2 * This file is part of Cleanflight.
4 * Cleanflight is free software: you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 3 of the License, or
7 * (at your option) any later version.
9 * Cleanflight is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
25 #include "drivers/nvic.h"
26 #include "drivers/io.h"
29 #include "drivers/bus_spi.h"
30 #include "drivers/time.h"
33 #include "sdcard_standard.h"
35 #ifdef AFATFS_USE_INTROSPECTIVE_LOGGING
36 #define SDCARD_PROFILING
39 #define SET_CS_HIGH IOHi(sdcard.chipSelectPin)
40 #define SET_CS_LOW IOLo(sdcard.chipSelectPin)
42 #define SDCARD_INIT_NUM_DUMMY_BYTES 10
43 #define SDCARD_MAXIMUM_BYTE_DELAY_FOR_CMD_REPLY 8
44 // Chosen so that CMD8 will have the same CRC as CMD0:
45 #define SDCARD_IF_COND_CHECK_PATTERN 0xAB
47 #define SDCARD_TIMEOUT_INIT_MILLIS 200
48 #define SDCARD_MAX_CONSECUTIVE_FAILURES 8
50 /* Break up 512-byte SD card sectors into chunks of this size when writing without DMA to reduce the peak overhead
51 * per call to sdcard_poll().
53 #define SDCARD_NON_DMA_CHUNK_SIZE 256
56 // In these states we run at the initialization 400kHz clockspeed:
57 SDCARD_STATE_NOT_PRESENT
= 0,
59 SDCARD_STATE_CARD_INIT_IN_PROGRESS
,
60 SDCARD_STATE_INITIALIZATION_RECEIVE_CID
,
62 // In these states we run at full clock speed
65 SDCARD_STATE_SENDING_WRITE
,
66 SDCARD_STATE_WAITING_FOR_WRITE
,
67 SDCARD_STATE_WRITING_MULTIPLE_BLOCKS
,
68 SDCARD_STATE_STOPPING_MULTIPLE_BLOCK_WRITE
71 typedef struct sdcard_t
{
77 sdcard_operationCompleteCallback_c callback
;
78 uint32_t callbackData
;
80 #ifdef SDCARD_PROFILING
81 uint32_t profileStartTime
;
85 uint32_t operationStartTime
;
92 uint32_t multiWriteNextBlock
;
93 uint32_t multiWriteBlocksRemain
;
97 sdcardMetadata_t metadata
;
100 #ifdef SDCARD_PROFILING
101 sdcard_profilerCallback_c profiler
;
103 SPI_TypeDef
*instance
;
105 bool detectionInverted
;
109 dmaChannelDescriptor_t
* dma
;
113 static sdcard_t sdcard
;
115 STATIC_ASSERT(sizeof(sdcardCSD_t
) == 16, sdcard_csd_bitfields_didnt_pack_properly
);
117 void sdcardInsertionDetectDeinit(void)
119 if (sdcard
.cardDetectPin
) {
120 IOInit(sdcard
.cardDetectPin
, OWNER_FREE
, 0);
121 IOConfigGPIO(sdcard
.cardDetectPin
, IOCFG_IN_FLOATING
);
125 void sdcardInsertionDetectInit(void)
127 if (sdcard
.cardDetectPin
) {
128 IOInit(sdcard
.cardDetectPin
, OWNER_SDCARD_DETECT
, 0);
129 IOConfigGPIO(sdcard
.cardDetectPin
, IOCFG_IPU
);
134 * Detect if a SD card is physically present in the memory slot.
136 bool sdcard_isInserted(void)
139 if (sdcard
.cardDetectPin
) {
140 result
= IORead(sdcard
.cardDetectPin
) != 0;
141 if (sdcard
.detectionInverted
) {
149 * Returns true if the card has already been, or is currently, initializing and hasn't encountered enough errors to
150 * trip our error threshold and be disabled (i.e. our card is in and working!)
152 bool sdcard_isFunctional(void)
154 return sdcard
.state
!= SDCARD_STATE_NOT_PRESENT
;
157 static void sdcard_select(void)
162 static void sdcard_deselect(void)
164 // As per the SD-card spec, give the card 8 dummy clocks so it can finish its operation
165 //spiTransferByte(sdcard.instance, 0xFF);
167 while (spiIsBusBusy(sdcard
.instance
)) {
174 * Handle a failure of an SD card operation by resetting the card back to its initialization phase.
176 * Increments the failure counter, and when the failure threshold is reached, disables the card until
177 * the next call to sdcard_init().
179 static void sdcard_reset(void)
181 if (!sdcard_isInserted()) {
182 sdcard
.state
= SDCARD_STATE_NOT_PRESENT
;
186 if (sdcard
.state
>= SDCARD_STATE_READY
) {
187 spiSetDivisor(sdcard
.instance
, SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER
);
190 sdcard
.failureCount
++;
191 if (sdcard
.failureCount
>= SDCARD_MAX_CONSECUTIVE_FAILURES
) {
192 sdcard
.state
= SDCARD_STATE_NOT_PRESENT
;
194 sdcard
.operationStartTime
= millis();
195 sdcard
.state
= SDCARD_STATE_RESET
;
200 * The SD card spec requires 8 clock cycles to be sent by us on the bus after most commands so it can finish its
201 * processing of that command. The easiest way for us to do this is to just wait for the bus to become idle before
202 * we transmit a command, sending at least 8-bits onto the bus when we do so.
