Blackbox device type 'file' (SITL) considered working when file handler is available

[inav.git] / src / main / drivers / sdcard / sdcard_sdio.c

/*
 * This file is part of INAV, Cleanflight and Betaflight.
 *
 * INAV, Cleanflight and Betaflight are free software. You can redistribute
 * this software and/or modify this software 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.
 *
 * Cleanflight and Betaflight are distributed in the hope that they
 * 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 this software.
 *
 * If not, see <http://www.gnu.org/licenses/>.
 */

/* Adaptation of original driver to SDIO: Chris Hockuba (https://github.com/conkerkh) */

#include <stdbool.h>
#include <stdint.h>
#include <string.h>

#include "platform.h"

#include "build/debug.h"
#include "common/utils.h"

#include "drivers/time.h"
#include "drivers/nvic.h"
#include "drivers/io.h"
#include "drivers/bus.h"
#include "drivers/bus_spi.h"
#include "drivers/dma.h"

#include "drivers/sdcard/sdcard.h"
#include "drivers/sdcard/sdcard_impl.h"
#include "drivers/sdcard/sdcard_standard.h"
#include "drivers/sdcard/sdmmc_sdio.h"

#include "scheduler/protothreads.h"

#ifdef USE_SDCARD_SDIO

//#define USE_SDCARD_SDIO_CACHE

#if !defined(SDCARD_SDIO_DMA)
#define SDCARD_SDIO_DMA         DMA_TAG(2,3,4)
#endif

#if defined(USE_SDCARD_SDIO_CACHE)
// Use this to speed up writing to SDCARD... asyncfatfs has limited support for multiblock write
#define FATFS_BLOCK_CACHE_SIZE 16
uint8_t writeCache[512 * FATFS_BLOCK_CACHE_SIZE] __attribute__ ((aligned (4)));
uint32_t cacheCount = 0;

void cache_write(uint8_t *buffer)
{
    if (cacheCount == sizeof(writeCache)) {
        // Prevents overflow
        return;
    }
    memcpy(&writeCache[cacheCount], buffer, 512);
    cacheCount += 512;
}

uint16_t cache_getCount(void)
{
    return (cacheCount / 512);
}

void cache_reset(void)
{
    cacheCount = 0;
}
#endif

/**
 * Returns true if the card has already been, or is currently, initializing and hasn't encountered enough errors to
 * trip our error threshold and be disabled (i.e. our card is in and working!)
 */
static bool sdcardSdio_isFunctional(void)
{
    return sdcard.state != SDCARD_STATE_NOT_PRESENT;
}

/**
 * Handle a failure of an SD card operation by resetting the card back to its initialization phase.
 *
 * Increments the failure counter, and when the failure threshold is reached, disables the card until
 * the next call to sdcard_init().
 */
static void sdcardSdio_reset(void)
{
    if (SD_Init() != 0) {
        sdcard.failureCount++;
        if (sdcard.failureCount >= SDCARD_MAX_CONSECUTIVE_FAILURES || !sdcard_isInserted()) {
            sdcard.state = SDCARD_STATE_NOT_PRESENT;
        } else {
            sdcard.operationStartTime = millis();
            sdcard.state = SDCARD_STATE_RESET;
        }
    }
}

typedef enum {
    SDCARD_RECEIVE_SUCCESS,
    SDCARD_RECEIVE_BLOCK_IN_PROGRESS,
    SDCARD_RECEIVE_ERROR
} sdcardReceiveBlockStatus_e;

