[paparazzi-commits] [6283] moving firmwares to the right directories

[antoine drouin]

Revision: 6283
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6283
Author:   poine
Date:     2010-10-27 13:46:04 +0000 (Wed, 27 Oct 2010)
Log Message:
-----------
moving firmwares to the right directories

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/firmwares/logger/
    paparazzi3/trunk/sw/airborne/firmwares/logger/main_logger.c

Removed Paths:
-------------
    paparazzi3/trunk/sw/airborne/main_logger.c

Copied: paparazzi3/trunk/sw/airborne/firmwares/logger/main_logger.c (from rev 
6275, paparazzi3/trunk/sw/airborne/main_logger.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/logger/main_logger.c                 
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/firmwares/logger/main_logger.c 2010-10-27 
13:46:04 UTC (rev 6283)
@@ -0,0 +1,536 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009  Martin Mueller
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/** \file main_logger.c
+ *  \brief Logger application
+ *
+ *   This collects telemetry received through a serial port and writes that
+ * to a (micro) SD card through the efsl library
+ */
+
+  /* XBee-message: ABCDxxxxxxxE
+     A XBEE_START (0x7E)
+     B LENGTH_MSB (D->D)
+     C LENGTH_LSB
+     D XBEE_PAYLOAD
+       0 XBEE_TX16 (0x01) / XBEE_RX16 (0x81)
+       1 FRAME_ID (0)     / SRC_ID_MSB
+       2 DEST_ID_MSB      / SRC_ID_LSB
+       3 DEST_ID_LSB      / XBEE_RSSI
+       4 TX16_OPTIONS (0) / RX16_OPTIONS
+       5 PPRZ_DATA
+         0 SENDER_ID
+         1 MSG_ID
+         2 MSG_PAYLOAD
+         . DATA (messages.xml)
+     E XBEE_CHECKSUM (sum[A->D])
+     
+    ID is AC_ID for aircraft, 0x100 for ground station
+  */
+
+  /* PPRZ-message: ABCxxxxxxxDE
+     A PPRZ_STX (0x99)
+     B LENGTH (A->E)
+     C PPRZ_DATA
+       0 SENDER_ID
+       1 MSG_ID
+       2 MSG_PAYLOAD
+       . DATA (messages.xml)
+     D PPRZ_CHECKSUM_A (sum[B->C])
+     E PPRZ_CHECKSUM_B (sum[ck_a])
+  */
+
+  /* LOG-message: ABCDEFGHxxxxxxxI
+     A PPRZ_STX (0x99)
+     B LENGTH (H->H)
+     C SOURCE (0=uart0, 1=uart1, 2=i2c0, ...)
+     D TIMESTAMP_LSB (100 microsec raster)
+     E TIMESTAMP
+     F TIMESTAMP
+     G TIMESTAMP_MSB
+     H PPRZ_DATA
+       0 SENDER_ID
+       1 MSG_ID
+       2 MSG_PAYLOAD
+       . DATA (messages.xml)
+     I CHECKSUM (sum[B->H])
+  */
+
+#include "std.h"
+#include "init_hw.h"
+#include "sys_time.h"
+#include "led.h"
+#include "interrupt_hw.h"
+#include "uart_hw.h"
+#include "uart.h"
+
+#include "usb_msc_hw.h"
+
+#include "efs.h"
+#include "ls.h"
+
+#ifdef USE_MAX11040
+#include "max11040.h"
+#endif
+
+#ifndef FALSE
+#define FALSE 0
+#endif
+#ifndef TRUE
+#define TRUE (!FALSE)
+#endif
+
+#ifndef LOG_STOP_KEY
+/* BUTTON that stops logging (BUTTON = P0.7, DTR = P0.13, INT1 = P0.14) */
+#define LOG_STOP_KEY 7
+#endif
+
+/* USB Vbus (= P0.23) */
+#define VBUS_PIN 23
+
+/** Constants for the API protocol */
+#define XBEE_START 0x7e
+#define XBEE_TX16_ID 0x01
+#define TX16_OPTIONS 0x00
+#define NO_FRAME_ID 0
+#define XBEE_RFDATA_OFFSET 5
+#define XBEE_RX16_ID 0x81
+
+/** Status of the API packet receiver automata */
+#define XBEE_UNINIT 0
+#define XBEE_GOT_START 1
+#define XBEE_GOT_LENGTH_MSB 2
+#define XBEE_GOT_LENGTH_LSB 3