204 static bool sdcard_waitForIdle(int maxBytesToWait
)
206 while (maxBytesToWait
> 0) {
207 uint8_t b
= spiTransferByte(sdcard
.instance
, 0xFF);
218 * Wait for up to maxDelay 0xFF idle bytes to arrive from the card, returning the first non-idle byte found.
220 * Returns 0xFF on failure.
222 static uint8_t sdcard_waitForNonIdleByte(int maxDelay
)
224 for (int i
= 0; i
< maxDelay
+ 1; i
++) { // + 1 so we can wait for maxDelay '0xFF' bytes before reading a response byte afterwards
225 uint8_t response
= spiTransferByte(sdcard
.instance
, 0xFF);
227 if (response
!= 0xFF) {
236 * Waits up to SDCARD_MAXIMUM_BYTE_DELAY_FOR_CMD_REPLY bytes for the card to become ready, send a command to the card
237 * with the given argument, waits up to SDCARD_MAXIMUM_BYTE_DELAY_FOR_CMD_REPLY bytes for a reply, and returns the
238 * first non-0xFF byte of the reply.
240 * You must select the card first with sdcard_select() and deselect it afterwards with sdcard_deselect().
242 * Upon failure, 0xFF is returned.
244 static uint8_t sdcard_sendCommand(uint8_t commandCode
, uint32_t commandArgument
)
246 const uint8_t command
[6] = {
248 commandArgument
>> 24,
249 commandArgument
>> 16,
250 commandArgument
>> 8,
252 0x95 /* Static CRC. This CRC is valid for CMD0 with a 0 argument, and CMD8 with 0x1AB argument, which are the only
253 commands that require a CRC */
256 // Go ahead and send the command even if the card isn't idle if this is the reset command
257 if (!sdcard_waitForIdle(SDCARD_MAXIMUM_BYTE_DELAY_FOR_CMD_REPLY
) && commandCode
!= SDCARD_COMMAND_GO_IDLE_STATE
)
260 spiTransfer(sdcard
.instance
, command
, NULL
, sizeof(command
));
263 * The card can take up to SDCARD_MAXIMUM_BYTE_DELAY_FOR_CMD_REPLY bytes to send the response, in the meantime
264 * it'll transmit 0xFF filler bytes.
266 return sdcard_waitForNonIdleByte(SDCARD_MAXIMUM_BYTE_DELAY_FOR_CMD_REPLY
);
269 static uint8_t sdcard_sendAppCommand(uint8_t commandCode
, uint32_t commandArgument
)
271 sdcard_sendCommand(SDCARD_COMMAND_APP_CMD
, 0);
273 return sdcard_sendCommand(commandCode
, commandArgument
);
277 * Sends an IF_COND message to the card to check its version and validate its voltage requirements. Sets the global
278 * sdCardVersion with the detected version (0, 1, or 2) and returns true if the card is compatible.
280 static bool sdcard_validateInterfaceCondition(void)
282 uint8_t ifCondReply
[4];
288 uint8_t status
= sdcard_sendCommand(SDCARD_COMMAND_SEND_IF_COND
, (SDCARD_VOLTAGE_ACCEPTED_2_7_to_3_6
<< 8) | SDCARD_IF_COND_CHECK_PATTERN
);
290 // Don't deselect the card right away, because we'll want to read the rest of its reply if it's a V2 card
292 if (status
== (SDCARD_R1_STATUS_BIT_ILLEGAL_COMMAND
| SDCARD_R1_STATUS_BIT_IDLE
)) {
293 // V1 cards don't support this command
295 } else if (status
== SDCARD_R1_STATUS_BIT_IDLE
) {
296 spiTransfer(sdcard
.instance
, NULL
, ifCondReply
, sizeof(ifCondReply
));
299 * We don't bother to validate the SDCard's operating voltage range since the spec requires it to accept our
300 * 3.3V, but do check that it echoed back our check pattern properly.
302 if (ifCondReply
[3] == SDCARD_IF_COND_CHECK_PATTERN
) {
309 return sdcard
.version
> 0;
312 static bool sdcard_readOCRRegister(uint32_t *result
)
316 uint8_t status
= sdcard_sendCommand(SDCARD_COMMAND_READ_OCR
, 0);
320 spiTransfer(sdcard
.instance
, NULL
, response
, sizeof(response
));
325 *result
= (response
[0] << 24) | (response
[1] << 16) | (response
[2] << 8) | response
[3];
336 SDCARD_RECEIVE_SUCCESS
,
337 SDCARD_RECEIVE_BLOCK_IN_PROGRESS
,
339 } sdcardReceiveBlockStatus_e
;
342 * Attempt to receive a data block from the SD card.
344 * Return true on success, otherwise the card has not responded yet and you should retry later.