/**
 * Attempt to receive a data block from the SD card.
 *
 * Return true on success, otherwise the card has not responded yet and you should retry later.
 */
static sdcardReceiveBlockStatus_e sdcard_receiveDataBlock(uint8_t *buffer, int count)
{
    UNUSED(buffer);
    UNUSED(count);
    SD_Error_t ret = SD_CheckRead();

    if (ret == SD_BUSY) {
        return SDCARD_RECEIVE_BLOCK_IN_PROGRESS;
    }

    if (SD_GetState() != true) {
        return SDCARD_RECEIVE_ERROR;
    }

    return SDCARD_RECEIVE_SUCCESS;
}

static bool sdcard_receiveCID(void)
{
    SD_CardInfo_t *sdinfo = &SD_CardInfo;
    SD_Error_t error = SD_GetCardInfo();
    if (error) {
         return false;
    }

    sdcard.metadata.manufacturerID = sdinfo->SD_cid.ManufacturerID;
    sdcard.metadata.oemID = sdinfo->SD_cid.OEM_AppliID;
    sdcard.metadata.productName[0] = (sdinfo->SD_cid.ProdName1 & 0xFF000000) >> 24;
    sdcard.metadata.productName[1] = (sdinfo->SD_cid.ProdName1 & 0x00FF0000) >> 16;
    sdcard.metadata.productName[2] = (sdinfo->SD_cid.ProdName1 & 0x0000FF00) >> 8;
    sdcard.metadata.productName[3] = (sdinfo->SD_cid.ProdName1 & 0x000000FF) >> 0;
    sdcard.metadata.productName[4] = sdinfo->SD_cid.ProdName2;
    sdcard.metadata.productRevisionMajor = sdinfo->SD_cid.ProdRev >> 4;
    sdcard.metadata.productRevisionMinor = sdinfo->SD_cid.ProdRev & 0x0F;
    sdcard.metadata.productSerial = sdinfo->SD_cid.ProdSN;
    sdcard.metadata.productionYear = (((sdinfo->SD_cid.ManufactDate & 0x0F00) >> 8) | ((sdinfo->SD_cid.ManufactDate & 0xFF) >> 4)) + 2000;
    sdcard.metadata.productionMonth = sdinfo->SD_cid.ManufactDate & 0x000F;

    return true;
}

static bool sdcard_fetchCSD(void)
{
    /* The CSD command's data block should always arrive within 8 idle clock cycles (SD card spec). This is because
     * the information about card latency is stored in the CSD register itself, so we can't use that yet!
     */
    SD_CardInfo_t *sdinfo = &SD_CardInfo;
    SD_Error_t error;
    error = SD_GetCardInfo();
    if (error) {
        return false;
    }

    sdcard.metadata.numBlocks = sdinfo->CardCapacity;
    return true;
}

/**
 * Check if the SD Card has completed its startup sequence. Must be called with sdcard.state == SDCARD_STATE_INITIALIZATION.
 *
 * Returns true if the card has finished its init process.
 */
static bool sdcard_checkInitDone(void)
{
    if (SD_GetState()) {
        SD_CardType_t *sdtype = &SD_CardType;
        SD_Error_t errorState = SD_GetCardInfo();
        if (errorState != SD_OK) {
            return false;
        }

        sdcard.version = (*sdtype) ? 2 : 1;
        sdcard.highCapacity = (*sdtype == 2) ? 1 : 0;
        return true;
    }

    // When card init is complete, the idle bit in the response becomes zero.
    return false;
}

/*
 * Returns true if the card is ready to accept read/write commands.
 */
static bool sdcard_isReady(void)
{
    return sdcard.state == SDCARD_STATE_READY || sdcard.state == SDCARD_STATE_WRITING_MULTIPLE_BLOCKS;
}

/**
 * Send the stop-transmission token to complete a multi-block write.
 *
 * Returns:
 *     SDCARD_OPERATION_IN_PROGRESS - We're now waiting for that stop to complete, the card will enter
 *                                    the SDCARD_STATE_STOPPING_MULTIPLE_BLOCK_WRITE state.
 *     SDCARD_OPERATION_SUCCESS     - The multi-block write finished immediately, the card will enter
 *                                    the SDCARD_READY state.
 *
 */
static sdcardOperationStatus_e sdcard_endWriteBlocks(void)
{
    sdcard.multiWriteBlocksRemain = 0;

