mirror of https://github.com/ArduPilot/ardupilot
455 lines
12 KiB
C++
455 lines
12 KiB
C++
/*
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DataFlash_APM1.cpp - DataFlash log library for AT45DB161
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Code by Jordi Munoz and Jose Julio. DIYDrones.com
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This code works with boards based on ATMega168/328 and ATMega1280/2560 using SPI port
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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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Dataflash library for AT45DB161D flash memory
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Memory organization : 4096 pages of 512 bytes or 528 bytes
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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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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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Properties:
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*/
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#include <stdint.h>
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#include "DataFlash.h"
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#include <SPI.h>
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#define OVERWRITE_DATA 1 // 0: When reach the end page stop, 1: Start overwriting from page 1
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// *** INTERNAL FUNCTIONS ***
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void dataflash_CS_inactive()
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{
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digitalWrite(DF_SLAVESELECT,HIGH); //disable device
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}
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void dataflash_CS_active()
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{
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digitalWrite(DF_SLAVESELECT,LOW); //enable device
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}
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// Constructors ////////////////////////////////////////////////////////////////
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DataFlash_APM1::DataFlash_APM1()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void DataFlash_APM1::Init(void)
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{
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pinMode(DF_DATAOUT, OUTPUT);
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pinMode(DF_DATAIN, INPUT);
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pinMode(DF_SPICLOCK,OUTPUT);
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pinMode(DF_SLAVESELECT,OUTPUT);
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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pinMode(DF_RESET,OUTPUT);
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// Reset the chip
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digitalWrite(DF_RESET,LOW);
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delay(1);
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digitalWrite(DF_RESET,HIGH);
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#endif
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df_Read_END=false;
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dataflash_CS_inactive(); //disable device
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// Setup SPI Master, Mode 3, fosc/4 = 4MHz
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SPI.begin();
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SPI.setBitOrder(MSBFIRST);
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SPI.setDataMode(SPI_MODE3);
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SPI.setClockDivider(SPI_CLOCK_DIV2);
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// get page size: 512 or 528
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df_PageSize=PageSize();
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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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dataflash_CS_active(); // activate dataflash command decoder
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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_0 = SPI.transfer(0xff);
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df_device_1 = SPI.transfer(0xff);
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SPI.transfer(0xff);
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dataflash_CS_inactive(); // Reset dataflash command decoder
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}
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// Read the status register
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byte DataFlash_APM1::ReadStatusReg()
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{
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byte tmp;
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dataflash_CS_active(); // activate dataflash command decoder
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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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dataflash_CS_inactive(); // Reset dataflash command decoder
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return tmp;
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}
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// Read the status of the DataFlash
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inline
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byte 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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return(528-((ReadStatusReg()&0x01)<<4)); // if first bit 1 trhen 512 else 528 bytes
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}
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// Wait until DataFlash is in ready state...
