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LibrePilot/flight/pios/common/pios_sdcard.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SDCARD SDCard Functions
* @brief Code to deal with reading and writing to flash cards
* @{
*
* @file pios_sdcard.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief Sets up basic system hardware, functions are called from Main.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_SDCARD
/* Global Variables */
VOLINFO PIOS_SDCARD_VolInfo;
uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE];
/* Local Definitions */
#if !defined(SDCARD_MUTEX_TAKE)
#define SDCARD_MUTEX_TAKE {}
#define SDCARD_MUTEX_GIVE {}
#endif
/* Definitions for MMC/SDC command */
#define SDCMD_GO_IDLE_STATE (0x40 + 0)
#define SDCMD_GO_IDLE_STATE_CRC 0x95
#define SDCMD_SEND_OP_COND (0x40 + 1)
#define SDCMD_SEND_OP_COND_CRC 0xf9
#define SDCMD_SEND_OP_COND_SDC (0xC0 + 41)
#define SDCMD_SEND_OP_COND_SDC_CRC 0xff
#define SDCMD_READ_OCR (0x40 + 58)
#define SDCMD_READ_OCR_CRC 0xff
#define SDCMD_APP_CMD (0x40 + 55)
#define SDCMD_APP_CMD_CRC 0xff
#define SDCMD_SEND_IF_COND (0x40 + 8)
#define SDCMD_SEND_IF_COND_CRC 0x87
#define SDCMD_SEND_CSD (0x40 + 9)
#define SDCMD_SEND_CSD_CRC 0xff
#define SDCMD_SEND_CID (0x40 + 10)
#define SDCMD_SEND_CID_CRC 0xff
#define SDCMD_SEND_STATUS (0x40 + 13)
#define SDCMD_SEND_STATUS_CRC 0xaf
#define SDCMD_READ_SINGLE_BLOCK (0x40 + 17)
#define SDCMD_READ_SINGLE_BLOCK_CRC 0xff
#define SDCMD_SET_BLOCKLEN (0x40 + 16)
#define SDCMD_SET_BLOCKLEN_CRC 0xff
#define SDCMD_WRITE_SINGLE_BLOCK (0x40 + 24)
#define SDCMD_WRITE_SINGLE_BLOCK_CRC 0xff
/* Card type flags (CardType) */
#define CT_MMC 0x01
#define CT_SD1 0x02
#define CT_SD2 0x04
#define CT_SDC (CT_SD1 | CT_SD2)
#define CT_BLOCK 0x08
static uint8_t CardType;
static int32_t sdcard_mounted;
static uint32_t PIOS_SDCARD_SPI;
/**
* Initialises SPI pins and peripheral to access MMC/SD Card
* \param[in] mode currently only mode 0 supported
* \return < 0 if initialisation failed
*/
int32_t PIOS_SDCARD_Init(uint32_t spi_id)
{
SDCARD_MUTEX_TAKE;
sdcard_mounted = 0;
PIOS_SDCARD_SPI = spi_id;
/* Init SPI port for slow frequency access (ca. 0.3 MBit/s) */
PIOS_SPI_SetClockSpeed(PIOS_SDCARD_SPI, PIOS_SPI_PRESCALER_256);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xFF);
SDCARD_MUTEX_GIVE;
/* No error */
return 0;
}
/**
* Connects to SD Card
* \return < 0 if initialisation sequence failed
*/
int32_t PIOS_SDCARD_PowerOn(void)
{
int32_t status;
int i;
SDCARD_MUTEX_TAKE;
/* Ensure that chip select line deactivated */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
/* Init SPI port for slow frequency access (ca. 0.3 MBit/s) */
PIOS_SPI_SetClockSpeed(PIOS_SDCARD_SPI, PIOS_SPI_PRESCALER_256);
/* Send 80 clock cycles to start up */
for (i = 0; i < 10; ++i) {
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
}
/* Activate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 0); /* spi, pin_value */