#if defined(USE_SDCARD_SDIO_CACHE)
    cache_reset();
#endif

    // Card may choose to raise a busy (non-0xFF) signal after at most N_BR (1 byte) delay
    if (SD_GetState()) {
        sdcard.state = SDCARD_STATE_READY;
        return SDCARD_OPERATION_SUCCESS;
    } else {
        sdcard.state = SDCARD_STATE_STOPPING_MULTIPLE_BLOCK_WRITE;
        sdcard.operationStartTime = millis();

        return SDCARD_OPERATION_IN_PROGRESS;
    }
}
/**
 * Call periodically for the SD card to perform in-progress transfers.
 *
 * Returns true if the card is ready to accept commands.
 */
static bool sdcardSdio_poll(void)
{
#if !defined(STM32H7) // H7 uses IDMA
    if (!sdcard.dma) {
        sdcard.state = SDCARD_STATE_NOT_PRESENT;
        return false;
    }
#endif
    doMore:
    switch (sdcard.state) {
        case SDCARD_STATE_RESET:
                //HAL Takes care of voltage crap.
            sdcard.state = SDCARD_STATE_CARD_INIT_IN_PROGRESS;
            goto doMore;
        break;

        case SDCARD_STATE_CARD_INIT_IN_PROGRESS:
            if (sdcard_checkInitDone()) {
                // Now fetch the CSD and CID registers
                if (sdcard_fetchCSD()) {
                    sdcard.state = SDCARD_STATE_INITIALIZATION_RECEIVE_CID;
                    goto doMore;
                } else {
                    sdcardSdio_reset();
                    goto doMore;
                }
            }
        break;
        case SDCARD_STATE_INITIALIZATION_RECEIVE_CID:
            if (sdcard_receiveCID()) {

                /* The spec is a little iffy on what the default block size is for Standard Size cards (it can be changed on
                 * standard size cards) so let's just set it to 512 explicitly so we don't have a problem.
                 */
//                if (!sdcard.highCapacity && SDMMC_CmdBlockLength(_HSD.Instance, SDCARD_BLOCK_SIZE)) {
//                    sdcardSdio_reset();
//                    goto doMore;
//                }

                sdcard.multiWriteBlocksRemain = 0;

                sdcard.state = SDCARD_STATE_READY;
                goto doMore;
            } // else keep waiting for the CID to arrive
        break;
        case SDCARD_STATE_SENDING_WRITE:
            // Have we finished sending the write yet?
            if (SD_CheckWrite() == SD_OK) {

                // The SD card is now busy committing that write to the card
                sdcard.state = SDCARD_STATE_WAITING_FOR_WRITE;
                sdcard.operationStartTime = millis();

                // Since we've transmitted the buffer we can go ahead and tell the caller their operation is complete
                if (sdcard.pendingOperation.callback) {
                    sdcard.pendingOperation.callback(SDCARD_BLOCK_OPERATION_WRITE, sdcard.pendingOperation.blockIndex, sdcard.pendingOperation.buffer, sdcard.pendingOperation.callbackData);
                }
            }
        break;
        case SDCARD_STATE_WAITING_FOR_WRITE:
            if (SD_GetState()) {
                sdcard.failureCount = 0; // Assume the card is good if it can complete a write

                // Still more blocks left to write in a multi-block chain?
                if (sdcard.multiWriteBlocksRemain > 1) {
                    sdcard.multiWriteBlocksRemain--;
                    sdcard.multiWriteNextBlock++;
#if defined(USE_SDCARD_SDIO_CACHE)
                    cache_reset();
#endif
                    sdcard.state = SDCARD_STATE_WRITING_MULTIPLE_BLOCKS;
                } else if (sdcard.multiWriteBlocksRemain == 1) {
                    // This function changes the sd card state for us whether immediately succesful or delayed:
                    sdcard_endWriteBlocks();
                } else {
                    sdcard.state = SDCARD_STATE_READY;
                }
            } else if (millis() > sdcard.operationStartTime + SDCARD_TIMEOUT_WRITE_MSEC) {
                /*
                 * The caller has already been told that their write has completed, so they will have discarded
                 * their buffer and have no hope of retrying the operation. But this should be very rare and it allows
                 * them to reuse their buffer milliseconds faster than they otherwise would.
                 */
                sdcardSdio_reset();
                goto doMore;
            }
        break;
        case SDCARD_STATE_READING:
            switch (sdcard_receiveDataBlock(sdcard.pendingOperation.buffer, SDCARD_BLOCK_SIZE)) {
                case SDCARD_RECEIVE_SUCCESS:

