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>
}
#include <FastSerial.h>

#if defined(ARDUINO) && ARDUINO >= 100
 #include "Arduino.h"
#else
 #include "WConstants.h"
#endif

#include <AP_Semaphore.h>               // for removing conflict with optical flow sensor on SPI3 bus
#include "DataFlash_APM2.h"
/*
 * #define ENABLE_FASTSERIAL_DEBUG
 *
 * #ifdef ENABLE_FASTSERIAL_DEBUG
 # define serialDebug(fmt, args...)  if (FastSerial::getInitialized(0)) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(0); } while(0)
 ##else
 # define serialDebug(fmt, args...)
 ##endif
 #  //*/

// DataFlash is connected to Serial Port 3 (we will use SPI mode)
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(DESKTOP_BUILD)
 #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)
{
    unsigned char retval;

    // get spi3 semaphore if required.  if failed to get semaphore then
    // just quietly fail
    if ( _spi3_semaphore != NULL) {
        if( !_spi3_semaphore->get(this) ) {
            return 0;
        }
    }

    /* 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 */
    retval = UDR3;

    // release spi3 semaphore
    if ( _spi3_semaphore != NULL) {
        _spi3_semaphore->release(this);
    }

    return retval;
}

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

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

// Public Methods //////////////////////////////////////////////////////////////
void DataFlash_APM2::Init(void)
{
    // init to zero
    df_NumPages = 0;

    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;
    }

    //serialDebug("density_code %d pages %d, size %d\n", density_code, df_NumPages, df_PageSize);
}

// 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()
{
    //serialDebug("df_NumPages %d, detect:%d\n", df_NumPages, tmp);
    //return (df_NumPages >= 4095 && digitalRead(DF_CARDDETECT) == 0);
    return (df_NumPages >= 4095);
}

// 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();
}

// erase a block of 8 pages.
void DataFlash_APM2::BlockErase(uint16_t BlockAdr)
{
    // activate dataflash command decoder
    CS_active();

    // Send block erase command
    SPI_transfer(DF_BLOCK_ERASE);

    if (df_PageSize==512) {
        SPI_transfer((unsigned char)(BlockAdr >> 4));
        SPI_transfer((unsigned char)(BlockAdr << 4));
    } else {
        SPI_transfer((unsigned char)(BlockAdr >> 3));
        SPI_transfer((unsigned char)(BlockAdr << 5));
    }
    SPI_transfer(0x00);
    //serialDebug("BL Erase, %d\n", BlockAdr);

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

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


void DataFlash_APM2::ChipErase(void (*delay_cb)(unsigned long))
{
    //serialDebug("Chip Erase\n");

    // 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()) {
        delay_cb(1);
    }

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