ardupilot/libraries/AP_RAMTRON/AP_RAMTRON.cpp

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/*
driver for RAMTRON FRAM persistent memory devices. These are used
for parameter and waypoint storage on most FMUv1, FMUv2, FMUv3 and FMUv4
boards
*/
#include "AP_RAMTRON.h"
extern const AP_HAL::HAL &hal;
// register numbers
#define RAMTRON_RDID 0x9f
#define RAMTRON_READ 0x03
#define RAMTRON_RDSR 0x05
#define RAMTRON_WREN 0x06
#define RAMTRON_WRITE 0x02
/*
list of supported devices. Thanks to NuttX ramtron driver
*/
const AP_RAMTRON::ramtron_id AP_RAMTRON::ramtron_ids[] = {
{ 0x21, 0x00, 16, 2}, // FM25V01
{ 0x21, 0x08, 16, 2}, // FM25V01A
{ 0x22, 0x00, 32, 2}, // FM25V02
{ 0x22, 0x08, 32, 2}, // FM25V02A
{ 0x22, 0x01, 32, 2}, // FM25VN02
{ 0x23, 0x00, 64, 2}, // FM25V05
{ 0x23, 0x01, 64, 2}, // FM25VN05
{ 0x24, 0x00, 128, 3}, // FM25V10
{ 0x24, 0x01, 128, 3}, // FM25VN10
{ 0x25, 0x08, 256, 3}, // FM25V20A
{ 0x26, 0x08, 512, 3}, // CY15B104Q
{ 0x27, 0x03, 128, 3}, // MB85RS1MT
{ 0x05, 0x09, 32, 3}, // B85RS256B
};
// initialise the driver
bool AP_RAMTRON::init(void)
{
dev = hal.spi->get_device("ramtron");
if (!dev || !dev->get_semaphore()->take(0)) {
return false;
}
struct rdid {
uint8_t manufacturer[6];
uint8_t memory;
uint8_t id1;
uint8_t id2;
} rdid;
if (!dev->read_registers(RAMTRON_RDID, (uint8_t *)&rdid, sizeof(rdid))) {
dev->get_semaphore()->give();
return false;
}
dev->get_semaphore()->give();
for (uint8_t i=0; i<ARRAY_SIZE(ramtron_ids); i++) {
if (ramtron_ids[i].id1 == rdid.id1 &&
ramtron_ids[i].id2 == rdid.id2) {
id = i;
return true;
}
}
hal.console->printf("Unknown RAMTRON manufacturer=%02x memory=%02x id1=%02x id2=%02x\n",
rdid.manufacturer[0], rdid.memory, rdid.id1, rdid.id2);
return false;
}
/*
send a command and offset
*/
void AP_RAMTRON::send_offset(uint8_t cmd, uint32_t offset)
{
if (ramtron_ids[id].addrlen == 3) {
uint8_t b[4] = { cmd, uint8_t((offset>>16)&0xFF), uint8_t((offset>>8)&0xFF), uint8_t(offset&0xFF) };
dev->transfer(b, sizeof(b), nullptr, 0);
} else /* len 2 */ {
uint8_t b[3] = { cmd, uint8_t((offset>>8)&0xFF), uint8_t(offset&0xFF) };
dev->transfer(b, sizeof(b), nullptr, 0);
}
}
// read from device
bool AP_RAMTRON::read(uint32_t offset, uint8_t *buf, uint32_t size)
{
const uint8_t maxread = 128;
while (size > maxread) {
if (!read(offset, buf, maxread)) {
return false;
}
offset += maxread;
buf += maxread;
size -= maxread;
}
if (!dev->get_semaphore()->take(0)) {
return false;
}
dev->set_chip_select(true);
send_offset(RAMTRON_READ, offset);
// get data
dev->transfer(nullptr, 0, buf, size);
dev->set_chip_select(false);
dev->get_semaphore()->give();
return true;
}
// write to device
bool AP_RAMTRON::write(uint32_t offset, const uint8_t *buf, uint32_t size)
{
if (!dev->get_semaphore()->take(0)) {
return false;
}
// write enable
uint8_t r = RAMTRON_WREN;
dev->transfer(&r, 1, nullptr, 0);
dev->set_chip_select(true);
send_offset(RAMTRON_WRITE, offset);
dev->transfer(buf, size, nullptr, 0);
dev->set_chip_select(false);
dev->get_semaphore()->give();
return true;
}