+#define XBEE_GOT_PAYLOAD 4
+#define XBEE_PAYLOAD_LEN 256
+
+/** Receiving pprz messages */
+#define STX  0x99
+#define UNINIT 0
+#define GOT_STX 1
+#define GOT_LENGTH 2
+#define GOT_PAYLOAD 3
+#define GOT_CRC1 4
+#define PPRZ_PAYLOAD_LEN 256
+#define PPRZ_DATA_OFFSET 2
+
+/** logging messages **/
+#define LOG_DATA_OFFSET 7
+#define MSG_SIZE 256
+/* logging frequency in Hz */
+#define LOG_FREQ 10000
+/* T0_CLK = PCLK / T0_PCLK_DIV (shall be 15MHz)
+   frequency = T0_CLK / LOG_FREQ (10kHz = 100micro seconds) */
+#define LOG_DIV ((PCLK / T0_PCLK_DIV) / LOG_FREQ)
+
+#define LOG_SOURCE_UART0    0
+#define LOG_SOURCE_UART1    1
+#define LOG_SOURCE_I2C0     2
+#define LOG_SOURCE_I2C1     3
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+int main_log(void);
+
+void set_filename(unsigned int local, char* name);
+unsigned char checksum(unsigned char start, unsigned char* data, int length);
+unsigned int getclock(void);
+void log_payload(int len, unsigned char source, unsigned int timestamp);
+void log_xbee(unsigned char c, unsigned char source);
+void log_pprz(unsigned char c, unsigned char source);
+int do_log(void);
+
+DirList list;
+EmbeddedFileSystem efs;
+EmbeddedFile filer;    
+EmbeddedFile filew;
+
+unsigned char xbeel_payload[XBEE_PAYLOAD_LEN];
+unsigned char pprzl_payload[PPRZ_PAYLOAD_LEN];
+volatile unsigned char xbeel_payload_len;
+volatile unsigned char pprzl_payload_len;
+unsigned char xbeel_error;
+unsigned char pprzl_error;
+unsigned char log_buffer[MSG_SIZE]  __attribute__ ((aligned));
+static unsigned int xbeel_timestamp = 0;
+static unsigned int pprzl_timestamp = 0;
+unsigned int nb_messages = 0;
+unsigned int nb_fail_write = 0;
+int bytes = 0;
+unsigned int clock_msb = 0;
+unsigned int clock_lsb_last = 0;
+
+void set_filename(unsigned int local, char* name)
+{
+    /* do not use sprintf or similar */
+    int i;
+    
+    for (i=7; i>=0; i--) {
+        name[i] = (local % 10) + '0';
+        local /= 10;
+    }
+    name[8]='.';name[9]='t';name[10]='l';name[11]='m';name[12]=0;
+}
+
+unsigned char checksum(unsigned char start, unsigned char* data, int length)
+{
+    int i;
+    unsigned char retval = start;
+    for (i=0;i<length;i++) retval += data[i];
+
+    return retval;
+}
+
+unsigned int getclock(void)
+{
+    uint64_t clock;
+    uint32_t clock_lsb;
+
+    clock_lsb = T0TC;
+
+    if (clock_lsb < clock_lsb_last) clock_msb++;
+    clock_lsb_last = clock_lsb;
+
+    clock = (((uint64_t)clock_msb << 32) | (uint64_t)clock_lsb) / LOG_DIV;
+
+    return(clock & 0xFFFFFFFF);
+}
+
+/** Parsing a frame data and copy the payload to the log buffer */
+void log_payload(int len, unsigned char source, unsigned int timestamp)
+{
+  unsigned char chk;
+  
+  /* start delimiter */
+  log_buffer[0] = STX;
+
+  /* length is just payload */
+  log_buffer[1] = len & 0xFF;
+
+  /* source */
+  log_buffer[2] = source;
+    
+  /* add a 32bit timestamp */
+  log_buffer[3] = (timestamp) & 0xFF;       // LSB first
+  log_buffer[4] = (timestamp >> 8)  & 0xFF;
+  log_buffer[5] = (timestamp >> 16) & 0xFF;
+  log_buffer[6] = (timestamp >> 24) & 0xFF;
+
+  /* data is already written */
+
+  /* calculate checksum over start+length+timestamp+data */
+  log_buffer[LOG_DATA_OFFSET+len] = checksum(0, &log_buffer[1], 
