USBMSD_SD.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2006-2012 ARM Limited
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
00020  * SOFTWARE.
00021  */
00022 /* Introduction
00023  * ------------
00024  * SD and MMC cards support a number of interfaces, but common to them all
00025  * is one based on SPI. This is the one I'm implmenting because it means
00026  * it is much more portable even though not so performant, and we already
00027  * have the mbed SPI Interface!
00028  *
00029  * The main reference I'm using is Chapter 7, "SPI Mode" of:
00030  *  http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
00031  *
00032  * SPI Startup
00033  * -----------
00034  * The SD card powers up in SD mode. The SPI interface mode is selected by
00035  * asserting CS low and sending the reset command (CMD0). The card will
00036  * respond with a (R1) response.
00037  *
00038  * CMD8 is optionally sent to determine the voltage range supported, and
00039  * indirectly determine whether it is a version 1.x SD/non-SD card or
00040  * version 2.x. I'll just ignore this for now.
00041  *
00042  * ACMD41 is repeatedly issued to initialise the card, until "in idle"
00043  * (bit 0) of the R1 response goes to '0', indicating it is initialised.
00044  *
00045  * You should also indicate whether the host supports High Capicity cards,
00046  * and check whether the card is high capacity - i'll also ignore this
00047  *
00048  * SPI Protocol
00049  * ------------
00050  * The SD SPI protocol is based on transactions made up of 8-bit words, with
00051  * the host starting every bus transaction by asserting the CS signal low. The
00052  * card always responds to commands, data blocks and errors.
00053  *
00054  * The protocol supports a CRC, but by default it is off (except for the
00055  * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
00056  * I'll leave the CRC off I think!
00057  *
00058  * Standard capacity cards have variable data block sizes, whereas High
00059  * Capacity cards fix the size of data block to 512 bytes. I'll therefore
00060  * just always use the Standard Capacity cards with a block size of 512 bytes.
00061  * This is set with CMD16.
00062  *
00063  * You can read and write single blocks (CMD17, CMD25) or multiple blocks
00064  * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
00065  * the card gets a read command, it responds with a response token, and then
00066  * a data token or an error.
00067  *
00068  * SPI Command Format
00069  * ------------------
00070  * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
00071  *
00072  * +---------------+------------+------------+-----------+----------+--------------+
00073  * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
00074  * +---------------+------------+------------+-----------+----------+--------------+
00075  *
00076  * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
00077  *
00078  * All Application Specific commands shall be preceded with APP_CMD (CMD55).
00079  *
00080  * SPI Response Format
00081  * -------------------
00082  * The main response format (R1) is a status byte (normally zero). Key flags:
00083  *  idle - 1 if the card is in an idle state/initialising
00084  *  cmd  - 1 if an illegal command code was detected
00085  *
00086  *    +-------------------------------------------------+
00087  * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
00088  *    +-------------------------------------------------+
00089  *
00090  * R1b is the same, except it is followed by a busy signal (zeros) until
00091  * the first non-zero byte when it is ready again.
00092  *
00093  * Data Response Token
00094  * -------------------
00095  * Every data block written to the card is acknowledged by a byte
00096  * response token
00097  *
00098  * +----------------------+
00099  * | xxx | 0 | status | 1 |
00100  * +----------------------+
00101  *              010 - OK!
00102  *              101 - CRC Error
00103  *              110 - Write Error
00104  *
00105  * Single Block Read and Write
00106  * ---------------------------
00107  *
00108  * Block transfers have a byte header, followed by the data, followed
00109  * by a 16-bit CRC. In our case, the data will always be 512 bytes.
