mirror of https://github.com/ArduPilot/ardupilot
433 lines
12 KiB
C++
433 lines
12 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* DataFlash_APM2.cpp - DataFlash log library for AT45DB321D
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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 AT45DB321D flash memory
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* Memory organization : 8192 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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extern "C" {
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// AVR LibC Includes
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#include <inttypes.h>
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#include <avr/interrupt.h>
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}
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#include <FastSerial.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WConstants.h"
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#endif
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#include <AP_Semaphore.h> // for removing conflict with optical flow sensor on SPI3 bus
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#include "DataFlash_APM2.h"
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/*
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* #define ENABLE_FASTSERIAL_DEBUG
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*
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* #ifdef ENABLE_FASTSERIAL_DEBUG
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# define serialDebug(fmt, args...) if (FastSerial::getInitialized(0)) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(0); } while(0)
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##else
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# define serialDebug(fmt, args...)
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##endif
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# //*/
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// DataFlash is connected to Serial Port 3 (we will use SPI mode)
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define DF_DATAOUT 14 // MOSI
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#define DF_DATAIN 15 // MISO
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#define DF_SPICLOCK PJ2 // SCK
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#define DF_SLAVESELECT 28 // SS (PA6)
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#define DF_RESET 41 // RESET (PG0)
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#define DF_CARDDETECT 33 // PC4
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#else
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# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
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#endif
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// AT45DB321D 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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unsigned char DataFlash_APM2::SPI_transfer(unsigned char data)
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{
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unsigned char retval;
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// get spi3 semaphore if required. if failed to get semaphore then just quietly fail
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if( !AP_Semaphore_spi3.get(this) ) {
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return 0;
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}
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & (1<<UDRE3)) ) ;
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/* Put data into buffer, sends the data */
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UDR3 = data;
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/* Wait for data to be received */
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while ( !(UCSR3A & (1<<RXC3)) ) ;
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/* Get and return received data from buffer */
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retval = UDR3;
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// release spi3 semaphore
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AP_Semaphore_spi3.release(this);
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return retval;
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}
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// disable device
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void DataFlash_APM2::CS_inactive()
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{
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digitalWrite(DF_SLAVESELECT,HIGH);
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}
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// enable device
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void DataFlash_APM2::CS_active()
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{
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digitalWrite(DF_SLAVESELECT,LOW);
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}
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// Constructors ////////////////////////////////////////////////////////////////
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DataFlash_APM2::DataFlash_APM2()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void DataFlash_APM2::Init(void)
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{
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// init to zero
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df_NumPages = 0;
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pinMode(DF_DATAOUT, OUTPUT);
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pinMode(DF_DATAIN, INPUT);
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pinMode(DF_SLAVESELECT,OUTPUT);
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pinMode(DF_RESET,OUTPUT);
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pinMode(DF_CARDDETECT, INPUT);
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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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// disable device
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CS_inactive();
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// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
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UBRR3 = 0;
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DDRJ |= (1<<PJ2); // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
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// Set MSPI mode of operation and SPI data mode 0.
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UCSR3C = (1<<UMSEL31)|(1<<UMSEL30); //|(1<<1)|(1<<UCPOL3);
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// Enable receiver and transmitter.
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UCSR3B = (1<<RXEN3)|(1<<TXEN3);
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// Set Baud rate
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UBRR3 = 0; // SPI running at 8Mhz
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// get page size: 512 or 528 (by default: 528)
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df_PageSize=PageSize();
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ReadManufacturerID();
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// see page 22 of the spec for the density code
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uint8_t density_code = (df_device >> 8) & 0x1F;
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// note that we set df_NumPages to one lower than the highest, as
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// the last page is reserved for a config page
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if (density_code == 0x7) {
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// 32 Mbit
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df_NumPages = 8191;
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} else if (density_code == 0x6) {
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// 16 Mbit
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df_NumPages = 4095;
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}
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//serialDebug("density_code %d pages %d, size %d\n", density_code, df_NumPages, df_PageSize);
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}
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// This function is mainly to test the device
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void DataFlash_APM2::ReadManufacturerID()
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{
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// activate dataflash command decoder
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CS_active();
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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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CS_inactive();
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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_APM2::CardInserted()
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{
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//serialDebug("df_NumPages %d, detect:%d\n", df_NumPages, tmp);
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//return (df_NumPages >= 4095 && digitalRead(DF_CARDDETECT) == 0);
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return (df_NumPages >= 4095);
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}
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// Read the status register
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byte DataFlash_APM2::ReadStatusReg()
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{
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byte tmp;
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// activate dataflash command decoder
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CS_active();
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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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CS_inactive();
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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_APM2::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_APM2::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_APM2::WaitReady()
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{
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while(!ReadStatus()) ;
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}
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void DataFlash_APM2::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
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{
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// activate dataflash command decoder
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CS_active();
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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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//initiate the transfer
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CS_inactive();
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CS_active();
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while(!ReadStatus()) ; //monitor the status register, wait until busy-flag is high
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// release SPI bus for use by other sensors
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CS_inactive();
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}
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void DataFlash_APM2::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
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{
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// activate dataflash command decoder
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CS_active();
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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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//initiate the transfer
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CS_inactive();
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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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// release SPI bus for use by other sensors
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CS_inactive();
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}
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void DataFlash_APM2::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
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{
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// activate dataflash command decoder
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CS_active();
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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((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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// release SPI bus for use by other sensors
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CS_inactive();
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}
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unsigned char DataFlash_APM2::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
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{
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byte tmp;
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// activate dataflash command decoder
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CS_active();
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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((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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// release SPI bus for use by other sensors
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CS_inactive();
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return (tmp);
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}
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// *** END OF INTERNAL FUNCTIONS ***
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void DataFlash_APM2::PageErase (uint16_t PageAdr)
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{
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// activate dataflash command decoder
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CS_active();
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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((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);
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//initiate flash page erase
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CS_inactive();
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CS_active();
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while(!ReadStatus()) ;
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// release SPI bus for use by other sensors
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CS_inactive();
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}
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// erase a block of 8 pages.
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void DataFlash_APM2::BlockErase(uint16_t BlockAdr)
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{
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// activate dataflash command decoder
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CS_active();
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// Send block erase command
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SPI_transfer(DF_BLOCK_ERASE);
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if (df_PageSize==512) {
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SPI_transfer((unsigned char)(BlockAdr >> 4));
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SPI_transfer((unsigned char)(BlockAdr << 4));
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} else {
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SPI_transfer((unsigned char)(BlockAdr >> 3));
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SPI_transfer((unsigned char)(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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CS_inactive();
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CS_active();
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while(!ReadStatus()) ;
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// release SPI bus for use by other sensors
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CS_inactive();
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}
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void DataFlash_APM2::ChipErase(void (*delay_cb)(unsigned long))
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{
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//serialDebug("Chip Erase\n");
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// activate dataflash command decoder
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CS_active();
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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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CS_inactive();
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CS_active();
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while(!ReadStatus()) {
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delay_cb(1);
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}
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// release SPI bus for use by other sensors
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CS_inactive();
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}
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