LOG_DATA_OFFSET+len-1);
+
+  /* write data, start+length+timestamp+data+checksum */
+  chk = file_write(&filew, LOG_DATA_OFFSET+len+1, log_buffer);
+
+  if (len != chk) 
+  {
+    nb_fail_write++;
+  }
+  
+  bytes += chk;
+  nb_messages++;
+//  dl_parse_msg();
+}
+
+/** Parsing a XBee API frame */
+void log_xbee(unsigned char c, unsigned char source)
+{
+  static unsigned char xbeel_status = XBEE_UNINIT;
+  static unsigned char cs, payload_idx, i;
+
+  switch (xbeel_status) {
+  case XBEE_UNINIT:
+    if (c == XBEE_START)
+    {
+// serial receive broken with MAX
+#ifndef USE_MAX11040
+      xbeel_timestamp = getclock();
+#endif
+      xbeel_status++;
+    }
+    break;
+  case XBEE_GOT_START:
+    xbeel_payload_len = c<<8;
+    xbeel_status++;
+    break;
+  case XBEE_GOT_LENGTH_MSB:
+    xbeel_payload_len |= c;
+    xbeel_status++;
+    payload_idx = 0;
+    cs=0;
+    break;
+  case XBEE_GOT_LENGTH_LSB:
+    xbeel_payload[payload_idx] = c;
+    cs += c;
+    payload_idx++;
+    if (payload_idx == xbeel_payload_len)
+      xbeel_status++;
+    break;
+  case XBEE_GOT_PAYLOAD:
+    if (c + cs != 0xff)
+      goto error;
+    if ((xbeel_payload[0] != XBEE_RX16_ID) &&
+        (xbeel_payload[0] != XBEE_TX16_ID))
+      goto error;
+    /* copy the XBee message to the logger buffer */
+    for (i = 0; i < xbeel_payload_len-XBEE_RFDATA_OFFSET; i++) {
+      log_buffer[i+LOG_DATA_OFFSET] = xbeel_payload[i+XBEE_RFDATA_OFFSET];
+    }
+// serial receive broken with MAX
+#ifndef USE_MAX11040
+    log_payload(xbeel_payload_len-XBEE_RFDATA_OFFSET, source, xbeel_timestamp);
+#endif
+    LED_TOGGLE(3);
+    goto restart;
+  }
+  return;
+ error:
+  xbeel_error++;
+ restart:
+  xbeel_status = XBEE_UNINIT;
+  return;
+}
+
+void log_pprz(unsigned char c, unsigned char source)
+{
+  static unsigned char pprzl_status = UNINIT;
+  static unsigned char _ck_a, _ck_b, payload_idx, i;
+
+  switch (pprzl_status) {
+  case UNINIT:
+    if (c == STX)
+// serial receive broken with MAX
+#ifndef USE_MAX11040
+      pprzl_timestamp = getclock();
+#endif
+      pprzl_status++;
+    break;
+  case GOT_STX:
+    pprzl_payload_len = c-4; /* Counting STX, LENGTH and CRC1 and CRC2 */
+    _ck_a = _ck_b = c;
+    pprzl_status++;
+    payload_idx = 0;
+    break;
+  case GOT_LENGTH:
+    pprzl_payload[payload_idx] = c;
+    _ck_a += c; _ck_b += _ck_a;
+    payload_idx++;
+    if (payload_idx == pprzl_payload_len)
+      pprzl_status++;
+    break;
+  case GOT_PAYLOAD:
+    if (c != _ck_a)
+      goto error;
+    pprzl_status++;
+    break;
+  case GOT_CRC1:
+    if (c != _ck_b)
+      goto error;
+    /* copy the pprz message to the logger buffer */
+    for (i = 0; i < pprzl_payload_len; i++) {
+      log_buffer[i+LOG_DATA_OFFSET] = pprzl_payload[i];
+    }
+// serial receive broken with MAX
+#ifndef USE_MAX11040
+    log_payload(pprzl_payload_len, source, pprzl_timestamp);
+#endif
+    LED_TOGGLE(3);
+    goto restart;
+  }
+  return;
+ error:
+  pprzl_error++;
+ restart:
+  pprzl_status = UNINIT;
+  return;
+}
+
+int do_log(void)
+{
+    unsigned int count;
+    unsigned char name[13];
+    unsigned char inc;
+    int temp;               
+
+       if(efs_init(&efs, 0) != 0) {
+               return(-1);
+       }
+
+    /* find an unused file number the dumb way */
