: ")); uart_puts((char*) disk_info.oem); uart_putc('\n');
- uart_puts_p(PSTR("prod: ")); uart_puts((char*) disk_info.product); uart_putc('\n');
- uart_puts_p(PSTR("rev: ")); uart_putc_hex(disk_info.revision); uart_putc('\n');
- uart_puts_p(PSTR("serial: 0x")); uart_putdw_hex(disk_info.serial); uart_putc('\n');
- uart_puts_p(PSTR("date: ")); uart_putw_dec(disk_info.manufacturing_month); uart_putc('/');
- uart_putw_dec(disk_info.manufacturing_year); uart_putc('\n');
- uart_puts_p(PSTR("size: ")); uart_putdw_dec(disk_info.capacity / 1024 / 1024); uart_puts_p(PSTR("MB\n"));
- uart_puts_p(PSTR("copy: ")); uart_putw_dec(disk_info.flag_copy); uart_putc('\n');
- uart_puts_p(PSTR("wr.pr.: ")); uart_putw_dec(disk_info.flag_write_protect_temp); uart_putc('/');
- uart_putw_dec(disk_info.flag_write_protect); uart_putc('\n');
- uart_puts_p(PSTR("format: ")); uart_putw_dec(disk_info.format); uart_putc('\n');
- uart_puts_p(PSTR("free: ")); uart_putdw_dec(fat_get_fs_free(fs)); uart_putc('/');
- uart_putdw_dec(fat_get_fs_size(fs)); uart_putc('\n');
+ sei();
- return 1;
-}
+ eeprom_load_config();
-#if FAT_DATETIME_SUPPORT
-void get_datetime(uint16_t* year, uint8_t* month, uint8_t* day, uint8_t* hour, uint8_t* min, uint8_t* sec)
-{
- *year = 2007;
- *month = 1;
- *day = 1;
- *hour = 0;
- *min = 0;
- *sec = 0;
-}
-#endif
+ printf_P(PSTR("\r\n"));
+ rdline_newline(&imuboard.rdl, imuboard.prompt);
+
+ //sd_main();
+ imu_loop();
+ while (1) {
+ cmdline_poll();
+ }
+
+ return 0;
+}
git.droids-corp.org / protos / imu.git / blobdiff