1 files changed, 279 insertions, 0 deletions
diff --git a/libraries/Robot_Control/SdCard.cpp b/libraries/Robot_Control/SdCard.cpp
new file mode 100644
index 0000000..fbbd8bc
--- /dev/null
+++ b/libraries/Robot_Control/SdCard.cpp
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+/* Arduino FAT16 Library
+ * Copyright (C) 2008 by William Greiman
+ *
+ * This file is part of the Arduino FAT16 Library
+ *
+ * This Library 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 Library 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 the Arduino Fat16 Library.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include <avr/pgmspace.h>
+#if ARDUINO < 100
+#include <WProgram.h>
+#else  // ARDUINO
+#include <Arduino.h>
+#endif  // ARDUINO
+#include <Fat16Config.h>
+#include <SdCard.h>
+//------------------------------------------------------------------------------
+// r1 status values
+uint8_t const R1_READY_STATE = 0;
+uint8_t const R1_IDLE_STATE  = 1;
+// start data token for read or write
+uint8_t const DATA_START_BLOCK = 0XFE;
+// data response tokens for write block
+uint8_t const DATA_RES_MASK        = 0X1F;
+uint8_t const DATA_RES_ACCEPTED    = 0X05;
+uint8_t const DATA_RES_CRC_ERROR   = 0X0B;
+uint8_t const DATA_RES_WRITE_ERROR = 0X0D;
+//
+// stop compiler from inlining where speed optimization is not required
+#define STATIC_NOINLINE static __attribute__((noinline))
+//------------------------------------------------------------------------------
+// SPI static functions
+//
+// clock byte in
+STATIC_NOINLINE uint8_t spiRec(void) {
+  SPDR = 0xff;
+  while (!(SPSR & (1 << SPIF)));
+  return SPDR;
+}
+// clock byte out
+STATIC_NOINLINE void spiSend(uint8_t b) {
+  SPDR = b;
+  while (!(SPSR & (1 << SPIF)));
+}
+//------------------------------------------------------------------------------
+// wait for card to go not busy
+// return false if timeout
+static uint8_t waitForToken(uint8_t token, uint16_t timeoutMillis) {
+  uint16_t t0 = millis();
+  while (spiRec() != token) {
+    if (((uint16_t)millis() - t0) > timeoutMillis) return false;
+  }
+  return true;
+}
+//------------------------------------------------------------------------------
+uint8_t SdCard::cardCommand(uint8_t cmd, uint32_t arg) {
+  uint8_t r1;
+
+  // select card
+  chipSelectLow();
+
+  // wait if busy
+  waitForToken(0XFF, SD_COMMAND_TIMEOUT);
+
+  // send command
+  spiSend(cmd | 0x40);
+
+  // send argument
+  for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);
+
+  // send CRC - must send valid CRC for CMD0
+  spiSend(cmd == CMD0 ? 0x95 : 0XFF);
+
+  // wait for not busy
+  for (uint8_t retry = 0; (0X80 & (r1 = spiRec())) && retry != 0XFF; retry++);
+  return r1;
+}
+//------------------------------------------------------------------------------
+uint8_t SdCard::cardAcmd(uint8_t cmd, uint32_t arg) {
+  cardCommand(CMD55, 0);
+  return cardCommand(cmd, arg);
+}
+//==============================================================================
+// SdCard member functions
+//------------------------------------------------------------------------------
+/**
+ * Determine the size of a standard SD flash memory card
+ * \return The number of 512 byte data blocks in the card
+ */
+uint32_t SdCard::cardSize(void) {
+  uint16_t c_size;
+  csd_t csd;
+  if (!readReg(CMD9, &csd)) return 0;
+  uint8_t read_bl_len = csd.read_bl_len;
+  c_size = (csd.c_size_high << 10) | (csd.c_size_mid << 2) | csd.c_size_low;
+  uint8_t c_size_mult = (csd.c_size_mult_high << 1) | csd.c_size_mult_low;
+  return (uint32_t)(c_size+1) << (c_size_mult + read_bl_len - 7);
+}
+//------------------------------------------------------------------------------
+void SdCard::chipSelectHigh(void) {
+  digitalWrite(chipSelectPin_, HIGH);
+  // make sure MISO goes high impedance
+  spiSend(0XFF);
+}
+//------------------------------------------------------------------------------
+void SdCard::chipSelectLow(void) {
+  // Enable SPI, Master, clock rate F_CPU/4
+  SPCR = (1 << SPE) | (1 << MSTR);
+
+  // Doubled Clock Frequency to F_CPU/2 unless speed_ is nonzero
+  if (!speed_) SPSR |= (1 << SPI2X);
+
+  digitalWrite(chipSelectPin_, LOW);
+}
+//------------------------------------------------------------------------------
+void SdCard::error(uint8_t code, uint8_t data) {
+  errorData = data;
+  error(code);
+}
+//------------------------------------------------------------------------------
+void SdCard::error(uint8_t code) {
+  errorCode = code;
+  chipSelectHigh();
+}
+//------------------------------------------------------------------------------
+/**
+ * Initialize a SD flash memory card.