/* wait for 1 mS */
PIOS_DELAY_WaituS(1000);
/* Send CMD0 to reset the media */
if ((status = PIOS_SDCARD_SendSDCCmd(SDCMD_GO_IDLE_STATE, 0, SDCMD_GO_IDLE_STATE_CRC)) < 0) {
goto error;
}
CardType = 0;
/* A card is detected, what type is it? Use SEND_IF_COND (CMD8) to find out */
if ((status = PIOS_SDCARD_SendSDCCmd(SDCMD_SEND_IF_COND, 0x1AA, SDCMD_SEND_IF_COND_CRC)) == 0x01aa) {
/* SDHC Card Detected. */
/* We now check to see if we should use block mode or byte mode. Command is SEND_OP_COND_SDC (ACMD41) with HCS (bit 30) set */
for (i = 0; i < 16384; i++) {
if ((status = PIOS_SDCARD_SendSDCCmd(SDCMD_SEND_OP_COND_SDC, 0x01 << 30, SDCMD_SEND_OP_COND_SDC_CRC)) == 0) {
break;
}
}
if (i < 16384) {
status = PIOS_SDCARD_SendSDCCmd(SDCMD_READ_OCR, 0, SDCMD_READ_OCR_CRC);
CardType = ((status >> 24) & 0x40) ? CT_SD2 | CT_BLOCK : CT_SD2;
status = 0;
} else {
/* We waited long enough! */
status = -2;
}
} else {
/* Card is SDv1 or MMC. */
/* MMC will accept ACMD41 (SDv1 won't and requires CMD1) so send ACMD41 first and then CMD1 if that fails */
if ((status = PIOS_SDCARD_SendSDCCmd(SDCMD_SEND_OP_COND_SDC, 0, SDCMD_SEND_OP_COND_SDC_CRC)) <= 1) {
CardType = CT_SD1;
} else {
CardType = CT_MMC;
}
for (i = 0; i < 16384; i++) {
if (CardType == CT_SD1) {
status = PIOS_SDCARD_SendSDCCmd(SDCMD_SEND_OP_COND_SDC, 0, SDCMD_SEND_OP_COND_SDC_CRC);
} else {
status = PIOS_SDCARD_SendSDCCmd(SDCMD_SEND_OP_COND, 0, SDCMD_SEND_OP_COND_CRC);
}
if (status < 0) {
break;
}
if (status == 0) {
break;
}
}
/* The block size should already be 512 bytes but re-initialize just in case (ignore if it fails) */
PIOS_SDCARD_SendSDCCmd(SDCMD_SET_BLOCKLEN, 512, SDCMD_SEND_OP_COND_CRC);
}
if (i == 16384 || CardType == 0) {
/* The last loop timed out or the cardtype was not detected... */
status = -2;
}
error:
/* Deactivate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
/* Send dummy byte once deactivated to drop cards DO */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
SDCARD_MUTEX_GIVE;
return status; /* Status should be 0 if nothing went wrong! */
}
/**
* Disconnects from SD Card
* \return < 0 on errors
*/
int32_t PIOS_SDCARD_PowerOff(void)
{
return 0; // no error
}
/**
* If SD card was previously available: Checks if the SD Card is still
* available by sending the STATUS command.<BR>
* This takes ca. 10 uS
*
* If SD card was previously not available: Checks if the SD Card is
* available by sending the IDLE command at low speed.<BR>
* This takes ca. 500 uS!<BR>
* Once we got a positive response, SDCARD_PowerOn() will be
* called by this function to initialize the card completely.
*
* Example for Connection/Disconnection detection:
* \code
* // this function is called each second from a low-priority task
* // If multiple tasks are accessing the SD card, add a semaphore/mutex
* // to avoid IO access collisions with other tasks!
