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DataFlash_APM1: use spi_semaphore to avoid conflicts with optical flow

This commit is contained in:
rmackay9 2012-10-18 17:03:50 +09:00
parent a7d9e181d3
commit 2428cc647c
2 changed files with 77 additions and 56 deletions
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128
libraries/DataFlash/DataFlash_APM1.cpp
View File

@ -75,6 +75,29 @@
// *** 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;
}
void dataflash_CS_inactive()
{
digitalWrite(DF_SLAVESELECT,HIGH); //disable device
@ -85,11 +108,6 @@ void dataflash_CS_active()
digitalWrite(DF_SLAVESELECT,LOW); //enable device
}
// Constructors ////////////////////////////////////////////////////////////////
DataFlash_APM1::DataFlash_APM1()
{
}
// Public Methods //////////////////////////////////////////////////////////////
void DataFlash_APM1::Init(void)
{
@ -126,12 +144,12 @@ void DataFlash_APM1::ReadManufacturerID()
dataflash_CS_active(); // activate dataflash command decoder
// Read manufacturer and ID command...
SPI.transfer(DF_READ_MANUFACTURER_AND_DEVICE_ID);
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);
df_manufacturer = SPI_transfer(0xff);
df_device = SPI_transfer(0xff);
df_device = (df_device<<8) | SPI_transfer(0xff);
SPI_transfer(0xff);
dataflash_CS_inactive(); // Reset dataflash command decoder
}
@ -150,8 +168,8 @@ byte DataFlash_APM1::ReadStatusReg()
dataflash_CS_active(); // activate dataflash command decoder
// Read status command
SPI.transfer(DF_STATUS_REGISTER_READ);
tmp = SPI.transfer(0x00); // We only want to extract the READY/BUSY bit
SPI_transfer(DF_STATUS_REGISTER_READ);
tmp = SPI_transfer(0x00); // We only want to extract the READY/BUSY bit
dataflash_CS_inactive(); // Reset dataflash command decoder
@ -184,18 +202,18 @@ void DataFlash_APM1::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
dataflash_CS_active(); // activate dataflash command decoder
if (BufferNum==1)
SPI.transfer(DF_TRANSFER_PAGE_TO_BUFFER_1);
SPI_transfer(DF_TRANSFER_PAGE_TO_BUFFER_1);
else
SPI.transfer(DF_TRANSFER_PAGE_TO_BUFFER_2);
SPI_transfer(DF_TRANSFER_PAGE_TO_BUFFER_2);
if(df_PageSize==512) {
SPI.transfer((unsigned char)(PageAdr >> 7));
SPI.transfer((unsigned char)(PageAdr << 1));
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((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
SPI.transfer(0x00); // don´t care bytes
SPI_transfer(0x00); // don´t care bytes
dataflash_CS_inactive(); //initiate the transfer
dataflash_CS_active();
@ -211,18 +229,18 @@ void DataFlash_APM1::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, un
dataflash_CS_active(); // activate dataflash command decoder
if (BufferNum==1)
SPI.transfer(DF_BUFFER_1_TO_PAGE_WITH_ERASE);
SPI_transfer(DF_BUFFER_1_TO_PAGE_WITH_ERASE);
else
SPI.transfer(DF_BUFFER_2_TO_PAGE_WITH_ERASE);
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));
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((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
SPI.transfer(0x00); // don´t care bytes
SPI_transfer(0x00); // don´t care bytes
dataflash_CS_inactive(); //initiate the transfer
dataflash_CS_active();
@ -239,13 +257,13 @@ void DataFlash_APM1::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr,
dataflash_CS_active(); // activate dataflash command decoder
if (BufferNum==1)