+ *
+ * \param[in] speed Set SPI Frequency to F_CPU/2 if speed = 0 or F_CPU/4
+ *  if speed = 1.
+ * \param[in] chipSelectPin SD chip select pin number.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ *
+ */
+uint8_t SdCard::init(uint8_t speed, uint8_t chipSelectPin) {
+  if (speed > 1) {
+    error(SD_ERROR_SPI_SPEED);
+    return false;
+  }
+  speed_ = speed;
+  chipSelectPin_ = chipSelectPin;
+  errorCode = 0;
+  uint8_t r;
+  // 16-bit init start time allows over a minute
+  uint16_t t0 = (uint16_t)millis();
+
+  pinMode(chipSelectPin_, OUTPUT);
+  digitalWrite(chipSelectPin_, HIGH);
+  pinMode(SPI_MISO_PIN, INPUT);
+  pinMode(SPI_SS_PIN, OUTPUT);
+  pinMode(SPI_MOSI_PIN, OUTPUT);
+  pinMode(SPI_SCK_PIN, OUTPUT);
+
+  // Enable SPI, Master, clock rate F_CPU/128
+  SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0);
+
+  // must supply min of 74 clock cycles with CS high.
+  for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
+  digitalWrite(chipSelectPin_, LOW);
+
+  // command to go idle in SPI mode
+  while ((r = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
+    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
+      error(SD_ERROR_CMD0, r);
+      return false;
+    }
+  }
+  // start initialization and wait for completed initialization
+  while ((r = cardAcmd(ACMD41, 0)) != R1_READY_STATE) {
+    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
+      error(SD_ERROR_ACMD41, r);
+      return false;
+    }
+  }
+  chipSelectHigh();
+  return true;
+}
+//------------------------------------------------------------------------------
+/**
+ * Reads a 512 byte block from a storage device.
+ *
+ * \param[in] blockNumber Logical block to be read.
+ * \param[out] dst Pointer to the location that will receive the data.
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+uint8_t SdCard::readBlock(uint32_t blockNumber, uint8_t* dst) {
+  if (cardCommand(CMD17, blockNumber << 9)) {
+    error(SD_ERROR_CMD17);
+    return false;
+  }
+  return readTransfer(dst, 512);
+}
+//------------------------------------------------------------------------------
+uint8_t SdCard::readReg(uint8_t cmd, void* buf) {
+  uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
+  if (cardCommand(cmd, 0)) {
+    chipSelectHigh();
+    return false;
+  }
+  return readTransfer(dst, 16);
+}
+//------------------------------------------------------------------------------
+uint8_t SdCard::readTransfer(uint8_t* dst, uint16_t count) {
+  // wait for start of data
+  if (!waitForToken(DATA_START_BLOCK, SD_READ_TIMEOUT)) {
+    error(SD_ERROR_READ_TIMEOUT);
+  }
+  // start first spi transfer
+  SPDR = 0XFF;
+  for (uint16_t i = 0; i < count; i++) {
+    while (!(SPSR & (1 << SPIF)));
+    dst[i] = SPDR;
+    SPDR = 0XFF;
+  }
+  // wait for first CRC byte
+  while (!(SPSR & (1 << SPIF)));
+  spiRec();  // second CRC byte
+  chipSelectHigh();
+  return true;
+}
+//------------------------------------------------------------------------------
+/**
+ * Writes a 512 byte block to a storage device.
+ *
+ * \param[in] blockNumber Logical block to be written.
+ * \param[in] src Pointer to the location of the data to be written.
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+uint8_t SdCard::writeBlock(uint32_t blockNumber, const uint8_t* src) {
+  uint32_t address = blockNumber << 9;
+#if SD_PROTECT_BLOCK_ZERO
+  // don't allow write to first block
+  if (address == 0) {
+    error(SD_ERROR_BLOCK_ZERO_WRITE);
+    return false;
+  }
+#endif  // SD_PROTECT_BLOCK_ZERO
+  if (cardCommand(CMD24, address)) {
+    error(SD_ERROR_CMD24);
+    return false;
+  }
+  // optimize write loop
+  SPDR = DATA_START_BLOCK;
+  for (uint16_t i = 0; i < 512; i++) {
+    while (!(SPSR & (1 << SPIF)));
+    SPDR = src[i];
+  }
+  while (!(SPSR & (1 << SPIF)));  // wait for last data byte
+  spiSend(0xFF);  // dummy crc
+  spiSend(0xFF);  // dummy crc
+
+  // get write response
+  uint8_t r1 = spiRec();
+  if ((r1 & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
+    error(SD_ERROR_WRITE_RESPONSE, r1);
+    return false;
+  }
+  // wait for card to complete write programming
+  if (!waitForToken(0XFF, SD_WRITE_TIMEOUT)) {
+      error(SD_ERROR_WRITE_TIMEOUT);
+  }
+  chipSelectHigh();
+  return true;
+}