Rename to Sprinter

1 files changed, 643 insertions, 0 deletions

diff --git a/Sprinter/Sd2Card.cpp b/Sprinter/Sd2Card.cpp
new file mode 100644
index 0000000..8222cfd
--- /dev/null
+++ b/Sprinter/Sd2Card.cpp
@@ -0,0 +1,643 @@
+/* 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/>.

+ */

+#include <WProgram.h>

+#include "Sd2Card.h"

+//------------------------------------------------------------------------------

+#ifndef SOFTWARE_SPI

+// functions for hardware SPI

+/** Send a byte to the card */

+static void spiSend(uint8_t b) {

+  SPDR = b;

+  while (!(SPSR & (1 << SPIF)));

+}

+/** Receive a byte from the card */

+static  uint8_t spiRec(void) {

+  spiSend(0XFF);

+  return SPDR;

+}

+#else  // SOFTWARE_SPI

+//------------------------------------------------------------------------------

+/** nop to tune soft SPI timing */

+#define nop asm volatile ("nop\n\t")

+//------------------------------------------------------------------------------

+/** Soft SPI receive */

+uint8_t spiRec(void) {

+  uint8_t data = 0;

+  // no interrupts during byte receive - about 8 us

+  cli();

+  // output pin high - like sending 0XFF

+  fastDigitalWrite(SPI_MOSI_PIN, HIGH);

+

+  for (uint8_t i = 0; i < 8; i++) {

+    fastDigitalWrite(SPI_SCK_PIN, HIGH);

+

+    // adjust so SCK is nice

+    nop;

+    nop;

+

+    data <<= 1;

+

+    if (fastDigitalRead(SPI_MISO_PIN)) data |= 1;

+

+    fastDigitalWrite(SPI_SCK_PIN, LOW);

+  }

+  // enable interrupts

+  sei();

+  return data;

+}

+//------------------------------------------------------------------------------

+/** Soft SPI send */

+void spiSend(uint8_t data) {

+  // no interrupts during byte send - about 8 us

+  cli();

+  for (uint8_t i = 0; i < 8; i++) {

+    fastDigitalWrite(SPI_SCK_PIN, LOW);

+

+    fastDigitalWrite(SPI_MOSI_PIN, data & 0X80);

+

+    data <<= 1;

+

+    fastDigitalWrite(SPI_SCK_PIN, HIGH);

+  }

+  // hold SCK high for a few ns

+  nop;

+  nop;

+  nop;

+  nop;

+

+  fastDigitalWrite(SPI_SCK_PIN, LOW);

+  // enable interrupts

+  sei();

+}

+#endif  // SOFTWARE_SPI

+//------------------------------------------------------------------------------

+// send command and return error code.  Return zero for OK

+uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) {

+  // end read if in partialBlockRead mode

+  readEnd();

+

+  // select card

+  chipSelectLow();

+

+  // wait up to 300 ms if busy

+  waitNotBusy(300);

+

+  // send command

+  spiSend(cmd | 0x40);

+

+  // send argument

+  for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);

+

+  // send CRC

+  uint8_t crc = 0XFF;

+  if (cmd == CMD0) crc = 0X95;  // correct crc for CMD0 with arg 0

+  if (cmd == CMD8) crc = 0X87;  // correct crc for CMD8 with arg 0X1AA

+  spiSend(crc);

+

+  // wait for response

+  for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++);

+  return status_;

+}

+//------------------------------------------------------------------------------

+/**

+ * Determine the size of an SD flash memory card.

+ *

+ * \return The number of 512 byte data blocks in the card

+ *         or zero if an error occurs.

+ */

+uint32_t Sd2Card::cardSize(void) {

+  csd_t csd;

+  if (!readCSD(&csd)) return 0;

+  if (csd.v1.csd_ver == 0) {

+    uint8_t read_bl_len = csd.v1.read_bl_len;

+    uint16_t c_size = (csd.v1.c_size_high << 10)

+                      | (csd.v1.c_size_mid << 2) | csd.v1.c_size_low;

+    uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1)

+                          | csd.v1.c_size_mult_low;

+    return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7);

+  } else if (csd.v2.csd_ver == 1) {

+    uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16)

+                      | (csd.v2.c_size_mid << 8) | csd.v2.c_size_low;

+    return (c_size + 1) << 10;

+  } else {

+    error(SD_CARD_ERROR_BAD_CSD);

+    return 0;

+  }

+}

+//------------------------------------------------------------------------------

+void Sd2Card::chipSelectHigh(void) {

+  digitalWrite(chipSelectPin_, HIGH);

+}

+//------------------------------------------------------------------------------

+void Sd2Card::chipSelectLow(void) {

+  digitalWrite(chipSelectPin_, LOW);

+}

+//------------------------------------------------------------------------------

+/** Erase a range of blocks.

