start sd implementation

main/CMakeLists.txt

@@ -25,6 +25,8 @@ idf_component_register(SRCS
 "components/servocontroller.h"
 "components/radio.c"
 "components/radio.h"
+"components/sdcard.c"
+"components/sdcard.h"
     "main.c"
 
     INCLUDE_DIRS ".")

main/components/packets.h

@@ -18,7 +18,7 @@ typedef struct __attribute__((packed))
     char syncPhrase[10]; //10
     uint32_t packetIndex; //14
     uint8_t packetType; //15
-    uint32_t missionTimer; //19
+    uint64_t missionTimer; //19
     uint32_t CRCCheck;
 } DownBoundPacket;
 

main/components/radio.c

@@ -8,6 +8,7 @@
 #include "esp_rom_crc.h"
 #include <hw/buscfg.h>
 #include "sensors.h"
+#include "sdcard.h"
 
 #define TAG "LoRa"
 
@@ -71,6 +72,8 @@ static void send_packet_without_retries(uint8_t *data, uint16_t size)
 {
     if (xSemaphoreTake(loraRadioMutex, portMAX_DELAY) == pdTRUE)
     {
+        writeFile(sensFile, data, size);
+
         if (!LoRaSend(data, size, SX126x_TXMODE_SYNC))
         {
             ESP_LOGW(TAG, "LoRaSend failed");
@@ -86,9 +89,10 @@ static void send_packet_without_retries(uint8_t *data, uint16_t size)
 
 static void send_packet_with_retries(uint8_t *data, uint16_t size)
 {
-    for (int retry = 0; retry <= MAX_RETRIES; retry++)
+    if (xSemaphoreTake(loraRadioMutex, portMAX_DELAY) == pdTRUE)
     {
-        if (xSemaphoreTake(loraRadioMutex, portMAX_DELAY) == pdTRUE)
+        writeFile(sensFile, data, size);
+        for (int retry = 0; retry <= MAX_RETRIES; retry++)
         {
             if (!LoRaSend(data, size, SX126x_TXMODE_SYNC))
             {
@@ -135,6 +139,69 @@ void prepare_and_send_telemetry(uint64_t missionTimer)
     memcpy(bufOut + offset, &telemetryPacket, sizeof(telemetryPacket));
     offset += sizeof(telemetryPacket);
 
