mirror of https://github.com/ArduPilot/ardupilot
388 lines
11 KiB
C++
388 lines
11 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||
/*
|
||
* DataFlash_APM2.cpp - DataFlash log library for AT45DB321D
|
||
* 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 AT45DB321D flash memory
|
||
* Memory organization : 8192 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:
|
||
*
|
||
*/
|
||
|
||
#include <AP_HAL.h> // for removing conflict with optical flow sensor on SPI3 bus
|
||
#include "DataFlash_APM2.h"
|
||
|
||
extern const AP_HAL::HAL& hal;
|
||
/*
|
||
* #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
|
||
# //*/
|
||
|
||
#define DF_RESET 41 // RESET (PG0)
|
||
#define DF_CARDDETECT 33 // PC4
|
||
|
||
// AT45DB321D 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
|
||
|
||
|
||
|
||
// Public Methods //////////////////////////////////////////////////////////////
|
||
void DataFlash_APM2::Init(void)
|
||
{
|
||
// init to zero
|
||
df_NumPages = 0;
|
||
|
||
hal.gpio->pinMode(DF_RESET, GPIO_OUTPUT);
|
||
hal.gpio->pinMode(DF_CARDDETECT, GPIO_INPUT);
|
||
|
||
// Reset the chip
|
||
hal.gpio->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.scheduler->panic(
|
||
PSTR("PANIC: DataFlash SPIDeviceDriver not found"));
|
||
return;
|
||
}
|
||
_spi_sem = _spi->get_semaphore();
|
||
if (_spi_sem == NULL) {
|
||
hal.scheduler->panic(
|
||
PSTR("PANIC: DataFlash SPIDeviceDriver semaphore is null"));
|
||
return; /* never reached */
|
||
}
|
||
|
||
if (!_spi_sem->take(5))
|
||
return;
|
||
// get page size: 512 or 528 (by default: 528)
|
||
df_PageSize=PageSize();
|
||
|
||
ReadManufacturerID();
|
||
|
||
_spi_sem->give();
|
||
|
||
// see page 22 of the spec for the density code
|
||
uint8_t density_code = (df_device >> 8) & 0x1F;
|
||
|
||
// note that we set df_NumPages to one lower than the highest, as
|
||
// the last page is reserved for a config page
|
||
if (density_code == 0x7) {
|
||
// 32 Mbit
|
||
df_NumPages = 8191;
|
||
} else if (density_code == 0x6) {
|
||
// 16 Mbit
|
||
df_NumPages = 4095;
|
||
}
|
||
|
||
//serialDebug("density_code %d pages %d, size %d\n", density_code, df_NumPages, df_PageSize);
|
||
}
|
||
|
||
// This function is mainly to test the device
|
||
void DataFlash_APM2::ReadManufacturerID()
|
||
{
|
||
// activate dataflash command decoder
|
||
_spi->cs_assert();
|
||
|
||
// 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
|
||
_spi->cs_release();
|
||
}
|
||
|
||
// This function return 1 if Card is inserted on SD slot
|
||
bool DataFlash_APM2::CardInserted()
|
||
{
|
||
//serialDebug("df_NumPages %d, detect:%d\n", df_NumPages, tmp);
|
||
//return (df_NumPages >= 4095 && digitalRead(DF_CARDDETECT) == 0);
|
||
return (df_NumPages >= 4095);
|
||
}
|
||
|
||
// Read the status register
|
||
uint8_t DataFlash_APM2::ReadStatusReg()
|
||
{
|
||
uint8_t tmp;
|
||
|
||
// activate dataflash command decoder
|
||
_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
|
||
|
||
// release SPI bus for use by other sensors
|
||
_spi->cs_release();
|
||
|
||
return tmp;
|
||
}
|
||
|
||
// Read the status of the DataFlash
|
||
inline
|
||
uint8_t DataFlash_APM2::ReadStatus()
|
||
{
|
||
return(ReadStatusReg()&0x80); // We only want to extract the READY/BUSY bit
|
||
}
|
||
|
||
inline
|
||
uint16_t DataFlash_APM2::PageSize()
|
||
{
|
||
return(528-((ReadStatusReg()&0x01)<<4)); // if first bit 1 trhen 512 else 528 bytes
|
||
}
|
||
|
||
// Wait until DataFlash is in ready state...