+ *

+ * \param[in] firstBlock The address of the first block in the range.

+ * \param[in] lastBlock The address of the last block in the range.

+ *

+ * \note This function requests the SD card to do a flash erase for a

+ * range of blocks.  The data on the card after an erase operation is

+ * either 0 or 1, depends on the card vendor.  The card must support

+ * single block erase.

+ *

+ * \return The value one, true, is returned for success and

+ * the value zero, false, is returned for failure.

+ */

+uint8_t Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) {

+  if (!eraseSingleBlockEnable()) {

+    error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK);

+    goto fail;

+  }

+  if (type_ != SD_CARD_TYPE_SDHC) {

+    firstBlock <<= 9;

+    lastBlock <<= 9;

+  }

+  if (cardCommand(CMD32, firstBlock)

+    || cardCommand(CMD33, lastBlock)

+    || cardCommand(CMD38, 0)) {

+      error(SD_CARD_ERROR_ERASE);

+      goto fail;

+  }

+  if (!waitNotBusy(SD_ERASE_TIMEOUT)) {

+    error(SD_CARD_ERROR_ERASE_TIMEOUT);

+    goto fail;

+  }

+  chipSelectHigh();

+  return true;

+

+ fail:

+  chipSelectHigh();

+  return false;

+}

+//------------------------------------------------------------------------------

+/** Determine if card supports single block erase.

+ *

+ * \return The value one, true, is returned if single block erase is supported.

+ * The value zero, false, is returned if single block erase is not supported.

+ */

+uint8_t Sd2Card::eraseSingleBlockEnable(void) {

+  csd_t csd;

+  return readCSD(&csd) ? csd.v1.erase_blk_en : 0;

+}

+//------------------------------------------------------------------------------

+/**

+ * Initialize an SD flash memory card.

+ *

+ * \param[in] sckRateID SPI clock rate selector. See setSckRate().

+ * \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.  The reason for failure

+ * can be determined by calling errorCode() and errorData().

+ */

+uint8_t Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {

+  errorCode_ = inBlock_ = partialBlockRead_ = type_ = 0;

+  chipSelectPin_ = chipSelectPin;

+  // 16-bit init start time allows over a minute

+  uint16_t t0 = (uint16_t)millis();

+  uint32_t arg;

+

+  // set pin modes

+  pinMode(chipSelectPin_, OUTPUT);

+  chipSelectHigh();

+  pinMode(SPI_MISO_PIN, INPUT);

+  pinMode(SPI_MOSI_PIN, OUTPUT);

+  pinMode(SPI_SCK_PIN, OUTPUT);

+

+#ifndef SOFTWARE_SPI

+  // SS must be in output mode even it is not chip select

+  pinMode(SS_PIN, OUTPUT);

+  // Enable SPI, Master, clock rate f_osc/128

+  SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0);

+  // clear double speed

+  SPSR &= ~(1 << SPI2X);

+#endif  // SOFTWARE_SPI

+

+  // must supply min of 74 clock cycles with CS high.

+  for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);

+

+  chipSelectLow();

+

+  // command to go idle in SPI mode

+  while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {

+    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {

+      error(SD_CARD_ERROR_CMD0);

+      goto fail;

+    }

+  }

+  // check SD version

+  if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) {

+    type(SD_CARD_TYPE_SD1);

+  } else {

+    // only need last byte of r7 response

+    for (uint8_t i = 0; i < 4; i++) status_ = spiRec();

+    if (status_ != 0XAA) {

+      error(SD_CARD_ERROR_CMD8);

+      goto fail;

+    }

+    type(SD_CARD_TYPE_SD2);

