ardupilot/libraries/DataFlash/DataFlash_APM2.cpp

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
	DataFlash_APM2.cpp - DataFlash log library for AT45DB321D
	Code by Jordi Muñoz and Jose Julio. DIYDrones.com
	This code works only on ATMega2560. It uses Serial port 3 in SPI MSPI mdoe.

	This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

	Dataflash library for AT45DB321D flash memory
	Memory organization : 8192 pages of 512 bytes or 528 bytes

	Maximun write bandwidth : 512 bytes in 14ms
	This code is written so the master never has to wait to write the data on the eeprom

	Methods:
		Init() : Library initialization (SPI initialization)
		StartWrite(page) : Start a write session. page=start page.
		WriteByte(data) : Write a byte
		WriteInt(data) :  Write an integer (2 bytes)
		WriteLong(data) : Write a long (4 bytes)
		StartRead(page) : Start a read on (page)
		GetWritePage() : Returns the last page written to
		GetPage() : Returns the last page read
		ReadByte()
		ReadInt()
		ReadLong()

	Properties:

*/

extern "C" {
  // AVR LibC Includes
  #include <inttypes.h>
  #include <avr/interrupt.h>
}
#if defined(ARDUINO) && ARDUINO >= 100
	#include "Arduino.h"
#else
	#include "WConstants.h"
#endif

#include "DataFlash_APM2.h"

// DataFlash is connected to Serial Port 3 (we will use SPI mode)
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
	#define DF_DATAOUT 14        // MOSI
	#define DF_DATAIN  15        // MISO
	#define DF_SPICLOCK  PJ2     // SCK
	#define DF_SLAVESELECT 28    // SS     (PA6)
    #define DF_RESET 41          // RESET  (PG0)
    #define DF_CARDDETECT 33     // PC4
#else
	# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
#endif

// AT45DB321D Commands (from Datasheet)
#define DF_TRANSFER_PAGE_TO_BUFFER_1   0x53
#define DF_TRANSFER_PAGE_TO_BUFFER_2   0x55
#define DF_STATUS_REGISTER_READ   0xD7
#define DF_READ_MANUFACTURER_AND_DEVICE_ID   0x9F
#define DF_PAGE_READ   0xD2
#define DF_BUFFER_1_READ   0xD4
#define DF_BUFFER_2_READ   0xD6
#define DF_BUFFER_1_WRITE   0x84
#define DF_BUFFER_2_WRITE   0x87
#define DF_BUFFER_1_TO_PAGE_WITH_ERASE   0x83
#define DF_BUFFER_2_TO_PAGE_WITH_ERASE   0x86
#define DF_PAGE_ERASE   0x81
#define DF_BLOCK_ERASE   0x50
#define DF_SECTOR_ERASE   0x7C
#define DF_CHIP_ERASE_0   0xC7
#define DF_CHIP_ERASE_1   0x94
#define DF_CHIP_ERASE_2   0x80
#define DF_CHIP_ERASE_3   0x9A


// *** INTERNAL FUNCTIONS ***
unsigned char DataFlash_APM2::SPI_transfer(unsigned char data)
{
	/* Wait for empty transmit buffer */
	while ( !( UCSR3A & (1<<UDRE3)) );
	/* Put data into buffer, sends the data */
	UDR3 = data;
	/* Wait for data to be received */
	while ( !(UCSR3A & (1<<RXC3)) );
	/* Get and return received data from buffer */
	return UDR3;
}

// disable device
void DataFlash_APM2::CS_inactive()
{
	digitalWrite(DF_SLAVESELECT,HIGH);
}

// enable device
void DataFlash_APM2::CS_active()
{
	digitalWrite(DF_SLAVESELECT,LOW);
}

// Constructors ////////////////////////////////////////////////////////////////
DataFlash_APM2::DataFlash_APM2()
{
}