346 static sdcardReceiveBlockStatus_e
sdcard_receiveDataBlock(uint8_t *buffer
, int count
)
348 uint8_t dataToken
= sdcard_waitForNonIdleByte(8);
350 if (dataToken
== 0xFF) {
351 return SDCARD_RECEIVE_BLOCK_IN_PROGRESS
;
354 if (dataToken
!= SDCARD_SINGLE_BLOCK_READ_START_TOKEN
) {
355 return SDCARD_RECEIVE_ERROR
;
358 spiTransfer(sdcard
.instance
, NULL
, buffer
, count
);
360 // Discard trailing CRC, we don't care
361 spiTransferByte(sdcard
.instance
, 0xFF);
362 spiTransferByte(sdcard
.instance
, 0xFF);
364 return SDCARD_RECEIVE_SUCCESS
;
367 static bool sdcard_sendDataBlockFinish(void)
369 #ifdef USE_HAL_DRIVER
370 // Drain anything left in the Rx FIFO (we didn't read it during the write)
371 //This is necessary here as when using msc there is timing issue
372 while (LL_SPI_IsActiveFlag_RXNE(sdcard
.instance
)) {
378 spiTransferByte(sdcard
.instance
, 0x00);
379 spiTransferByte(sdcard
.instance
, 0x00);
381 uint8_t dataResponseToken
= spiTransferByte(sdcard
.instance
, 0xFF);
384 * Check if the card accepted the write (no CRC error / no address error)
386 * The lower 5 bits are structured as follows:
391 * 010 - Data accepted
395 return (dataResponseToken
& 0x1F) == 0x05;
399 * Begin sending a buffer of SDCARD_BLOCK_SIZE bytes to the SD card.
401 static void sdcard_sendDataBlockBegin(const uint8_t *buffer
, bool multiBlockWrite
)
403 // Card wants 8 dummy clock cycles between the write command's response and a data block beginning:
404 spiTransferByte(sdcard
.instance
, 0xFF);
406 spiTransferByte(sdcard
.instance
, multiBlockWrite
? SDCARD_MULTIPLE_BLOCK_WRITE_START_TOKEN
: SDCARD_SINGLE_BLOCK_WRITE_START_TOKEN
);
408 if (sdcard
.useDMAForTx
) {
409 #if defined(USE_HAL_DRIVER)
410 LL_DMA_InitTypeDef init
;
412 LL_DMA_StructInit(&init
);
414 init
.Channel
= dmaGetChannel(sdcard
.dmaChannel
);
415 init
.Mode
= LL_DMA_MODE_NORMAL
;
416 init
.Direction
= LL_DMA_DIRECTION_MEMORY_TO_PERIPH
;
418 init
.PeriphOrM2MSrcAddress
= (uint32_t)&sdcard
.instance
->DR
;
419 init
.Priority
= LL_DMA_PRIORITY_LOW
;
420 init
.PeriphOrM2MSrcIncMode
= LL_DMA_PERIPH_NOINCREMENT
;
421 init
.PeriphOrM2MSrcDataSize
= LL_DMA_PDATAALIGN_BYTE
;
423 init
.MemoryOrM2MDstAddress
= (uint32_t)buffer
;
424 init
.MemoryOrM2MDstIncMode
= LL_DMA_MEMORY_INCREMENT
;
425 init
.MemoryOrM2MDstDataSize
= LL_DMA_MDATAALIGN_BYTE
;
427 init
.NbData
= SDCARD_BLOCK_SIZE
;
429 LL_DMA_DeInit(sdcard
.dma
->dma
, sdcard
.dma
->stream
);
430 LL_DMA_Init(sdcard
.dma
->dma
, sdcard
.dma
->stream
, &init
);
432 LL_DMA_EnableStream(sdcard
.dma
->dma
, sdcard
.dma
->stream
);
434 LL_SPI_EnableDMAReq_TX(sdcard
.instance
);
438 DMA_InitTypeDef init
;
440 DMA_StructInit(&init
);
442 init
.DMA_Channel
= dmaGetChannel(sdcard
.dmaChannel
);
443 init
.DMA_Memory0BaseAddr
= (uint32_t) buffer
;
444 init
.DMA_DIR
= DMA_DIR_MemoryToPeripheral
;
446 init
.DMA_M2M
= DMA_M2M_Disable
;
447 init
.DMA_MemoryBaseAddr
= (uint32_t) buffer
;
448 init
.DMA_DIR
= DMA_DIR_PeripheralDST
;
450 init
.DMA_PeripheralBaseAddr
= (uint32_t) &sdcard
.instance
->DR
;
451 init
.DMA_Priority
= DMA_Priority_Low
;
452 init
.DMA_PeripheralInc
= DMA_PeripheralInc_Disable
;
453 init
.DMA_PeripheralDataSize
= DMA_PeripheralDataSize_Byte
;
455 init
.DMA_MemoryInc
= DMA_MemoryInc_Enable
;
456 init
.DMA_MemoryDataSize
= DMA_MemoryDataSize_Byte
;
458 init
.DMA_BufferSize
= SDCARD_BLOCK_SIZE
;
459 init
.DMA_Mode
= DMA_Mode_Normal
;
461 DMA_DeInit(sdcard
.dma
->ref
);
462 DMA_Init(sdcard
.dma
->ref
, &init
);
464 DMA_Cmd(sdcard
.dma
->ref
, ENABLE
);
466 SPI_I2S_DMACmd(sdcard
.instance
, SPI_I2S_DMAReq_Tx
, ENABLE
);
469 // Send the first chunk now
470 spiTransfer(sdcard
.instance
, buffer
, NULL
, SDCARD_NON_DMA_CHUNK_SIZE
);
474 static bool sdcard_receiveCID(void)
478 if (sdcard_receiveDataBlock(cid
, sizeof(cid
)) != SDCARD_RECEIVE_SUCCESS
) {
482 sdcard
.metadata
.manufacturerID
= cid
[0];
483 sdcard
.metadata
.oemID
= (cid
[1] << 8) | cid
[2];
484 sdcard
.metadata
.productName
[0] = cid
[3];
485 sdcard
.metadata
.productName
[1] = cid
[4];
486 sdcard
.metadata
.productName
[2] = cid
[5];
487 sdcard
.metadata
.productName
[3] = cid
[6];
488 sdcard
.metadata
.productName
[4] = cid
[7];
489 sdcard
.metadata
.productRevisionMajor
= cid
[8] >> 4;
490 sdcard
.metadata
.productRevisionMinor
= cid
[8] & 0x0F;
491 sdcard
.metadata
.productSerial
= (cid
[9] << 24) | (cid
[10] << 16) | (cid
[11] << 8) | cid
[12];
492 sdcard
.metadata
.productionYear
= (((cid
[13] & 0x0F) << 4) | (cid
[14] >> 4)) + 2000;
493 sdcard
.metadata
.productionMonth
= cid
[14] & 0x0F;
498 static bool sdcard_fetchCSD(void)
500 uint32_t readBlockLen
, blockCount
, blockCountMult
;
501 uint64_t capacityBytes
;
505 /* The CSD command's data block should always arrive within 8 idle clock cycles (SD card spec). This is because
506 * the information about card latency is stored in the CSD register itself, so we can't use that yet!
