mirror of https://github.com/ArduPilot/ardupilot
385 lines
10 KiB
C++
385 lines
10 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* DataFlash_APM1.cpp - DataFlash log library for AT45DB161
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* Code by Jordi Muñoz and Jose Julio. DIYDrones.com
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* This code works only on ATMega2560. It uses Serial port 3 in SPI MSPI mdoe.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* Dataflash library for AT45DB161D flash memory
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* Memory organization : 4096 pages of 512 bytes or 528 bytes
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*
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* Maximun write bandwidth : 512 bytes in 14ms
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* This code is written so the master never has to wait to write the data on the eeprom
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*
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* Methods:
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* Init() : Library initialization (SPI initialization)
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* StartWrite(page) : Start a write session. page=start page.
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* WriteByte(data) : Write a byte
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* WriteInt(data) : Write an integer (2 bytes)
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* WriteLong(data) : Write a long (4 bytes)
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* StartRead(page) : Start a read on (page)
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* GetWritePage() : Returns the last page written to
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* GetPage() : Returns the last page read
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* ReadByte()
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* ReadInt()
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* ReadLong()
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*
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* Properties:
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*
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*/
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#include <AP_HAL.h>
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#include "DataFlash_APM2.h"
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extern const AP_HAL::HAL& hal;
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//#define ENABLE_FASTSERIAL_DEBUG
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#ifdef ENABLE_FASTSERIAL_DEBUG
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#define serialDebug(fmt, args...) do {hal.console->printf_P(PSTR( __FUNCTION__ ":%d:" fmt "\n"), __LINE__, ##args); } while(0)
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#else
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# define serialDebug(fmt, args...)
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#endif
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// flash size
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#define DF_LAST_PAGE 4096
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#define DF_RESET 31 // RESET (PC6)
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// AT45DB161D Commands (from Datasheet)
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#define DF_TRANSFER_PAGE_TO_BUFFER_1 0x53
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#define DF_TRANSFER_PAGE_TO_BUFFER_2 0x55
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#define DF_STATUS_REGISTER_READ 0xD7
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#define DF_READ_MANUFACTURER_AND_DEVICE_ID 0x9F
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#define DF_PAGE_READ 0xD2
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#define DF_BUFFER_1_READ 0xD4
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#define DF_BUFFER_2_READ 0xD6
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#define DF_BUFFER_1_WRITE 0x84
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#define DF_BUFFER_2_WRITE 0x87
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#define DF_BUFFER_1_TO_PAGE_WITH_ERASE 0x83
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#define DF_BUFFER_2_TO_PAGE_WITH_ERASE 0x86
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#define DF_PAGE_ERASE 0x81
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#define DF_BLOCK_ERASE 0x50
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#define DF_SECTOR_ERASE 0x7C
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#define DF_CHIP_ERASE_0 0xC7
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#define DF_CHIP_ERASE_1 0x94
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#define DF_CHIP_ERASE_2 0x80
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#define DF_CHIP_ERASE_3 0x9A
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// Public Methods //////////////////////////////////////////////////////////////
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void DataFlash_APM1::Init(void)
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{
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// init to zero
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df_NumPages = 0;
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hal.gpio->pinMode(DF_RESET,GPIO_OUTPUT);
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// Reset the chip
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hal.gpio->write(DF_RESET,0);
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hal.scheduler->delay(1);
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hal.gpio->write(DF_RESET,1);
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_spi = hal.spi->device(AP_HAL::SPIDevice_Dataflash);
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if (_spi == NULL) {
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hal.scheduler->panic(
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PSTR("PANIC: DataFlash SPIDeviceDriver not found"));
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return; /* never reached */
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}
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_spi_sem = _spi->get_semaphore();
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if (_spi_sem == NULL) {
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hal.scheduler->panic(
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PSTR("PANIC: DataFlash SPIDeviceDriver semaphore is null"));
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return; /* never reached */
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}
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// get page size: 512 or 528 (by default: 528)
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df_PageSize = PageSize();
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// the last page is reserved for config information
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df_NumPages = DF_LAST_PAGE - 1;
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}
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// This function is mainly to test the device
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void DataFlash_APM1::ReadManufacturerID()
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{
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if (!_spi_sem->take(5))
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return;
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// activate dataflash command decoder
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_spi->cs_assert();
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// Read manufacturer and ID command...