00110  *
00111  * +------+---------+---------+- -  - -+---------+-----------+----------+
00112  * | 0xFE | data[0] | data[1] |        | data[n] | crc[15:8] | crc[7:0] |
00113  * +------+---------+---------+- -  - -+---------+-----------+----------+
00114  */
00115 #include "USBMSD_SD.h"
00116 #include "mbed_debug.h"
00117 
00118 #define SD_COMMAND_TIMEOUT 5000
00119 
00120 #define SD_DBG             0
00121 
00122 USBMSD_SD::USBMSD_SD(PinName mosi, PinName miso, PinName sclk, PinName cs) :
00123     _spi(mosi, miso, sclk), _cs(cs) {
00124     _cs = 1;
00125     
00126     //no init
00127     _status = 0x01;
00128     
00129     connect();
00130 }
00131 
00132 #define R1_IDLE_STATE           (1 << 0)
00133 #define R1_ERASE_RESET          (1 << 1)
00134 #define R1_ILLEGAL_COMMAND      (1 << 2)
00135 #define R1_COM_CRC_ERROR        (1 << 3)
00136 #define R1_ERASE_SEQUENCE_ERROR (1 << 4)
00137 #define R1_ADDRESS_ERROR        (1 << 5)
00138 #define R1_PARAMETER_ERROR      (1 << 6)
00139 
00140 // Types
00141 //  - v1.x Standard Capacity
00142 //  - v2.x Standard Capacity
00143 //  - v2.x High Capacity
00144 //  - Not recognised as an SD Card
00145 #define SDCARD_FAIL 0
00146 #define SDCARD_V1   1
00147 #define SDCARD_V2   2
00148 #define SDCARD_V2HC 3
00149 
00150 int USBMSD_SD::initialise_card() {
00151     // Set to 100kHz for initialisation, and clock card with cs = 1
00152     _spi.frequency(100000);
00153     _cs = 1;
00154     for (int i = 0; i < 16; i++) {
00155         _spi.write(0xFF);
00156     }
00157     // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
00158     if (_cmd(0, 0) != R1_IDLE_STATE) {
00159         debug("No disk, or could not put SD card in to SPI idle state\n");
00160         return SDCARD_FAIL;
00161     }
00162     
00163     // send CMD8 to determine whther it is ver 2.x
00164     int r = _cmd8();
00165     if (r == R1_IDLE_STATE) {
00166         return initialise_card_v2();
00167     } else if (r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
00168         return initialise_card_v1();
00169     } else {
00170         debug("Not in idle state after sending CMD8 (not an SD card?)\n");
00171         return SDCARD_FAIL;
00172     }
00173 }
00174 
00175 int USBMSD_SD::initialise_card_v1() {
00176     for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
00177         _cmd(55, 0);
00178         if (_cmd(41, 0) == 0) {
00179             cdv = 512;
00180             debug_if(SD_DBG, "\n\rInit: SEDCARD_V1\n\r");
00181             return SDCARD_V1;
00182         }
00183     }
00184     
00185     debug("Timeout waiting for v1.x card\n");
00186     return SDCARD_FAIL;
00187 }
00188 
00189 int USBMSD_SD::initialise_card_v2() {
00190     for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
00191         wait_ms(50);
00192         _cmd58();
00193         _cmd(55, 0);
00194         if (_cmd(41, 0x40000000) == 0) {
00195             _cmd58();
00196             debug_if(SD_DBG, "\n\rInit: SDCARD_V2\n\r");
00197             cdv = 1;
00198             return SDCARD_V2;
00199         }
00200     }
00201     
00202     debug("Timeout waiting for v2.x card\n");
00203     return SDCARD_FAIL;
00204 }
00205 
00206 int USBMSD_SD::disk_initialize() {
00207     int i = initialise_card();
00208     debug_if(SD_DBG, "init card = %d\n", i);
00209     _sectors = _sd_sectors();
00210     
00211     // Set block length to 512 (CMD16)
00212     if (_cmd(16, 512) != 0) {
00213         debug("Set 512-byte block timed out\n");
00214         return 1;
00215     }
00216     
00217     _spi.frequency(5000000); // Set to 5MHz for data transfer
00218     
00219     // OK
00220     _status = 0x00;
00221     
00222     return 0;
00223 }
00224 
00225 int USBMSD_SD::disk_write(const uint8_t *buffer, uint64_t block_number, uint8_t count) {
00226     // set write address for single block (CMD24)