509 sdcard_sendCommand(SDCARD_COMMAND_SEND_CSD
, 0) == 0
510 && sdcard_receiveDataBlock((uint8_t*) &sdcard
.csd
, sizeof(sdcard
.csd
)) == SDCARD_RECEIVE_SUCCESS
511 && SDCARD_GET_CSD_FIELD(sdcard
.csd
, 1, TRAILER
) == 1;
514 switch (SDCARD_GET_CSD_FIELD(sdcard
.csd
, 1, CSD_STRUCTURE_VER
)) {
515 case SDCARD_CSD_STRUCTURE_VERSION_1
:
516 // Block size in bytes (doesn't have to be 512)
517 readBlockLen
= 1 << SDCARD_GET_CSD_FIELD(sdcard
.csd
, 1, READ_BLOCK_LEN
);
518 blockCountMult
= 1 << (SDCARD_GET_CSD_FIELD(sdcard
.csd
, 1, CSIZE_MULT
) + 2);
519 blockCount
= (SDCARD_GET_CSD_FIELD(sdcard
.csd
, 1, CSIZE
) + 1) * blockCountMult
;
521 // We could do this in 32 bits but it makes the 2GB case awkward
522 capacityBytes
= (uint64_t) blockCount
* readBlockLen
;
524 // Re-express that capacity (max 2GB) in our standard 512-byte block size
525 sdcard
.metadata
.numBlocks
= capacityBytes
/ SDCARD_BLOCK_SIZE
;
527 case SDCARD_CSD_STRUCTURE_VERSION_2
:
528 sdcard
.metadata
.numBlocks
= (SDCARD_GET_CSD_FIELD(sdcard
.csd
, 2, CSIZE
) + 1) * 1024;
541 * Check if the SD Card has completed its startup sequence. Must be called with sdcard.state == SDCARD_STATE_INITIALIZATION.
543 * Returns true if the card has finished its init process.
545 static bool sdcard_checkInitDone(void)
549 uint8_t status
= sdcard_sendAppCommand(SDCARD_ACOMMAND_SEND_OP_COND
, sdcard
.version
== 2 ? 1 << 30 /* We support high capacity cards */ : 0);
553 // When card init is complete, the idle bit in the response becomes zero.
554 return status
== 0x00;
558 * Begin the initialization process for the SD card. This must be called first before any other sdcard_ routine.
560 void sdcard_init(const sdcardConfig_t
*config
)
562 sdcard
.enabled
= config
->enabled
;
563 if (!sdcard
.enabled
) {
564 sdcard
.state
= SDCARD_STATE_NOT_PRESENT
;
568 sdcard
.instance
= spiInstanceByDevice(config
->device
);
570 sdcard
.useDMAForTx
= config
->useDma
;
571 if (sdcard
.useDMAForTx
) {
572 #if defined(STM32F4) || defined(STM32F7)
573 sdcard
.dmaChannel
= config
->dmaChannel
;
575 sdcard
.dma
= dmaGetDescriptorByIdentifier(config
->dmaIdentifier
);
576 dmaInit(config
->dmaIdentifier
, OWNER_SDCARD
, 0);
579 if (config
->chipSelectTag
) {
580 sdcard
.chipSelectPin
= IOGetByTag(config
->chipSelectTag
);
581 IOInit(sdcard
.chipSelectPin
, OWNER_SDCARD_CS
, 0);
582 IOConfigGPIO(sdcard
.chipSelectPin
, SPI_IO_CS_CFG
);
584 sdcard
.chipSelectPin
= IO_NONE
;
587 if (config
->cardDetectTag
) {
588 sdcard
.cardDetectPin
= IOGetByTag(config
->cardDetectTag
);
589 sdcard
.detectionInverted
= config
->cardDetectInverted
;
591 sdcard
.cardDetectPin
= IO_NONE
;
592 sdcard
.detectionInverted
= false;
595 // Max frequency is initially 400kHz
596 spiSetDivisor(sdcard
.instance
, SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER
);
598 // SDCard wants 1ms minimum delay after power is applied to it
601 // Transmit at least 74 dummy clock cycles with CS high so the SD card can start up
604 spiTransfer(sdcard
.instance
, NULL
, NULL
, SDCARD_INIT_NUM_DUMMY_BYTES
);
606 // Wait for that transmission to finish before we enable the SDCard, so it receives the required number of cycles:
608 while (spiIsBusBusy(sdcard
.instance
)) {
610 sdcard
.state
= SDCARD_STATE_NOT_PRESENT
;
611 sdcard
.failureCount
++;
616 sdcard
.operationStartTime
= millis();
617 sdcard
.state
= SDCARD_STATE_RESET
;
618 sdcard
.failureCount
= 0;
621 static bool sdcard_setBlockLength(uint32_t blockLen
)
625 uint8_t status
= sdcard_sendCommand(SDCARD_COMMAND_SET_BLOCKLEN
, blockLen
);
633 * Returns true if the card is ready to accept read/write commands.