+    for (count = 1; count < 0xFFFFFFF; count++)
+    {
+        set_filename(count, name);
+        if(file_fopen(&filer, &efs.myFs, name,'r')!=0) break;
+        file_fclose(&filer);
+    }
+
+    if (file_fopen(&filew, &efs.myFs, name, 'w' ) != 0) 
+    {
+               return(-1);
+    }
+
+    /* write to SD until key is pressed */
+    while ((IO0PIN & _BV(LOG_STOP_KEY))>>LOG_STOP_KEY)
+    {
+
+#ifdef USE_MAX11040
+      if ((max11040_data == MAX11040_DATA_AVAILABLE) &&
+          (max11040_buf_in != max11040_buf_out)) {
+//        LED_TOGGLE(3);
+        int i;
+
+        max11040_data = MAX11040_IDLE;
+
+        log_buffer[LOG_DATA_OFFSET+0] = AC_ID;  // sender_id
+        log_buffer[LOG_DATA_OFFSET+1] = 61;     // message_id 
(DL_TURB_PRESSURE_RAW)
+
+       while(max11040_buf_in != max11040_buf_out) {
+          for (i=0; i<16; i++) {
+            log_buffer[LOG_DATA_OFFSET+2 + i*4 + 0] = 
(max11040_values[max11040_buf_out][i]      ) & 0xFF;
+            log_buffer[LOG_DATA_OFFSET+2 + i*4 + 1] = 
(max11040_values[max11040_buf_out][i] >> 8 ) & 0xFF;
+            log_buffer[LOG_DATA_OFFSET+2 + i*4 + 2] = 
(max11040_values[max11040_buf_out][i] >> 16) & 0xFF;
+            log_buffer[LOG_DATA_OFFSET+2 + i*4 + 3] = 
(max11040_values[max11040_buf_out][i] >> 24) & 0xFF;
+
+          }
+          log_payload(2 + 16 * 4, LOG_SOURCE_UART0, 
max11040_timestamp[max11040_buf_out]);
+         i = max11040_buf_out+1;
+         if (i >= MAX11040_BUF_SIZE) i=0;
+          max11040_buf_out = i;
+       }
+      }
+#endif
+
+#ifdef USE_UART0
+        temp = 0;
+        while (Uart0ChAvailable() && (temp++ < 128))
+        {   
+//                     LED_TOGGLE(3);
+                       inc = Uart0Getch();
+#ifdef LOG_XBEE
+            log_xbee(inc, LOG_SOURCE_UART0);
+#else 
+#ifdef LOG_PPRZ
+            log_pprz(inc, LOG_SOURCE_UART0);
+#else
+#error no log transport protocol selected
+#endif
+#endif
+        }
+#endif
+#ifdef USE_UART1
+        temp = 0;
+        while (Uart1ChAvailable() && (temp++ < 128))
+        {   
+//                     LED_TOGGLE(3);
+                       inc = Uart1Getch();
+#ifdef LOG_XBEE
+            log_xbee(inc, LOG_SOURCE_UART1);
+#else 
+#ifdef LOG_PPRZ
+            log_pprz(inc, LOG_SOURCE_UART1);
+#else
+#error no log transport protocol selected
+#endif
+#endif
+        }
+#endif
+    }
+    LED_OFF(3);
+
+    file_fclose( &filew );
+    fs_umount( &efs.myFs ) ;
+
+    return 0;
+}
+
+int main(void)
+{
+  int waitloop, ledcount;
+  main_init();
+
+  while(1)
+  {
+    LED_ON(2);
+    do_log();
+    LED_OFF(2);
+
+    waitloop = 0;
+    ledcount = 0;
+
+    while (waitloop < 20)
+    {
+      sys_time_usleep(100000);
+
+      {
+        if (ledcount++ > 9) {
+          ledcount=0;
+          LED_ON(2);
+        } else {
+          LED_OFF(2);
+        }
+        if (((IO0PIN & _BV(LOG_STOP_KEY))>>LOG_STOP_KEY) == 1) { 
+          waitloop=0;
+        } else { 
+          waitloop++;
+        }
+      }
+
+      if ((IO0PIN & _BV(VBUS_PIN))>>VBUS_PIN)
+      {
+        LED_OFF(2);
+        LED_ON(1);
+        main_mass_storage();
+      }
+    }
+    LED_ON(2);
+    while (((IO0PIN & _BV(LOG_STOP_KEY))>>LOG_STOP_KEY) == 0); 
+  } 
+
+  return 0;
+}