                    sdcard.state = SDCARD_STATE_READY;
                    sdcard.failureCount = 0; // Assume the card is good if it can complete a read

                    if (sdcard.pendingOperation.callback) {
                        sdcard.pendingOperation.callback(
                            SDCARD_BLOCK_OPERATION_READ,
                            sdcard.pendingOperation.blockIndex,
                            sdcard.pendingOperation.buffer,
                            sdcard.pendingOperation.callbackData
                        );
                    }
                break;
                case SDCARD_RECEIVE_BLOCK_IN_PROGRESS:
                    if (millis() <= sdcard.operationStartTime + SDCARD_TIMEOUT_READ_MSEC) {
                        break; // Timeout not reached yet so keep waiting
                    }
                    // Timeout has expired, so fall through to convert to a fatal error

                case SDCARD_RECEIVE_ERROR:
                    goto doMore;
                break;
            }
        break;
        case SDCARD_STATE_STOPPING_MULTIPLE_BLOCK_WRITE:
            if (SD_GetState()) {
                sdcard.state = SDCARD_STATE_READY;
            } else if (millis() > sdcard.operationStartTime + SDCARD_TIMEOUT_WRITE_MSEC) {
                sdcardSdio_reset();
                goto doMore;
            }
        break;
        case SDCARD_STATE_NOT_PRESENT:
        default:
            ;
    }

    // Is the card's initialization taking too long?
    if (sdcard.state >= SDCARD_STATE_RESET && sdcard.state < SDCARD_STATE_READY
            && millis() - sdcard.operationStartTime > SDCARD_TIMEOUT_INIT_MILLIS) {
        sdcardSdio_reset();
    }

    return sdcard_isReady();
}

/**
 * Write the 512-byte block from the given buffer into the block with the given index.
 *
 * If the write does not complete immediately, your callback will be called later. If the write was successful, the
 * buffer pointer will be the same buffer you originally passed in, otherwise the buffer will be set to NULL.
 *
 * Returns:
 *     SDCARD_OPERATION_IN_PROGRESS - Your buffer is currently being transmitted to the card and your callback will be
 *                                    called later to report the completion. The buffer pointer must remain valid until
 *                                    that time.
 *     SDCARD_OPERATION_SUCCESS     - Your buffer has been transmitted to the card now.
 *     SDCARD_OPERATION_BUSY        - The card is already busy and cannot accept your write
 *     SDCARD_OPERATION_FAILURE     - Your write was rejected by the card, card will be reset
 */
static sdcardOperationStatus_e sdcardSdio_writeBlock(uint32_t blockIndex, uint8_t *buffer, sdcard_operationCompleteCallback_c callback, uint32_t callbackData)
{
    doMore:
    switch (sdcard.state) {
        case SDCARD_STATE_WRITING_MULTIPLE_BLOCKS:
            // Do we need to cancel the previous multi-block write?
            if (blockIndex != sdcard.multiWriteNextBlock) {
                if (sdcard_endWriteBlocks() == SDCARD_OPERATION_SUCCESS) {
                    // Now we've entered the ready state, we can try again
                    goto doMore;
                } else {
                    return SDCARD_OPERATION_BUSY;
                }
            }

            // We're continuing a multi-block write
        break;
        case SDCARD_STATE_READY:
        break;
        default:
            return SDCARD_OPERATION_BUSY;
    }

    sdcard.pendingOperation.buffer = buffer;
    sdcard.pendingOperation.blockIndex = blockIndex;

    unsigned block_count = 1;