+    if (csvFile != NULL) {
+    fprintf(csvFile,
+            "%llu,%lu,%u,%u,"                // missionTimer, packetIndex, telemetryIndex, packetType
+            "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d," // MPU
+            "%u,%u,%d,%u,"                   // CCS
+            "%u,%u,%u,%lu,%u,%lu,%u,"          // INA, BME basic
+            "%s,%s,%u,%u,"                   // bools and gas index/range
+            "%.2f,%.2f,%.2f,%.2f,"           // Bosch env data
+            "%u,%.2f,%.2f,%.2f,"             // IAQ + scores
+            "%lu,%ld,%ld,%d,%u,%u,%u,%u,"       // GPS data
+            "%ld,%ld,%d,"                      // Predicted GPS
+            "%ld,%ld,%ld,%ld,"                   // ADC
+            "%d,%d,%d,%d,"                   // Servo
+            "%u\n",                          // presentDevices
+
+            missionTimer,
+            downboundPacket.packetIndex,
+            telemetryPacket.telemetryIndex,
+            downboundPacket.packetType,
+
+            telemetryPacket.accelerationX, telemetryPacket.accelerationY, telemetryPacket.accelerationZ,
+            telemetryPacket.gyroX, telemetryPacket.gyroY, telemetryPacket.gyroZ,
+            telemetryPacket.magnetX, telemetryPacket.magnetY, telemetryPacket.magnetZ,
+            telemetryPacket.accelerometer_temperature,
+
+            telemetryPacket.eCO2, telemetryPacket.tvoc, telemetryPacket.currentCCS, telemetryPacket.rawCCSData,
+
+            telemetryPacket.volts, telemetryPacket.current, telemetryPacket.power,
+            telemetryPacket.temperature, telemetryPacket.humidity, telemetryPacket.pressure, telemetryPacket.gas,
+
+            telemetryPacket.gas_valid ? "Yes" : "No",
+            telemetryPacket.heater_stable ? "Yes" : "No",
+            telemetryPacket.gas_range, telemetryPacket.gas_index,
+
+            telemetryPacket.air_temperature, telemetryPacket.relative_humidity,
+            telemetryPacket.barometric_pressure, telemetryPacket.gas_resistance,
+
+            telemetryPacket.iaq_score,
+            telemetryPacket.temperature_score, telemetryPacket.humidity_score, telemetryPacket.gas_score,
+
+            telemetryPacket.time_seconds,
+            telemetryPacket.latitude_centi_degrees,
+            telemetryPacket.longitude_centi_degrees,
+            telemetryPacket.altitude_centi_meters,
+            telemetryPacket.fix_quality,
+            telemetryPacket.num_satellites,
+            telemetryPacket.date_yyddmm,
+            telemetryPacket.speed_centi_knots,
+
+            telemetryPacket.predicted_latitude_centi_degrees,
+            telemetryPacket.predicted_longitude_centi_degrees,
+            telemetryPacket.predicted_altitude_centi_meters,
+
+            telemetryPacket.NH3, telemetryPacket.CO, telemetryPacket.NO2, telemetryPacket.UVC,
+
+            telemetryPacket.currentServoA, telemetryPacket.targetServoA,
+            telemetryPacket.currentServoB, telemetryPacket.targetServoB,
+
+            telemetryPacket.presentDevices);
+            fflush(csvFile);
+            fsync(fileno(csvFile)); // Critical: this ensures actual write to disk
+        }
+
     send_packet_without_retries(bufOut, offset);
     packetReadiness = 0;
 }
@@ -308,7 +375,6 @@ void lora_comms_task(void *pvParameters)
     {
         int64_t start_time = esp_timer_get_time();
 
-        ESP_LOGI(TAG, "fdfgtfet");
         if (packetReadiness)
         {
             ESP_LOGI(TAG, "Preparing telemetry");

main/components/sdcard.c

@@ -1,124 +1,19 @@
+#include "sdcard.h"
 