* u8 sdcard_available;
* int32_t CheckSDCard(void)
* {
* // check if SD card is available
* // High speed access if the card was previously available
* u8 prev_sdcard_available = sdcard_available;
* sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available);
*
* if(sdcard_available && !prev_sdcard_available) {
* // SD Card has been connected
*
* // now it's possible to read/write sectors
*
* } else if( !sdcard_available && prev_sdcard_available ) {
* // SD Card has been disconnected
*
* // here you can notify your application about this state
* }
*
* return 0; // no error
* }
* \endcode
* \param[in] was_available should only be set if the SD card was previously available
* \return 0 if no response from SD Card
* \return 1 if SD card is accessible
*/
int32_t PIOS_SDCARD_CheckAvailable(uint8_t was_available)
{
int32_t ret;
SDCARD_MUTEX_TAKE;
if (was_available) {
/* Init SPI port for fast frequency access (ca. 18 MBit/s) */
/* This is required for the case that the SPI port is shared with other devices */
PIOS_SPI_SetClockSpeed(PIOS_SDCARD_SPI, PIOS_SPI_PRESCALER_4);
/* Activate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 0); /* spi, pin_value */
/* Send STATUS command to check if media is available */
ret = PIOS_SDCARD_SendSDCCmd(SDCMD_SEND_STATUS, 0, SDCMD_SEND_STATUS_CRC);
} else {
/* Ensure that SPI interface is clocked at low speed */
PIOS_SPI_SetClockSpeed(PIOS_SDCARD_SPI, PIOS_SPI_PRESCALER_256);
/* Deactivate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
/* send 80 clock cycles to start up */
uint8_t i;
for (i = 0; i < 10; ++i) {
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
}
/* Activate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 0); /* spi, pin_value */
/* Send CMD0 to reset the media */
if ((ret = (PIOS_SDCARD_SendSDCCmd(SDCMD_GO_IDLE_STATE, 0, SDCMD_GO_IDLE_STATE_CRC))) < 0) {
goto not_available;
}
/* Deactivate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
SDCARD_MUTEX_GIVE;
/* Run power-on sequence (negative return = not available) */
ret = PIOS_SDCARD_PowerOn();
}
not_available:
/* Deactivate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
/* Send dummy byte once deactivated to drop cards DO */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
SDCARD_MUTEX_GIVE;
return (ret == 0) ? 1 : 0; /* 1 = available, 0 = not available. */
}
/**
* Sends command to SD card
* \param[in] cmd SD card command
* \param[in] addr 32bit address
* \param[in] crc precalculated CRC
* \return >= 0x00 if command has been sent successfully (contains received byte)
* \return -1 if no response from SD Card (timeout)
*/
int32_t PIOS_SDCARD_SendSDCCmd(uint8_t cmd, uint32_t addr, uint8_t crc)
{
int i;
int32_t ret;
if (cmd & 0x80) { /* ACMD<n> is the command sequence of CMD55-CMD<n> */
cmd &= 0x7F;
ret = PIOS_SDCARD_SendSDCCmd(SDCMD_APP_CMD, 0, SDCMD_APP_CMD_CRC);
if (ret > 1) {
return ret;
}
}
/* Activate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 0); /* spi, pin_value */
/* Transfer to card */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, (uint8_t)cmd);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, (addr >> 24) & 0xff);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, (addr >> 16) & 0xff);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, (addr >> 8) & 0xff);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, (addr >> 0) & 0xff);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, crc);
uint8_t timeout = 0;
if (cmd == SDCMD_SEND_STATUS) {
/* One dummy read */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* Read two bytes (only last value will be returned) */