#if defined(USE_SDCARD_SDIO_CACHE)
    if ((cache_getCount() < FATFS_BLOCK_CACHE_SIZE) && (sdcard.multiWriteBlocksRemain != 0)) {
        cache_write(buffer);

        if (cache_getCount() == FATFS_BLOCK_CACHE_SIZE || sdcard.multiWriteBlocksRemain == 1) {
            //Relocate buffer and recalculate block index
            buffer = (uint8_t*)writeCache;
            blockIndex -= cache_getCount() - 1;
            block_count = cache_getCount();
        } else {
            sdcard.multiWriteBlocksRemain--;
            sdcard.multiWriteNextBlock++;
            sdcard.state = SDCARD_STATE_READY;
            return SDCARD_OPERATION_SUCCESS;
        }
    }
#endif

    sdcard.pendingOperation.callback = callback;
    sdcard.pendingOperation.callbackData = callbackData;
    sdcard.pendingOperation.chunkIndex = 1; // (for non-DMA transfers) we've sent chunk #0 already
    sdcard.state = SDCARD_STATE_SENDING_WRITE;

    if (SD_WriteBlocks_DMA(blockIndex, (uint32_t*) buffer, 512, block_count) != SD_OK) {
        /* Our write was rejected! This could be due to a bad address but we hope not to attempt that, so assume
         * the card is broken and needs reset.
         */
        sdcardSdio_reset();

        // Announce write failure:
        if (sdcard.pendingOperation.callback) {
            sdcard.pendingOperation.callback(SDCARD_BLOCK_OPERATION_WRITE, sdcard.pendingOperation.blockIndex, NULL, sdcard.pendingOperation.callbackData);
        }
            return SDCARD_OPERATION_FAILURE;
    }

    return SDCARD_OPERATION_IN_PROGRESS;
}

/**
 * Begin writing a series of consecutive blocks beginning at the given block index. This will allow (but not require)
 * the SD card to pre-erase the number of blocks you specifiy, which can allow the writes to complete faster.
 *
 * Afterwards, just call sdcard_writeBlock() as normal to write those blocks consecutively.
 *
 * It's okay to abort the multi-block write at any time by writing to a non-consecutive address, or by performing a read.
 *
 * Returns:
 *     SDCARD_OPERATION_SUCCESS     - Multi-block write has been queued
 *     SDCARD_OPERATION_BUSY        - The card is already busy and cannot accept your write
 *     SDCARD_OPERATION_FAILURE     - A fatal error occured, card will be reset
 */
static sdcardOperationStatus_e sdcardSdio_beginWriteBlocks(uint32_t blockIndex, uint32_t blockCount)
{
    if (sdcard.state != SDCARD_STATE_READY) {
        if (sdcard.state == SDCARD_STATE_WRITING_MULTIPLE_BLOCKS) {
            if (blockIndex == sdcard.multiWriteNextBlock) {
                // Assume that the caller wants to continue the multi-block write they already have in progress!
                return SDCARD_OPERATION_SUCCESS;
            } else if (sdcard_endWriteBlocks() != SDCARD_OPERATION_SUCCESS) {
                return SDCARD_OPERATION_BUSY;
            } // Else we've completed the previous multi-block write and can fall through to start the new one
        } else {
            return SDCARD_OPERATION_BUSY;
        }
    }

    sdcard.state = SDCARD_STATE_WRITING_MULTIPLE_BLOCKS;
    sdcard.multiWriteBlocksRemain = blockCount;
    sdcard.multiWriteNextBlock = blockIndex;
    return SDCARD_OPERATION_SUCCESS;
}

