Revision 0:ef6fc1737022, committed 2011-01-17

Comitter:

sravet

Date:

Mon Jan 17 16:53:37 2011 +0000

Commit message:

Initial checkin

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FATFileSystem.lib	Mon Jan 17 16:53:37 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_unsupported/code/fatfilesystem/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.cpp	Mon Jan 17 16:53:37 2011 +0000
@@ -0,0 +1,457 @@
+/* mbed SDFileSystem Library, for providing file access to SD cards
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/* Introduction
+ * ------------
+ * SD and MMC cards support a number of interfaces, but common to them all
+ * is one based on SPI. This is the one I'm implmenting because it means
+ * it is much more portable even though not so performant, and we already 
+ * have the mbed SPI Interface!
+ *
+ * The main reference I'm using is Chapter 7, "SPI Mode" of: 
+ *  http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
+ *
+ * SPI Startup
+ * -----------
+ * The SD card powers up in SD mode. The SPI interface mode is selected by
+ * asserting CS low and sending the reset command (CMD0). The card will 
+ * respond with a (R1) response.
+ *
+ * CMD8 is optionally sent to determine the voltage range supported, and 
+ * indirectly determine whether it is a version 1.x SD/non-SD card or 
+ * version 2.x. I'll just ignore this for now.
+ *
+ * ACMD41 is repeatedly issued to initialise the card, until "in idle"
+ * (bit 0) of the R1 response goes to '0', indicating it is initialised.
+ *
+ * You should also indicate whether the host supports High Capicity cards,
+ * and check whether the card is high capacity - i'll also ignore this
+ *
+ * SPI Protocol
+ * ------------
+ * The SD SPI protocol is based on transactions made up of 8-bit words, with
+ * the host starting every bus transaction by asserting the CS signal low. The
+ * card always responds to commands, data blocks and errors.
+ * 
+ * The protocol supports a CRC, but by default it is off (except for the 
+ * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
+ * I'll leave the CRC off I think! 
+ * 
+ * Standard capacity cards have variable data block sizes, whereas High 
+ * Capacity cards fix the size of data block to 512 bytes. I'll therefore
+ * just always use the Standard Capacity cards with a block size of 512 bytes.
+ * This is set with CMD16.
+ *
+ * You can read and write single blocks (CMD17, CMD25) or multiple blocks 
+ * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
+ * the card gets a read command, it responds with a response token, and then 
+ * a data token or an error.
+ * 
+ * SPI Command Format
+ * ------------------
+ * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
+ *
+ * +---------------+------------+------------+-----------+----------+--------------+
+ * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
+ * +---------------+------------+------------+-----------+----------+--------------+
+ *
+ * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
+ *
+ * All Application Specific commands shall be preceded with APP_CMD (CMD55).
+ *
+ * SPI Response Format
+ * -------------------
+ * The main response format (R1) is a status byte (normally zero). Key flags:
+ *  idle - 1 if the card is in an idle state/initialising 
+ *  cmd  - 1 if an illegal command code was detected
+ *
+ *    +-------------------------------------------------+
+ * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
+ *    +-------------------------------------------------+
+ *
+ * R1b is the same, except it is followed by a busy signal (zeros) until
+ * the first non-zero byte when it is ready again.
+ *
+ * Data Response Token
+ * -------------------
+ * Every data block written to the card is acknowledged by a byte 
+ * response token
+ *
+ * +----------------------+
+ * | xxx | 0 | status | 1 |
+ * +----------------------+
+ *              010 - OK!
+ *              101 - CRC Error
+ *              110 - Write Error
+ *
+ * Single Block Read and Write
+ * ---------------------------
+ *
+ * Block transfers have a byte header, followed by the data, followed
+ * by a 16-bit CRC. In our case, the data will always be 512 bytes.
