Quadrotor

/* Arduino Sd2Card Library

 * Copyright (C) 2009 by William Greiman

 *

 * This file is part of the Arduino Sd2Card 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 Sd2Card Library.  If not, see

 * <http://www.gnu.org/licenses/>.

 */

#ifndef Sd2Card_h

#define Sd2Card_h

/**

 * \file

 * Sd2Card class

 */

#include "Sd2PinMap.h"

#include "SdInfo.h"

/** Set SCK to max rate of F_CPU/2. See Sd2Card::setSckRate(). */

uint8_t const SPI_FULL_SPEED = 0;

/** Set SCK rate to F_CPU/4. See Sd2Card::setSckRate(). */

uint8_t const SPI_HALF_SPEED = 1;

/** Set SCK rate to F_CPU/8. Sd2Card::setSckRate(). */

uint8_t const SPI_QUARTER_SPEED = 2;

/**

 * Define MEGA_SOFT_SPI non-zero to use software SPI on Mega Arduinos.

 * Pins used are SS 10, MOSI 11, MISO 12, and SCK 13.

 *

 * MEGA_SOFT_SPI allows an unmodified Adafruit GPS Shield to be used

 * on Mega Arduinos.  Software SPI works well with GPS Shield V1.1

 * but many SD cards will fail with GPS Shield V1.0.

 */

#define MEGA_SOFT_SPI 0

//------------------------------------------------------------------------------

#if MEGA_SOFT_SPI && (defined(__AVR_ATmega1280__)||defined(__AVR_ATmega2560__))

#define SOFTWARE_SPI

#endif  // MEGA_SOFT_SPI

//------------------------------------------------------------------------------

// SPI pin definitions

//

#ifndef SOFTWARE_SPI

// hardware pin defs

/**

 * SD Chip Select pin

 *

 * Warning if this pin is redefined the hardware SS will 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.

 */

/** The default chip select pin for the SD card is SS. */

uint8_t const  SD_CHIP_SELECT_PIN = SS_PIN;

// The following three pins must not be redefined for hardware SPI.

/** SPI Master Out Slave In pin */

uint8_t const  SPI_MOSI_PIN = MOSI_PIN;

/** SPI Master In Slave Out pin */

uint8_t const  SPI_MISO_PIN = MISO_PIN;

/** SPI Clock pin */

uint8_t const  SPI_SCK_PIN = SCK_PIN;

/** optimize loops for hardware SPI */

#define OPTIMIZE_HARDWARE_SPI

#else  // SOFTWARE_SPI

// define software SPI pins so Mega can use unmodified GPS Shield

/** SPI chip select pin */

uint8_t const SD_CHIP_SELECT_PIN = 10;

/** SPI Master Out Slave In pin */

uint8_t const SPI_MOSI_PIN = 11;

/** SPI Master In Slave Out pin */

uint8_t const SPI_MISO_PIN = 12;

/** SPI Clock pin */

uint8_t const SPI_SCK_PIN = 13;

#endif  // SOFTWARE_SPI

//------------------------------------------------------------------------------

/** Protect block zero from write if nonzero */

#define SD_PROTECT_BLOCK_ZERO 1

/** init timeout ms */

uint16_t const SD_INIT_TIMEOUT = 2000;

/** erase timeout ms */

uint16_t const SD_ERASE_TIMEOUT = 10000;

/** read timeout ms */

uint16_t const SD_READ_TIMEOUT = 300;

/** write time out ms */

uint16_t const SD_WRITE_TIMEOUT = 600;

//------------------------------------------------------------------------------

// SD card errors

/** timeout error for command CMD0 */

uint8_t const SD_CARD_ERROR_CMD0 = 0X1;

/** CMD8 was not accepted - not a valid SD card*/

uint8_t const SD_CARD_ERROR_CMD8 = 0X2;

/** card returned an error response for CMD17 (read block) */

uint8_t const SD_CARD_ERROR_CMD17 = 0X3;

/** card returned an error response for CMD24 (write block) */

uint8_t const SD_CARD_ERROR_CMD24 = 0X4;

/**  WRITE_MULTIPLE_BLOCKS command failed */

uint8_t const SD_CARD_ERROR_CMD25 = 0X05;

/** card returned an error response for CMD58 (read OCR) */

uint8_t const SD_CARD_ERROR_CMD58 = 0X06;

/** SET_WR_BLK_ERASE_COUNT failed */

uint8_t const SD_CARD_ERROR_ACMD23 = 0X07;

/** card's ACMD41 initialization process timeout */

uint8_t const SD_CARD_ERROR_ACMD41 = 0X08;

/** card returned a bad CSR version field */

uint8_t const SD_CARD_ERROR_BAD_CSD = 0X09;

/** erase block group command failed */

uint8_t const SD_CARD_ERROR_ERASE = 0X0A;

/** card not capable of single block erase */

uint8_t const SD_CARD_ERROR_ERASE_SINGLE_BLOCK = 0X0B;

/** Erase sequence timed out */

uint8_t const SD_CARD_ERROR_ERASE_TIMEOUT = 0X0C;

/** card returned an error token instead of read data */

uint8_t const SD_CARD_ERROR_READ = 0X0D;

