Updated code to not use sd task, implemented stub for mounting comman…

…d, and added bugfix for console

cli.c

@@ -15,7 +15,6 @@
 #include <stdarg.h>
 #include <stdbool.h>
 #include <stdio.h>
-#include <string.h>
 
 #include "cli.h"
 #include "commands.h"
@@ -109,6 +108,8 @@ void start_cli(CLIContext *context) {
                 break;
             case '\x1b':
                 cli_handle_esc(context);
+                // Required because some escape sequences update the line idx.
+                current_line = &(context->lines[context->line_idx]);
                 break;
             default:
                 if (current_line->len >= CLI_MAX_LINE - 1) {

commands.c

@@ -2,6 +2,9 @@
  * @file commands.c
  * Implements CLI command handlers.
  */
+
+#include <string.h>
+
 #include "cli.h"
 
 typedef struct {
@@ -10,8 +13,6 @@ typedef struct {
     char *cmd_help;
 } CmdEntry;
 
-#include <string.h>
-
 /*
  * Maximum number of arguments that the parser will handle.
  * Includes command name.
@@ -23,7 +24,8 @@ typedef struct {
  */
 #define DELIMETER " "
 
-static int help(CLIContext *cxt, char **argv, int argc);
+static int help(CLIContext *ctx, char **argv, int argc);
+static int sdcard(CLIContext *ctx, char **argv, int argc);
 
 /**
  * Declaration of commands. Syntax is as follows:
@@ -38,6 +40,8 @@ const CmdEntry COMMANDS[] = {
     {"help", help,
      "Prints help for this commandline.\r\n"
      "supply the name of a command after \"help\" for help with that command"},
+    {"sdcard", sdcard,
+     "Manages the sdcard. Use \"sdcard mount\" to mount the sdcard"},
     // Add more entries here.
     {NULL, NULL, NULL}};
 
@@ -108,3 +112,26 @@ static int help(CLIContext *ctx, char **argv, int argc) {
     cli_printf(ctx, "Unsupported number of arguments\r\n");
     return 255;
 }
+
+/**
+ * SD card handler function. Allows the console to control the state of the
+ * SD card by mounting or unmounting it.
+ * @param ctx: CLI context to print to
+ * @param argv list of arguments
+ * @param argc argument count
+ * @return 0 on success, or another value on failure
+ */
+static int sdcard(CLIContext *ctx, char **argv, int argc) {
+    if (argc != 2) {
+        cli_printf(ctx, "Unsupported number of arguments\r\n");
+        return 255;
+    }
+    if (strncmp(argv[1], "mount", 5) == 0) {
+        cli_printf(ctx, "Attempting to mount sdcard...");
+        cli_printf(ctx, "Success!\r\n");
+        return 0;
+    } else {
+        cli_printf(ctx, "Unknown command %s. Try \"help sdcard\"\r\n", argv[1]);
+        return 255;
+    }
+}

sd_card.c

@@ -0,0 +1,113 @@
+/**
+ * @file sd_card.c
+ * Implements all code required to managed the I/O as well as mounting and
+ * unmounting of the SD card.
+ *
+ * ============== Required Pins ==================:
+ * The SD card is driven via SPI. The following pins are used:
+ * CLK- PB4
+ * MISO- PB6
+ * MOSI- PB7
+ * CS- PA5
+ */
+
+/* XDCtools Header files */
+#include <xdc/runtime/System.h>
+#include <xdc/std.h>
+
+/* Pthread support */
+#include <ti/sysbios/posix/pthread.h>
+
+/* TI-RTOS driver files */
+#include <ti/drivers/SDSPI.h>
+
+/* SD SPI driver */
+#include <ti/mw/fatfs/ff.h>
+
+#include <stdbool.h>
+
+// Board header file
+#include "Board.h"
+
+// Drive number, as well as macros to convert it to a string
+#define DRIVE_NUM 0
+#define STR(n) #n
+
+
+// Global variables.
+pthread_cond_t sd_card_mounted;
+pthread_mutex_t sd_card_access_mutex;
+
+static bool sd_online(const char *drive_num, FATFS **fs);
+
+/**
+ * Sets up required mutex and condition variables for SD card management.
+ * Should be called before BIOS starts.
+ */
+void sd_pthread_setup(void) {
+    pthread_cond_init(&sd_card_mounted, NULL);
+    if (pthread_mutex_init(&sd_card_access_mutex, NULL) != 0) {
+        System_abort("Failed to create SD write mutex\n");
+    }
+}
+
+/**
+ * Attempts to mount the SD card. If the mount succeeds, notifies any tasks
+ * waiting for the SD card to be mounted that it has been.
+ */
+bool attempt_sd_mount(void) {
+    // First, lock the sd card access mutex.
+    if (pthread_mutex_lock(&sd_card_access_mutex) != 0) {
+        System_abort("could not lock sd card mutex");
+    }
+    // Set up SPI bus.
+    Board_initSDSPI();
+    SDSPI_Handle sdspi_handle;
+    SDSPI_Params sdspi_params;
+    FIL logfile;
+    /* Try to mount the SD card. */
+    SDSPI_Params_init(&sdspi_params);
+    sdspi_handle = SDSPI_open(Board_SDSPI0, DRIVE_NUM, &sdspi_params);
+    if (sdspi_handle == NULL) {
+        System_abort("Error starting the SD card\n");
+    } else {
+        System_printf("SPI Bus for Drive %u started\n", DRIVE_NUM);
+    }
+    if (sd_online(STR(DRIVE_NUM), &(logfile.fs))) {
+        // Sd card did mount. Signal waiting tasks, and return true.
+        pthread_cond_broadcast(&sd_card_mounted);
+        return true;
+    } else {
+        // Sd card is not mounted. Undo SPI bus initialization.
+        SDSPI_close(sdspi_handle);
+        return false;
+    }
+}
+
+/**
+ * Checks if the SD card is online by attempting to check the free cluster
+ * count.
+ * @param drive_num: drive number as a string, use STR(DRIVE_NUM)
+ * @param fs: FATFS instance
+ */
+static bool sd_online(const char *drive_num, FATFS **fs) {
+    // Verify the SD card is online by getting the free cluster count.
+    FRESULT fresult;
+    DWORD free_cluster_count;
+    fresult = f_getfree(STR(DRIVE_NUM), &free_cluster_count, fs);
+    if (fresult) {
+        /*
+         * Failed to get the free cluster count.
+         * Assume SD card is not connected.
+         */
+        System_printf("Failed to get free cluster count. Assuming SD card"
+                      " is offline\n");
+        System_flush();
+        return false;
+    } else {
+        System_printf("SD card is online with %lu free clusters\n",
+                      free_cluster_count);
+        System_flush();
+        return true;
+    }
+}