// Public Methods //////////////////////////////////////////////////////////////
void DataFlash_APM2::Init(void)
{
	pinMode(DF_DATAOUT, OUTPUT);
	pinMode(DF_DATAIN, INPUT);
	pinMode(DF_SLAVESELECT,OUTPUT);
	pinMode(DF_RESET,OUTPUT);
	pinMode(DF_CARDDETECT, INPUT);

	// Reset the chip
	digitalWrite(DF_RESET,LOW);
	delay(1);
	digitalWrite(DF_RESET,HIGH);

	// disable device
	CS_inactive();

	// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
	UBRR3 = 0;
	DDRJ |= (1<<PJ2);                                   // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
	// Set MSPI mode of operation and SPI data mode 0.
	UCSR3C = (1<<UMSEL31)|(1<<UMSEL30);       //|(1<<1)|(1<<UCPOL3);
	// Enable receiver and transmitter.
	UCSR3B = (1<<RXEN3)|(1<<TXEN3);
	// Set Baud rate
	UBRR3 = 0;         // SPI running at 8Mhz

	// get page size: 512 or 528  (by default: 528)
	df_PageSize=PageSize();

	ReadManufacturerID();

	// see page 22 of the spec for the density code
	uint8_t density_code = (df_device >> 8) & 0x1F;

	// note that we set df_NumPages to one lower than the highest, as
	// the last page is reserved for a config page
	if (density_code == 0x7) {
		// 32 Mbit
		df_NumPages = 8191;
	} else if (density_code == 0x6) {
		// 16 Mbit
		df_NumPages = 4095;
	} else {
		// what is this??? card not inserted perhaps?
		df_NumPages = 0;
	}
}

// This function is mainly to test the device
void DataFlash_APM2::ReadManufacturerID()
{
	// activate dataflash command decoder
	CS_active();

	// Read manufacturer and ID command...
	SPI_transfer(DF_READ_MANUFACTURER_AND_DEVICE_ID);

	df_manufacturer = SPI_transfer(0xff);
	df_device = SPI_transfer(0xff);
	df_device = (df_device<<8) | SPI_transfer(0xff);
	SPI_transfer(0xff);

	// release SPI bus for use by other sensors
	CS_inactive();
}

// This function return 1 if Card is inserted on SD slot
bool DataFlash_APM2::CardInserted()
{
	return (df_NumPages >= 4095 && digitalRead(DF_CARDDETECT) == 0);
}

// Read the status register
byte DataFlash_APM2::ReadStatusReg()
{
	byte tmp;

	// activate dataflash command decoder
	CS_active();

	// Read status command
	SPI_transfer(DF_STATUS_REGISTER_READ);
	tmp = SPI_transfer(0x00);  // We only want to extract the READY/BUSY bit

	// release SPI bus for use by other sensors
	CS_inactive();

	return tmp;
}

// Read the status of the DataFlash
inline
byte DataFlash_APM2::ReadStatus()
{
	return(ReadStatusReg()&0x80);  // We only want to extract the READY/BUSY bit
}

inline
uint16_t DataFlash_APM2::PageSize()
{
	return(528-((ReadStatusReg()&0x01)<<4));  // if first bit 1 trhen 512 else 528 bytes
}

// Wait until DataFlash is in ready state...
void DataFlash_APM2::WaitReady()
{
	while(!ReadStatus());
}

void DataFlash_APM2::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
{
	// activate dataflash command decoder
	CS_active();

	if (BufferNum==1)
		SPI_transfer(DF_TRANSFER_PAGE_TO_BUFFER_1);
	else
		SPI_transfer(DF_TRANSFER_PAGE_TO_BUFFER_2);

	if(df_PageSize==512){
		SPI_transfer((unsigned char)(PageAdr >> 7));
		SPI_transfer((unsigned char)(PageAdr << 1));
	}else{
		SPI_transfer((unsigned char)(PageAdr >> 6));
		SPI_transfer((unsigned char)(PageAdr << 2));
	}
	SPI_transfer(0x00);		// don´t care bytes