+  }

+  // initialize card and send host supports SDHC if SD2

+  arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0;

+

+  while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) {

+    // check for timeout

+    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {

+      error(SD_CARD_ERROR_ACMD41);

+      goto fail;

+    }

+  }

+  // if SD2 read OCR register to check for SDHC card

+  if (type() == SD_CARD_TYPE_SD2) {

+    if (cardCommand(CMD58, 0)) {

+      error(SD_CARD_ERROR_CMD58);

+      goto fail;

+    }

+    if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC);

+    // discard rest of ocr - contains allowed voltage range

+    for (uint8_t i = 0; i < 3; i++) spiRec();

+  }

+  chipSelectHigh();

+

+#ifndef SOFTWARE_SPI

+  return setSckRate(sckRateID);

+#else  // SOFTWARE_SPI

+  return true;

+#endif  // SOFTWARE_SPI

+

+ fail:

+  chipSelectHigh();

+  return false;

+}

+//------------------------------------------------------------------------------

+/**

+ * Enable or disable partial block reads.

+ *

+ * Enabling partial block reads improves performance by allowing a block

+ * to be read over the SPI bus as several sub-blocks.  Errors may occur

+ * if the time between reads is too long since the SD card may timeout.

+ * The SPI SS line will be held low until the entire block is read or

+ * readEnd() is called.

+ *

+ * Use this for applications like the Adafruit Wave Shield.

+ *

+ * \param[in] value The value TRUE (non-zero) or FALSE (zero).)

+ */

+void Sd2Card::partialBlockRead(uint8_t value) {

+  readEnd();

+  partialBlockRead_ = value;

+}

+//------------------------------------------------------------------------------

+/**

+ * Read a 512 byte block from an SD card device.

+ *

+ * \param[in] block 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 Sd2Card::readBlock(uint32_t block, uint8_t* dst) {

+  return readData(block, 0, 512, dst);

+}

+//------------------------------------------------------------------------------

+/**

+ * Read part of a 512 byte block from an SD card.

+ *

+ * \param[in] block Logical block to be read.

+ * \param[in] offset Number of bytes to skip at start of block

+ * \param[out] dst Pointer to the location that will receive the data.

+ * \param[in] count Number of bytes to read

+ * \return The value one, true, is returned for success and

+ * the value zero, false, is returned for failure.

+ */

+uint8_t Sd2Card::readData(uint32_t block,

+        uint16_t offset, uint16_t count, uint8_t* dst) {

+  uint16_t n;

+  if (count == 0) return true;

+  if ((count + offset) > 512) {

+    goto fail;

+  }

+  if (!inBlock_ || block != block_ || offset < offset_) {

+    block_ = block;

+    // use address if not SDHC card

+    if (type()!= SD_CARD_TYPE_SDHC) block <<= 9;

+    if (cardCommand(CMD17, block)) {

+      error(SD_CARD_ERROR_CMD17);

+      goto fail;

+    }

+    if (!waitStartBlock()) {

+      goto fail;

+    }

+    offset_ = 0;

+    inBlock_ = 1;

+  }

+

+#ifdef OPTIMIZE_HARDWARE_SPI

+  // start first spi transfer

+  SPDR = 0XFF;

+

+  // skip data before offset

+  for (;offset_ < offset; offset_++) {

+    while (!(SPSR & (1 << SPIF)));

+    SPDR = 0XFF;

+  }

+  // transfer data

+  n = count - 1;

+  for (uint16_t i = 0; i < n; i++) {

+    while (!(SPSR & (1 << SPIF)));

+    dst[i] = SPDR;

+    SPDR = 0XFF;

+  }

+  // wait for last byte

+  while (!(SPSR & (1 << SPIF)));

+  dst[n] = SPDR;

+

+#else  // OPTIMIZE_HARDWARE_SPI

+

+  // skip data before offset

+  for (;offset_ < offset; offset_++) {

+    spiRec();

+  }

+  // transfer data

+  for (uint16_t i = 0; i < count; i++) {

+    dst[i] = spiRec();

+  }

+#endif  // OPTIMIZE_HARDWARE_SPI

+

+  offset_ += count;

+  if (!partialBlockRead_ || offset_ >= 512) {

+    // read rest of data, checksum and set chip select high

+    readEnd();