-static void s_generate_numbered_filename(char *out_path, size_t max_len) {
+void writeFile(FILE *f, const void *data, size_t size)
-    DIR *dir = opendir(MOUNT_POINT);
-    if (!dir) {
-        ESP_LOGE(TAG, "Failed to open directory");
-        snprintf(out_path, max_len, MOUNT_POINT"/data1.txt"); // fallback
-        return;
-    }
-
-    int max_num = 0;
-    struct dirent *entry;
-    while ((entry = readdir(dir)) != NULL) {
-        if (strncmp(entry->d_name, "data", 4) == 0 && strstr(entry->d_name, ".txt")) {
-            int num = 0;
-            if (sscanf(entry->d_name, "data%d.txt", &num) == 1) {
-                if (num > max_num) {
-                    max_num = num;
-                }
-            }
-        }
-    }
-    closedir(dir);
-    snprintf(out_path, max_len, MOUNT_POINT"/data%d.txt", max_num + 1);
-}
-
-
-/* SD card and FAT filesystem example.
-   This example uses SPI peripheral to communicate with SD card.
-
-   This example code is in the Public Domain (or CC0 licensed, at your option.)
-
-   Unless required by applicable law or agreed to in writing, this
-   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
-   CONDITIONS OF ANY KIND, either express or implied.
-*/
-
-#include <string.h>
-#include <sys/unistd.h>
-#include <sys/stat.h>
-#include "esp_vfs_fat.h"
-#include "sdmmc_cmd.h"
-#include "sd_test_io.h"
-#if SOC_SDMMC_IO_POWER_EXTERNAL
-#include "sd_pwr_ctrl_by_on_chip_ldo.h"
-#endif
-
-#define EXAMPLE_MAX_CHAR_SIZE    64
-
-static const char *TAG = "example";
-
-#define MOUNT_POINT "/sdcard"
-
-#ifdef CONFIG_EXAMPLE_DEBUG_PIN_CONNECTIONS
-const char* names[] = {"CLK ", "MOSI", "MISO", "CS  "};
-const int pins[] = {CONFIG_EXAMPLE_PIN_CLK,
-                    CONFIG_EXAMPLE_PIN_MOSI,
-                    CONFIG_EXAMPLE_PIN_MISO,
-                    CONFIG_EXAMPLE_PIN_CS};
-
-const int pin_count = sizeof(pins)/sizeof(pins[0]);
-#if CONFIG_EXAMPLE_ENABLE_ADC_FEATURE
-const int adc_channels[] = {CONFIG_EXAMPLE_ADC_PIN_CLK,
-                            CONFIG_EXAMPLE_ADC_PIN_MOSI,
-                            CONFIG_EXAMPLE_ADC_PIN_MISO,
-                            CONFIG_EXAMPLE_ADC_PIN_CS};
-#endif //CONFIG_EXAMPLE_ENABLE_ADC_FEATURE
-
-pin_configuration_t config = {
-    .names = names,
-    .pins = pins,
-#if CONFIG_EXAMPLE_ENABLE_ADC_FEATURE
-    .adc_channels = adc_channels,
-#endif
-};
-#endif //CONFIG_EXAMPLE_DEBUG_PIN_CONNECTIONS
-
-// Pin assignments can be set in menuconfig, see "SD SPI Example Configuration" menu.
-// You can also change the pin assignments here by changing the following 4 lines.
-#define PIN_NUM_MISO  CONFIG_EXAMPLE_PIN_MISO
-#define PIN_NUM_MOSI  CONFIG_EXAMPLE_PIN_MOSI
-#define PIN_NUM_CLK   CONFIG_EXAMPLE_PIN_CLK
-#define PIN_NUM_CS    CONFIG_EXAMPLE_PIN_CS
-
-static esp_err_t s_example_write_file(const char *path, char *data)
 {
-    ESP_LOGI(TAG, "Opening file %s", path);
+    if (f != NULL)
-    FILE *f = fopen(path, "w");
+    {
-    if (f == NULL) {
+        fwrite(data, size, 1, f);
-        ESP_LOGE(TAG, "Failed to open file for writing");
+        fflush(f);
-        return ESP_FAIL;
+        fsync(fileno(f)); // Critical: this ensures actual write to disk
     }
-    fprintf(f, data);
-    fclose(f);
-    ESP_LOGI(TAG, "File written");
-
-    return ESP_OK;
 }
 
-static esp_err_t s_example_read_file(const char *path)
+FILE *csvFile = NULL;
-{
+FILE *sensFile = NULL;
-    ESP_LOGI(TAG, "Reading file %s", path);
-    FILE *f = fopen(path, "r");
-    if (f == NULL) {
-        ESP_LOGE(TAG, "Failed to open file for reading");
-        return ESP_FAIL;
-    }
-    char line[EXAMPLE_MAX_CHAR_SIZE];
-    fgets(line, sizeof(line), f);
-    fclose(f);
 
-    // strip newline
+void initSD(void)
-    char *pos = strchr(line, '\n');
-    if (pos) {
-        *pos = '\0';
-    }
-    ESP_LOGI(TAG, "Read from file: '%s'", line);
-
-    return ESP_OK;
-}
-
-void app_main(void)
 {
     esp_err_t ret;
 
