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Diffstat (limited to 'libraries/Robot_Control/SdCard.h')
| -rw-r--r-- | libraries/Robot_Control/SdCard.h | 192 |
1 files changed, 192 insertions, 0 deletions
diff --git a/libraries/Robot_Control/SdCard.h b/libraries/Robot_Control/SdCard.h new file mode 100644 index 0000000..c03e6ab --- /dev/null +++ b/libraries/Robot_Control/SdCard.h @@ -0,0 +1,192 @@ +/* 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/>. + */ +#ifndef SdCard_h +#define SdCard_h + /** + * \file + * SdCard class + */ +#include <SdInfo.h> +//------------------------------------------------------------------------------ +// Warning only SD_CHIP_SELECT_PIN, the SD card select pin, may be redefined. +// define hardware SPI pins +#if defined(__AVR_ATmega168__)\ +||defined(__AVR_ATmega168P__)\ +||defined(__AVR_ATmega328P__) +// 168 and 328 Arduinos +/** Slave Select pin */ +uint8_t const SPI_SS_PIN = 10; +/** Master Out Slave In pin */ +uint8_t const SPI_MOSI_PIN = 11; +/** Master In Slave Out pin */ +uint8_t const SPI_MISO_PIN = 12; +/** Serial Clock */ +uint8_t const SPI_SCK_PIN = 13; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega1280__)\ +|| defined(__AVR_ATmega2560__) +// pins for Arduino Mega +uint8_t const SPI_SS_PIN = 53; +uint8_t const SPI_MOSI_PIN = 51; +uint8_t const SPI_MISO_PIN = 50; +uint8_t const SPI_SCK_PIN = 52; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega644P__)\ +|| defined(__AVR_ATmega644__)\ +|| defined(__AVR_ATmega1284P__) +// pins for Sanguino +uint8_t const SPI_SS_PIN = 4; +uint8_t const SPI_MOSI_PIN = 5; +uint8_t const SPI_MISO_PIN = 6; +uint8_t const SPI_SCK_PIN = 7; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega32U4__) +// pins for Teensy 2.0 +uint8_t const SPI_SS_PIN = 8; +uint8_t const SPI_MOSI_PIN = 16; +uint8_t const SPI_MISO_PIN = 14; +uint8_t const SPI_SCK_PIN = 15; +//------------------------------------------------------------------------------ +#elif defined(__AVR_AT90USB646__)\ +|| defined(__AVR_AT90USB1286__) +// pins for Teensy++ 1.0 & 2.0 +uint8_t const SPI_SS_PIN = 20; +uint8_t const SPI_MOSI_PIN = 22; +uint8_t const SPI_MISO_PIN = 23; +uint8_t const SPI_SCK_PIN = 21; +//------------------------------------------------------------------------------ +#else // SPI pins +#error unknown CPU +#endif // SPI pins +//------------------------------------------------------------------------------ +/** + * SD Chip Select pin + * + * Warning if this pin is redefined the hardware SS pin will be enabled + * as an output by init(). An avr processor will not function as an SPI + * master unless SS is set to output mode. + * + * For example to set SD_CHIP_SELECT_PIN to 8 for the SparkFun microSD shield: + * uint8_t const SD_CHIP_SELECT_PIN = 8; + * + * The default chip select pin for the SD card is SS. + */ +uint8_t const SD_CHIP_SELECT_PIN = SPI_SS_PIN; +//------------------------------------------------------------------------------ +/** command timeout ms */ +uint16_t const SD_COMMAND_TIMEOUT = 300; +/** init timeout ms */ +uint16_t const SD_INIT_TIMEOUT = 2000; +/** read timeout ms */ +uint16_t const SD_READ_TIMEOUT = 300; +/** write timeout ms */ +uint16_t const SD_WRITE_TIMEOUT = 600; +//------------------------------------------------------------------------------ +// error codes +/** Card did not go into SPI mode */ +uint8_t const SD_ERROR_CMD0 = 1; +/** Card did not go ready */ +uint8_t const SD_ERROR_ACMD41 = 2; +/** Write command not accepted */ +uint8_t const SD_ERROR_CMD24 = 3; +/** Read command not accepted */ +uint8_t const SD_ERROR_CMD17 = 4; +/** timeout waiting for read data */ +uint8_t const SD_ERROR_READ_TIMEOUT = 5; +/** write error occurred */ +uint8_t const SD_ERROR_WRITE_RESPONSE = 6; +/** timeout waiting for write status */ +uint8_t const SD_ERROR_WRITE_TIMEOUT = 7; +/** attempt to write block zero */ +uint8_t const SD_ERROR_BLOCK_ZERO_WRITE = 8; +/** card returned an error to a CMD13 status check after a write */ +uint8_t const SD_ERROR_WRITE_PROGRAMMING = 9; +/** invalid SPI speed in init() call */ +uint8_t const SD_ERROR_SPI_SPEED = 10; +//------------------------------------------------------------------------------ +// SD command codes +/** SEND OPERATING CONDITIONS */ +uint8_t const ACMD41 = 0X29; +/** GO_IDLE_STATE - init card in spi mode if CS low */ +uint8_t const CMD0 = 0X00; +/** SEND_CSD - Card Specific Data */ +uint8_t const CMD9 = 0X09; +/** SEND_CID - Card IDentification */ +uint8_t const CMD10 = 0X0A; +/** SEND_STATUS - read the card status register */ +uint8_t const CMD13 = 0X0D; +/** READ_BLOCK */ +uint8_t const CMD17 = 0X11; +/** WRITE_BLOCK */ +uint8_t const CMD24 = 0X18; +/** APP_CMD - escape for application specific command */ +uint8_t const CMD55 = 0X37; +//------------------------------------------------------------------------------ +/** + * \class SdCard + * \brief Hardware access class for SD flash cards + * + * Supports raw access to a standard SD flash memory card. + * + */ +class SdCard { + public: + /** Code for a SD error. See SdCard.h for definitions. */ + uint8_t errorCode; + /** Data that may be helpful in determining the cause of an error */ + uint8_t errorData; + uint32_t cardSize(void); + /** + * Initialize an SD flash memory card with default clock rate and chip + * select pin. See SdCard::init(uint8_t sckRateID, uint8_t chipSelectPin). + */ + uint8_t init(void) { + return init(0, SD_CHIP_SELECT_PIN); + } + /** + * Initialize an SD flash memory card with the selected SPI clock rate + * and the default SD chip select pin. + * See SdCard::init(uint8_t slow, uint8_t chipSelectPin). + */ + uint8_t init(uint8_t speed) { + return init(speed, SD_CHIP_SELECT_PIN); + } + uint8_t init(uint8_t speed, uint8_t chipselectPin); + uint8_t readBlock(uint32_t block, uint8_t* dst); + /** Read the CID register which contains info about the card. + * This includes Manufacturer ID, OEM ID, product name, version, + * serial number, and manufacturing date. */ + uint8_t readCID(cid_t* cid) { + return readReg(CMD10, cid); + } + uint8_t writeBlock(uint32_t block, const uint8_t* src); + private: + uint8_t cardAcmd(uint8_t cmd, uint32_t arg); + uint8_t cardCommand(uint8_t cmd, uint32_t arg); + uint8_t chipSelectPin_; + uint8_t speed_; + void chipSelectHigh(void); + void chipSelectLow(void); + void error(uint8_t code, uint8_t data); + void error(uint8_t code); + uint8_t readReg(uint8_t cmd, void* buf); + uint8_t readTransfer(uint8_t* dst, uint16_t count); +}; +#endif // SdCard_h |