	//initiate the transfer
	CS_inactive();
	CS_active();

	while(!ReadStatus());  //monitor the status register, wait until busy-flag is high

	// release SPI bus for use by other sensors
	CS_inactive();
}

void DataFlash_APM2::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
{
	// activate dataflash command decoder
	CS_active();

	if (BufferNum==1)
		SPI_transfer(DF_BUFFER_1_TO_PAGE_WITH_ERASE);
	else
		SPI_transfer(DF_BUFFER_2_TO_PAGE_WITH_ERASE);

	if(df_PageSize==512){
		SPI_transfer((unsigned char)(PageAdr >> 7));
		SPI_transfer((unsigned char)(PageAdr << 1));
	}else{
		SPI_transfer((unsigned char)(PageAdr >> 6));
		SPI_transfer((unsigned char)(PageAdr << 2));
	}
	SPI_transfer(0x00);	// don´t care bytes

	//initiate the transfer
	CS_inactive();
	CS_active();

	// Check if we need to wait to write the buffer to memory or we can continue...
	if (wait)
	while(!ReadStatus());  //monitor the status register, wait until busy-flag is high

	// release SPI bus for use by other sensors
	CS_inactive();
}

void DataFlash_APM2::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
{
	// activate dataflash command decoder
	CS_active();

	if (BufferNum==1)
		SPI_transfer(DF_BUFFER_1_WRITE);
	else
		SPI_transfer(DF_BUFFER_2_WRITE);

	SPI_transfer(0x00);								// don't care
	SPI_transfer((unsigned char)(IntPageAdr>>8));	// upper part of internal buffer address
	SPI_transfer((unsigned char)(IntPageAdr));		// lower part of internal buffer address
	SPI_transfer(Data);								// write data byte

	// release SPI bus for use by other sensors
	CS_inactive();
}

unsigned char DataFlash_APM2::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
{
	byte tmp;

	// activate dataflash command decoder
	CS_active();

	if (BufferNum==1)
		SPI_transfer(DF_BUFFER_1_READ);
	else
		SPI_transfer(DF_BUFFER_2_READ);

	SPI_transfer(0x00);
	SPI_transfer((unsigned char)(IntPageAdr>>8));	//upper part of internal buffer address
	SPI_transfer((unsigned char)(IntPageAdr));		//lower part of internal buffer address
	SPI_transfer(0x00);								//don't cares
	tmp = SPI_transfer(0x00);						//read data byte

	// release SPI bus for use by other sensors
	CS_inactive();

	return (tmp);
}
// *** END OF INTERNAL FUNCTIONS ***

void DataFlash_APM2::PageErase (uint16_t PageAdr)
{
	// activate dataflash command decoder
	CS_active();

	// Send page erase command
	SPI_transfer(DF_PAGE_ERASE);

	if(df_PageSize==512){
		SPI_transfer((unsigned char)(PageAdr >> 7));
		SPI_transfer((unsigned char)(PageAdr << 1));
	}else{
		SPI_transfer((unsigned char)(PageAdr >> 6));
		SPI_transfer((unsigned char)(PageAdr << 2));
	}

	SPI_transfer(0x00);

	//initiate flash page erase
	CS_inactive();
	CS_active();
	while(!ReadStatus());

	// release SPI bus for use by other sensors
	CS_inactive();
}


void DataFlash_APM2::ChipErase ()
{
	// activate dataflash command decoder
	CS_active();

	// opcodes for chip erase
	SPI_transfer(DF_CHIP_ERASE_0);
	SPI_transfer(DF_CHIP_ERASE_1);
	SPI_transfer(DF_CHIP_ERASE_2);
	SPI_transfer(DF_CHIP_ERASE_3);

	//initiate flash page erase
	CS_inactive();
	CS_active();
	while(!ReadStatus());

	// release SPI bus for use by other sensors
	CS_inactive();
}