ardupilot/libraries/DataFlash/DataFlash_APM1.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* DataFlash_APM1.cpp - DataFlash log library for AT45DB161
* 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 AT45DB161D flash memory
* Memory organization : 4096 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>
#include <SPI.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
//*/
// flash size
#define DF_LAST_PAGE 4096
// arduino mega SPI pins
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(DESKTOP_BUILD)
#define DF_DATAOUT 51 // MOSI
#define DF_DATAIN 50 // MISO
#define DF_SPICLOCK 52 // SCK
#define DF_SLAVESELECT 53 // SS (PB0)
#define DF_RESET 31 // RESET (PC6)
#else // normal arduino SPI pins...
#define DF_DATAOUT 11 //MOSI
#define DF_DATAIN 12 //MISO
#define DF_SPICLOCK 13 //SCK
#define DF_SLAVESELECT 10 //SS
#endif
// AT45DB161D 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_APM1::SPI_transfer(unsigned char data)
{
unsigned char retval;
// get spi semaphore if required. if failed to get semaphore then
// just quietly fail
if ( _spi_semaphore != NULL) {
if( !_spi_semaphore->get(this) ) {
return 0;
}
}
// send the data
retval = SPI.transfer(data);
// release spi3 semaphore
if ( _spi_semaphore != NULL) {
_spi_semaphore->release(this);
}
return retval;
}
// disable device
void DataFlash_APM1::CS_inactive()
{
digitalWrite(DF_SLAVESELECT,HIGH);
}
// enable device
void DataFlash_APM1::CS_active()
{
digitalWrite(DF_SLAVESELECT,LOW);
}
// Public Methods //////////////////////////////////////////////////////////////
void DataFlash_APM1::Init(void)
{
// init to zero
df_NumPages = 0;
pinMode(DF_DATAOUT, OUTPUT);
pinMode(DF_DATAIN, INPUT);
pinMode(DF_SPICLOCK,OUTPUT);
pinMode(DF_SLAVESELECT,OUTPUT);
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(DESKTOP_BUILD)
pinMode(DF_RESET,OUTPUT);
// Reset the chip
digitalWrite(DF_RESET,LOW);
delay(1);
digitalWrite(DF_RESET,HIGH);
#endif
// disable device
CS_inactive();
// Setup SPI Master, Mode 3, fosc/4 = 4MHz
SPI.begin();
SPI.setBitOrder(MSBFIRST);
SPI.setDataMode(SPI_MODE3);
SPI.setClockDivider(SPI_CLOCK_DIV2);
// get page size: 512 or 528 (by default: 528)
df_PageSize = PageSize();
// the last page is reserved for config information
df_NumPages = DF_LAST_PAGE - 1;
}
// This function is mainly to test the device
void DataFlash_APM1::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_APM1::CardInserted()
{
return true;
}
// Read the status register
byte DataFlash_APM1::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_APM1::ReadStatus()
{
return(ReadStatusReg()&0x80); // We only want to extract the READY/BUSY bit
}
inline
uint16_t DataFlash_APM1::PageSize()
{
return(528-((ReadStatusReg()&0x01) << 4)); // if first bit 1 trhen 512 else 528 bytes
}
// Wait until DataFlash is in ready state...
void DataFlash_APM1::WaitReady()
{
while(!ReadStatus()) ;
}
void DataFlash_APM1::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_APM1::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_APM1::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_APM1::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_APM1::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_APM1::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 >> 3));
SPI_transfer((unsigned char)(BlockAdr << 5));
} else {
SPI_transfer((unsigned char)(BlockAdr >> 4));
SPI_transfer((unsigned char)(BlockAdr << 4));
}*/
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_APM1::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();
}