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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(unsigned char BufferNum, uint16_t PageAdr)
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{
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dataflash_CS_active(); // activate dataflash command decoder
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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((unsigned char)(PageAdr >> 7));
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SPI.transfer((unsigned char)(PageAdr << 1));
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}else{
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SPI.transfer((unsigned char)(PageAdr >> 6));
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SPI.transfer((unsigned char)(PageAdr << 2));
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}
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SPI.transfer(0x00); // don´t care bytes
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dataflash_CS_inactive(); //initiate the transfer
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dataflash_CS_active();
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while(!ReadStatus()); //monitor the status register, wait until busy-flag is high
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dataflash_CS_inactive();
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}
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void DataFlash_APM1::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
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{
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dataflash_CS_active(); // activate dataflash command decoder
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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((unsigned char)(PageAdr >> 7));
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SPI.transfer((unsigned char)(PageAdr << 1));
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}else{
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SPI.transfer((unsigned char)(PageAdr >> 6));
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SPI.transfer((unsigned char)(PageAdr << 2));
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}
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SPI.transfer(0x00); // don´t care bytes
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dataflash_CS_inactive(); //initiate the transfer
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dataflash_CS_active();
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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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dataflash_CS_inactive(); //deactivate dataflash command decoder
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}
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void DataFlash_APM1::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
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{
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dataflash_CS_active(); // activate dataflash command decoder
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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 cares
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SPI.transfer((unsigned char)(IntPageAdr>>8)); //upper part of internal buffer address
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SPI.transfer((unsigned char)(IntPageAdr)); //lower part of internal buffer address
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SPI.transfer(Data); //write data byte
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dataflash_CS_inactive(); // disable dataflash command decoder
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}
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unsigned char DataFlash_APM1::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
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{
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byte tmp;
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dataflash_CS_active(); // activate dataflash command decoder
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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); //don't cares
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SPI.transfer((unsigned char)(IntPageAdr>>8)); //upper part of internal buffer address
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SPI.transfer((unsigned char)(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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dataflash_CS_inactive(); // deactivate dataflash command decoder
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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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dataflash_CS_active(); // activate dataflash command decoder
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SPI.transfer(DF_PAGE_ERASE); // Command
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if(df_PageSize==512){
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SPI.transfer((unsigned char)(PageAdr >> 7));
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SPI.transfer((unsigned char)(PageAdr << 1));
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}else{
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SPI.transfer((unsigned char)(PageAdr >> 6));
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SPI.transfer((unsigned char)(PageAdr << 2));
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}
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SPI.transfer(0x00); // "dont cares"
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dataflash_CS_inactive(); //initiate flash page erase
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dataflash_CS_active();
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while(!ReadStatus());
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dataflash_CS_inactive(); // deactivate dataflash command decoder
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}
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void DataFlash_APM1::ChipErase ()
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{
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dataflash_CS_active(); // activate dataflash command decoder
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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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dataflash_CS_inactive(); //initiate flash page erase
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dataflash_CS_active();
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while(!ReadStatus());
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dataflash_CS_inactive(); // deactivate dataflash command decoder
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}
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// *** DATAFLASH PUBLIC FUNCTIONS ***
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void DataFlash_APM1::StartWrite(int16_t PageAdr)
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{
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df_BufferNum=1;
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df_BufferIdx=4;
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df_PageAdr=PageAdr;
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df_Stop_Write=0;
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WaitReady();
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// We are starting a new page - write FileNumber and FilePage
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BufferWrite(df_BufferNum,0,df_FileNumber>>8); // High byte
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BufferWrite(df_BufferNum,1,df_FileNumber&0xFF); // Low byte
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BufferWrite(df_BufferNum,2,df_FilePage>>8); // High byte
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BufferWrite(df_BufferNum,3,df_FilePage&0xFF); // Low byte
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}
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void DataFlash_APM1::FinishWrite(void)
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{
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df_BufferIdx=0;
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BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
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df_PageAdr++;
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if (OVERWRITE_DATA==1)
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{
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if (df_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
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df_PageAdr = 1;
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}
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else
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{
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if (df_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, stop here
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df_Stop_Write=1;
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}
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if (df_BufferNum==1) // Change buffer to continue writing...
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df_BufferNum=2;
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else
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df_BufferNum=1;
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}
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void DataFlash_APM1::WriteByte(byte data)
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{
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if (!df_Stop_Write)
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{
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BufferWrite(df_BufferNum,df_BufferIdx,data);
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df_BufferIdx++;
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if (df_BufferIdx >= df_PageSize) // End of buffer?
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{
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df_BufferIdx=4; //(4 bytes for FileNumber, FilePage)
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BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
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df_PageAdr++;
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if (OVERWRITE_DATA==1)
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{
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if (df_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
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df_PageAdr = 1;
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}
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else
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{
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if (df_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, stop here
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df_Stop_Write=1;
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}
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if (df_BufferNum==1) // Change buffer to continue writing...