635 static bool sdcard_isReady(void)
637 return sdcard
.state
== SDCARD_STATE_READY
|| sdcard
.state
== SDCARD_STATE_WRITING_MULTIPLE_BLOCKS
;
641 * Send the stop-transmission token to complete a multi-block write.
644 * SDCARD_OPERATION_IN_PROGRESS - We're now waiting for that stop to complete, the card will enter
645 * the SDCARD_STATE_STOPPING_MULTIPLE_BLOCK_WRITE state.
646 * SDCARD_OPERATION_SUCCESS - The multi-block write finished immediately, the card will enter
647 * the SDCARD_READY state.
650 static sdcardOperationStatus_e
sdcard_endWriteBlocks(void)
652 sdcard
.multiWriteBlocksRemain
= 0;
654 // 8 dummy clocks to guarantee N_WR clocks between the last card response and this token
655 spiTransferByte(sdcard
.instance
, 0xFF);
657 spiTransferByte(sdcard
.instance
, SDCARD_MULTIPLE_BLOCK_WRITE_STOP_TOKEN
);
659 // Card may choose to raise a busy (non-0xFF) signal after at most N_BR (1 byte) delay
660 if (sdcard_waitForNonIdleByte(1) == 0xFF) {
661 sdcard
.state
= SDCARD_STATE_READY
;
662 return SDCARD_OPERATION_SUCCESS
;
664 sdcard
.state
= SDCARD_STATE_STOPPING_MULTIPLE_BLOCK_WRITE
;
665 sdcard
.operationStartTime
= millis();
667 return SDCARD_OPERATION_IN_PROGRESS
;
672 * Call periodically for the SD card to perform in-progress transfers.
674 * Returns true if the card is ready to accept commands.
676 bool sdcard_poll(void)
678 if (!sdcard
.enabled
) {
679 sdcard
.state
= SDCARD_STATE_NOT_PRESENT
;
686 #ifdef SDCARD_PROFILING
687 bool profilingComplete
;
691 switch (sdcard
.state
) {
692 case SDCARD_STATE_RESET
:
695 initStatus
= sdcard_sendCommand(SDCARD_COMMAND_GO_IDLE_STATE
, 0);
699 if (initStatus
== SDCARD_R1_STATUS_BIT_IDLE
) {
700 // Check card voltage and version
701 if (sdcard_validateInterfaceCondition()) {
703 sdcard
.state
= SDCARD_STATE_CARD_INIT_IN_PROGRESS
;
706 // Bad reply/voltage, we ought to refrain from accessing the card.
707 sdcard
.state
= SDCARD_STATE_NOT_PRESENT
;
712 case SDCARD_STATE_CARD_INIT_IN_PROGRESS
:
713 if (sdcard_checkInitDone()) {
714 if (sdcard
.version
== 2) {
715 // Check for high capacity card
718 if (!sdcard_readOCRRegister(&ocr
)) {
723 sdcard
.highCapacity
= (ocr
& (1 << 30)) != 0;
725 // Version 1 cards are always low-capacity
726 sdcard
.highCapacity
= false;
729 // Now fetch the CSD and CID registers
730 if (sdcard_fetchCSD()) {
733 uint8_t status
= sdcard_sendCommand(SDCARD_COMMAND_SEND_CID
, 0);
736 // Keep the card selected to receive the response block
737 sdcard
.state
= SDCARD_STATE_INITIALIZATION_RECEIVE_CID
;
748 case SDCARD_STATE_INITIALIZATION_RECEIVE_CID
:
749 if (sdcard_receiveCID()) {
752 /* The spec is a little iffy on what the default block size is for Standard Size cards (it can be changed on
753 * standard size cards) so let's just set it to 512 explicitly so we don't have a problem.
755 if (!sdcard
.highCapacity
&& !sdcard_setBlockLength(SDCARD_BLOCK_SIZE
)) {
760 // Now we're done with init and we can switch to the full speed clock (<25MHz)
761 spiSetDivisor(sdcard
.instance
, SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER
);
763 sdcard
.multiWriteBlocksRemain
= 0;
765 sdcard
.state
= SDCARD_STATE_READY
;
767 } // else keep waiting for the CID to arrive
769 case SDCARD_STATE_SENDING_WRITE
:
770 // Have we finished sending the write yet?