@@ -126,137 +21,108 @@ void app_main(void)
     // If format_if_mount_failed is set to true, SD card will be partitioned and
     // formatted in case when mounting fails.
     esp_vfs_fat_sdmmc_mount_config_t mount_config = {
-#ifdef CONFIG_EXAMPLE_FORMAT_IF_MOUNT_FAILED
         .format_if_mount_failed = true,
-#else
+        .max_files = 100,
-        .format_if_mount_failed = false,
+        .allocation_unit_size = 16 * 1024};
-#endif // EXAMPLE_FORMAT_IF_MOUNT_FAILED
-        .max_files = 5,
-        .allocation_unit_size = 16 * 1024
-    };
     sdmmc_card_t *card;
     const char mount_point[] = MOUNT_POINT;
-    ESP_LOGI(TAG, "Initializing SD card");
+    ESP_LOGI(TAGSD, "Initializing SD card");
 
     // Use settings defined above to initialize SD card and mount FAT filesystem.
     // Note: esp_vfs_fat_sdmmc/sdspi_mount is all-in-one convenience functions.
     // Please check its source code and implement error recovery when developing
     // production applications.
-    ESP_LOGI(TAG, "Using SPI peripheral");
+    ESP_LOGI(TAGSD, "Using SPI peripheral");
 
     // By default, SD card frequency is initialized to SDMMC_FREQ_DEFAULT (20MHz)
     // For setting a specific frequency, use host.max_freq_khz (range 400kHz - 20MHz for SDSPI)
     // Example: for fixed frequency of 10MHz, use host.max_freq_khz = 10000;
     sdmmc_host_t host = SDSPI_HOST_DEFAULT();
-
+    host.slot = SPI3_HOST;
-    spi_bus_config_t bus_cfg = {
-        .mosi_io_num = PIN_NUM_MOSI,
-        .miso_io_num = PIN_NUM_MISO,
-        .sclk_io_num = PIN_NUM_CLK,
-        .quadwp_io_num = -1,
-        .quadhd_io_num = -1,
-        .max_transfer_sz = 4000,
-    };
-
-    ret = spi_bus_initialize(host.slot, &bus_cfg, SDSPI_DEFAULT_DMA);
-    if (ret != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to initialize bus.");
-        return;
-    }
 
     // This initializes the slot without card detect (CD) and write protect (WP) signals.
     // Modify slot_config.gpio_cd and slot_config.gpio_wp if your board has these signals.
     sdspi_device_config_t slot_config = SDSPI_DEVICE_CONFIG_DEFAULT();
-    slot_config.gpio_cs = PIN_NUM_CS;
+    slot_config.gpio_cs = HSPI_SD_CS;
     slot_config.host_id = host.slot;
 
-    ESP_LOGI(TAG, "Mounting filesystem");
+    ESP_LOGI(TAGSD, "Mounting filesystem");
     ret = esp_vfs_fat_sdspi_mount(mount_point, &host, &slot_config, &mount_config, &card);
 
-    if (ret != ESP_OK) {
+    if (ret != ESP_OK)
-        if (ret == ESP_FAIL) {
+    {
-            ESP_LOGE(TAG, "Failed to mount filesystem. "
+        if (ret == ESP_FAIL)
-                     "If you want the card to be formatted, set the CONFIG_EXAMPLE_FORMAT_IF_MOUNT_FAILED menuconfig option.");
+        {
-        } else {
+            ESP_LOGE(TAGSD, "Failed to mount filesystem. "
-            ESP_LOGE(TAG, "Failed to initialize the card (%s). "
+                            "If you want the card to be formatted, set the CONFIG_EXAMPLE_FORMAT_IF_MOUNT_FAILED menuconfig option.");
-                     "Make sure SD card lines have pull-up resistors in place.", esp_err_to_name(ret));
+        }
-#ifdef CONFIG_EXAMPLE_DEBUG_PIN_CONNECTIONS
+        else
-            check_sd_card_pins(&config, pin_count);
+        {
-#endif
+            ESP_LOGE(TAGSD, "Failed to initialize the card (%s). "
+                            "Make sure SD card lines have pull-up resistors in place.",
+                     esp_err_to_name(ret));
         }
         return;
     }
-    ESP_LOGI(TAG, "Filesystem mounted");
+    ESP_LOGI(TAGSD, "Filesystem mounted");
 
