From fd8c367304fe62a107332db19880c88f9ac0d082 Mon Sep 17 00:00:00 2001 From: Fede85 Date: Wed, 3 Jul 2013 22:00:02 +0200 Subject: SPI library to the new format and moved Robot_Motor and Robot_Control libraries --- libraries/Robot_Control/SdCard.cpp | 279 ------------------------------------- 1 file changed, 279 deletions(-) delete mode 100644 libraries/Robot_Control/SdCard.cpp (limited to 'libraries/Robot_Control/SdCard.cpp') diff --git a/libraries/Robot_Control/SdCard.cpp b/libraries/Robot_Control/SdCard.cpp deleted file mode 100644 index fbbd8bc..0000000 --- a/libraries/Robot_Control/SdCard.cpp +++ /dev/null @@ -1,279 +0,0 @@ -/* 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 - * . - */ -#include -#if ARDUINO < 100 -#include -#else // ARDUINO -#include -#endif // ARDUINO -#include -#include -//------------------------------------------------------------------------------ -// 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(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; -} -- cgit v1.2.3-18-g5258