ret = PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
ret = PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* All-one read: we expect that SD card is not connected: notify timeout! */
if (ret == 0xff) {
timeout = 1;
}
} else {
/* Wait for standard R1 response */
for (i = 0; i < 8; ++i) {
if (!((ret = PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff)) & 0x80)) {
break;
}
}
if (i == 8) {
timeout = 1;
}
}
if ((cmd == SDCMD_SEND_IF_COND || cmd == SDCMD_READ_OCR) && timeout != 1) {
/* This is a 4 byte R3 or R7 response. */
ret = (PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff) << 24);
ret |= (PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff) << 16);
ret |= (PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff) << 8);
ret |= (PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff) << 0);
}
/* Required clocking (see spec) */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* Deactivate chip-select on timeout, and return error code */
if (timeout) {
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
/* Send dummy byte once deactivated to drop cards DO */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
return -1;
}
/* Else return received value - don't deactivate chip select or mutex (for continuous access) */
return ret;
}
/**
* Reads 512 bytes from selected sector
* \param[in] sector 32bit sector
* \param[in] *buffer pointer to 512 byte buffer
* \return 0 if whole sector has been successfully read
* \return -error if error occured during read operation:<BR>
* <UL>
* <LI>Bit 0 - In idle state if 1
* <LI>Bit 1 - Erase Reset if 1
* <LI>Bit 2 - Illgal Command if 1
* <LI>Bit 3 - Com CRC Error if 1
* <LI>Bit 4 - Erase Sequence Error if 1
* <LI>Bit 5 - Address Error if 1
* <LI>Bit 6 - Parameter Error if 1
* <LI>Bit 7 - Not used, always '0'
* </UL>
* \return -256 if timeout during command has been sent
* \return -257 if timeout while waiting for start token
*/
int32_t PIOS_SDCARD_SectorRead(uint32_t sector, uint8_t *buffer)
{
int32_t status;
int i;
if (!(CardType & CT_BLOCK)) {
sector *= 512;
}
SDCARD_MUTEX_TAKE;
/* Init SPI port for fast frequency access (ca. 18 MBit/s) */
/* this is required for the case that the SPI port is shared with other devices */
PIOS_SPI_SetClockSpeed(PIOS_SDCARD_SPI, PIOS_SPI_PRESCALER_4);
if ((status = PIOS_SDCARD_SendSDCCmd(SDCMD_READ_SINGLE_BLOCK, sector, SDCMD_READ_SINGLE_BLOCK_CRC))) {
status = (status < 0) ? -256 : status; /* return timeout indicator or error flags */
goto error;
}
/* Wait for start token of the data block */
for (i = 0; i < 65536; ++i) { // TODO: check if sufficient
uint8_t ret = PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
if (ret != 0xff) {
break;
}
}
if (i == 65536) {
status = -257;
goto error;
}
/* Read 512 bytes via DMA */
PIOS_SPI_TransferBlock(PIOS_SDCARD_SPI, NULL, buffer, 512, NULL);
/* Read (and ignore) CRC */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* Required for clocking (see spec) */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
error:
/* Deactivate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); // spi, pin_value
/* Send dummy byte once deactivated to drop cards DO */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
SDCARD_MUTEX_GIVE;
return status;
}
/**
* Writes 512 bytes into selected sector
* \param[in] sector 32bit sector
* \param[in] *buffer pointer to 512 byte buffer
* \return 0 if whole sector has been successfully read
* \return -error if error occured during read operation:<BR>
* <UL>
* <LI>Bit 0 - In idle state if 1
* <LI>Bit 1 - Erase Reset if 1