     // Card has been initialized, print its properties
     sdmmc_card_print_info(stdout, card);
 
-    // Use POSIX and C standard library functions to work with files.
+    int index = 0;
+    FILE *f = fopen(COUNTER_FILE, "r");
+    if (f)
+    {
+        fscanf(f, "%d", &index);
+        fclose(f);
+    }
 
-    // First create a file.
+    // === 2. Increment and write back ===
-    const char *file_hello = MOUNT_POINT"/hello.txt";
+    f = fopen(COUNTER_FILE, "w");
-    char data[EXAMPLE_MAX_CHAR_SIZE];
+    if (!f)
-    snprintf(data, EXAMPLE_MAX_CHAR_SIZE, "%s %s!\n", "Hello", card->cid.name);
+    {
-    ret = s_example_write_file(file_hello, data);
+        ESP_LOGE(TAGSD, "Failed to open counter file");
-    if (ret != ESP_OK) {
         return;
     }
+    index++;
+    if (f != NULL)
+    {
 
-    const char *file_foo = MOUNT_POINT"/foo.txt";
+        fprintf(f, "%d", index);
-
+        fflush(f);
-    // Check if destination file exists before renaming
+        fsync(fileno(f)); // Critical: this ensures actual write to disk
-    struct stat st;
+        fclose(f);
-    if (stat(file_foo, &st) == 0) {
+        ESP_LOGI(TAGSD, "Index is now %d", index);
-        // Delete it if it exists
-        unlink(file_foo);
     }
 
-    // Rename original file
+    // === 3. Make folder ===
-    ESP_LOGI(TAG, "Renaming file %s to %s", file_hello, file_foo);
+    char folder_path[MAX_PATH - 20];
-    if (rename(file_hello, file_foo) != 0) {
+    snprintf(folder_path, MAX_PATH, MOUNT_POINT "/%d", index);
-        ESP_LOGE(TAG, "Rename failed");
+    mkdir(folder_path, 0777); // safe if exists already
-        return;
+
+    // === 4. Create CSV and BIN ===
+    char csv_path[MAX_PATH], bin_path[MAX_PATH];
+    snprintf(csv_path, MAX_PATH, "%s/data.csv", folder_path);
+    snprintf(bin_path, MAX_PATH, "%s/data.bin", folder_path);
+
+    csvFile = fopen(csv_path, "w");
+    sensFile = fopen(bin_path, "wb");
+    if (csvFile != NULL)
+    {
+        fprintf(csvFile,
+                "missionTimer,packetIndex,telemetryIndex,packetType,"
+                "accX,accY,accZ,gyroX,gyroY,gyroZ,magX,magY,magZ,accTemp,"
+                "eCO2,tVOC,currentCCS,rawCCS,"
+                "volts,current,power,rawtemperature,rawhumidity,rawpressure,rawgas,"
+                "gasValid,heaterStable,gasRange,gasIndex,"
+                "airTemp,relHumidity,baroPressure,gasResistance,"
+                "iaqScore,tempScore,humidityScore,gasScore,"
+                "gpsTime,latitude,longitude,altitude,fixQuality,numSatellites,date,speed,"
+                "predLatitude,predLongitude,predAltitude,"
+                "NH3,CO,NO2,UVC,"
+                "currentServoA,targetServoA,currentServoB,targetServoB,"
+                "presentDevices\n");
+        fflush(csvFile);
+        fsync(fileno(csvFile)); // Critical: this ensures actual write to disk
     }
-
-    ret = s_example_read_file(file_foo);
-    if (ret != ESP_OK) {
-        return;
-    }
-
-    // Format FATFS
-#ifdef CONFIG_EXAMPLE_FORMAT_SD_CARD
-    ret = esp_vfs_fat_sdcard_format(mount_point, card);
-    if (ret != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to format FATFS (%s)", esp_err_to_name(ret));
-        return;
-    }
-
-    if (stat(file_foo, &st) == 0) {
-        ESP_LOGI(TAG, "file still exists");
-        return;
-    } else {
-        ESP_LOGI(TAG, "file doesn't exist, formatting done");
-    }
-#endif // CONFIG_EXAMPLE_FORMAT_SD_CARD
-
-    const char *file_nihao = MOUNT_POINT"/nihao.txt";
-    memset(data, 0, EXAMPLE_MAX_CHAR_SIZE);
-    snprintf(data, EXAMPLE_MAX_CHAR_SIZE, "%s %s!\n", "Nihao", card->cid.name);
-    ret = s_example_write_file(file_nihao, data);
-    if (ret != ESP_OK) {
-        return;
-    }
-
-    //Open file for reading
-    ret = s_example_read_file(file_nihao);
-    if (ret != ESP_OK) {
-        return;
-    }
-
-    // All done, unmount partition and disable SPI peripheral
-    esp_vfs_fat_sdcard_unmount(mount_point, card);
-    ESP_LOGI(TAG, "Card unmounted");
-
-    //deinitialize the bus after all devices are removed
-    spi_bus_free(host.slot);
 }