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  led_init();
+
+#ifdef USE_UART0
+    Uart0Init();
+#endif
+#ifdef USE_UART1
+    Uart1Init();
+#endif
+
+#ifdef USE_MAX11040
+  max11040_init_ssp();
+  max11040_init();
+#endif
+
+  int_enable();
+}
+
+static inline void main_periodic_task( void ) {
+}

Deleted: paparazzi3/trunk/sw/airborne/main_logger.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_logger.c  2010-10-27 13:42:06 UTC (rev 
6282)
+++ paparazzi3/trunk/sw/airborne/main_logger.c  2010-10-27 13:46:04 UTC (rev 
6283)
@@ -1,536 +0,0 @@
-/*
- * $Id$
- *  
- * Copyright (C) 2009  Martin Mueller
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
- *
- */
-
-/** \file main_logger.c
- *  \brief Logger application
- *
- *   This collects telemetry received through a serial port and writes that
- * to a (micro) SD card through the efsl library
- */
-
-  /* XBee-message: ABCDxxxxxxxE
-     A XBEE_START (0x7E)
-     B LENGTH_MSB (D->D)
-     C LENGTH_LSB
-     D XBEE_PAYLOAD
-       0 XBEE_TX16 (0x01) / XBEE_RX16 (0x81)
-       1 FRAME_ID (0)     / SRC_ID_MSB
-       2 DEST_ID_MSB      / SRC_ID_LSB
-       3 DEST_ID_LSB      / XBEE_RSSI
-       4 TX16_OPTIONS (0) / RX16_OPTIONS
-       5 PPRZ_DATA
-         0 SENDER_ID
-         1 MSG_ID
-         2 MSG_PAYLOAD
-         . DATA (messages.xml)
-     E XBEE_CHECKSUM (sum[A->D])
-     
-    ID is AC_ID for aircraft, 0x100 for ground station
-  */
-
-  /* PPRZ-message: ABCxxxxxxxDE
-     A PPRZ_STX (0x99)
-     B LENGTH (A->E)
-     C PPRZ_DATA
-       0 SENDER_ID
-       1 MSG_ID
-       2 MSG_PAYLOAD
-       . DATA (messages.xml)
-     D PPRZ_CHECKSUM_A (sum[B->C])
-     E PPRZ_CHECKSUM_B (sum[ck_a])
-  */
-
-  /* LOG-message: ABCDEFGHxxxxxxxI
-     A PPRZ_STX (0x99)
-     B LENGTH (H->H)
-     C SOURCE (0=uart0, 1=uart1, 2=i2c0, ...)
-     D TIMESTAMP_LSB (100 microsec raster)
-     E TIMESTAMP
-     F TIMESTAMP
-     G TIMESTAMP_MSB
-     H PPRZ_DATA
-       0 SENDER_ID
-       1 MSG_ID
-       2 MSG_PAYLOAD
-       . DATA (messages.xml)
-     I CHECKSUM (sum[B->H])
-  */
-
-#include "std.h"
-#include "init_hw.h"
-#include "sys_time.h"
-#include "led.h"
-#include "interrupt_hw.h"
-#include "uart_hw.h"
-#include "uart.h"
-
-#include "usb_msc_hw.h"
-
-#include "efs.h"
-#include "ls.h"
-
-#ifdef USE_MAX11040
-#include "max11040.h"
-#endif
-
-#ifndef FALSE
-#define FALSE 0
-#endif
-#ifndef TRUE
-#define TRUE (!FALSE)
-#endif
-
-#ifndef LOG_STOP_KEY
-/* BUTTON that stops logging (BUTTON = P0.7, DTR = P0.13, INT1 = P0.14) */
-#define LOG_STOP_KEY 7
-#endif
-
-/* USB Vbus (= P0.23) */
-#define VBUS_PIN 23
-
-/** Constants for the API protocol */
-#define XBEE_START 0x7e
-#define XBEE_TX16_ID 0x01
-#define TX16_OPTIONS 0x00
-#define NO_FRAME_ID 0
-#define XBEE_RFDATA_OFFSET 5
-#define XBEE_RX16_ID 0x81
-
-/** Status of the API packet receiver automata */
-#define XBEE_UNINIT 0
-#define XBEE_GOT_START 1
-#define XBEE_GOT_LENGTH_MSB 2
-#define XBEE_GOT_LENGTH_LSB 3
-#define XBEE_GOT_PAYLOAD 4
-#define XBEE_PAYLOAD_LEN 256
-
-/** Receiving pprz messages */
-#define STX  0x99
-#define UNINIT 0
-#define GOT_STX 1
-#define GOT_LENGTH 2
-#define GOT_PAYLOAD 3
-#define GOT_CRC1 4
-#define PPRZ_PAYLOAD_LEN 256
-#define PPRZ_DATA_OFFSET 2
-
-/** logging messages **/
-#define LOG_DATA_OFFSET 7