* <LI>Bit 2 - Illgal Command if 1
* <LI>Bit 3 - Com CRC Error if 1
* <LI>Bit 4 - Erase Sequence Error if 1
* <LI>Bit 5 - Address Error if 1
* <LI>Bit 6 - Parameter Error if 1
* <LI>Bit 7 - Not used, always '0'
* </UL>
* \return -256 if timeout during command has been sent
* \return -257 if write operation not accepted
* \return -258 if timeout during write operation
*/
int32_t PIOS_SDCARD_SectorWrite(uint32_t sector, uint8_t *buffer)
{
int32_t status;
int i;
SDCARD_MUTEX_TAKE;
if (!(CardType & CT_BLOCK)) {
sector *= 512;
}
/* Init SPI port for fast frequency access (ca. 18 MBit/s) */
/* This is required for the case that the SPI port is shared with other devices */
PIOS_SPI_SetClockSpeed(PIOS_SDCARD_SPI, PIOS_SPI_PRESCALER_4);
if ((status = PIOS_SDCARD_SendSDCCmd(SDCMD_WRITE_SINGLE_BLOCK, sector, SDCMD_WRITE_SINGLE_BLOCK_CRC))) {
status = (status < 0) ? -256 : status; /* Return timeout indicator or error flags */
goto error;
}
/* Send start token */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xfe);
/* Send 512 bytes of data via DMA */
PIOS_SPI_TransferBlock(PIOS_SDCARD_SPI, buffer, NULL, 512, NULL);
/* Send CRC */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* Read response */
uint8_t response = PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
if ((response & 0x0f) != 0x5) {
status = -257;
goto error;
}
/* Wait for write completion */
for (i = 0; i < 32 * 65536; ++i) { /* TODO: check if sufficient */
uint8_t ret = PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
if (ret != 0x00) {
break;
}
}
if (i == 32 * 65536) {
status = -258;
goto error;
}
/* Required for clocking (see spec) */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
error:
/* Deactivate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
/* Send dummy byte once deactivated to drop cards DO */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
SDCARD_MUTEX_GIVE;
return status;
}
/**
* Reads the CID informations from SD Card
* \param[in] *cid pointer to buffer which holds the CID informations
* \return 0 if the informations haven been successfully read
* \return -error if error occured during read operation
* \return -256 if timeout during command has been sent
* \return -257 if timeout while waiting for start token
*/
int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef *cid)
{
int32_t status;
int i;
/* Init SPI port for fast frequency access (ca. 18 MBit/s) */
/* This is required for the case that the SPI port is shared with other devices */
SDCARD_MUTEX_TAKE;
PIOS_SPI_SetClockSpeed(PIOS_SDCARD_SPI, PIOS_SPI_PRESCALER_4);
if ((status = PIOS_SDCARD_SendSDCCmd(SDCMD_SEND_CID, 0, SDCMD_SEND_CID_CRC))) {
status = (status < 0) ? -256 : status; /* return timeout indicator or error flags */
goto error;
}
/* Wait for start token of the data block */
for (i = 0; i < 65536; ++i) { /* TODO: check if sufficient */
uint8_t ret = PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
if (ret != 0xff) {
break;
}
}
if (i == 65536) {
status = -257;
}
/* Read 16 bytes via DMA */
uint8_t cid_buffer[16];
PIOS_SPI_TransferBlock(PIOS_SDCARD_SPI, NULL, cid_buffer, 16, NULL);
/* Read (and ignore) CRC */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* Required for clocking (see spec) */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* Sort returned informations into CID structure */
/* From STM Mass Storage example */
/* Byte 0 */
cid->ManufacturerID = cid_buffer[0];
/* Byte 1 */
cid->OEM_AppliID = cid_buffer[1] << 8;
/* Byte 2 */
cid->OEM_AppliID |= cid_buffer[2];
/* Byte 3..7 */
for (i = 0; i < 5; ++i) {