main/components/sdcard.h

@@ -0,0 +1,26 @@
+#ifndef SDCARD_COMPONENT
+#define SDCARD_COMPONENT
+
+#include <string.h>
+#include <sys/unistd.h>
+#include <sys/stat.h>
+#include "esp_vfs_fat.h"
+#include "sdmmc_cmd.h"
+#include "../hw/buscfg.h"
+
+#define TAGSD "SDSubsys"
+
+#define COUNTER_FILE "cnt.txt"
+
+#define MOUNT_POINT "/sdcard"
+
+void writeFile(FILE *f, const void *data, size_t size);
+
+extern FILE *csvFile;
+extern FILE *sensFile;
+
+#define MAX_PATH 80
+
+void initSD(void);
+
+#endif

main/components/sensors.c

@@ -9,7 +9,8 @@
 #include "esp_vfs_fat.h"
 #include "sdmmc_cmd.h"
 
-#define MOUNT_POINT "/canSensors"
+#define MOUNT_POINT "/sdcard"
+#define MAX_LINE_LENGTH 64
 
 #define BLINK_GPIO 2
 
@@ -143,6 +144,9 @@ void init_connected()
 
 void i2c_sensors_task(void *pvParameters)
 {
+
+
+    
     memset(foundDevices, 0, sizeof(foundDevices));
     memset(prevDevices, 0, sizeof(prevDevices));
 

main/main.c

@@ -25,6 +25,7 @@
 #include "hw/mcp23018.h"
 #include "hw/mpu9250.h"
 #include "hw/buscfg.h"
+#include "components/sdcard.h"
 
 #include "hw/gps.h"
 
@@ -48,6 +49,8 @@ void app_main(void)
     // };
     // ESP_ERROR_CHECK(spi_bus_initialize(SPI2_HOST, &MCPBusCfg, SPI_DMA_DISABLED));
 
+    gpio_pullup_en(HSPI_MISO_GPIO);
+    gpio_pullup_en(HSPI_SD_CS);
     spi_bus_config_t HighSpeedBusCfg = {
         // CONNECTED to LoRa and SD card
         .mosi_io_num = HSPI_MOSI_GPIO,
@@ -64,6 +67,8 @@ void app_main(void)
 
     mcp23018_init();
 
+    initSD();
+
     void servoControllerInit();
 
     ESP_LOGI(TAG, "BEGIN ESP TASKS");