|
||
void DataFlash_APM2::WaitReady()
|
||
{
|
||
while(!ReadStatus()) ;
|
||
}
|
||
|
||
void DataFlash_APM2::PageToBuffer(uint8_t BufferNum, uint16_t PageAdr)
|
||
{
|
||
if (!_spi_sem->take(1))
|
||
return;
|
||
|
||
// activate dataflash command decoder
|
||
_spi->cs_assert();
|
||
|
||
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((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(0x00); // don´t care bytes
|
||
|
||
//initiate the transfer
|
||
_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
|
||
_spi->cs_release();
|
||
_spi_sem->give();
|
||
}
|
||
|
||
void DataFlash_APM2::BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait)
|
||
{
|
||
if (!_spi_sem->take(1))
|
||
return;
|
||
// activate dataflash command decoder
|
||
_spi->cs_assert();
|
||
|
||
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((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(0x00); // don´t care bytes
|
||
|
||
//initiate the transfer
|
||
_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
|
||
_spi_sem->give();
|
||
}
|
||
|
||
void DataFlash_APM2::BufferWrite (uint8_t BufferNum, uint16_t IntPageAdr, uint8_t Data)
|
||
{
|
||
if (!_spi_sem->take(1))
|
||
return;
|
||
// activate dataflash command decoder
|
||
_spi->cs_assert();
|
||
|
||
if (BufferNum==1)
|
||
_spi->transfer(DF_BUFFER_1_WRITE);
|
||
else
|
||
_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
|
||
|
||
// release SPI bus for use by other sensors
|
||
_spi->cs_release();
|
||
_spi_sem->give();
|
||
}
|
||
|
||
uint8_t DataFlash_APM2::BufferRead (uint8_t BufferNum, uint16_t IntPageAdr)
|
||
{
|
||
if (!_spi_sem->take(1))
|
||
return 0;
|
||
|
||
uint8_t tmp;
|
||
|
||
// activate dataflash command decoder
|
||
_spi->cs_assert();
|
||
|
||
if (BufferNum==1)
|
||
_spi->transfer(DF_BUFFER_1_READ);
|
||
else
|
||
_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
|
||
|
||
// release SPI bus for use by other sensors
|
||
_spi->cs_release();
|
||
|
||
_spi_sem->give();
|
||
return (tmp);
|
||
}
|
||
// *** END OF INTERNAL FUNCTIONS ***
|
||
|
||
void DataFlash_APM2::PageErase (uint16_t PageAdr)
|
||
{
|
||
if (!_spi_sem->take(1))
|
||
return;
|
||
// activate dataflash command decoder
|
||
_spi->cs_assert();
|
||
|
||
// Send page erase command
|
||
_spi->transfer(DF_PAGE_ERASE);
|
||
|
||
if(df_PageSize==512) {
|
||
_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(0x00);
|
||
|
||
//initiate flash page erase
|
||
_spi->cs_release();
|
||
while(!ReadStatus()) ;
|
||
|
||
// release SPI bus for use by other sensors
|
||
_spi_sem->give();
|
||
}
|
||
|
||
// erase a block of 8 pages.
|
||
void DataFlash_APM2::BlockErase(uint16_t BlockAdr)
|
||
{
|
||
if (!_spi_sem->take(1))
|
||
return;
|
||
// activate dataflash command decoder
|
||
_spi->cs_assert();
|
||
|
||
// Send block erase command
|
||
_spi->transfer(DF_BLOCK_ERASE);
|
||
|
||
if (df_PageSize==512) {
|
||
_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(0x00);
|
||
//serialDebug("BL Erase, %d\n", BlockAdr);
|
||
|
||
//initiate flash page erase
|
||
_spi->cs_release();
|
||
while(!ReadStatus()) ;
|
||
|
||
// release SPI bus for use by other sensors
|
||
_spi_sem->give();
|
||
}
|
||
|
||
|
||
void DataFlash_APM2::ChipErase()
|
||
{
|
||
if (!_spi_sem->take(1))
|
||
return;
|
||
//serialDebug("Chip Erase\n");
|
||
|
||
// activate dataflash command decoder
|
||
_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);
|
||
|
||
//initiate flash page erase
|
||
_spi->cs_release();
|
||
|
||
while(!ReadStatus()) {
|
||
hal.scheduler->delay(1);
|
||
}
|
||
|
||
// release SPI bus for use by other sensors
|
||
_spi_sem->give();
|
||
}
|