From 0dfeae25563bdb3e42afd0d0da617b2a0c5cae3a Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Tue, 3 Nov 2015 11:46:30 -0200 Subject: [PATCH] DataFlash: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 --- libraries/DataFlash/DataFlash_APM1.cpp | 418 ------------------------ libraries/DataFlash/DataFlash_APM1.h | 57 ---- libraries/DataFlash/DataFlash_APM2.cpp | 424 ------------------------- libraries/DataFlash/DataFlash_APM2.h | 58 ---- libraries/DataFlash/DataFlash_Block.h | 2 - libraries/DataFlash/LogFile.cpp | 8 +- 6 files changed, 1 insertion(+), 966 deletions(-) delete mode 100644 libraries/DataFlash/DataFlash_APM1.cpp delete mode 100644 libraries/DataFlash/DataFlash_APM1.h delete mode 100644 libraries/DataFlash/DataFlash_APM2.cpp delete mode 100644 libraries/DataFlash/DataFlash_APM2.h diff --git a/libraries/DataFlash/DataFlash_APM1.cpp b/libraries/DataFlash/DataFlash_APM1.cpp deleted file mode 100644 index 861347b5f9..0000000000 --- a/libraries/DataFlash/DataFlash_APM1.cpp +++ /dev/null @@ -1,418 +0,0 @@ -/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- -/* - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - */ - -/* - * DataFlash_APM1.cpp - DataFlash log library for AT45DB161 - * Code by Jordi Muñoz and Jose Julio. DIYDrones.com - * This code works only on ATMega2560. It uses Serial port 3 in SPI MSPI mdoe. - * - * Dataflash library for AT45DB161D flash memory - * Memory organization : 4096 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. - * StartRead(page) : Start a read on (page) - * GetWritePage() : Returns the last page written to - * GetPage() : Returns the last page read - * - * Properties: - * - */ -#include -#include "DataFlash_APM2.h" - -extern const AP_HAL::HAL& hal; - -//#define ENABLE_FASTSERIAL_DEBUG -#ifdef ENABLE_FASTSERIAL_DEBUG - #define serialDebug(fmt, args...) do {hal.console->printf( __FUNCTION__ ":%d:" fmt "\n", __LINE__, ##args); } while(0) -#else - # define serialDebug(fmt, args...) -#endif - - - -// flash size -#define DF_LAST_PAGE 4096 - -#define DF_RESET 31 // RESET (PC6) - -// AT45DB161D 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 - -/* - try to take a semaphore safely from both in a timer and outside - */ -bool DataFlash_APM1::_sem_take(uint8_t timeout) -{ - if (hal.scheduler->in_timerprocess()) { - return _spi_sem->take_nonblocking(); - } - return _spi_sem->take(timeout); -} - - -// Public Methods ////////////////////////////////////////////////////////////// -void DataFlash_APM1::Init(const struct LogStructure *structure, uint8_t num_types) -{ - DataFlash_Backend::Init(structure, num_types); - // init to zero - df_NumPages = 0; - - hal.gpio->pinMode(DF_RESET,HAL_GPIO_OUTPUT); - // 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( - "PANIC: DataFlash SPIDeviceDriver not found"); - return; /* never reached */ - } - - _spi_sem = _spi->get_semaphore(); - if (_spi_sem == NULL) { - hal.scheduler->panic( - "PANIC: DataFlash SPIDeviceDriver semaphore is null"); - return; /* never reached */ - } - - // get page size: 512 or 528 (by default: 528) - df_PageSize = PageSize(); - - // the last page is reserved for config information - df_NumPages = DF_LAST_PAGE - 1; -} - -// This function is mainly to test the device -void DataFlash_APM1::ReadManufacturerID() -{ - if (!