+ *  
+ * +------+---------+---------+- -  - -+---------+-----------+----------+
+ * | 0xFE | data[0] | data[1] |        | data[n] | crc[15:8] | crc[7:0] | 
+ * +------+---------+---------+- -  - -+---------+-----------+----------+
+ */
+ 
+#include "SDFileSystem.h"
+
+#define SD_COMMAND_TIMEOUT 5000
+
+SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
+  FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) {
+      _cs = 1; 
+}
+
+#define R1_IDLE_STATE           (1 << 0)
+#define R1_ERASE_RESET          (1 << 1)
+#define R1_ILLEGAL_COMMAND      (1 << 2)
+#define R1_COM_CRC_ERROR        (1 << 3)
+#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
+#define R1_ADDRESS_ERROR        (1 << 5)
+#define R1_PARAMETER_ERROR      (1 << 6)
+
+// Types
+//  - v1.x Standard Capacity
+//  - v2.x Standard Capacity
+//  - v2.x High Capacity
+//  - Not recognised as an SD Card
+
+#define SDCARD_FAIL 0
+#define SDCARD_V1   1
+#define SDCARD_V2   2
+#define SDCARD_V2HC 3
+
+int SDFileSystem::initialise_card() {
+    // Set to 100kHz for initialisation, and clock card with cs = 1
+    _spi.frequency(100000); 
+    _cs = 1;
+    for(int i=0; i<16; i++) {   
+        _spi.write(0xFF);
+    }
+
+    // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
+    if(_cmd(0, 0) != R1_IDLE_STATE) { 
+        fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n");
+        return SDCARD_FAIL;
+    }
+
+    // send CMD8 to determine whther it is ver 2.x
+    int r = _cmd8();
+    if(r == R1_IDLE_STATE) {
+        return initialise_card_v2();
+    } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
+        return initialise_card_v1();
+    } else {
+        fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n");
+        return SDCARD_FAIL;
+    }
+}
+
+int SDFileSystem::initialise_card_v1() {
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        _cmd(55, 0); 
+        if(_cmd(41, 0) == 0) { 
+            return SDCARD_V1;
+        }
+    }
+
+    fprintf(stderr, "Timeout waiting for v1.x card\n");
+    return SDCARD_FAIL;
+}
+
+int SDFileSystem::initialise_card_v2() {
+    
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        _cmd(55, 0); 
+        if(_cmd(41, 0) == 0) { 
+            _cmd58();
+            return SDCARD_V2;
+        }
+    }
+
+    fprintf(stderr, "Timeout waiting for v2.x card\n");
+    return SDCARD_FAIL;
+}
+
+int SDFileSystem::disk_initialize() {
+
+    int i = initialise_card();
+//    printf("init card = %d\n", i);
+//    printf("OK\n");
+
+    _sectors = _sd_sectors();
+
+    // Set block length to 512 (CMD16)
+    if(_cmd(16, 512) != 0) {
+        fprintf(stderr, "Set 512-byte block timed out\n");
+        return 1;
+    }
+        
+    _spi.frequency(1000000); // Set to 1MHz for data transfer
+    return 0;
+}
+
+int SDFileSystem::disk_write(const char *buffer, int block_number) {
+    // set write address for single block (CMD24)
+    if(_cmd(24, block_number * 512) != 0) {
+        return 1;
+    }
+
+    // send the data block
+    _write(buffer, 512);    
+    return 0;    
+}
+
+int SDFileSystem::disk_read(char *buffer, int block_number) {        
+    // set read address for single block (CMD17)
+    if(_cmd(17, block_number * 512) != 0) {
+        return 1;
+    }
+    
+    // receive the data
+    _read(buffer, 512);
+    return 0;
+}
+
+int SDFileSystem::disk_status() { return 0; }
+int SDFileSystem::disk_sync() { return 0; }
+int SDFileSystem::disk_sectors() { return _sectors; }
+
+// PRIVATE FUNCTIONS
+
+int SDFileSystem::_cmd(int cmd, int arg) {
+    _cs = 0; 
+
+    // send a command