771 sendComplete
= false;
773 #if defined(USE_HAL_DRIVER)
774 if (sdcard
.useDMAForTx
&& DMA_GET_FLAG_STATUS(sdcard
.dma
, DMA_IT_TCIF
)) {
775 //Clear both flags after transfer
776 DMA_CLEAR_FLAG(sdcard
.dma
, DMA_IT_TCIF
);
777 DMA_CLEAR_FLAG(sdcard
.dma
, DMA_IT_HTIF
);
778 // Drain anything left in the Rx FIFO (we didn't read it during the write)
779 while (LL_SPI_IsActiveFlag_RXNE(sdcard
.instance
)) {
783 // Wait for the final bit to be transmitted
784 while (spiIsBusBusy(sdcard
.instance
)) {
787 LL_SPI_DisableDMAReq_TX(sdcard
.instance
);
793 if (sdcard
.useDMAForTx
&& DMA_GetFlagStatus(sdcard
.dma
->ref
, sdcard
.dma
->completeFlag
) == SET
) {
794 DMA_ClearFlag(sdcard
.dma
->ref
, sdcard
.dma
->completeFlag
);
796 if (sdcard
.useDMAForTx
&& DMA_GetFlagStatus(sdcard
.dma
->completeFlag
) == SET
) {
797 DMA_ClearFlag(sdcard
.dma
->completeFlag
);
800 DMA_Cmd(sdcard
.dma
->ref
, DISABLE
);
802 // Drain anything left in the Rx FIFO (we didn't read it during the write)
803 while (SPI_I2S_GetFlagStatus(sdcard
.instance
, SPI_I2S_FLAG_RXNE
) == SET
) {
807 // Wait for the final bit to be transmitted
808 while (spiIsBusBusy(sdcard
.instance
)) {
811 SPI_I2S_DMACmd(sdcard
.instance
, SPI_I2S_DMAReq_Tx
, DISABLE
);
816 if (!sdcard
.useDMAForTx
) {
817 // Send another chunk
818 spiTransfer(sdcard
.instance
, sdcard
.pendingOperation
.buffer
+ SDCARD_NON_DMA_CHUNK_SIZE
* sdcard
.pendingOperation
.chunkIndex
, NULL
, SDCARD_NON_DMA_CHUNK_SIZE
);
820 sdcard
.pendingOperation
.chunkIndex
++;
822 sendComplete
= sdcard
.pendingOperation
.chunkIndex
== SDCARD_BLOCK_SIZE
/ SDCARD_NON_DMA_CHUNK_SIZE
;
826 // Finish up by sending the CRC and checking the SD-card's acceptance/rejectance
827 if (sdcard_sendDataBlockFinish()) {
828 // The SD card is now busy committing that write to the card
829 sdcard
.state
= SDCARD_STATE_WAITING_FOR_WRITE
;
830 sdcard
.operationStartTime
= millis();
832 // Since we've transmitted the buffer we can go ahead and tell the caller their operation is complete
833 if (sdcard
.pendingOperation
.callback
) {
834 sdcard
.pendingOperation
.callback(SDCARD_BLOCK_OPERATION_WRITE
, sdcard
.pendingOperation
.blockIndex
, sdcard
.pendingOperation
.buffer
, sdcard
.pendingOperation
.callbackData
);
837 /* Our write was rejected! This could be due to a bad address but we hope not to attempt that, so assume
838 * the card is broken and needs reset.
842 // Announce write failure:
843 if (sdcard
.pendingOperation
.callback
) {
844 sdcard
.pendingOperation
.callback(SDCARD_BLOCK_OPERATION_WRITE
, sdcard
.pendingOperation
.blockIndex
, NULL
, sdcard
.pendingOperation
.callbackData
);
851 case SDCARD_STATE_WAITING_FOR_WRITE
:
852 if (sdcard_waitForIdle(SDCARD_MAXIMUM_BYTE_DELAY_FOR_CMD_REPLY
)) {
853 #ifdef SDCARD_PROFILING
854 profilingComplete
= true;
857 sdcard
.failureCount
= 0; // Assume the card is good if it can complete a write
859 // Still more blocks left to write in a multi-block chain?
860 if (sdcard
.multiWriteBlocksRemain
> 1) {
861 sdcard
.multiWriteBlocksRemain
--;
862 sdcard
.multiWriteNextBlock
++;
863 sdcard
.state
= SDCARD_STATE_WRITING_MULTIPLE_BLOCKS
;
864 } else if (sdcard
.multiWriteBlocksRemain
== 1) {
865 // This function changes the sd card state for us whether immediately succesful or delayed:
866 if (sdcard_endWriteBlocks() == SDCARD_OPERATION_SUCCESS
) {
869 #ifdef SDCARD_PROFILING
870 // Wait for the multi-block write to be terminated before finishing timing
871 profilingComplete
= false;
875 sdcard
.state
= SDCARD_STATE_READY
;
879 #ifdef SDCARD_PROFILING
880 if (profilingComplete
&& sdcard
.profiler
) {
881 sdcard
.profiler(SDCARD_BLOCK_OPERATION_WRITE
, sdcard
.pendingOperation
.blockIndex
, micros() - sdcard
.pendingOperation
.profileStartTime
);
884 } else if (millis() > sdcard
.operationStartTime
+ SDCARD_TIMEOUT_WRITE_MSEC
) {
886 * The caller has already been told that their write has completed, so they will have discarded
887 * their buffer and have no hope of retrying the operation. But this should be very rare and it allows
888 * them to reuse their buffer milliseconds faster than they otherwise would.