_sem_take(5)) - return; - // 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(); - - _spi_sem->give(); -} - -// This function return 1 if Card is inserted on SD slot -bool DataFlash_APM1::CardInserted() -{ - return true; -} - -// Read the status register -// Assumes _spi_sem handled by caller -uint8_t DataFlash_APM1::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 -// Assumes _spi_sem handled by caller. -inline -uint8_t DataFlash_APM1::ReadStatus() -{ - return(ReadStatusReg()&0x80); // We only want to extract the READY/BUSY bit -} - -inline -uint16_t DataFlash_APM1::PageSize() -{ - if (!_sem_take(5)) - return 0; - - uint16_t ret = 528-((ReadStatusReg()&0x01) << 4); // if first bit 1 trhen 512 else 528 bytes - - _spi_sem->give(); - return ret; -} - -// Wait until DataFlash is in ready state... -// Assumes _spi_sem handled by caller. -void DataFlash_APM1::WaitReady() -{ - while(!ReadStatus()) ; -} - -void DataFlash_APM1::PageToBuffer(uint8_t BufferNum, uint16_t PageAdr) -{ - if (!_sem_take(1)) - return; - - // activate dataflash command decoder - _spi->cs_assert(); - - uint8_t cmd[4]; - cmd[0] = BufferNum?DF_TRANSFER_PAGE_TO_BUFFER_2:DF_TRANSFER_PAGE_TO_BUFFER_1; - if(df_PageSize==512) { - cmd[1] = (uint8_t)(PageAdr >> 7); - cmd[2] = (uint8_t)(PageAdr << 1); - }else{ - cmd[1] = (uint8_t)(PageAdr >> 6); - cmd[2] = (uint8_t)(PageAdr << 2); - } - cmd[3] = 0; - _spi->transfer(cmd, sizeof(cmd)); - - //initiate the transfer - _spi->cs_release(); - - while(!ReadStatus()) ; //monitor the status register, wait until busy-flag is high - _spi_sem->give(); -} - -void DataFlash_APM1::BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait) -{ - if (!_sem_take(1)) - return; - - // activate dataflash command decoder - _spi->cs_assert(); - - uint8_t cmd[4]; - cmd[0] = BufferNum?DF_BUFFER_2_TO_PAGE_WITH_ERASE:DF_BUFFER_1_TO_PAGE_WITH_ERASE; - if(df_PageSize==512) { - cmd[1] = (uint8_t)(PageAdr >> 7); - cmd[2] = (uint8_t)(PageAdr << 1); - }else{ - cmd[1] = (uint8_t)(PageAdr >> 6); - cmd[2] = (uint8_t)(PageAdr << 2); - } - cmd[3] = 0; - _spi->transfer(cmd, sizeof(cmd)); - - //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 - _spi_sem->give(); - -} - -void DataFlash_APM1::BlockWrite (uint8_t BufferNum, uint16_t IntPageAdr, - const void *pHeader, uint8_t hdr_size, - const void *pBuffer, uint16_t size) -{ - if (!_sem_take(1)) - return; - - // activate dataflash command decoder - _spi->cs_assert(); - - uint8_t cmd[4]; - cmd[0] = BufferNum?DF_BUFFER_2_WRITE:DF_BUFFER_1_WRITE; - cmd[1] = 0; - cmd[2] = (uint8_t)(IntPageAdr>>8); - cmd[3] = (uint8_t)(IntPageAdr); - _spi->transfer(cmd, sizeof(cmd)); - - // transfer header, if any - if (hdr_size != 0) { - _spi->transfer((const uint8_t *)pHeader, hdr_size); - } - - // transfer data - _spi->transfer((const uint8_t *)pBuffer, size); - - // release SPI bus for use by other sensors - _spi->cs_release(); - _spi_sem->give(); -} - -bool DataFlash_APM1::BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size) -{ - if (!_sem_take(1)) - return false; - - // activate dataflash command decoder - _spi->cs_assert(); - - uint8_t cmd[5]; - cmd[0] = BufferNum?DF_BUFFER_2_READ:DF_BUFFER_1_READ; - cmd[1] = 0; - cmd[2] = (uint8_t)(IntPageAdr>>8); - cmd[3] = (uint8_t)(IntPageAdr); - cmd[4] = 0; - _spi->transfer(cmd, sizeof(cmd)); - - uint8_t *pData = (uint8_t *)pBuffer; - while (size--) { - *pData++ = _spi->transfer(0x00); - } - - // release SPI bus for use by other sensors - _spi->cs_release(); - - _spi_sem->give(); - return true; -} - -// *** END OF INTERNAL FUNCTIONS *** - -void DataFlash_APM1::PageErase (uint16_t PageAdr) -{ - if (!_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(); - - _spi_sem->give(); - while(!ReadStatus()) ; -} - -void DataFlash_APM1::BlockErase (uint16_t BlockAdr) -{ - if (!