+    _spi.write(0x40 | cmd);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            _cs = 1;
+            _spi.write(0xFF);
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+int SDFileSystem::_cmdx(int cmd, int arg) {
+    _cs = 0; 
+
+    // send a command
+    _spi.write(0x40 | cmd);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+
+int SDFileSystem::_cmd58() {
+    _cs = 0; 
+    int arg = 0;
+    
+    // send a command
+    _spi.write(0x40 | 58);
+    _spi.write(arg >> 24);
+    _spi.write(arg >> 16);
+    _spi.write(arg >> 8);
+    _spi.write(arg >> 0);
+    _spi.write(0x95);
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+        int response = _spi.write(0xFF);
+        if(!(response & 0x80)) {
+            int ocr = _spi.write(0xFF) << 24;
+            ocr |= _spi.write(0xFF) << 16;
+            ocr |= _spi.write(0xFF) << 8;
+            ocr |= _spi.write(0xFF) << 0;
+//            printf("OCR = 0x%08X\n", ocr);
+            _cs = 1;
+            _spi.write(0xFF);
+            return response;
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+int SDFileSystem::_cmd8() {
+    _cs = 0; 
+    
+    // send a command
+    _spi.write(0x40 | 8); // CMD8
+    _spi.write(0x00);     // reserved
+    _spi.write(0x00);     // reserved
+    _spi.write(0x01);     // 3.3v
+    _spi.write(0xAA);     // check pattern
+    _spi.write(0x87);     // crc
+
+    // wait for the repsonse (response[7] == 0)
+    for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) {
+        char response[5];
+        response[0] = _spi.write(0xFF);
+        if(!(response[0] & 0x80)) {
+                for(int j=1; j<5; j++) {
+                    response[i] = _spi.write(0xFF);
+                }
+                _cs = 1;
+                _spi.write(0xFF);
+                return response[0];
+        }
+    }
+    _cs = 1;
+    _spi.write(0xFF);
+    return -1; // timeout
+}
+
+int SDFileSystem::_read(char *buffer, int length) {
+    _cs = 0;
+
+    // read until start byte (0xFF)
+    while(_spi.write(0xFF) != 0xFE);
+
+    // read data
+    for(int i=0; i<length; i++) {
+        buffer[i] = _spi.write(0xFF);
+    }
+    _spi.write(0xFF); // checksum
+    _spi.write(0xFF);
+
+    _cs = 1;    
+    _spi.write(0xFF);
+    return 0;
+}
+
+int SDFileSystem::_write(const char *buffer, int length) {
+    _cs = 0;
+    
+    // indicate start of block
+    _spi.write(0xFE);
+    
+    // write the data
+    for(int i=0; i<length; i++) {
+        _spi.write(buffer[i]);
+    }
+    
+    // write the checksum
+    _spi.write(0xFF); 
+    _spi.write(0xFF);
+
+    // check the repsonse token
+    if((_spi.write(0xFF) & 0x1F) != 0x05) {
+        _cs = 1;
+        _spi.write(0xFF);        
+        return 1;
+    }
+
+    // wait for write to finish
+    while(_spi.write(0xFF) == 0);
+
+    _cs = 1; 
+    _spi.write(0xFF);
+    return 0;
+}
+
+static int ext_bits(char *data, int msb, int lsb) {
+    int bits = 0;
+    int size = 1 + msb - lsb; 
+    for(int i=0; i<size; i++) {
+        int position = lsb + i;
+        int byte = 15 - (position >> 3);
+        int bit = position & 0x7;
+        int value = (data[byte] >> bit) & 1;
+        bits |= value << i;
+    }
+    return bits;
+}
+
+int SDFileSystem::_sd_sectors() {
+
+    // CMD9, Response R2 (R1 byte + 16-byte block read)
+    if(_cmdx(9, 0) != 0) {
+        fprintf(stderr, "Didn't get a response from the disk\n");
+        return 0;
+    }
+    
+    char csd[16];    
+    if(_read(csd, 16) != 0) {
+        fprintf(stderr, "Couldn't read csd response from disk\n");
+        return 0;
+    }
+
+    // csd_structure : csd[127:126]
+    // c_size        : csd[73:62]