-#define MSG_SIZE 256
-/* logging frequency in Hz */
-#define LOG_FREQ 10000
-/* T0_CLK = PCLK / T0_PCLK_DIV (shall be 15MHz)
-   frequency = T0_CLK / LOG_FREQ (10kHz = 100micro seconds) */
-#define LOG_DIV ((PCLK / T0_PCLK_DIV) / LOG_FREQ)
-
-#define LOG_SOURCE_UART0    0
-#define LOG_SOURCE_UART1    1
-#define LOG_SOURCE_I2C0     2
-#define LOG_SOURCE_I2C1     3
-
-static inline void main_init( void );
-static inline void main_periodic_task( void );
-int main_log(void);
-
-void set_filename(unsigned int local, char* name);
-unsigned char checksum(unsigned char start, unsigned char* data, int length);
-unsigned int getclock(void);
-void log_payload(int len, unsigned char source, unsigned int timestamp);
-void log_xbee(unsigned char c, unsigned char source);
-void log_pprz(unsigned char c, unsigned char source);
-int do_log(void);
-
-DirList list;
-EmbeddedFileSystem efs;
-EmbeddedFile filer;    
-EmbeddedFile filew;
-
-unsigned char xbeel_payload[XBEE_PAYLOAD_LEN];
-unsigned char pprzl_payload[PPRZ_PAYLOAD_LEN];
-volatile unsigned char xbeel_payload_len;
-volatile unsigned char pprzl_payload_len;
-unsigned char xbeel_error;
-unsigned char pprzl_error;
-unsigned char log_buffer[MSG_SIZE]  __attribute__ ((aligned));
-static unsigned int xbeel_timestamp = 0;
-static unsigned int pprzl_timestamp = 0;
-unsigned int nb_messages = 0;
-unsigned int nb_fail_write = 0;
-int bytes = 0;
-unsigned int clock_msb = 0;
-unsigned int clock_lsb_last = 0;
-
-void set_filename(unsigned int local, char* name)
-{
-    /* do not use sprintf or similar */
-    int i;
-    
-    for (i=7; i>=0; i--) {
-        name[i] = (local % 10) + '0';
-        local /= 10;
-    }
-    name[8]='.';name[9]='t';name[10]='l';name[11]='m';name[12]=0;
-}
-
-unsigned char checksum(unsigned char start, unsigned char* data, int length)
-{
-    int i;
-    unsigned char retval = start;
-    for (i=0;i<length;i++) retval += data[i];
-
-    return retval;
-}
-
-unsigned int getclock(void)
-{
-    uint64_t clock;
-    uint32_t clock_lsb;
-
-    clock_lsb = T0TC;
-
-    if (clock_lsb < clock_lsb_last) clock_msb++;
-    clock_lsb_last = clock_lsb;
-
-    clock = (((uint64_t)clock_msb << 32) | (uint64_t)clock_lsb) / LOG_DIV;
-
-    return(clock & 0xFFFFFFFF);
-}
-
-/** Parsing a frame data and copy the payload to the log buffer */
-void log_payload(int len, unsigned char source, unsigned int timestamp)
-{
-  unsigned char chk;
-  
-  /* start delimiter */
-  log_buffer[0] = STX;
-
-  /* length is just payload */
-  log_buffer[1] = len & 0xFF;
-
-  /* source */
-  log_buffer[2] = source;
-    
-  /* add a 32bit timestamp */
-  log_buffer[3] = (timestamp) & 0xFF;       // LSB first
-  log_buffer[4] = (timestamp >> 8)  & 0xFF;
-  log_buffer[5] = (timestamp >> 16) & 0xFF;
-  log_buffer[6] = (timestamp >> 24) & 0xFF;
-
-  /* data is already written */
-
-  /* calculate checksum over start+length+timestamp+data */
-  log_buffer[LOG_DATA_OFFSET+len] = checksum(0, &log_buffer[1], 
LOG_DATA_OFFSET+len-1);
-
-  /* write data, start+length+timestamp+data+checksum */
-  chk = file_write(&filew, LOG_DATA_OFFSET+len+1, log_buffer);
-
-  if (len != chk) 
-  {
-    nb_fail_write++;
-  }
-  
-  bytes += chk;
-  nb_messages++;
-//  dl_parse_msg();
-}
-
-/** Parsing a XBee API frame */