SPI.transfer(DF_BUFFER_1_WRITE);
SPI_transfer(DF_BUFFER_1_WRITE);
else
SPI.transfer(DF_BUFFER_2_WRITE);
SPI.transfer(0x00); //don't cares
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
SPI_transfer(DF_BUFFER_2_WRITE);
SPI_transfer(0x00); //don't cares
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
dataflash_CS_inactive(); // disable dataflash command decoder
}
@ -257,14 +275,14 @@ unsigned char DataFlash_APM1::BufferRead (unsigned char BufferNum, uint16_t IntP
dataflash_CS_active(); // activate dataflash command decoder
if (BufferNum==1)
SPI.transfer(DF_BUFFER_1_READ);
SPI_transfer(DF_BUFFER_1_READ);
else
SPI.transfer(DF_BUFFER_2_READ);
SPI.transfer(0x00); //don't cares
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
SPI_transfer(DF_BUFFER_2_READ);
SPI_transfer(0x00); //don't cares
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
dataflash_CS_inactive(); // deactivate dataflash command decoder
@ -275,17 +293,17 @@ unsigned char DataFlash_APM1::BufferRead (unsigned char BufferNum, uint16_t IntP
void DataFlash_APM1::PageErase (uint16_t PageAdr)
{
dataflash_CS_active(); // activate dataflash command decoder
SPI.transfer(DF_PAGE_ERASE); // Command
SPI_transfer(DF_PAGE_ERASE); // Command
if(df_PageSize==512) {
SPI.transfer((unsigned char)(PageAdr >> 7));
SPI.transfer((unsigned char)(PageAdr << 1));
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((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
SPI.transfer(0x00); // "dont cares"
SPI_transfer(0x00); // "dont cares"
dataflash_CS_inactive(); //initiate flash page erase
dataflash_CS_active();
while(!ReadStatus()) ;
@ -297,17 +315,17 @@ void DataFlash_APM1::PageErase (uint16_t PageAdr)
void DataFlash_APM1::BlockErase (uint16_t BlockAdr)
{
dataflash_CS_active(); // activate dataflash command decoder
SPI.transfer(DF_BLOCK_ERASE); // Command
SPI_transfer(DF_BLOCK_ERASE); // Command
if (df_PageSize==512) {
SPI.transfer((unsigned char)(BlockAdr >> 3));
SPI.transfer((unsigned char)(BlockAdr << 5));
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));
SPI_transfer((unsigned char)(BlockAdr >> 4));
SPI_transfer((unsigned char)(BlockAdr << 4));
}
SPI.transfer(0x00); // "dont cares"
SPI_transfer(0x00); // "dont cares"
dataflash_CS_inactive(); //initiate flash page erase
dataflash_CS_active();
while(!ReadStatus()) ;
@ -322,10 +340,10 @@ void DataFlash_APM1::ChipErase(void (*delay_cb)(unsigned long))
dataflash_CS_active(); // activate dataflash command decoder
// 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);
SPI_transfer(DF_CHIP_ERASE_0);
SPI_transfer(DF_CHIP_ERASE_1);
SPI_transfer(DF_CHIP_ERASE_2);
SPI_transfer(DF_CHIP_ERASE_3);
dataflash_CS_inactive(); //initiate flash page erase
dataflash_CS_active();

5
libraries/DataFlash/DataFlash_APM1.h
View File

@ -4,6 +4,7 @@
#ifndef __DATAFLASH_APM1_H__
#define __DATAFLASH_APM1_H__
#include <AP_Semaphore.h>
#include "DataFlash.h"
class DataFlash_APM1 : public DataFlash_Class
@ -22,9 +23,11 @@ private:
void BlockErase (uint16_t BlockAdr);
void ChipErase(void (*delay_cb)(unsigned long));
unsigned char SPI_transfer(unsigned char data);
AP_Semaphore* _spi_semaphore;
public:
DataFlash_APM1(); // Constructor
DataFlash_APM1(AP_Semaphore* spi_semaphore = NULL) : _spi_semaphore(spi_semaphore) {}
void Init();
void ReadManufacturerID();
bool CardInserted(void);