mirror of https://github.com/ArduPilot/ardupilot
339 lines
10 KiB
C++
339 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 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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*
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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 <stdint.h>
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#include "DataFlash.h"
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#include <SPI.h>
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// flash size
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#define DF_LAST_PAGE 4096
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// arduino mega SPI pins
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define DF_DATAOUT 51 // MOSI
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#define DF_DATAIN 50 // MISO
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#define DF_SPICLOCK 52 // SCK
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#define DF_SLAVESELECT 53 // SS (PB0)
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#define DF_RESET 31 // RESET (PC6)
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#else // normal arduino SPI pins...
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#define DF_DATAOUT 11 //MOSI
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#define DF_DATAIN 12 //MISO
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#define DF_SPICLOCK 13 //SCK
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#define DF_SLAVESELECT 10 //SS
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#endif
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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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// *** 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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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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// 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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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 = 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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dataflash_CS_inactive(); // Reset dataflash command decoder
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}
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bool DataFlash_APM1::CardInserted(void)
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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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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::BlockErase (uint16_t BlockAdr)
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{
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dataflash_CS_active(); // activate dataflash command decoder
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SPI.transfer(DF_BLOCK_ERASE); // Command
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if (df_PageSize==512) {
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SPI.transfer((unsigned char)(BlockAdr >> 3));
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SPI.transfer((unsigned char)(BlockAdr << 5));
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} else {
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SPI.transfer((unsigned char)(BlockAdr >> 4));
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SPI.transfer((unsigned char)(BlockAdr << 4));
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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(void (*delay_cb)(unsigned long))
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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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delay_cb(1);
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}
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dataflash_CS_inactive(); // deactivate dataflash command decoder
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}
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