sd_card.h

@@ -0,0 +1,23 @@
+/**
+ * @file sd_card.h
+ * Implements all code required to managed the I/O as well as mounting and
+ * unmounting of the SD card.
+ *
+ * ============== Required Pins ==================:
+ * The SD card is driven via SPI. The following pins are used:
+ * CLK- PB4
+ * MISO- PB6
+ * MOSI- PB7
+ * CS- PA5
+ */
+
+#ifndef SD_CARD_H
+#define SD_CARD_H
+
+/**
+ * Sets up required mutex and condition variables for SD card management.
+ * Should be called before BIOS starts.
+ */
+void sd_pthread_setup(void);
+
+#endif

sd_logger.c

@@ -19,6 +19,7 @@
 #include "Board.h"
 
 #include "uart_console_task.h"
+#include "sd_card.h"
 
 
 
@@ -38,7 +39,9 @@ int main(void)
     // Board_initUSB(Board_USBDEVICE);
     // Board_initWatchdog();
     // Board_initWiFi();
-    uart_prebios();
+    uart_task_prebios();
+    // Setup required pthread variables for the SD card.
+    sd_pthread_setup();
     /* Turn on user LED */
     GPIO_write(Board_LED0, Board_LED_ON);
 

sd_logger.cfg

@@ -484,7 +484,7 @@ var mwConfig = xdc.useModule('ti.mw.Config');
 
 
 
-/* ================ TI-RTOS drivers' configuration ================ */
+/* ================ TI-RTOS drivers configuration ================ */
 var driversConfig = xdc.useModule('ti.drivers.Config');
 /*
  * Include TI-RTOS drivers
@@ -500,6 +500,9 @@ driversConfig.libType = driversConfig.LibType_NonInstrumented;
 //driversConfig.libType = driversConfig.LibType_Instrumented;
 
 
+/* =============== Pthread support module =========== */
+var Settings = xdc.useModule('ti.sysbios.posix.Settings');
+
 
 /* ================ Task creation ================ */
 /* Heartbeat task blinks the LED, simply as a sign of life. */
@@ -513,7 +516,8 @@ task1Params.instance.name = "uart_console";
 // Stack must be larger to hold CLI history buffer.
 task1Params.stackSize = 2048;
 Program.global.uart_console = Task.create("&uart_task_entry", task1Params);
-/* SD Task handles all management of the SD Card, included I/O and mounting */
-var task2Params = new Task.Params();
-task2Params.instance.name = "sd_task";
-Program.global.sd_task = Task.create("&sd_task_entry", task2Params);
+
+
+/* ================= Required Modules for FatFS support ============  */
+var FatFS = xdc.useModule('ti.mw.fatfs.FatFS');
+var Timestamp = xdc.useModule('xdc.runtime.Timestamp');

uart_console_task.c

@@ -37,7 +37,7 @@ static int uart_write(char* out, int n);
  * UART device on linux will be ttyACM0.
  * This code MUST be called before the BIOS is started.
  */
-void uart_prebios(void)
+void uart_task_prebios(void)
 {
     Board_initUART();
     System_printf("Setup UART Device\n");

uart_console_task.h

@@ -10,5 +10,5 @@
  * UART device on linux will be ttyACM0.
  * This code MUST be called before the BIOS is started.
  */
-void uart_prebios(void);
+void uart_task_prebios(void);