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_spi->transfer(DF_READ_MANUFACTURER_AND_DEVICE_ID);
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df_manufacturer = _spi->transfer(0xff);
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df_device = _spi->transfer(0xff);
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df_device = (df_device << 8) | _spi->transfer(0xff);
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_spi->transfer(0xff);
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// release SPI bus for use by other sensors
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_spi->cs_release();
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_spi_sem->give();
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}
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// This function return 1 if Card is inserted on SD slot
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bool DataFlash_APM1::CardInserted()
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{
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return true;
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}
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// Read the status register
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// Assumes _spi_sem handled by caller
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uint8_t DataFlash_APM1::ReadStatusReg()
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{
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uint8_t tmp;
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// activate dataflash command decoder
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_spi->cs_assert();
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// Read status command
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_spi->transfer(DF_STATUS_REGISTER_READ);
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tmp = _spi->transfer(0x00); // We only want to extract the READY/BUSY bit
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// release SPI bus for use by other sensors
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_spi->cs_release();
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return tmp;
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}
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// Read the status of the DataFlash
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// Assumes _spi_sem handled by caller.
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inline
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uint8_t DataFlash_APM1::ReadStatus()
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{
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return(ReadStatusReg()&0x80); // We only want to extract the READY/BUSY bit
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}
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inline
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uint16_t DataFlash_APM1::PageSize()
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{
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if (!_spi_sem->take(5))
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return 0;
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uint16_t ret = 528-((ReadStatusReg()&0x01) << 4); // if first bit 1 trhen 512 else 528 bytes
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_spi_sem->give();
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return ret;
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}
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// Wait until DataFlash is in ready state...
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// Assumes _spi_sem handled by caller.
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void DataFlash_APM1::WaitReady()
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{
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while(!ReadStatus()) ;
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}
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void DataFlash_APM1::PageToBuffer(uint8_t BufferNum, uint16_t PageAdr)
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{
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if (!_spi_sem->take(1))
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return;
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// activate dataflash command decoder
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_spi->cs_assert();
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if (BufferNum==1)
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_spi->transfer(DF_TRANSFER_PAGE_TO_BUFFER_1);
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else
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_spi->transfer(DF_TRANSFER_PAGE_TO_BUFFER_2);
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if(df_PageSize==512) {
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_spi->transfer((uint8_t)(PageAdr >> 7));
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_spi->transfer((uint8_t)(PageAdr << 1));
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}else{
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_spi->transfer((uint8_t)(PageAdr >> 6));
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_spi->transfer((uint8_t)(PageAdr << 2));
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}
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_spi->transfer(0x00); // don´t care bytes
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//initiate the transfer
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_spi->cs_release();
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while(!ReadStatus()) ; //monitor the status register, wait until busy-flag is high
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_spi_sem->give();
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}
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void DataFlash_APM1::BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait)
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{
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if (!_spi_sem->take(1))
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return;
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// activate dataflash command decoder
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_spi->cs_assert();
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if (BufferNum==1)
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_spi->transfer(DF_BUFFER_1_TO_PAGE_WITH_ERASE);
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else
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_spi->transfer(DF_BUFFER_2_TO_PAGE_WITH_ERASE);
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if(df_PageSize==512) {
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_spi->transfer((uint8_t)(PageAdr >> 7));
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_spi->transfer((uint8_t)(PageAdr << 1));
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}else{
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_spi->transfer((uint8_t)(PageAdr >> 6));
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_spi->transfer((uint8_t)(PageAdr << 2));
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}
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_spi->transfer(0x00); // don´t care bytes
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//initiate the transfer
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_spi->cs_release();
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// Check if we need to wait to write the buffer to memory or we can continue...