_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 >> 3)); - _spi->transfer((uint8_t)(BlockAdr << 5)); - } else { - _spi->transfer((uint8_t)(BlockAdr >> 4)); - _spi->transfer((uint8_t)(BlockAdr << 4)); - }*/ - - 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()) ; - _spi_sem->give(); -} - - -void DataFlash_APM1::ChipErase() -{ - if (!_sem_take(5)) - return; - - // 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(6); - } - - _spi_sem->give(); - -} - -// Writing too quickly to DF on APM1/APM2 corrupts the flash. This -// could be done at a lower level to more generally restrict bandwidth -void DataFlash_APM1::WroteStartupFormat() -{ - if (! hal.util->get_soft_armed()) { - hal.scheduler->delay(10); - } -} -void DataFlash_APM1::WroteStartupParam() -{ - if (! hal.util->get_soft_armed()) { - hal.scheduler->delay(2); - } -} diff --git a/libraries/DataFlash/DataFlash_APM1.h b/libraries/DataFlash/DataFlash_APM1.h deleted file mode 100644 index ed824a958f..0000000000 --- a/libraries/DataFlash/DataFlash_APM1.h +++ /dev/null @@ -1,57 +0,0 @@ -/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- - -/* ************************************************************ */ -/* DataFlash_APM1 Log library */ -/* ************************************************************ */ -#ifndef __DATAFLASH_APM1_H__ -#define __DATAFLASH_APM1_H__ - -#include -#include "DataFlash.h" - -class DataFlash_APM1 : public DataFlash_Block -{ -private: - //Methods - void BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait); - void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr); - void WaitReady(); - uint8_t ReadStatusReg(); - uint8_t ReadStatus(); - uint16_t PageSize(); - void PageErase (uint16_t PageAdr); - void BlockErase (uint16_t BlockAdr); - void ChipErase(); - - // write size bytes of data to a page. The caller must ensure that - // the data fits within the page, otherwise it will wrap to the - // start of the page - // If pHeader is not NULL then write the header bytes before the data - void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr, - const void *pHeader, uint8_t hdr_size, - const void *pBuffer, uint16_t size); - - // read size bytes of data to a page. The caller must ensure that - // the data fits within the page, otherwise it will wrap to the - // start of the page - bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, - void *pBuffer, uint16_t size); - - AP_HAL::SPIDeviceDriver *_spi; - AP_HAL::Semaphore *_spi_sem; - - // take a semaphore safely - bool _sem_take(uint8_t timeout); - -public: - DataFlash_APM1(DataFlash_Class &front) : - DataFlash_Block(front) { } - void Init(const struct LogStructure *structure, uint8_t num_types); - void ReadManufacturerID(); - bool CardInserted(); - - void WroteStartupFormat(); - void WroteStartupParam(); -}; - -#endif diff --git a/libraries/DataFlash/DataFlash_APM2.cpp b/libraries/DataFlash/DataFlash_APM2.cpp deleted file mode 100644 index 8d9d9618a1..0000000000 --- a/libraries/DataFlash/DataFlash_APM2.cpp +++ /dev/null @@ -1,424 +0,0 @@ -/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- -/* - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - */ - -/* - * 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. - * - * 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. - * StartRead(page) : Start a read on (page) - * GetWritePage() : Returns the last page written to - * GetPage() : Returns the last page read - * - * Properties: - * - */ - -#include // 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 - - -/* - try to take a semaphore safely from both in a timer and outside - */ -bool DataFlash_APM2::_sem_take(uint8_t timeout) -{ - if (hal.scheduler->in_timerprocess()) { - return _spi_sem->take_nonblocking(); - } - return _spi_sem->take(timeout); -} - - -// Public Methods ////////////////////////////////////////////////////////////// -void DataFlash_APM2::Init(const struct LogStructure *structure, uint8_t num_types) -{ - DataFlash_Backend::Init(structure, num_types); - // init to zero - df_NumPages = 0; - - hal.gpio->pinMode(DF_RESET, HAL_GPIO_OUTPUT); - hal.gpio->pinMode(DF_CARDDETECT, HAL_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( - "PANIC: DataFlash SPIDeviceDriver not found"); - return; - } - _spi_sem = _spi->get_semaphore(); - if (_spi_sem == NULL) { - hal.scheduler->panic( - "PANIC: DataFlash SPIDeviceDriver semaphore is null"); - return; /* never reached */ - } - - if (!_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 (!_sem_take(1)) - return; - - // activate dataflash command decoder - _spi->cs_assert(); - - uint8_t cmd[4]; - cmd[0] = BufferNum?DF_TRANSFER_PAGE_TO_BUFFER_2:DF_TRANSFER_PAGE_TO_BUFFER_1; - if(df_PageSize==512) { - cmd[1] = (uint8_t)(PageAdr >> 7); - cmd[2] = (uint8_t)(PageAdr << 1); - }else{ - cmd[1] = (uint8_t)(PageAdr >> 6); - cmd[2] = (uint8_t)(PageAdr << 2); - } - cmd[3] = 0; - _spi->transfer(cmd, sizeof(cmd)); - - //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 (!_sem_take(1)) - return; - // activate dataflash command decoder - _spi->cs_assert(); - - uint8_t cmd[4]; - cmd[0] = BufferNum?DF_BUFFER_2_TO_PAGE_WITH_ERASE:DF_BUFFER_1_TO_PAGE_WITH_ERASE; - if(df_PageSize==512) { - cmd[1] = (uint8_t)(PageAdr >> 7); - cmd[2] = (uint8_t)(PageAdr << 1); - }else{ - cmd[1] = (uint8_t)(PageAdr >> 6); - cmd[2] = (uint8_t)(PageAdr << 2); - } - cmd[3] = 0; - _spi->transfer(cmd, sizeof(cmd)); - - //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::BlockWrite (uint8_t BufferNum, uint16_t IntPageAdr, - const void *pHeader, uint8_t hdr_size, - const void *pBuffer, uint16_t size) -{ - if (!_sem_take(1)) - return; - // activate dataflash command decoder - _spi->cs_assert(); - - uint8_t cmd[] = { - (uint8_t)(BufferNum?DF_BUFFER_2_WRITE:DF_BUFFER_1_WRITE), - 0, - (uint8_t)(IntPageAdr>>8), - (uint8_t)(IntPageAdr) - }; - _spi->transfer(cmd, sizeof(cmd)); - - // transfer header, if any - if (hdr_size != 0) { - _spi->transfer((const uint8_t *)pHeader, hdr_size); - } - - // transfer data - _spi->transfer((const uint8_t *)pBuffer, size); - - // release SPI bus for use by other sensors - _spi->cs_release(); - _spi_sem->give(); -} - -bool DataFlash_APM2::BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size) -{ - if (!_sem_take(1)) - return false; - - // activate dataflash command decoder - _spi->cs_assert(); - - if (BufferNum==0) - _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 - - uint8_t *pData = (uint8_t *)pBuffer; - while (size--) { - *pData++ = _spi->transfer(0x00); - } - - // release SPI bus for use by other sensors - _spi->cs_release(); - - _spi_sem->give(); - return true; -} - -// *** END OF INTERNAL FUNCTIONS *** -void DataFlash_APM2::PageErase (uint16_t PageAdr) -{ - if (!_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 (!_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 (!