From aaffd9d96e4444b9c0296884b8af5679bdfc125e Mon Sep 17 00:00:00 2001 From: Pat Hickey Date: Fri, 7 Dec 2012 20:24:44 -0800 Subject: [PATCH] DataFlash: APM2 ported to AP_HAL SPIDeviceDriver --- libraries/DataFlash/DataFlash_APM2.cpp | 313 ++++++++++++------------- 1 file changed, 146 insertions(+), 167 deletions(-) diff --git a/libraries/DataFlash/DataFlash_APM2.cpp b/libraries/DataFlash/DataFlash_APM2.cpp index c90aceb388..80f95f3731 100644 --- a/libraries/DataFlash/DataFlash_APM2.cpp +++ b/libraries/DataFlash/DataFlash_APM2.cpp @@ -32,21 +32,10 @@ * */ -extern "C" { -// AVR LibC Includes -#include -#include -} -#include - -#if defined(ARDUINO) && ARDUINO >= 100 - #include "Arduino.h" -#else - #include "WConstants.h" -#endif - -#include // for removing conflict with optical flow sensor on SPI3 bus +#include // for removing conflict with optical flow sensor on SPI3 bus #include "DataFlash_APM2.h" + +extern const AP_HAL::HAL& hal; /* * #define ENABLE_FASTSERIAL_DEBUG * @@ -57,17 +46,8 @@ extern "C" { ##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 +#define DF_RESET 41 // RESET (PG0) +#define DF_CARDDETECT 33 // PC4 // AT45DB321D Commands (from Datasheet) #define DF_TRANSFER_PAGE_TO_BUFFER_1 0x53 @@ -90,47 +70,6 @@ extern "C" { #define DF_CHIP_ERASE_3 0x9A -// *** INTERNAL FUNCTIONS *** -uint8_t DataFlash_APM2::SPI_transfer(uint8_t data) -{ - uint8_t 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<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) @@ -138,35 +77,34 @@ 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); + hal.gpio->pinMode(DF_RESET, GPIO_OUTPUT); + hal.gpio->pinMode(DF_CARDDETECT, GPIO_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<write(DF_RESET,0); + hal.scheduler->delay(1); + hal.gpio->write(DF_RESET,1); + + _spi = hal.spi->device(AP_HAL::SPIDevice_Dataflash); + if (_spi == NULL) { + hal.console->println_P( + PSTR("PANIC: DataFlash SPIDeviceDriver not found")); + return; + } + _spi_sem = _spi->get_semaphore(); + if (_spi_sem) { + bool got = _spi_sem->get(this); + if (!got) return; + } // get page size: 512 or 528 (by default: 528) df_PageSize=PageSize(); ReadManufacturerID(); + if (_spi_sem) { + _spi_sem->release(this); + } // see page 22 of the spec for the density code uint8_t density_code = (df_device >> 8) & 0x1F; @@ -187,18 +125,18 @@ void DataFlash_APM2::Init(void) void DataFlash_APM2::ReadManufacturerID() { // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); // 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); // release SPI bus for use by other sensors - CS_inactive(); + _spi->cs_release(); } // This function return 1 if Card is inserted on SD slot @@ -215,14 +153,14 @@ uint8_t DataFlash_APM2::ReadStatusReg() uint8_t tmp; // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); // 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 // release SPI bus for use by other sensors - CS_inactive(); + _spi->cs_release(); return tmp; } @@ -248,185 +186,226 @@ void DataFlash_APM2::WaitReady() void DataFlash_APM2::PageToBuffer(uint8_t BufferNum, uint16_t PageAdr) { + if (_spi_sem) { + bool got = _spi_sem->get(this); + if (!got) return; + } // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); 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((uint8_t)(PageAdr >> 7)); - SPI_transfer((uint8_t)(PageAdr << 1)); + _spi->transfer((uint8_t)(PageAdr >> 7)); + _spi->transfer((uint8_t)(PageAdr << 1)); }else{ - SPI_transfer((uint8_t)(PageAdr >> 6)); - SPI_transfer((uint8_t)(PageAdr << 2)); + _spi->transfer((uint8_t)(PageAdr >> 6)); + _spi->transfer((uint8_t)(PageAdr << 2)); } - SPI_transfer(0x00); // don´t care bytes + _spi->transfer(0x00); // don´t care bytes //initiate the transfer - CS_inactive(); - CS_active(); + _spi->cs_release(); + _spi->cs_assert(); while(!ReadStatus()) ; //monitor the status register, wait until busy-flag is high // release SPI bus for use by other sensors - CS_inactive(); + _spi->cs_release(); + if (_spi_sem) { + _spi_sem->release(this); + } } void DataFlash_APM2::BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait) { + if (_spi_sem) { + bool got = _spi_sem->get(this); + if (!got) return; + } // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); 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((uint8_t)(PageAdr >> 7)); - SPI_transfer((uint8_t)(PageAdr << 1)); + _spi->transfer((uint8_t)(PageAdr >> 7)); + _spi->transfer((uint8_t)(PageAdr << 1)); }else{ - SPI_transfer((uint8_t)(PageAdr >> 6)); - SPI_transfer((uint8_t)(PageAdr << 2)); + _spi->transfer((uint8_t)(PageAdr >> 6)); + _spi->transfer((uint8_t)(PageAdr << 2)); } - SPI_transfer(0x00); // don´t care bytes + _spi->transfer(0x00); // don´t care