00227     if (_cmd(24, block_number * cdv) != 0) {
00228         return 1;
00229     }
00230     
00231     // send the data block
00232     _write(buffer, 512);
00233     return 0;
00234 }
00235 
00236 int USBMSD_SD::disk_read(uint8_t *buffer, uint64_t block_number, uint8_t count) {
00237     // set read address for single block (CMD17)
00238     if (_cmd(17, block_number * cdv) != 0) {
00239         return 1;
00240     }
00241     
00242     // receive the data
00243     _read(buffer, 512);
00244     return 0;
00245 }
00246 
00247 int USBMSD_SD::disk_status() { return _status; }
00248 int USBMSD_SD::disk_sync() { return 0; }
00249 uint64_t USBMSD_SD::disk_sectors() { return _sectors; }
00250 
00251 
00252 // PRIVATE FUNCTIONS
00253 int USBMSD_SD::_cmd(int cmd, int arg) {
00254     _cs = 0;
00255     
00256     // send a command
00257     _spi.write(0x40 | cmd);
00258     _spi.write(arg >> 24);
00259     _spi.write(arg >> 16);
00260     _spi.write(arg >> 8);
00261     _spi.write(arg >> 0);
00262     _spi.write(0x95);
00263     
00264     // wait for the repsonse (response[7] == 0)
00265     for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
00266         int response = _spi.write(0xFF);
00267         if (!(response & 0x80)) {
00268             _cs = 1;
00269             _spi.write(0xFF);
00270             return response;
00271         }
00272     }
00273     _cs = 1;
00274     _spi.write(0xFF);
00275     return -1; // timeout
00276 }
00277 int USBMSD_SD::_cmdx(int cmd, int arg) {
00278     _cs = 0;
00279     
00280     // send a command
00281     _spi.write(0x40 | cmd);
00282     _spi.write(arg >> 24);
00283     _spi.write(arg >> 16);
00284     _spi.write(arg >> 8);
00285     _spi.write(arg >> 0);
00286     _spi.write(0x95);
00287     
00288     // wait for the repsonse (response[7] == 0)
00289     for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
00290         int response = _spi.write(0xFF);
00291         if (!(response & 0x80)) {
00292             return response;
00293         }
00294     }
00295     _cs = 1;
00296     _spi.write(0xFF);
00297     return -1; // timeout
00298 }
00299 
00300 
00301 int USBMSD_SD::_cmd58() {
00302     _cs = 0;
00303     int arg = 0;
00304     
00305     // send a command
00306     _spi.write(0x40 | 58);
00307     _spi.write(arg >> 24);
00308     _spi.write(arg >> 16);
00309     _spi.write(arg >> 8);
00310     _spi.write(arg >> 0);
00311     _spi.write(0x95);
00312     
00313     // wait for the repsonse (response[7] == 0)
00314     for (int i = 0; i < SD_COMMAND_TIMEOUT; i++) {
00315         int response = _spi.write(0xFF);
00316         if (!(response & 0x80)) {
00317             int ocr = _spi.write(0xFF) << 24;
00318             ocr |= _spi.write(0xFF) << 16;
00319             ocr |= _spi.write(0xFF) << 8;
00320             ocr |= _spi.write(0xFF) << 0;
00321             _cs = 1;
00322             _spi.write(0xFF);
00323             return response;
00324         }
00325     }
00326     _cs = 1;
00327     _spi.write(0xFF);
00328     return -1; // timeout
00329 }
00330 
00331 int USBMSD_SD::_cmd8() {
00332     _cs = 0;
00333     
00334     // send a command
00335     _spi.write(0x40 | 8); // CMD8
00336     _spi.write(0x00);     // reserved
00337     _spi.write(0x00);     // reserved
00338     _spi.write(0x01);     // 3.3v
00339     _spi.write(0xAA);     // check pattern
00340     _spi.write(0x87);     // crc
00341     
00342     // wait for the repsonse (response[7] == 0)
00343     for (int i = 0; i < SD_COMMAND_TIMEOUT * 1000; i++) {
00344         char response[5];
00345         response[0] = _spi.write(0xFF);
00346         if (!(response[0] & 0x80)) {
00347             for (int j = 1; j < 5; j++) {
00348                 response[i] = _spi.write(0xFF);
00349             }
00350             _cs = 1;
00351             _spi.write(0xFF);
00352             return response[0];