+  }

+  return true;

+

+ fail:

+  chipSelectHigh();

+  return false;

+}

+//------------------------------------------------------------------------------

+/** Skip remaining data in a block when in partial block read mode. */

+void Sd2Card::readEnd(void) {

+  if (inBlock_) {

+      // skip data and crc

+#ifdef OPTIMIZE_HARDWARE_SPI

+    // optimize skip for hardware

+    SPDR = 0XFF;

+    while (offset_++ < 513) {

+      while (!(SPSR & (1 << SPIF)));

+      SPDR = 0XFF;

+    }

+    // wait for last crc byte

+    while (!(SPSR & (1 << SPIF)));

+#else  // OPTIMIZE_HARDWARE_SPI

+    while (offset_++ < 514) spiRec();

+#endif  // OPTIMIZE_HARDWARE_SPI

+    chipSelectHigh();

+    inBlock_ = 0;

+  }

+}

+//------------------------------------------------------------------------------

+/** read CID or CSR register */

+uint8_t Sd2Card::readRegister(uint8_t cmd, void* buf) {

+  uint8_t* dst = reinterpret_cast<uint8_t*>(buf);

+  if (cardCommand(cmd, 0)) {

+    error(SD_CARD_ERROR_READ_REG);

+    goto fail;

+  }

+  if (!waitStartBlock()) goto fail;

+  // transfer data

+  for (uint16_t i = 0; i < 16; i++) dst[i] = spiRec();

+  spiRec();  // get first crc byte

+  spiRec();  // get second crc byte

+  chipSelectHigh();

+  return true;

+

+ fail:

+  chipSelectHigh();

+  return false;

+}

+//------------------------------------------------------------------------------

+/**

+ * Set the SPI clock rate.

+ *

+ * \param[in] sckRateID A value in the range [0, 6].

+ *

+ * The SPI clock will be set to F_CPU/pow(2, 1 + sckRateID). The maximum

+ * SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128

+ * for \a scsRateID = 6.

+ *

+ * \return The value one, true, is returned for success and the value zero,

+ * false, is returned for an invalid value of \a sckRateID.

+ */

+uint8_t Sd2Card::setSckRate(uint8_t sckRateID) {

+  if (sckRateID > 6) {

+    error(SD_CARD_ERROR_SCK_RATE);

+    return false;

+  }

+  // see avr processor datasheet for SPI register bit definitions

+  if ((sckRateID & 1) || sckRateID == 6) {

+    SPSR &= ~(1 << SPI2X);

+  } else {

+    SPSR |= (1 << SPI2X);

+  }

+  SPCR &= ~((1 <<SPR1) | (1 << SPR0));

+  SPCR |= (sckRateID & 4 ? (1 << SPR1) : 0)

+    | (sckRateID & 2 ? (1 << SPR0) : 0);

+  return true;

+}

+//------------------------------------------------------------------------------

+// wait for card to go not busy

+uint8_t Sd2Card::waitNotBusy(uint16_t timeoutMillis) {

+  uint16_t t0 = millis();

+  do {

+    if (spiRec() == 0XFF) return true;

+  }

+  while (((uint16_t)millis() - t0) < timeoutMillis);

+  return false;

+}

+//------------------------------------------------------------------------------

+/** Wait for start block token */

+uint8_t Sd2Card::waitStartBlock(void) {

+  uint16_t t0 = millis();

+  while ((status_ = spiRec()) == 0XFF) {

+    if (((uint16_t)millis() - t0) > SD_READ_TIMEOUT) {

+      error(SD_CARD_ERROR_READ_TIMEOUT);

+      goto fail;

+    }

+  }

+  if (status_ != DATA_START_BLOCK) {

+    error(SD_CARD_ERROR_READ);

+    goto fail;

+  }

+  return true;

+

+ fail:

+  chipSelectHigh();

+  return false;

+}

+//------------------------------------------------------------------------------

+/**

+ * Writes a 512 byte block to an SD card.