+    // c_size_mult   : csd[49:47]
+    // read_bl_len   : csd[83:80] - the *maximum* read block length
+
+    int csd_structure = ext_bits(csd, 127, 126);
+    int c_size = ext_bits(csd, 73, 62);
+    int c_size_mult = ext_bits(csd, 49, 47);
+    int read_bl_len = ext_bits(csd, 83, 80);
+
+//    printf("CSD_STRUCT = %d\n", csd_structure);
+    
+    if(csd_structure != 0) {
+        fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n");
+        return 0;
+    }
+             
+    // memory capacity = BLOCKNR * BLOCK_LEN
+    // where
+    //  BLOCKNR = (C_SIZE+1) * MULT
+    //  MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8)
+    //  BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12)         
+                            
+    int block_len = 1 << read_bl_len;
+    int mult = 1 << (c_size_mult + 2);
+    int blocknr = (c_size + 1) * mult;
+    int capacity = blocknr * block_len;
+        
+    int blocks = capacity / 512;
+        
+    return blocks;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.h	Mon Jan 17 16:53:37 2011 +0000
@@ -0,0 +1,81 @@
+/* mbed SDFileSystem Library, for providing file access to SD cards
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_SDFILESYSTEM_H
+#define MBED_SDFILESYSTEM_H
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+
+/** Access the filesystem on an SD Card using SPI
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "SDFileSystem.h"
+ *
+ * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
+ *  
+ * int main() {
+ *     FILE *fp = fopen("/sd/myfile.txt", "w");
+ *     fprintf(fp, "Hello World!\n");
+ *     fclose(fp);
+ * }
+ */
+class SDFileSystem : public FATFileSystem {
+public:
+
+    /** Create the File System for accessing an SD Card using SPI
+     *
+     * @param mosi SPI mosi pin connected to SD Card
+     * @param miso SPI miso pin conencted to SD Card
+     * @param sclk SPI sclk pin connected to SD Card
+     * @param cs   DigitalOut pin used as SD Card chip select
+     * @param name The name used to access the virtual filesystem
+     */
+    SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
+    virtual int disk_initialize();
+    virtual int disk_write(const char *buffer, int block_number);
+    virtual int disk_read(char *buffer, int block_number);    
+    virtual int disk_status();
+    virtual int disk_sync();
+    virtual int disk_sectors();
+
+protected:
+
+    int _cmd(int cmd, int arg);
+    int _cmdx(int cmd, int arg);
+    int _cmd8();
+    int _cmd58();
+    int initialise_card();
+    int initialise_card_v1();
+    int initialise_card_v2();
+    
+    int _read(char *buffer, int length);
+    int _write(const char *buffer, int length);
+    int _sd_sectors();
+    int _sectors;
+    
+    SPI _spi;
+    DigitalOut _cs;     
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jan 17 16:53:37 2011 +0000
@@ -0,0 +1,373 @@
+
+#include "mbed.h"
+#include "SDFileSystem.h"
+
+#define SAMPLE_FREQ 40000
+#define BUF_SIZE (SAMPLE_FREQ/10)
+#define SLICE_BUF_SIZE 1
+
+// include this #define to enable lots of serial output
+//#define VERBOSE
+
+
+
+typedef struct uFMT_STRUCT {
+  short comp_code;
+  short num_channels;
+  unsigned sample_rate;
+  unsigned avg_Bps;
+  short block_align;
+  short sig_bps;
+} FMT_STRUCT;
+
+
+typedef struct uMOV_STRUCT {
+  long sample;
+  unsigned motor;
+  unsigned duty_cycle;
+  unsigned played;
+} MOV_STRUCT;
+
+// global MBED things
+AnalogOut DACout(p18);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+DigitalOut digout(p8);
+DigitalIn pushbutton(p24);
+PwmOut body(p21);
+PwmOut mouth(p22);
+PwmOut tail(p23);
+Ticker tick;