00353         }
00354     }
00355     _cs = 1;
00356     _spi.write(0xFF);
00357     return -1; // timeout
00358 }
00359 
00360 int USBMSD_SD::_read(uint8_t *buffer, uint32_t length) {
00361     _cs = 0;
00362     
00363     // read until start byte (0xFF)
00364     while (_spi.write(0xFF) != 0xFE);
00365     
00366     // read data
00367     for (int i = 0; i < length; i++) {
00368         buffer[i] = _spi.write(0xFF);
00369     }
00370     _spi.write(0xFF); // checksum
00371     _spi.write(0xFF);
00372     
00373     _cs = 1;
00374     _spi.write(0xFF);
00375     return 0;
00376 }
00377 
00378 int USBMSD_SD::_write(const uint8_t*buffer, uint32_t length) {
00379     _cs = 0;
00380     
00381     // indicate start of block
00382     _spi.write(0xFE);
00383     
00384     // write the data
00385     for (int i = 0; i < length; i++) {
00386         _spi.write(buffer[i]);
00387     }
00388     
00389     // write the checksum
00390     _spi.write(0xFF);
00391     _spi.write(0xFF);
00392     
00393     // check the response token
00394     if ((_spi.write(0xFF) & 0x1F) != 0x05) {
00395         _cs = 1;
00396         _spi.write(0xFF);
00397         return 1;
00398     }
00399     
00400     // wait for write to finish
00401     while (_spi.write(0xFF) == 0);
00402     
00403     _cs = 1;
00404     _spi.write(0xFF);
00405     return 0;
00406 }
00407 
00408 static uint32_t ext_bits(unsigned char *data, int msb, int lsb) {
00409     uint32_t bits = 0;
00410     uint32_t size = 1 + msb - lsb;
00411     for (int i = 0; i < size; i++) {
00412         uint32_t position = lsb + i;
00413         uint32_t byte = 15 - (position >> 3);
00414         uint32_t bit = position & 0x7;
00415         uint32_t value = (data[byte] >> bit) & 1;
00416         bits |= value << i;
00417     }
00418     return bits;
00419 }
00420 
00421 uint64_t USBMSD_SD::_sd_sectors() {
00422     uint32_t c_size, c_size_mult, read_bl_len;
00423     uint32_t block_len, mult, blocknr, capacity;
00424     uint32_t hc_c_size;
00425     uint64_t blocks;
00426     
00427     // CMD9, Response R2 (R1 byte + 16-byte block read)
00428     if (_cmdx(9, 0) != 0) {
00429         debug("Didn't get a response from the disk\n");
00430         return 0;
00431     }
00432     
00433     uint8_t csd[16];
00434     if (_read(csd, 16) != 0) {
00435         debug("Couldn't read csd response from disk\n");
00436         return 0;
00437     }
00438     
00439     // csd_structure : csd[127:126]
00440     // c_size        : csd[73:62]
00441     // c_size_mult   : csd[49:47]
00442     // read_bl_len   : csd[83:80] - the *maximum* read block length
00443     
00444     int csd_structure = ext_bits(csd, 127, 126);
00445     
00446     switch (csd_structure) {
00447         case 0:
00448             cdv = 512;
00449             c_size = ext_bits(csd, 73, 62);
00450             c_size_mult = ext_bits(csd, 49, 47);
00451             read_bl_len = ext_bits(csd, 83, 80);
00452             
00453             block_len = 1 << read_bl_len;
00454             mult = 1 << (c_size_mult + 2);
00455             blocknr = (c_size + 1) * mult;
00456             capacity = blocknr * block_len;
00457             blocks = capacity / 512;
00458             debug_if(SD_DBG, "\n\rSDCard\n\rc_size: %d \n\rcapacity: %ld \n\rsectors: %lld\n\r", c_size, capacity, blocks);
00459             break;
00460         
00461         case 1:
00462             cdv = 1;
00463             hc_c_size = ext_bits(csd, 63, 48);
00464             blocks = (hc_c_size+1)*1024;
00465             debug_if(SD_DBG, "\n\rSDHC Card \n\rhc_c_size: %d\n\rcapacity: %lld \n\rsectors: %lld\n\r", hc_c_size, blocks*512, blocks);
00466             break;
00467         
00468         default:
00469             debug("CSD struct unsupported\r\n");
00470             return 0;
00471     };
00472     return blocks;
00473 }