cid->ProdName[i] = cid_buffer[3 + i];
}
cid->ProdName[5] = 0; /* string terminator */
/* Byte 8 */
cid->ProdRev = cid_buffer[8];
/* Byte 9 */
cid->ProdSN = cid_buffer[9] << 24;
/* Byte 10 */
cid->ProdSN |= cid_buffer[10] << 16;
/* Byte 11 */
cid->ProdSN |= cid_buffer[11] << 8;
/* Byte 12 */
cid->ProdSN |= cid_buffer[12];
/* Byte 13 */
cid->Reserved1 |= (cid_buffer[13] & 0xF0) >> 4;
/* Byte 14 */
cid->ManufactDate = (cid_buffer[13] & 0x0F) << 8;
/* Byte 15 */
cid->ManufactDate |= cid_buffer[14];
/* Byte 16 */
cid->msd_CRC = (cid_buffer[15] & 0xFE) >> 1;
cid->Reserved2 = 1;
error:
/* deactivate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
/* Send dummy byte once deactivated to drop cards DO */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
SDCARD_MUTEX_GIVE;
return status;
}
/**
* Reads the CSD informations from SD Card
* \param[in] *csd pointer to buffer which holds the CSD informations
* \return 0 if the informations haven been successfully read
* \return -error if error occured during read operation
* \return -256 if timeout during command has been sent
* \return -257 if timeout while waiting for start token
*/
int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd)
{
int32_t status;
int i;
SDCARD_MUTEX_TAKE;
/* Init SPI port for fast frequency access (ca. 18 MBit/s) */
/* This is required for the case that the SPI port is shared with other devices */
PIOS_SPI_SetClockSpeed(PIOS_SDCARD_SPI, PIOS_SPI_PRESCALER_4);
if ((status = PIOS_SDCARD_SendSDCCmd(SDCMD_SEND_CSD, 0, SDCMD_SEND_CSD_CRC))) {
status = (status < 0) ? -256 : status; /* Return timeout indicator or error flags */
goto error;
}
// wait for start token of the data block
for (i = 0; i < 65536; ++i) { /* TODO: check if sufficient */
uint8_t ret = PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
if (ret != 0xff) {
break;
}
}
if (i == 65536) {
status = -257;
goto error;
}
/* Read 16 bytes via DMA */
uint8_t csd_buffer[16];
PIOS_SPI_TransferBlock(PIOS_SDCARD_SPI, NULL, csd_buffer, 16, NULL);
/* Read (and ignore) CRC */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* Required for clocking (see spec) */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
/* Sort returned informations into CSD structure */
/* from STM Mass Storage example */
/* Byte 0 */
csd->CSDStruct = (csd_buffer[0] & 0xC0) >> 6;
csd->SysSpecVersion = (csd_buffer[0] & 0x3C) >> 2;
csd->Reserved1 = csd_buffer[0] & 0x03;
/* Byte 1 */
csd->TAAC = csd_buffer[1];
/* Byte 2 */
csd->NSAC = csd_buffer[2];
/* Byte 3 */
csd->MaxBusClkFrec = csd_buffer[3];
/* Byte 4 */
csd->CardComdClasses = csd_buffer[4] << 4;
/* Byte 5 */
csd->CardComdClasses |= (csd_buffer[5] & 0xF0) >> 4;
csd->RdBlockLen = csd_buffer[5] & 0x0F;
/* Byte 6 */
csd->PartBlockRead = (csd_buffer[6] & 0x80) >> 7;
csd->WrBlockMisalign = (csd_buffer[6] & 0x40) >> 6;
csd->RdBlockMisalign = (csd_buffer[6] & 0x20) >> 5;
csd->DSRImpl = (csd_buffer[6] & 0x10) >> 4;
csd->Reserved2 = 0; /* Reserved */
csd->DeviceSize = (csd_buffer[6] & 0x03) << 10;
/* Byte 7 */
csd->DeviceSize |= (csd_buffer[7]) << 2;
/* Byte 8 */
csd->DeviceSize |= (csd_buffer[8] & 0xC0) >> 6;
csd->MaxRdCurrentVDDMin = (csd_buffer[8] & 0x38) >> 3;
csd->MaxRdCurrentVDDMax = (csd_buffer[8] & 0x07);
/* Byte 9 */
csd->MaxWrCurrentVDDMin = (csd_buffer[9] & 0xE0) >> 5;
csd->MaxWrCurrentVDDMax = (csd_buffer[9] & 0x1C) >> 2;
csd->DeviceSizeMul = (csd_buffer[9] & 0x03) << 1;
/* Byte 10 */
csd->DeviceSizeMul |= (csd_buffer[10] & 0x80) >> 7;
csd->EraseGrSize = (csd_buffer[10] & 0x7C) >> 2;
csd->EraseGrMul = (csd_buffer[10] & 0x03) << 3;
/* Byte 11 */
csd->EraseGrMul |= (csd_buffer[11] & 0xE0) >> 5;