+SDFileSystem sd(p5, p6, p7, p13, "sd");
+
+// global variables used both by the main program and the ISR
+short DAC_fifo[256];    // FIFO for the DAC
+short DAC_wptr;            // FIFO pointer
+volatile short DAC_rptr;            // FIFO pointer
+long slice;
+unsigned num_movements;
+unsigned current_movement;
+MOV_STRUCT movements[500];
+
+void dac_out(void);
+void play_wave(char *,char *,unsigned);
+void cleanup(char *);
+unsigned process_movement_file (char *mfname, MOV_STRUCT *mv,unsigned samp_rate);
+
+
+int main() {
+        FILE *cmdfile;
+        char cmdline[100];
+        char *movfile,*tmp;
+        char cmdfile_name[]="/sd/fish.txt";
+        unsigned slow_mode=0;
+  if (pushbutton) slow_mode=1;
+  led1=0; wait(.5); led1=1; wait(.5); led1=0;
+  printf("\nHello, world!\n");
+  if (slow_mode) printf("Slooooow mode enabled...\n");
+  printf("Waiting for button push\n");
+  while (!pushbutton);
+  printf("Button pushed\n");
+  while (1) {
+    cmdfile=fopen(cmdfile_name,"rb");
+    if (!cmdfile) {
+      printf("Unable to open command file '%s'\n",cmdfile_name);
+      exit(1);
+    }
+  
+    fgets(cmdline,100,cmdfile);
+    while (!feof(cmdfile)) {
+      printf("Parsing '%s' from command file '%s'\n",cmdline,cmdfile_name);
+      tmp=strchr(cmdline,'#');
+      if (tmp) *tmp=0;
+      movfile=strchr(cmdline,' ');
+      if (movfile) {
+        *movfile=0;
+        movfile++;
+        tmp=strchr(movfile,'\n');
+        cleanup(movfile);
+        if (tmp) *tmp=0;
+
+#ifdef USE_PUSHBUTTON
+        printf("Waiting for button push\n");
+        while (!pushbutton);
+        printf("Button pushed\n");
+#else
+        wait_ms(2000);
+#endif
+        play_wave(cmdline,movfile,slow_mode);
+        printf("Back from play_wave()\n");
+      } else {
+        printf("Unable to parse '%s' from command file '%s'\n",cmdline,cmdfile_name);
+      }
+      fgets(cmdline,100,cmdfile);
+    }
+    fclose(cmdfile);
+    printf("Goodbye, world!\n");
+  }
+}
+  
+void play_wave(char *wavname,char *movname,unsigned slow)
+{
+        unsigned chunk_id,chunk_size,channel;
+        unsigned data,samp_int,i;
+        short dac_data;
+        char *slice_buf;
+        short *data_sptr;
+        unsigned char *data_bptr;
+        int *data_wptr;
+        FMT_STRUCT wav_format;
+        FILE *wavfile;
+        long num_slices;
+        long long slice_value;
+        int verbosity=0;
+  DAC_wptr=0;
+  DAC_rptr=0;
+  for (i=0;i<256;i+=2) {
+    DAC_fifo[i]=0;
+    DAC_fifo[i+1]=3000;
+  }
+  DAC_wptr=4;
+
+  body.period_us(100);
+  mouth.period_us(100);
+  tail.period_us(100);
+  led1=led2=led3=led4=0;
+  
+  printf("Playing wave file '%s', mov file '%s'\n",wavname,movname);
+
+  wavfile=fopen(wavname,"rb");
+  if (!wavfile) {
+    printf("Unable to open wav file '%s'\n",wavname);
+    return;
+  }
+
+
+  fread(&chunk_id,4,1,wavfile);
+  fread(&chunk_size,4,1,wavfile);
+  while (!feof(wavfile)) {
+    printf("Read chunk ID 0x%x, size 0x%x\n",chunk_id,chunk_size);
+    switch (chunk_id) {
+      case 0x46464952:
+        fread(&data,4,1,wavfile);
+        printf("RIFF chunk\n");
+        printf("  chunk size %d (0x%x)\n",chunk_size,chunk_size);
+        printf("  RIFF type 0x%x\n",data);
+        break;
+      case 0x20746d66:
+        fread(&wav_format,sizeof(wav_format),1,wavfile);
+        printf("FORMAT chunk\n");
+        printf("  chunk size %d (0x%x)\n",chunk_size,chunk_size);
+        printf("  compression code %d\n",wav_format.comp_code);
+        printf("  %d channels\n",wav_format.num_channels);
+        printf("  %d samples/sec\n",wav_format.sample_rate);
+        printf("  %d bytes/sec\n",wav_format.avg_Bps);