/**
 * Read the 512-byte block with the given index into the given 512-byte buffer.
 *
 * When the read completes, your callback will be called. If the read was successful, the buffer pointer will be the
 * same buffer you originally passed in, otherwise the buffer will be set to NULL.
 *
 * You must keep the pointer to the buffer valid until the operation completes!
 *
 * Returns:
 *     true - The operation was successfully queued for later completion, your callback will be called later
 *     false - The operation could not be started due to the card being busy (try again later).
 */
static bool sdcardSdio_readBlock(uint32_t blockIndex, uint8_t *buffer, sdcard_operationCompleteCallback_c callback, uint32_t callbackData)
{
    if (sdcard.state != SDCARD_STATE_READY) {
        if (sdcard.state == SDCARD_STATE_WRITING_MULTIPLE_BLOCKS) {
            if (sdcard_endWriteBlocks() != SDCARD_OPERATION_SUCCESS) {
                return false;
            }
        } else {
            return false;
        }
    }

    // Standard size cards use byte addressing, high capacity cards use block addressing
    uint8_t status = SD_ReadBlocks_DMA(blockIndex, (uint32_t*) buffer, 512, 1);

    if (status == SD_OK) {
        sdcard.pendingOperation.buffer = buffer;
        sdcard.pendingOperation.blockIndex = blockIndex;
        sdcard.pendingOperation.callback = callback;
        sdcard.pendingOperation.callbackData = callbackData;

        sdcard.state = SDCARD_STATE_READING;
        sdcard.operationStartTime = millis();

        return true;
    } else {
        sdcardSdio_reset();
        if (sdcard.pendingOperation.callback) {
            sdcard.pendingOperation.callback(
                SDCARD_BLOCK_OPERATION_READ,
                sdcard.pendingOperation.blockIndex,
                NULL,
                sdcard.pendingOperation.callbackData
            );
        }
        return false;
    }
}

/**
 * Begin the initialization process for the SD card. This must be called first before any other sdcard_ routine.
 */
void sdcardSdio_init(void)
{
#if !defined(STM32H7) // H7 uses IDMA
    sdcard.dma = dmaGetByTag(SDCARD_SDIO_DMA);

    if (!sdcard.dma) {
        sdcard.state = SDCARD_STATE_NOT_PRESENT;
        return;
    }

    // Check if somebody already occupies this DMA channel
    if (dmaGetOwner(sdcard.dma) != OWNER_FREE) {
        sdcard.dma = NULL;
        sdcard.state = SDCARD_STATE_NOT_PRESENT;
        return;
    }

    if (!SD_Initialize_LL(sdcard.dma->ref)) {
        sdcard.dma = NULL;
        sdcard.state = SDCARD_STATE_NOT_PRESENT;
        return;
    }
#else
    if (!SD_Initialize_LL(0)) {
        sdcard.state = SDCARD_STATE_NOT_PRESENT;
        return;
    }
#endif
    // We don't support hot insertion
    if (!sdcard_isInserted()) {
        sdcard.state = SDCARD_STATE_NOT_PRESENT;
        return;
    }

    if (SD_Init() != 0) {
        sdcard.state = SDCARD_STATE_NOT_PRESENT;
        return;
    }

    sdcard.operationStartTime = millis();
    sdcard.state = SDCARD_STATE_RESET;
    sdcard.failureCount = 0;
}

/**
 * Returns true if the SD card has successfully completed its startup procedures.
 */
static bool sdcardSdio_isInitialized(void)
{
    return sdcard.state >= SDCARD_STATE_READY;
}

static const sdcardMetadata_t* sdcardSdio_getMetadata(void)
{
    return &sdcard.metadata;
}

sdcardVTable_t sdcardSdioVTable = {
    .init = &sdcardSdio_init,
    .readBlock = &sdcardSdio_readBlock,
    .beginWriteBlocks = &sdcardSdio_beginWriteBlocks,
    .writeBlock = &sdcardSdio_writeBlock,
    .poll = &sdcardSdio_poll,
    .isFunctional = &sdcardSdio_isFunctional,
    .isInitialized = &sdcardSdio_isInitialized,
    .getMetadata = &sdcardSdio_getMetadata,
};

#endif