bytes //initiate the transfer - CS_inactive(); - CS_active(); + _spi->cs_release(); // 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(); + if (_spi_sem) { + _spi_sem->release(this); + } } void DataFlash_APM2::BufferWrite (uint8_t BufferNum, uint16_t IntPageAdr, uint8_t Data) { + if (_spi_sem) { + bool got = _spi_sem->get(this); + if (!got) return; + } // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); if (BufferNum==1) - SPI_transfer(DF_BUFFER_1_WRITE); + _spi->transfer(DF_BUFFER_1_WRITE); else - SPI_transfer(DF_BUFFER_2_WRITE); + _spi->transfer(DF_BUFFER_2_WRITE); - SPI_transfer(0x00); // don't care - SPI_transfer((uint8_t)(IntPageAdr>>8)); // upper part of internal buffer address - SPI_transfer((uint8_t)(IntPageAdr)); // lower part of internal buffer address - SPI_transfer(Data); // write data byte + _spi->transfer(0x00); // don't care + _spi->transfer((uint8_t)(IntPageAdr>>8)); // upper part of internal buffer address + _spi->transfer((uint8_t)(IntPageAdr)); // lower part of internal buffer address + _spi->transfer(Data); // write data byte // release SPI bus for use by other sensors - CS_inactive(); + _spi->cs_release(); + if (_spi_sem) { + _spi_sem->release(this); + } } uint8_t DataFlash_APM2::BufferRead (uint8_t BufferNum, uint16_t IntPageAdr) { + if (_spi_sem) { + bool got = _spi_sem->get(this); + if (!got) return 0; + } uint8_t tmp; // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); if (BufferNum==1) - SPI_transfer(DF_BUFFER_1_READ); + _spi->transfer(DF_BUFFER_1_READ); else - SPI_transfer(DF_BUFFER_2_READ); + _spi->transfer(DF_BUFFER_2_READ); - SPI_transfer(0x00); - SPI_transfer((uint8_t)(IntPageAdr>>8)); //upper part of internal buffer address - SPI_transfer((uint8_t)(IntPageAdr)); //lower part of internal buffer address - SPI_transfer(0x00); //don't cares - tmp = SPI_transfer(0x00); //read data byte + _spi->transfer(0x00); + _spi->transfer((uint8_t)(IntPageAdr>>8)); //upper part of internal buffer address + _spi->transfer((uint8_t)(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(); + _spi->cs_release(); + if (_spi_sem) { + _spi_sem->release(this); + } return (tmp); } // *** END OF INTERNAL FUNCTIONS *** void DataFlash_APM2::PageErase (uint16_t PageAdr) { + if (_spi_sem) { + bool got = _spi_sem->get(this); + if (!got) return; + } // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); // Send page erase command - SPI_transfer(DF_PAGE_ERASE); + _spi->transfer(DF_PAGE_ERASE); if(df_PageSize==512) { - SPI_transfer((uint8_t)(PageAdr >> 7)); - SPI_transfer((uint8_t)(PageAdr << 1)); + _spi->transfer((uint8_t)(PageAdr >> 7)); + _spi->transfer((uint8_t)(PageAdr << 1)); }else{ - SPI_transfer((uint8_t)(PageAdr >> 6)); - SPI_transfer((uint8_t)(PageAdr << 2)); + _spi->transfer((uint8_t)(PageAdr >> 6)); + _spi->transfer((uint8_t)(PageAdr << 2)); } - SPI_transfer(0x00); + _spi->transfer(0x00); //initiate flash page erase - CS_inactive(); - CS_active(); + _spi->cs_release(); while(!ReadStatus()) ; // release SPI bus for use by other sensors - CS_inactive(); + if (_spi_sem) { + _spi_sem->release(this); + } } // erase a block of 8 pages. void DataFlash_APM2::BlockErase(uint16_t BlockAdr) { + if (_spi_sem) { + bool got = _spi_sem->get(this); + if (!got) return; + } // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); // Send block erase command - SPI_transfer(DF_BLOCK_ERASE); + _spi->transfer(DF_BLOCK_ERASE); if (df_PageSize==512) { - SPI_transfer((uint8_t)(BlockAdr >> 4)); - SPI_transfer((uint8_t)(BlockAdr << 4)); + _spi->transfer((uint8_t)(BlockAdr >> 4)); + _spi->transfer((uint8_t)(BlockAdr << 4)); } else { - SPI_transfer((uint8_t)(BlockAdr >> 3)); - SPI_transfer((uint8_t)(BlockAdr << 5)); + _spi->transfer((uint8_t)(BlockAdr >> 3)); + _spi->transfer((uint8_t)(BlockAdr << 5)); } - SPI_transfer(0x00); + _spi->transfer(0x00); //serialDebug("BL Erase, %d\n", BlockAdr); //initiate flash page erase - CS_inactive(); - CS_active(); + _spi->cs_release(); while(!ReadStatus()) ; // release SPI bus for use by other sensors - CS_inactive(); + if (_spi_sem) { + _spi_sem->release(this); + } } -void DataFlash_APM2::ChipErase(void (*delay_cb)(unsigned long)) +void DataFlash_APM2::ChipErase() { + if (_spi_sem) { + bool got = _spi_sem->get(this); + if (!got) return; + } //serialDebug("Chip Erase\n"); // activate dataflash command decoder - CS_active(); + _spi->cs_assert(); // 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); //initiate flash page erase - CS_inactive(); - CS_active(); + _spi->cs_release(); while(!ReadStatus()) { - delay_cb(1); + hal.scheduler->delay(1); } // release SPI bus for use by other sensors - CS_inactive(); + if (_spi_sem) { + _spi_sem->release(this); + } }