+ *

+ * \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 Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) {

+#if SD_PROTECT_BLOCK_ZERO

+  // don't allow write to first block

+  if (blockNumber == 0) {

+    error(SD_CARD_ERROR_WRITE_BLOCK_ZERO);

+    goto fail;

+  }

+#endif  // SD_PROTECT_BLOCK_ZERO

+

+  // use address if not SDHC card

+  if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;

+  if (cardCommand(CMD24, blockNumber)) {

+    error(SD_CARD_ERROR_CMD24);

+    goto fail;

+  }

+  if (!writeData(DATA_START_BLOCK, src)) goto fail;

+

+  // wait for flash programming to complete

+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) {

+    error(SD_CARD_ERROR_WRITE_TIMEOUT);

+    goto fail;

+  }

+  // response is r2 so get and check two bytes for nonzero

+  if (cardCommand(CMD13, 0) || spiRec()) {

+    error(SD_CARD_ERROR_WRITE_PROGRAMMING);

+    goto fail;

+  }

+  chipSelectHigh();

+  return true;

+

+ fail:

+  chipSelectHigh();

+  return false;

+}

+//------------------------------------------------------------------------------

+/** Write one data block in a multiple block write sequence */

+uint8_t Sd2Card::writeData(const uint8_t* src) {

+  // wait for previous write to finish

+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) {

+    error(SD_CARD_ERROR_WRITE_MULTIPLE);

+    chipSelectHigh();

+    return false;

+  }

+  return writeData(WRITE_MULTIPLE_TOKEN, src);

+}

+//------------------------------------------------------------------------------

+// send one block of data for write block or write multiple blocks

+uint8_t Sd2Card::writeData(uint8_t token, const uint8_t* src) {

+#ifdef OPTIMIZE_HARDWARE_SPI

+

+  // send data - optimized loop

+  SPDR = token;

+

+  // send two byte per iteration

+  for (uint16_t i = 0; i < 512; i += 2) {

+    while (!(SPSR & (1 << SPIF)));

+    SPDR = src[i];

+    while (!(SPSR & (1 << SPIF)));

+    SPDR = src[i+1];

+  }

+

+  // wait for last data byte

+  while (!(SPSR & (1 << SPIF)));

+

+#else  // OPTIMIZE_HARDWARE_SPI

+  spiSend(token);

+  for (uint16_t i = 0; i < 512; i++) {

+    spiSend(src[i]);

+  }

+#endif  // OPTIMIZE_HARDWARE_SPI

+  spiSend(0xff);  // dummy crc

+  spiSend(0xff);  // dummy crc

+

+  status_ = spiRec();

+  if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) {

+    error(SD_CARD_ERROR_WRITE);

+    chipSelectHigh();

+    return false;

+  }

+  return true;

+}

+//------------------------------------------------------------------------------

+/** Start a write multiple blocks sequence.

+ *

+ * \param[in] blockNumber Address of first block in sequence.

+ * \param[in] eraseCount The number of blocks to be pre-erased.

+ *

+ * \note This function is used with writeData() and writeStop()

+ * for optimized multiple block writes.

+ *

+ * \return The value one, true, is returned for success and

+ * the value zero, false, is returned for failure.

+ */

+uint8_t Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) {

+#if SD_PROTECT_BLOCK_ZERO

+  // don't allow write to first block

+  if (blockNumber == 0) {

+    error(SD_CARD_ERROR_WRITE_BLOCK_ZERO);

+    goto fail;

+  }

+#endif  // SD_PROTECT_BLOCK_ZERO

+  // send pre-erase count

+  if (cardAcmd(ACMD23, eraseCount)) {

+    error(SD_CARD_ERROR_ACMD23);

+    goto fail;

+  }

+  // use address if not SDHC card

+  if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;

+  if (cardCommand(CMD25, blockNumber)) {

+    error(SD_CARD_ERROR_CMD25);

+    goto fail;

+  }

+  return true;

+

+ fail:

+  chipSelectHigh();

+  return false;

+}

+//------------------------------------------------------------------------------

+/** End a write multiple blocks sequence.

+ *

+* \return The value one, true, is returned for success and

+ * the value zero, false, is returned for failure.

+ */

+uint8_t Sd2Card::writeStop(void) {

+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;

+  spiSend(STOP_TRAN_TOKEN);

+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;

+  chipSelectHigh();

+  return true;

+

+ fail:

+  error(SD_CARD_ERROR_STOP_TRAN);

+  chipSelectHigh();

+  return false;

+}