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df_BufferNum=2;
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else
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df_BufferNum=1;
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// We are starting a new page - write FileNumber and FilePage
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BufferWrite(df_BufferNum,0,df_FileNumber>>8); // High byte
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BufferWrite(df_BufferNum,1,df_FileNumber&0xFF); // Low byte
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df_FilePage++;
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BufferWrite(df_BufferNum,2,df_FilePage>>8); // High byte
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BufferWrite(df_BufferNum,3,df_FilePage&0xFF); // Low byte
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}
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}
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}
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void DataFlash_APM1::WriteInt(int16_t data)
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{
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WriteByte(data>>8); // High byte
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WriteByte(data&0xFF); // Low byte
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}
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void DataFlash_APM1::WriteLong(int32_t data)
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{
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WriteByte(data>>24); // First byte
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WriteByte(data>>16);
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WriteByte(data>>8);
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WriteByte(data&0xFF); // Last byte
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}
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// Get the last page written to
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int16_t DataFlash_APM1::GetWritePage()
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{
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return(df_PageAdr);
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}
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// Get the last page read
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int16_t DataFlash_APM1::GetPage()
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{
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return(df_Read_PageAdr-1);
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}
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void DataFlash_APM1::StartRead(int16_t PageAdr)
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{
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df_Read_BufferNum=1;
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df_Read_BufferIdx=4;
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df_Read_PageAdr=PageAdr;
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WaitReady();
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PageToBuffer(df_Read_BufferNum,df_Read_PageAdr); // Write Memory page to buffer
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//Serial.print(df_Read_PageAdr, DEC); Serial.print("\t");
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df_Read_PageAdr++;
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// We are starting a new page - read FileNumber and FilePage
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df_FileNumber = BufferRead(df_Read_BufferNum,0); // High byte
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//Serial.print(df_FileNumber, DEC); Serial.print("\t");
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df_FileNumber = (df_FileNumber<<8) | BufferRead(df_Read_BufferNum,1); // Low byte
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//Serial.println(df_FileNumber, DEC); Serial.print("\t");
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df_FilePage = BufferRead(df_Read_BufferNum,2); // High byte
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df_FilePage = (df_FilePage<<8) | BufferRead(df_Read_BufferNum,3); // Low byte
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}
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byte DataFlash_APM1::ReadByte()
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{
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byte result;
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WaitReady();
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result = BufferRead(df_Read_BufferNum,df_Read_BufferIdx);
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df_Read_BufferIdx++;
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if (df_Read_BufferIdx >= df_PageSize) // End of buffer?
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{
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df_Read_BufferIdx=4; //(4 bytes for FileNumber, FilePage)
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PageToBuffer(df_Read_BufferNum,df_Read_PageAdr); // Write memory page to Buffer
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df_Read_PageAdr++;
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if (df_Read_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
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{
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df_Read_PageAdr = 0;
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df_Read_END = true;
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}
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// We are starting a new page - read FileNumber and FilePage
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df_FileNumber = BufferRead(df_Read_BufferNum,0); // High byte
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df_FileNumber = (df_FileNumber<<8) | BufferRead(df_Read_BufferNum,1); // Low byte
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df_FilePage = BufferRead(df_Read_BufferNum,2); // High byte
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df_FilePage = (df_FilePage<<8) | BufferRead(df_Read_BufferNum,3); // Low byte
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}
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return result;
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}
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int16_t DataFlash_APM1::ReadInt()
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{
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uint16_t result;
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result = ReadByte(); // High byte
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result = (result<<8) | ReadByte(); // Low byte
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return (int16_t)result;
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}
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int32_t DataFlash_APM1::ReadLong()
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{
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uint32_t result;
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result = ReadByte(); // First byte
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result = (result<<8) | ReadByte();
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result = (result<<8) | ReadByte();
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result = (result<<8) | ReadByte(); // Last byte
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return (int32_t)result;
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}
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void DataFlash_APM1::SetFileNumber(uint16_t FileNumber)
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{
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df_FileNumber = FileNumber;
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df_FilePage = 1;
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}
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uint16_t DataFlash_APM1::GetFileNumber()
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{
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return df_FileNumber;
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}
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uint16_t DataFlash_APM1::GetFilePage()
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{
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return df_FilePage;
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}
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// make one instance for the user to use
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DataFlash_APM1 DataFlash;
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