-void log_xbee(unsigned char c, unsigned char source)
-{
-  static unsigned char xbeel_status = XBEE_UNINIT;
-  static unsigned char cs, payload_idx, i;
-
-  switch (xbeel_status) {
-  case XBEE_UNINIT:
-    if (c == XBEE_START)
-    {
-// serial receive broken with MAX
-#ifndef USE_MAX11040
-      xbeel_timestamp = getclock();
-#endif
-      xbeel_status++;
-    }
-    break;
-  case XBEE_GOT_START:
-    xbeel_payload_len = c<<8;
-    xbeel_status++;
-    break;
-  case XBEE_GOT_LENGTH_MSB:
-    xbeel_payload_len |= c;
-    xbeel_status++;
-    payload_idx = 0;
-    cs=0;
-    break;
-  case XBEE_GOT_LENGTH_LSB:
-    xbeel_payload[payload_idx] = c;
-    cs += c;
-    payload_idx++;
-    if (payload_idx == xbeel_payload_len)
-      xbeel_status++;
-    break;
-  case XBEE_GOT_PAYLOAD:
-    if (c + cs != 0xff)
-      goto error;
-    if ((xbeel_payload[0] != XBEE_RX16_ID) &&
-        (xbeel_payload[0] != XBEE_TX16_ID))
-      goto error;
-    /* copy the XBee message to the logger buffer */
-    for (i = 0; i < xbeel_payload_len-XBEE_RFDATA_OFFSET; i++) {
-      log_buffer[i+LOG_DATA_OFFSET] = xbeel_payload[i+XBEE_RFDATA_OFFSET];
-    }
-// serial receive broken with MAX
-#ifndef USE_MAX11040
-    log_payload(xbeel_payload_len-XBEE_RFDATA_OFFSET, source, xbeel_timestamp);
-#endif
-    LED_TOGGLE(3);
-    goto restart;
-  }
-  return;
- error:
-  xbeel_error++;
- restart:
-  xbeel_status = XBEE_UNINIT;
-  return;
-}
-
-void log_pprz(unsigned char c, unsigned char source)
-{
-  static unsigned char pprzl_status = UNINIT;
-  static unsigned char _ck_a, _ck_b, payload_idx, i;
-
-  switch (pprzl_status) {
-  case UNINIT:
-    if (c == STX)
-// serial receive broken with MAX
-#ifndef USE_MAX11040
-      pprzl_timestamp = getclock();
-#endif
-      pprzl_status++;
-    break;
-  case GOT_STX:
-    pprzl_payload_len = c-4; /* Counting STX, LENGTH and CRC1 and CRC2 */
-    _ck_a = _ck_b = c;
-    pprzl_status++;
-    payload_idx = 0;
-    break;
-  case GOT_LENGTH:
-    pprzl_payload[payload_idx] = c;
-    _ck_a += c; _ck_b += _ck_a;
-    payload_idx++;
-    if (payload_idx == pprzl_payload_len)
-      pprzl_status++;
-    break;
-  case GOT_PAYLOAD:
-    if (c != _ck_a)
-      goto error;
-    pprzl_status++;
-    break;
-  case GOT_CRC1:
-    if (c != _ck_b)
-      goto error;
-    /* copy the pprz message to the logger buffer */
-    for (i = 0; i < pprzl_payload_len; i++) {
-      log_buffer[i+LOG_DATA_OFFSET] = pprzl_payload[i];
-    }
-// serial receive broken with MAX
-#ifndef USE_MAX11040
-    log_payload(pprzl_payload_len, source, pprzl_timestamp);
-#endif
-    LED_TOGGLE(3);
-    goto restart;
-  }
-  return;
- error:
-  pprzl_error++;
- restart:
-  pprzl_status = UNINIT;
-  return;
-}
-
-int do_log(void)
-{
-    unsigned int count;
-    unsigned char name[13];
-    unsigned char inc;
-    int temp;               
-
-       if(efs_init(&efs, 0) != 0) {
-               return(-1);
-       }
-
-    /* find an unused file number the dumb way */
-    for (count = 1; count < 0xFFFFFFF; count++)
-    {
-        set_filename(count, name);
-        if(file_fopen(&filer, &efs.myFs, name,'r')!=0) break;
-        file_fclose(&filer);
-    }
-
-    if (file_fopen(&filew, &efs.myFs, name, 'w' ) != 0) 
-    {
-               return(-1);
-    }