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if (wait)
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while(!ReadStatus()) ; //monitor the status register, wait until busy-flag is high
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_spi_sem->give();
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}
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void DataFlash_APM1::BufferWrite (uint8_t BufferNum, uint16_t IntPageAdr, uint8_t Data)
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{
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if (!_spi_sem->take(1))
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return;
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// activate dataflash command decoder
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_spi->cs_assert();
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if (BufferNum==1)
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_spi->transfer(DF_BUFFER_1_WRITE);
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else
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_spi->transfer(DF_BUFFER_2_WRITE);
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_spi->transfer(0x00); // don't care
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_spi->transfer((uint8_t)(IntPageAdr>>8)); // upper part of internal buffer address
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_spi->transfer((uint8_t)(IntPageAdr)); // lower part of internal buffer address
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_spi->transfer(Data); // write data byte
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// release SPI bus for use by other sensors
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_spi->cs_release();
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_spi_sem->give();
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}
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uint8_t DataFlash_APM1::BufferRead (uint8_t BufferNum, uint16_t IntPageAdr)
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{
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uint8_t tmp;
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if (!_spi_sem->take(1))
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return 0;
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// activate dataflash command decoder
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_spi->cs_assert();
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if (BufferNum==1)
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_spi->transfer(DF_BUFFER_1_READ);
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else
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_spi->transfer(DF_BUFFER_2_READ);
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_spi->transfer(0x00);
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_spi->transfer((uint8_t)(IntPageAdr>>8)); // upper part of internal buffer address
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_spi->transfer((uint8_t)(IntPageAdr)); // lower part of internal buffer address
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_spi->transfer(0x00); // don't cares
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tmp = _spi->transfer(0x00); // read data byte
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// release SPI bus for use by other sensors
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_spi->cs_release();
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_spi_sem->give();
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return (tmp);
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}
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// *** END OF INTERNAL FUNCTIONS ***
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void DataFlash_APM1::PageErase (uint16_t PageAdr)
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{
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if (!_spi_sem->take(1))
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return;
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// activate dataflash command decoder
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_spi->cs_assert();
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// Send page erase command
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_spi->transfer(DF_PAGE_ERASE);
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if(df_PageSize==512) {
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_spi->transfer((uint8_t)(PageAdr >> 7));
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_spi->transfer((uint8_t)(PageAdr << 1));
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}else{
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_spi->transfer((uint8_t)(PageAdr >> 6));
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_spi->transfer((uint8_t)(PageAdr << 2));
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}
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_spi->transfer(0x00);
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//initiate flash page erase
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_spi->cs_release();
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_spi_sem->give();
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while(!ReadStatus()) ;
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}
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void DataFlash_APM1::BlockErase (uint16_t BlockAdr)
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{
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if (!_spi_sem->take(1))
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return;
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// activate dataflash command decoder
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_spi->cs_assert();
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// Send block erase command
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_spi->transfer(DF_BLOCK_ERASE);
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/*
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if (df_PageSize==512) {
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_spi->transfer((uint8_t)(BlockAdr >> 3));
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_spi->transfer((uint8_t)(BlockAdr << 5));
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} else {
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_spi->transfer((uint8_t)(BlockAdr >> 4));
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_spi->transfer((uint8_t)(BlockAdr << 4));
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}*/
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if (df_PageSize==512) {
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_spi->transfer((uint8_t)(BlockAdr >> 4));
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_spi->transfer((uint8_t)(BlockAdr << 4));
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} else {
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_spi->transfer((uint8_t)(BlockAdr >> 3));
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_spi->transfer((uint8_t)(BlockAdr << 5));
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}
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_spi->transfer(0x00);
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//serialDebug("BL Erase, %d\n", BlockAdr);
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//initiate flash page erase
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_spi->cs_release();
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while(!ReadStatus()) ;
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_spi_sem->give();
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}
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void DataFlash_APM1::ChipErase()
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{
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if (!_spi_sem->take(5))
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return;
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// activate dataflash command decoder
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_spi->cs_assert();
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// opcodes for chip erase
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_spi->transfer(DF_CHIP_ERASE_0);
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_spi->transfer(DF_CHIP_ERASE_1);
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_spi->transfer(DF_CHIP_ERASE_2);
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_spi->transfer(DF_CHIP_ERASE_3);
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//initiate flash page erase
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_spi->cs_release();
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while(!ReadStatus()) {
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hal.scheduler->delay(6);
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}
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_spi_sem->give();
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}
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