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LibrePilot/flight/PiOS/Common/pios_sdcard.c
stac 8d015a57d0 pios spi: support both master and slave configs 
Added support for SPI slave configurations to the pios SPI layer.

Converted the board specific configuration for the PIOS SPI layer to
use const static initializers rather than #defines (see pios_board.c).

SPI interface between the OP board and the AHRS is now operational at
a basic level, capable of moving simple single byte messages between
boards.  Multi-byte, CRC protected messages will be added on top of this.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@759 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-13 04:23:44 +00:00

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/**
******************************************************************************
*
* @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
* @defgroup PIOS_SDCARD SDCard Functions
* @{
*
*****************************************************************************/
/*
* 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
*/
/* Project Includes */
#include "pios.h"
#if defined(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;
/**
* 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(void)
{
SDCARD_MUTEX_TAKE;
sdcard_mounted = 0;
//PIOS_SPI_Init(PIOS_SDCARD_SPI);
/* 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, 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); /* 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, 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); /* 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, 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); /* 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, 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, 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); /* 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)) != 0xff ) {
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, 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, 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, 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, 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, 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 POIS_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
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