-
-    /* write to SD until key is pressed */
-    while ((IO0PIN & _BV(LOG_STOP_KEY))>>LOG_STOP_KEY)
-    {
-
-#ifdef USE_MAX11040
-      if ((max11040_data == MAX11040_DATA_AVAILABLE) &&
-          (max11040_buf_in != max11040_buf_out)) {
-//        LED_TOGGLE(3);
-        int i;
-
-        max11040_data = MAX11040_IDLE;
-
-        log_buffer[LOG_DATA_OFFSET+0] = AC_ID;  // sender_id
-        log_buffer[LOG_DATA_OFFSET+1] = 61;     // message_id 
(DL_TURB_PRESSURE_RAW)
-
-       while(max11040_buf_in != max11040_buf_out) {
-          for (i=0; i<16; i++) {
-            log_buffer[LOG_DATA_OFFSET+2 + i*4 + 0] = 
(max11040_values[max11040_buf_out][i]      ) & 0xFF;
-            log_buffer[LOG_DATA_OFFSET+2 + i*4 + 1] = 
(max11040_values[max11040_buf_out][i] >> 8 ) & 0xFF;
-            log_buffer[LOG_DATA_OFFSET+2 + i*4 + 2] = 
(max11040_values[max11040_buf_out][i] >> 16) & 0xFF;
-            log_buffer[LOG_DATA_OFFSET+2 + i*4 + 3] = 
(max11040_values[max11040_buf_out][i] >> 24) & 0xFF;
-
-          }
-          log_payload(2 + 16 * 4, LOG_SOURCE_UART0, 
max11040_timestamp[max11040_buf_out]);
-         i = max11040_buf_out+1;
-         if (i >= MAX11040_BUF_SIZE) i=0;
-          max11040_buf_out = i;
-       }
-      }
-#endif
-
-#ifdef USE_UART0
-        temp = 0;
-        while (Uart0ChAvailable() && (temp++ < 128))
-        {   
-//                     LED_TOGGLE(3);
-                       inc = Uart0Getch();
-#ifdef LOG_XBEE
-            log_xbee(inc, LOG_SOURCE_UART0);
-#else 
-#ifdef LOG_PPRZ
-            log_pprz(inc, LOG_SOURCE_UART0);
-#else
-#error no log transport protocol selected
-#endif
-#endif
-        }
-#endif
-#ifdef USE_UART1
-        temp = 0;
-        while (Uart1ChAvailable() && (temp++ < 128))
-        {   
-//                     LED_TOGGLE(3);
-                       inc = Uart1Getch();
-#ifdef LOG_XBEE
-            log_xbee(inc, LOG_SOURCE_UART1);
-#else 
-#ifdef LOG_PPRZ
-            log_pprz(inc, LOG_SOURCE_UART1);
-#else
-#error no log transport protocol selected
-#endif
-#endif
-        }
-#endif
-    }
-    LED_OFF(3);
-
-    file_fclose( &filew );
-    fs_umount( &efs.myFs ) ;
-
-    return 0;
-}
-
-int main(void)
-{
-  int waitloop, ledcount;
-  main_init();
-
-  while(1)
-  {
-    LED_ON(2);
-    do_log();
-    LED_OFF(2);
-
-    waitloop = 0;
-    ledcount = 0;
-
-    while (waitloop < 20)
-    {
-      sys_time_usleep(100000);
-
-      {
-        if (ledcount++ > 9) {
-          ledcount=0;
-          LED_ON(2);
-        } else {
-          LED_OFF(2);
-        }
-        if (((IO0PIN & _BV(LOG_STOP_KEY))>>LOG_STOP_KEY) == 1) { 
-          waitloop=0;
-        } else { 
-          waitloop++;
-        }
-      }
-
-      if ((IO0PIN & _BV(VBUS_PIN))>>VBUS_PIN)
-      {
-        LED_OFF(2);
-        LED_ON(1);
-        main_mass_storage();
-      }
-    }
-    LED_ON(2);
-    while (((IO0PIN & _BV(LOG_STOP_KEY))>>LOG_STOP_KEY) == 0); 
-  } 
-
-  return 0;
-}
-
-static inline void main_init( void ) {
-  hw_init();
-  sys_time_init();
-  led_init();
-
-#ifdef USE_UART0
-    Uart0Init();
-#endif
-#ifdef USE_UART1
-    Uart1Init();
-#endif
-
-#ifdef USE_MAX11040
-  max11040_init_ssp();
-  max11040_init();
-#endif
-
-  int_enable();
-}
-
-static inline void main_periodic_task( void ) {
-}