csd->WrProtectGrSize = (csd_buffer[11] & 0x1F);
/* Byte 12 */
csd->WrProtectGrEnable = (csd_buffer[12] & 0x80) >> 7;
csd->ManDeflECC = (csd_buffer[12] & 0x60) >> 5;
csd->WrSpeedFact = (csd_buffer[12] & 0x1C) >> 2;
csd->MaxWrBlockLen = (csd_buffer[12] & 0x03) << 2;
/* Byte 13 */
csd->MaxWrBlockLen |= (csd_buffer[13] & 0xc0) >> 6;
csd->WriteBlockPaPartial = (csd_buffer[13] & 0x20) >> 5;
csd->Reserved3 = 0;
csd->ContentProtectAppli = (csd_buffer[13] & 0x01);
/* Byte 14 */
csd->FileFormatGrouop = (csd_buffer[14] & 0x80) >> 7;
csd->CopyFlag = (csd_buffer[14] & 0x40) >> 6;
csd->PermWrProtect = (csd_buffer[14] & 0x20) >> 5;
csd->TempWrProtect = (csd_buffer[14] & 0x10) >> 4;
csd->FileFormat = (csd_buffer[14] & 0x0C) >> 2;
csd->ECC = (csd_buffer[14] & 0x03);
/* Byte 15 */
csd->msd_CRC = (csd_buffer[15] & 0xFE) >> 1;
csd->Reserved4 = 1;
error:
/* Deactivate chip select */
PIOS_SPI_RC_PinSet(PIOS_SDCARD_SPI, 0, 1); /* spi, pin_value */
/* Send dummy byte once deactivated to drop cards DO */
PIOS_SPI_TransferByte(PIOS_SDCARD_SPI, 0xff);
SDCARD_MUTEX_GIVE;
return status;
}
/**
* Attempts to write a startup log to the SDCard
* return 0 No errors
* return -1 Error deleting file
* return -2 Error opening file
* return -3 Error writing file
*/
int32_t PIOS_SDCARD_StartupLog(void)
{
FILEINFO File;
char Buffer[1024];
uint32_t Cache;
/* Delete the file if it exists - ignore errors */
DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)LOG_FILENAME, PIOS_SDCARD_Sector);
if (DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)LOG_FILENAME, DFS_WRITE, PIOS_SDCARD_Sector, &File)) {
/* Error opening file */
return -2;
}
sprintf(Buffer, "PiOS Startup Log\r\n\r\nLog file creation completed.\r\n");
if (DFS_WriteFile(&File, PIOS_SDCARD_Sector, (uint8_t *)Buffer, &Cache, strlen(Buffer))) {
/* Error writing to file */
return -3;
}
sprintf(Buffer, "------------------------------\r\nSD Card Information\r\n------------------------------\r\n");
if (DFS_WriteFile(&File, PIOS_SDCARD_Sector, (uint8_t *)Buffer, &Cache, strlen(Buffer))) {
/* Error writing to file */
return -2;
}
/* Disabled because it takes ca. 7 seconds with my 2GB card */
/* sprintf(Buffer, "Total Space: %u MB\r\nFree Space: %u MB\r\n", (uint16_t)((VolInfo.numclusters * (VolInfo.secperclus / 2)) / 1024), (uint16_t)(PIOS_SDCARD_GetFree() / 1048576)); */
sprintf(Buffer, "Total Space: %u MB\r\n\r\n", (uint16_t)((PIOS_SDCARD_VolInfo.numclusters * (PIOS_SDCARD_VolInfo.secperclus / 2)) / 1024));
if (DFS_WriteFile(&File, PIOS_SDCARD_Sector, (uint8_t *)Buffer, &Cache, strlen(Buffer))) {
/* Error writing to file */
return -2;
}
/* No errors */
return 0;
}
/**
* Check if the SD card has been mounted
* @return 0 if no
* @return 1 if yes
*/
int32_t PIOS_SDCARD_IsMounted()
{
return sdcard_mounted;
}
/**
* Mounts the file system
* param[in] CreateStartupLog 1 = True, 0 = False
* return 0 No errors
* return -1 SDCard not available
* return -2 Cannot find first partition
* return -3 No volume information
* return -4 Error writing startup log file
*/
int32_t PIOS_SDCARD_MountFS(uint32_t CreateStartupLog)
{
uint32_t pstart, psize;
uint8_t pactive, ptype;
uint8_t sdcard_available = 0;
sdcard_available = PIOS_SDCARD_CheckAvailable(0);
if (!sdcard_available) {
/* Disconnected */
return -1;
}
pstart = DFS_GetPtnStart(0, PIOS_SDCARD_Sector, 0, &pactive, &ptype, &psize);
if (pstart == 0xffffffff) {
/* Cannot find first partition */
return -2;
}
if (DFS_GetVolInfo(0, PIOS_SDCARD_Sector, pstart, &PIOS_SDCARD_VolInfo) != DFS_OK) {
/* No volume information */
return -3;
}
if (CreateStartupLog == 1) {