894 case SDCARD_STATE_READING
:
895 switch (sdcard_receiveDataBlock(sdcard
.pendingOperation
.buffer
, SDCARD_BLOCK_SIZE
)) {
896 case SDCARD_RECEIVE_SUCCESS
:
899 sdcard
.state
= SDCARD_STATE_READY
;
900 sdcard
.failureCount
= 0; // Assume the card is good if it can complete a read
902 #ifdef SDCARD_PROFILING
903 if (sdcard
.profiler
) {
904 sdcard
.profiler(SDCARD_BLOCK_OPERATION_READ
, sdcard
.pendingOperation
.blockIndex
, micros() - sdcard
.pendingOperation
.profileStartTime
);
908 if (sdcard
.pendingOperation
.callback
) {
909 sdcard
.pendingOperation
.callback(
910 SDCARD_BLOCK_OPERATION_READ
,
911 sdcard
.pendingOperation
.blockIndex
,
912 sdcard
.pendingOperation
.buffer
,
913 sdcard
.pendingOperation
.callbackData
917 case SDCARD_RECEIVE_BLOCK_IN_PROGRESS
:
918 if (millis() <= sdcard
.operationStartTime
+ SDCARD_TIMEOUT_READ_MSEC
) {
919 break; // Timeout not reached yet so keep waiting
921 // Timeout has expired, so fall through to convert to a fatal error
924 case SDCARD_RECEIVE_ERROR
:
929 if (sdcard
.pendingOperation
.callback
) {
930 sdcard
.pendingOperation
.callback(
931 SDCARD_BLOCK_OPERATION_READ
,
932 sdcard
.pendingOperation
.blockIndex
,
934 sdcard
.pendingOperation
.callbackData
942 case SDCARD_STATE_STOPPING_MULTIPLE_BLOCK_WRITE
:
943 if (sdcard_waitForIdle(SDCARD_MAXIMUM_BYTE_DELAY_FOR_CMD_REPLY
)) {
946 sdcard
.state
= SDCARD_STATE_READY
;
948 #ifdef SDCARD_PROFILING
949 if (sdcard
.profiler
) {
950 sdcard
.profiler(SDCARD_BLOCK_OPERATION_WRITE
, sdcard
.pendingOperation
.blockIndex
, micros() - sdcard
.pendingOperation
.profileStartTime
);
953 } else if (millis() > sdcard
.operationStartTime
+ SDCARD_TIMEOUT_WRITE_MSEC
) {
958 case SDCARD_STATE_NOT_PRESENT
:
963 // Is the card's initialization taking too long?
964 if (sdcard
.state
>= SDCARD_STATE_RESET
&& sdcard
.state
< SDCARD_STATE_READY
965 && millis() - sdcard
.operationStartTime
> SDCARD_TIMEOUT_INIT_MILLIS
) {
969 return sdcard_isReady();
973 * Write the 512-byte block from the given buffer into the block with the given index.
975 * If the write does not complete immediately, your callback will be called later. If the write was successful, the
976 * buffer pointer will be the same buffer you originally passed in, otherwise the buffer will be set to NULL.
979 * SDCARD_OPERATION_IN_PROGRESS - Your buffer is currently being transmitted to the card and your callback will be
980 * called later to report the completion. The buffer pointer must remain valid until
982 * SDCARD_OPERATION_SUCCESS - Your buffer has been transmitted to the card now.
983 * SDCARD_OPERATION_BUSY - The card is already busy and cannot accept your write
984 * SDCARD_OPERATION_FAILURE - Your write was rejected by the card, card will be reset
986 sdcardOperationStatus_e
sdcard_writeBlock(uint32_t blockIndex
, uint8_t *buffer
, sdcard_operationCompleteCallback_c callback
, uint32_t callbackData
)
990 #ifdef SDCARD_PROFILING
991 sdcard
.pendingOperation
.profileStartTime
= micros();
995 switch (sdcard
.state
) {
996 case SDCARD_STATE_WRITING_MULTIPLE_BLOCKS
:
997 // Do we need to cancel the previous multi-block write?
998 if (blockIndex
!= sdcard
.multiWriteNextBlock
) {
999 if (sdcard_endWriteBlocks() == SDCARD_OPERATION_SUCCESS
) {
1000 // Now we've entered the ready state, we can try again
1003 return SDCARD_OPERATION_BUSY
;
1007 // We're continuing a multi-block write
1009 case SDCARD_STATE_READY
:
1010 // We're not continuing a multi-block write so we need to send a single-block write command
1013 // Standard size cards use byte addressing, high capacity cards use block addressing
1014 status
= sdcard_sendCommand(SDCARD_COMMAND_WRITE_BLOCK
, sdcard
.highCapacity
? blockIndex
: blockIndex
* SDCARD_BLOCK_SIZE
);
1021 return SDCARD_OPERATION_FAILURE
;
1025 return SDCARD_OPERATION_BUSY
;
1028 sdcard_sendDataBlockBegin(buffer
, sdcard
.state
== SDCARD_STATE_WRITING_MULTIPLE_BLOCKS
);
1030 sdcard
.pendingOperation
.buffer
= buffer
;
1031 sdcard
.pendingOperation
.blockIndex
= blockIndex
;
1032 sdcard
.pendingOperation
.callback
= callback
;
1033 sdcard
.pendingOperation
.callbackData
= callbackData
;
1034 sdcard
.pendingOperation
.chunkIndex
= 1; // (for non-DMA transfers) we've sent chunk #0 already
1035 sdcard
.state
= SDCARD_STATE_SENDING_WRITE
;
1037 return SDCARD_OPERATION_IN_PROGRESS
;
1041 * Begin writing a series of consecutive blocks beginning at the given block index. This will allow (but not require)
1042 * the SD card to pre-erase the number of blocks you specifiy, which can allow the writes to complete faster.