+        printf("  block align %d\n",wav_format.block_align);
+        printf("  %d bits per sample\n",wav_format.sig_bps);
+        if (chunk_size > sizeof(wav_format))
+          fseek(wavfile,chunk_size-sizeof(wav_format),SEEK_CUR);
+// create a slice buffer large enough to hold multiple slices
+        slice_buf=(char *)malloc(wav_format.block_align*SLICE_BUF_SIZE);
+        if (!slice_buf) {
+          printf("Unable to malloc slice buffer");
+          exit(1);
+        }
+// now that the sample rate is known, process the movement file
+        num_movements=process_movement_file(movname,movements,wav_format.sample_rate);
+        break;
+
+      case 0x61746164:
+        slice_buf=(char *)malloc(wav_format.block_align*SLICE_BUF_SIZE);
+        if (!slice_buf) {
+          printf("Unable to malloc slice buffer");
+          exit(1);
+        }        num_slices=chunk_size/wav_format.block_align;
+        printf("DATA chunk\n");
+        printf("  chunk size %d (0x%x)\n",chunk_size,chunk_size);
+        printf("  %d slices\n",num_slices);
+        printf("  Ideal sample interval=%d\n",(unsigned)(1000000.0/wav_format.sample_rate));
+        samp_int=1000000/(wav_format.sample_rate);
+        if (slow) samp_int*=1.5;
+        printf("  programmed interrupt tick interval=%d\n",samp_int);
+
+// starting up ticker to write samples out -- no printfs until tick.detach is called
+        current_movement=0;
+        tick.attach_us(&dac_out, samp_int); 
+        led2=1;
+        for (slice=0;slice<num_slices;slice+=SLICE_BUF_SIZE) {
+          fread(slice_buf,wav_format.block_align*SLICE_BUF_SIZE,1,wavfile);
+          if (feof(wavfile)) {
+            printf("Oops -- not enough slices in the wave file\n");
+            exit(1);
+          }
+          data_sptr=(short *)slice_buf;
+          data_bptr=(unsigned char *)slice_buf;
+          data_wptr=(int *)slice_buf;
+          slice_value=0;
+          for (i=0;i<SLICE_BUF_SIZE;i++) {
+            for (channel=0;channel<wav_format.num_channels;channel++) {
+              switch (wav_format.sig_bps) {
+              case 16:
+                if (verbosity)
+                  printf("16 bit channel %d data=%d ",channel,data_sptr[channel]);
+                slice_value+=data_sptr[channel];
+                break;
+              case 32:
+                if (verbosity)
+                  printf("32 bit channel %d data=%d ",channel,data_wptr[channel]);
+                slice_value+=data_wptr[channel];
+                break;
+              case 8:
+                if (verbosity)
+                  printf("8 bit channel %d data=%d ",channel,(int)data_bptr[channel]);
+                slice_value+=data_bptr[channel];
+                break;
+              }
+            }
+            slice_value/=wav_format.num_channels;
+
+// slice_value is now averaged.  Next it needs to be scaled to an unsigned 16 bit value
+// with DC offset so it can be written to the DAC.
+            switch (wav_format.sig_bps) {
+              case 8:     slice_value<<=8;
+                          break;
+              case 16:    slice_value+=32768;
+                          break;
+              case 32:    slice_value>>=16;
+                          slice_value+=32768;
+                          break;
+            }
+            dac_data=(short unsigned )slice_value;
+            if (verbosity)
+              printf("sample %d wptr %d slice_value %d dac_data %u\n",slice,DAC_wptr,(int)slice_value,dac_data);
+
+// finally stick it in the DAC FIFO.  If the write pointer wraps around and meets the read pointer
+// the wait until the read pointer moves.
