Import Teensyduino 1.19 modifications

examples/CardInfo/CardInfo.ino

@@ -31,6 +31,8 @@ SdFile root;
 // Arduino Ethernet shield: pin 4
 // Adafruit SD shields and modules: pin 10
 // Sparkfun SD shield: pin 8
+// Teensy 2.0: pin 0
+// Teensy++ 2.0: pin 20
 const int chipSelect = 4;    
 
 void setup()

examples/Datalogger/Datalogger.ino

@@ -26,6 +26,13 @@
 // used as the CS pin, the hardware CS pin (10 on most Arduino boards,
 // 53 on the Mega) must be left as an output or the SD library
 // functions will not work.
+
+// change this to match your SD shield or module;
+// Arduino Ethernet shield: pin 4
+// Adafruit SD shields and modules: pin 10
+// Sparkfun SD shield: pin 8
+// Teensy 2.0: pin 0
+// Teensy++ 2.0: pin 20
 const int chipSelect = 4;
 
 void setup()

examples/DumpFile/DumpFile.ino

@@ -26,6 +26,13 @@
 // used as the CS pin, the hardware CS pin (10 on most Arduino boards,
 // 53 on the Mega) must be left as an output or the SD library
 // functions will not work.
+
+// change this to match your SD shield or module;
+// Arduino Ethernet shield: pin 4
+// Adafruit SD shields and modules: pin 10
+// Sparkfun SD shield: pin 8
+// Teensy 2.0: pin 0
+// Teensy++ 2.0: pin 20
 const int chipSelect = 4;
 
 void setup()

examples/Files/Files.ino

@@ -21,6 +21,14 @@
 
 File myFile;
 
+// change this to match your SD shield or module;
+// Arduino Ethernet shield: pin 4
+// Adafruit SD shields and modules: pin 10
+// Sparkfun SD shield: pin 8
+// Teensy 2.0: pin 0
+// Teensy++ 2.0: pin 20
+const int chipSelect = 4;
+
 void setup()
 {
  // Open serial communications and wait for port to open:
@@ -37,7 +45,7 @@ void setup()
   // or the SD library functions will not work. 
   pinMode(10, OUTPUT);
 
-  if (!SD.begin(4)) {
+  if (!SD.begin(chipSelect)) {
     Serial.println("initialization failed!");
     return;
   }

examples/ReadWrite/ReadWrite.ino

@@ -22,6 +22,14 @@
 
 File myFile;
 
+// change this to match your SD shield or module;
+// Arduino Ethernet shield: pin 4
+// Adafruit SD shields and modules: pin 10
+// Sparkfun SD shield: pin 8
+// Teensy 2.0: pin 0
+// Teensy++ 2.0: pin 20
+const int chipSelect = 10;
+
 void setup()
 {
  // Open serial communications and wait for port to open:
@@ -38,7 +46,7 @@ void setup()
   // or the SD library functions will not work. 
    pinMode(10, OUTPUT);
    
-  if (!SD.begin(4)) {
+  if (!SD.begin(chipSelect)) {
     Serial.println("initialization failed!");
     return;
   }

examples/listfiles/listfiles.ino

@@ -21,6 +21,14 @@
 
 File root;
 
+// change this to match your SD shield or module;
+// Arduino Ethernet shield: pin 4
+// Adafruit SD shields and modules: pin 10
+// Sparkfun SD shield: pin 8
+// Teensy 2.0: pin 0
+// Teensy++ 2.0: pin 20
+const int chipSelect = 10;
+
 void setup()
 {
   // Open serial communications and wait for port to open:
@@ -37,7 +45,7 @@ void setup()
   // or the SD library functions will not work. 
   pinMode(10, OUTPUT);
 