1044 * Afterwards, just call sdcard_writeBlock() as normal to write those blocks consecutively.
1046 * It's okay to abort the multi-block write at any time by writing to a non-consecutive address, or by performing a read.
1049 * SDCARD_OPERATION_SUCCESS - Multi-block write has been queued
1050 * SDCARD_OPERATION_BUSY - The card is already busy and cannot accept your write
1051 * SDCARD_OPERATION_FAILURE - A fatal error occured, card will be reset
1053 sdcardOperationStatus_e
sdcard_beginWriteBlocks(uint32_t blockIndex
, uint32_t blockCount
)
1055 if (sdcard
.state
!= SDCARD_STATE_READY
) {
1056 if (sdcard
.state
== SDCARD_STATE_WRITING_MULTIPLE_BLOCKS
) {
1057 if (blockIndex
== sdcard
.multiWriteNextBlock
) {
1058 // Assume that the caller wants to continue the multi-block write they already have in progress!
1059 return SDCARD_OPERATION_SUCCESS
;
1060 } else if (sdcard_endWriteBlocks() != SDCARD_OPERATION_SUCCESS
) {
1061 return SDCARD_OPERATION_BUSY
;
1062 } // Else we've completed the previous multi-block write and can fall through to start the new one
1064 return SDCARD_OPERATION_BUSY
;
1071 sdcard_sendAppCommand(SDCARD_ACOMMAND_SET_WR_BLOCK_ERASE_COUNT
, blockCount
) == 0
1072 && sdcard_sendCommand(SDCARD_COMMAND_WRITE_MULTIPLE_BLOCK
, sdcard
.highCapacity
? blockIndex
: blockIndex
* SDCARD_BLOCK_SIZE
) == 0
1074 sdcard
.state
= SDCARD_STATE_WRITING_MULTIPLE_BLOCKS
;
1075 sdcard
.multiWriteBlocksRemain
= blockCount
;
1076 sdcard
.multiWriteNextBlock
= blockIndex
;
1078 // Leave the card selected
1079 return SDCARD_OPERATION_SUCCESS
;
1085 return SDCARD_OPERATION_FAILURE
;
1090 * Read the 512-byte block with the given index into the given 512-byte buffer.
1092 * When the read completes, your callback will be called. If the read was successful, the buffer pointer will be the
1093 * same buffer you originally passed in, otherwise the buffer will be set to NULL.
1095 * You must keep the pointer to the buffer valid until the operation completes!
1098 * true - The operation was successfully queued for later completion, your callback will be called later
1099 * false - The operation could not be started due to the card being busy (try again later).
1101 bool sdcard_readBlock(uint32_t blockIndex
, uint8_t *buffer
, sdcard_operationCompleteCallback_c callback
, uint32_t callbackData
)
1103 if (sdcard
.state
!= SDCARD_STATE_READY
) {
1104 if (sdcard
.state
== SDCARD_STATE_WRITING_MULTIPLE_BLOCKS
) {
1105 if (sdcard_endWriteBlocks() != SDCARD_OPERATION_SUCCESS
) {
1113 #ifdef SDCARD_PROFILING
1114 sdcard
.pendingOperation
.profileStartTime
= micros();
1119 // Standard size cards use byte addressing, high capacity cards use block addressing
1120 uint8_t status
= sdcard_sendCommand(SDCARD_COMMAND_READ_SINGLE_BLOCK
, sdcard
.highCapacity
? blockIndex
: blockIndex
* SDCARD_BLOCK_SIZE
);
1123 sdcard
.pendingOperation
.buffer
= buffer
;
1124 sdcard
.pendingOperation
.blockIndex
= blockIndex
;
1125 sdcard
.pendingOperation
.callback
= callback
;
1126 sdcard
.pendingOperation
.callbackData
= callbackData
;
1128 sdcard
.state
= SDCARD_STATE_READING
;
1130 sdcard
.operationStartTime
= millis();
1132 // Leave the card selected for the whole transaction
1143 * Returns true if the SD card has successfully completed its startup procedures.
1145 bool sdcard_isInitialized(void)
1147 return sdcard
.state
>= SDCARD_STATE_READY
;
1150 const sdcardMetadata_t
* sdcard_getMetadata(void)
1152 return &sdcard
.metadata
;
1155 #ifdef SDCARD_PROFILING
1157 void sdcard_setProfilerCallback(sdcard_profilerCallback_c callback
)
1159 sdcard
.profiler
= callback
;