+            DAC_fifo[DAC_wptr]=dac_data;
+            DAC_wptr=(DAC_wptr+1) & 0xff;
+            while (DAC_wptr==DAC_rptr) {
+            }
+          }
+        }
+        led2=0;
+// wait for ISR to drain FIFO
+        wait_us(300);
+        tick.detach();
+        printf("Ticker detached\n");
+        led3=1;
+        free(slice_buf);
+        break;
+      case 0x5453494c:
+        printf("INFO chunk, size %d\n",chunk_size);
+        fseek(wavfile,chunk_size,SEEK_CUR);
+        break;
+      default:
+        printf("unknown chunk type 0x%x, size %d\n",chunk_id,chunk_size);
+        data=fseek(wavfile,chunk_size,SEEK_CUR);
+        break;
+    }
+    fread(&chunk_id,4,1,wavfile);
+    fread(&chunk_size,4,1,wavfile);
+  }
+  printf("Done with wave file\n");
+  fclose(wavfile);
+  led1=0;
+  body.pulsewidth_us(0);
+  mouth.pulsewidth_us(0);
+  tail.pulsewidth_us(0);
+}
+
+
+void dac_out() {
+        int value;
+    digout=1;
+    if (!movements[current_movement].played) {
+        if (movements[current_movement].sample<=slice) {
+            if (movements[current_movement].motor==0) body.pulsewidth_us(movements[current_movement].duty_cycle);
+            if (movements[current_movement].motor==1) mouth.pulsewidth_us(movements[current_movement].duty_cycle);
+            if (movements[current_movement].motor==2) tail.pulsewidth_us(movements[current_movement].duty_cycle);
+            movements[current_movement].played=1;
+            current_movement++;
+        }
+    }
+    DACout.write_u16(DAC_fifo[DAC_rptr]);
+    DAC_rptr=(DAC_rptr+1) & 0xff;
+    digout=0;
+}
+
+
+void cleanup(char *s)
+{
+        char *t;
+  t=strchr(s,'\n');
+  if (t) *t=0;
+  t=strchr(s,'\r');
+  if (t) *t=0;
+}        
+
+unsigned process_movement_file (char *mfname, MOV_STRUCT *mv,unsigned samp_rate)
+{
+        FILE *movfile;
+        char line[100],*tmp;
+        unsigned num_movements,i,j,x;
+  movfile=fopen(mfname,"rb");
+  if (!movfile) {
+    printf("Unable to open mov file '%s'\n",mfname);
+    return 0;
+  }
+  
+  fgets(line,100,movfile);
+  num_movements=0;
+#ifdef VERBOSE
+  printf("Motor report...\n");
+#endif
+  while (!feof(movfile)) {
+    if (line[0]!='#') {
+      tmp=line;
+// first thing on line is time in ms
+      movements[num_movements].sample=(atol(tmp)*samp_rate)/1000;
+// skip digits (non whitespace)
+      tmp=line;
+      while (*tmp!=' ' && *tmp!='\t' && *tmp!=0)
+        tmp++;
+// skip whitespace
+      while ((*tmp==' ' | *tmp=='\t') && *tmp!=0)
+        tmp++;
+      if (strstr(tmp,"body"))
+        movements[num_movements].motor=0;
+      if (strstr(tmp,"mouth"))
+        movements[num_movements].motor=1;
+      if (strstr(tmp,"tail"))
+        movements[num_movements].motor=2;
+// skip letters (non whitespace)
+      while (*tmp!=' ' && *tmp!='\t')
+        tmp++;
+// skip whitespace
+      while (*tmp==' ' | *tmp=='\t')
+        tmp++;
+      if (tmp)
+        movements[num_movements].duty_cycle=atoi(tmp);
+        movements[num_movements].played=0;
+#ifdef VERBOSE
+      printf("  moving motor %d at sample %ld with duty cycle %d\n",movements[num_movements].motor,movements[num_movements].sample,movements[num_movements].duty_cycle);
+#endif
+      num_movements++;
+    }
+    fgets(line,100,movfile);
+  }
+  printf("  %d movements read\n",num_movements);
+  printf("  sorting movements...");
+  for (i=0;i<num_movements;i++) {
+    for (j=i;j<num_movements;j++) {
+      if (movements[j].sample < movements[i].sample) {
+        x=movements[i].sample;    movements[i].sample=movements[j].sample;        movements[j].sample=x;
+        x=movements[i].motor ;    movements[i].motor =movements[j].motor ;        movements[j].motor =x;
+        x=movements[i].duty_cycle;movements[i].duty_cycle=movements[j].duty_cycle;movements[j].duty_cycle=x;
+      }
+    }
+  }
+  printf("done\n");
+  return num_movements;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jan 17 16:53:37 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e