_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(); -} - -// Writing too quickly to DF on APM1/APM2 corrupts the flash. This -// could be done at a lower level to more generally restrict bandwidth -void DataFlash_APM2::WroteStartupFormat() -{ - if (! hal.util->get_soft_armed()) { - hal.scheduler->delay(10); - } -} -void DataFlash_APM2::WroteStartupParam() -{ - if (! hal.util->get_soft_armed()) { - hal.scheduler->delay(2); - } -} diff --git a/libraries/DataFlash/DataFlash_APM2.h b/libraries/DataFlash/DataFlash_APM2.h deleted file mode 100644 index d1e281b44b..0000000000 --- a/libraries/DataFlash/DataFlash_APM2.h +++ /dev/null @@ -1,58 +0,0 @@ -/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- - -/* ************************************************************ */ -/* DataFlash_APM2 Log library */ -/* ************************************************************ */ -#ifndef __DATAFLASH_APM2_H__ -#define __DATAFLASH_APM2_H__ - -#include -#include "DataFlash_Block.h" - -class DataFlash_APM2 : public DataFlash_Block -{ -private: - //Methods - void BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait); - void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr); - void WaitReady(); - uint8_t ReadStatusReg(); - uint8_t ReadStatus(); - uint16_t PageSize(); - - // write size bytes of data to a page. The caller must ensure that - // the data fits within the page, otherwise it will wrap to the - // start of the page - // If pHeader is not NULL then write the header bytes before the data - void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr, - const void *pHeader, uint8_t hdr_size, - const void *pBuffer, uint16_t size); - - // read size bytes of data to a page. The caller must ensure that - // the data fits within the page, otherwise it will wrap to the - // start of the page - bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size); - - void PageErase (uint16_t PageAdr); - void BlockErase (uint16_t BlockAdr); - void ChipErase(); - - // take a semaphore safely - bool _sem_take(uint8_t timeout); - - AP_HAL::SPIDeviceDriver* _spi; - AP_HAL::Semaphore* _spi_sem; - -public: - DataFlash_APM2(DataFlash_Class &front) : - DataFlash_Block(front) { } - - void Init(const struct LogStructure *structure, uint8_t num_types); - void ReadManufacturerID(); - bool CardInserted(); - - void WroteStartupFormat(); - void WroteStartupParam(); -}; - -#endif diff --git a/libraries/DataFlash/DataFlash_Block.h b/libraries/DataFlash/DataFlash_Block.h index 39b7e731be..dc13628e9a 100644 --- a/libraries/DataFlash/DataFlash_Block.h +++ b/libraries/DataFlash/DataFlash_Block.h @@ -126,8 +126,6 @@ protected: }; -#include "DataFlash_APM1.h" -#include "DataFlash_APM2.h" #include "DataFlash_SITL.h" #include "DataFlash_Empty.h" diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp index eb81d1016d..4f733c0421 100644 --- a/libraries/DataFlash/LogFile.cpp +++ b/libraries/DataFlash/LogFile.cpp @@ -15,8 +15,6 @@ #include "DataFlash_SITL.h" #include "DataFlash_File.h" #include "DataFlash_Empty.h" -#include "DataFlash_APM1.h" -#include "DataFlash_APM2.h" #include "DFMessageWriter.h" extern const AP_HAL::HAL& hal; @@ -27,11 +25,7 @@ void DataFlash_Class::Init(const struct LogStructure *structure, uint8_t num_typ _structures = structure; // DataFlash -#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 - backend = new DataFlash_APM1(*this); -#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 - backend = new DataFlash_APM2(*this); -#elif defined(HAL_BOARD_LOG_DIRECTORY) +#if defined(HAL_BOARD_LOG_DIRECTORY) backend = new DataFlash_File(*this, HAL_BOARD_LOG_DIRECTORY); #else // no dataflash driver