/** read CID or CSD failed */

uint8_t const SD_CARD_ERROR_READ_REG = 0X0E;

/** timeout while waiting for start of read data */

uint8_t const SD_CARD_ERROR_READ_TIMEOUT = 0X0F;

/** card did not accept STOP_TRAN_TOKEN */

uint8_t const SD_CARD_ERROR_STOP_TRAN = 0X10;

/** card returned an error token as a response to a write operation */

uint8_t const SD_CARD_ERROR_WRITE = 0X11;

/** attempt to write protected block zero */

uint8_t const SD_CARD_ERROR_WRITE_BLOCK_ZERO = 0X12;

/** card did not go ready for a multiple block write */

uint8_t const SD_CARD_ERROR_WRITE_MULTIPLE = 0X13;

/** card returned an error to a CMD13 status check after a write */

uint8_t const SD_CARD_ERROR_WRITE_PROGRAMMING = 0X14;

/** timeout occurred during write programming */

uint8_t const SD_CARD_ERROR_WRITE_TIMEOUT = 0X15;

/** incorrect rate selected */

uint8_t const SD_CARD_ERROR_SCK_RATE = 0X16;

//------------------------------------------------------------------------------

// card types

/** Standard capacity V1 SD card */

uint8_t const SD_CARD_TYPE_SD1 = 1;

/** Standard capacity V2 SD card */

uint8_t const SD_CARD_TYPE_SD2 = 2;

/** High Capacity SD card */

uint8_t const SD_CARD_TYPE_SDHC = 3;

//------------------------------------------------------------------------------

/**

 * \class Sd2Card

 * \brief Raw access to SD and SDHC flash memory cards.

 */

class Sd2Card {

 public:

  /** Construct an instance of Sd2Card. */

  Sd2Card(void) : errorCode_(0), inBlock_(0), partialBlockRead_(0), type_(0) {}

  uint32_t cardSize(void);

  uint8_t erase(uint32_t firstBlock, uint32_t lastBlock);

  uint8_t eraseSingleBlockEnable(void);

  /**

   * \return error code for last error. See Sd2Card.h for a list of error codes.

   */

  uint8_t errorCode(void) const {return errorCode_;}

  /** \return error data for last error. */

  uint8_t errorData(void) const {return status_;}

  /**

   * Initialize an SD flash memory card with default clock rate and chip

   * select pin.  See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin).

   */

  uint8_t init(void) {

    return init(SPI_FULL_SPEED, SD_CHIP_SELECT_PIN);

  }

  /**

   * Initialize an SD flash memory card with the selected SPI clock rate

   * and the default SD chip select pin.

   * See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin).

   */

  uint8_t init(uint8_t sckRateID) {

    return init(sckRateID, SD_CHIP_SELECT_PIN);

  }

  uint8_t init(uint8_t sckRateID, uint8_t chipSelectPin);

  void partialBlockRead(uint8_t value);

  /** Returns the current value, true or false, for partial block read. */

  uint8_t partialBlockRead(void) const {return partialBlockRead_;}

  uint8_t readBlock(uint32_t block, uint8_t* dst);

  uint8_t readData(uint32_t block,

          uint16_t offset, uint16_t count, uint8_t* dst);

  /**

   * Read a cards CID register. The CID contains card identification

   * information such as Manufacturer ID, Product name, Product serial

   * number and Manufacturing date. */

  uint8_t readCID(cid_t* cid) {

    return readRegister(CMD10, cid);

  }

  /**

   * Read a cards CSD register. The CSD contains Card-Specific Data that

   * provides information regarding access to the card's contents. */

  uint8_t readCSD(csd_t* csd) {

    return readRegister(CMD9, csd);

  }

  void readEnd(void);

  uint8_t setSckRate(uint8_t sckRateID);

  /** Return the card type: SD V1, SD V2 or SDHC */

  uint8_t type(void) const {return type_;}

  uint8_t writeBlock(uint32_t blockNumber, const uint8_t* src);

  uint8_t writeData(const uint8_t* src);

  uint8_t writeStart(uint32_t blockNumber, uint32_t eraseCount);

  uint8_t writeStop(void);

 private:

  uint32_t block_;

  uint8_t chipSelectPin_;

  uint8_t errorCode_;

  uint8_t inBlock_;

  uint16_t offset_;

  uint8_t partialBlockRead_;

  uint8_t status_;

  uint8_t type_;

  // private functions

  uint8_t cardAcmd(uint8_t cmd, uint32_t arg) {

    cardCommand(CMD55, 0);

    return cardCommand(cmd, arg);

  }

  uint8_t cardCommand(uint8_t cmd, uint32_t arg);

  void error(uint8_t code) {errorCode_ = code;}

  uint8_t readRegister(uint8_t cmd, void* buf);

  uint8_t sendWriteCommand(uint32_t blockNumber, uint32_t eraseCount);

  void chipSelectHigh(void);

  void chipSelectLow(void);

  void type(uint8_t value) {type_ = value;}

  uint8_t waitNotBusy(uint16_t timeoutMillis);

  uint8_t writeData(uint8_t token, const uint8_t* src);

  uint8_t waitStartBlock(void);

};

#endif  // Sd2Card_h