if (PIOS_SDCARD_StartupLog()) {
/* Error writing startup log file */
return -4;
}
}
/* No errors */
sdcard_mounted = 1;
return 0;
}
/**
* Mounts the file system
* return Amount of free bytes
*/
int32_t PIOS_SDCARD_GetFree(void)
{
uint32_t VolFreeBytes = 0xffffffff;
uint32_t ScratchCache = 0;
/* This takes very long, since it scans ALL clusters */
/* It takes ca. 7 seconds to determine free clusters out of ~47000 (2Gb) */
/* Scan all the clusters */
for (uint32_t i = 2; i < PIOS_SDCARD_VolInfo.numclusters; ++i) {
if (!DFS_GetFAT(&PIOS_SDCARD_VolInfo, PIOS_SDCARD_Sector, &ScratchCache, i)) {
VolFreeBytes += PIOS_SDCARD_VolInfo.secperclus * SECTOR_SIZE;
}
}
return VolFreeBytes;
}
/**
* Read from file
* return 0 No error
* return -1 DFS_ReadFile failed
* return -2 Less bytes read than expected
*/
int32_t PIOS_SDCARD_ReadBuffer(PFILEINFO fileinfo, uint8_t *buffer, uint32_t len)
{
uint32_t SuccessCount;
if (DFS_ReadFile(fileinfo, PIOS_SDCARD_Sector, buffer, &SuccessCount, len)) {
/* DFS_ReadFile failed */
return -1;
}
if (SuccessCount != len) {
/* Less bytes read than expected */
return -2;
}
/* No error */
return 0;
}
/**
* Read a line from file
* returns Number of bytes read
*/
int32_t PIOS_SDCARD_ReadLine(PFILEINFO fileinfo, uint8_t *buffer, uint32_t max_len)
{
int32_t status;
uint32_t num_read = 0;
while (fileinfo->pointer < fileinfo->filelen) {
status = PIOS_SDCARD_ReadBuffer(fileinfo, buffer, 1);
if (status < 0) {
return status;
}
++num_read;
if (*buffer == '\n' || *buffer == '\r') {
break;
}
if (num_read < max_len) {
++buffer;
}
}
/* Replace newline by terminator */
*buffer = 0;
return num_read;
}
/**
* Copy a file
* WARNING: This will overwrite the destination file even if it exists
* param[in] *Source Path to file to copy
* param[in] *Destination Path to destination file
* return 0 No errors
* return -1 Source file doesn't exist
* return -2 Failed to create destination file
* return -3 DFS_ReadFile failed
* return -4 DFS_WriteFile failed
*/
int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination)
{
FILEINFO SourceFile, DestFile;
/* Disable caching to avoid file inconsistencies while using different sector buffers! */
DFS_CachingEnabledSet(0);
if (DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)Source, DFS_READ, PIOS_SDCARD_Sector, &SourceFile)) {
/* Source file doesn't exist */
return -1;
} else {
/* Delete destination file if it already exists - ignore errors */
DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)Destination, PIOS_SDCARD_Sector);
if (DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)Destination, DFS_WRITE, PIOS_SDCARD_Sector, &DestFile)) {
/* Failed to create destination file */
return -2;
}
}
/* Copy operation */
uint8_t WriteBuffer[SECTOR_SIZE];
uint32_t SuccessCountRead;
uint32_t SuccessCountWrite;
do {
if (DFS_ReadFile(&SourceFile, PIOS_SDCARD_Sector, WriteBuffer, &SuccessCountRead, SECTOR_SIZE)) {
/* DFS_ReadFile failed */
return -3;
} else if (DFS_WriteFile(&DestFile, PIOS_SDCARD_Sector, WriteBuffer, &SuccessCountWrite, SuccessCountRead)) {
/* DFS_WriteFile failed */
return -4;
}
} while (SuccessCountRead > 0);
/* No errors */
return 0;
}
/**
* Delete a file
* param[in] *Filename File to delete
* return 0 No errors
* return -1 Error deleting file
*/
int32_t PIOS_SDCARD_FileDelete(char *Filename)
{
if (DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)Filename, PIOS_SDCARD_Sector)) {
/* Error deleting file */
return -1;
}
/* No errors */
return 0;
}
#endif /* PIOS_INCLUDE_SDCARD */
/**
* @}
* @}
*/
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