-  if (!SD.begin(10)) {
+  if (!SD.begin(chipSelect)) {
     Serial.println("initialization failed!");
     return;
   }

utility/FatStructs.h

@@ -90,7 +90,7 @@ struct partitionTable {
   uint32_t firstSector;
            /** Length of the partition, in blocks. */
   uint32_t totalSectors;
-};
+} __attribute__((packed));
 /** Type name for partitionTable */
 typedef struct partitionTable part_t;
 //------------------------------------------------------------------------------
@@ -114,7 +114,7 @@ struct masterBootRecord {
   uint8_t  mbrSig0;
            /** Second MBR signature byte. Must be 0XAA */
   uint8_t  mbrSig1;
-};
+} __attribute__((packed));
 /** Type name for masterBootRecord */
 typedef struct masterBootRecord mbr_t;
 //------------------------------------------------------------------------------
@@ -236,7 +236,7 @@ struct biosParmBlock {
            * should always set all of the bytes of this field to 0.
            */
   uint8_t  fat32Reserved[12];
-};
+} __attribute__((packed));
 /** Type name for biosParmBlock */
 typedef struct biosParmBlock bpb_t;
 //------------------------------------------------------------------------------
@@ -271,7 +271,7 @@ struct fat32BootSector {
   uint8_t  bootSectorSig0;
            /** must be 0XAA */
   uint8_t  bootSectorSig1;
-};
+} __attribute__((packed));
 //------------------------------------------------------------------------------
 // End Of Chain values for FAT entries
 /** FAT16 end of chain value used by Microsoft. */
@@ -366,7 +366,7 @@ struct directoryEntry {
   uint16_t firstClusterLow;
            /** 32-bit unsigned holding this file's size in bytes. */
   uint32_t fileSize;
-};
+} __attribute__((packed));
 //------------------------------------------------------------------------------
 // Definitions for directory entries
 //

utility/Sd2Card.cpp

@@ -19,8 +19,200 @@
  */
 #include <Arduino.h>
 #include "Sd2Card.h"
+
+
+
+
+
+#if defined(__MK20DX128__) || defined(__MK20DX256__)
+#define USE_TEENSY3_SPI
+
+
+// Teensy 3.0 functions  (copied from sdfatlib20130629)
+#include <mk20dx128.h>
+// Limit initial fifo to three entries to avoid fifo overrun
+#define SPI_INITIAL_FIFO_DEPTH 3
+// define some symbols that are not in mk20dx128.h
+#ifndef SPI_SR_RXCTR
+#define SPI_SR_RXCTR 0XF0
+#endif  // SPI_SR_RXCTR
+#ifndef SPI_PUSHR_CONT
+#define SPI_PUSHR_CONT 0X80000000
+#endif   // SPI_PUSHR_CONT
+#ifndef SPI_PUSHR_CTAS
+#define SPI_PUSHR_CTAS(n) (((n) & 7) << 28)
+#endif  // SPI_PUSHR_CTAS
+
+static void spiBegin() {
+  SIM_SCGC6 |= SIM_SCGC6_SPI0;
+}
+
+static void spiInit(uint8_t spiRate) {
+  // spiRate = 0 : 24 or 12 Mbit/sec
+  // spiRate = 1 : 12 or 6 Mbit/sec
+  // spiRate = 2 : 6 or 3 Mbit/sec
+  // spiRate = 3 : 4 or 2.0 Mbit/sec
+  // spiRate = 4 : 3 or 1.5 Mbit/sec
+  // spiRate = 5 : 250 kbit/sec
+  // spiRate = 6 : 125 kbit/sec
+  uint32_t ctar, ctar0, ctar1;
+  switch (spiRate/2) {
+    // 1/2 speed
+    case 0: ctar = SPI_CTAR_DBR | SPI_CTAR_BR(0) | SPI_CTAR_CSSCK(0); break;
+    // 1/4 speed
+    case 1: ctar = SPI_CTAR_BR(0) | SPI_CTAR_CSSCK(0); break;
+    // 1/8 speed
+    case 2: ctar = SPI_CTAR_BR(1) | SPI_CTAR_CSSCK(1); break;
+    // 1/12 speed
+    case 3: ctar = SPI_CTAR_BR(2) | SPI_CTAR_CSSCK(2); break;
+    // 1/16 speed
+    case 4: ctar = SPI_CTAR_BR(3) | SPI_CTAR_CSSCK(3); break;
+#if F_BUS == 48000000
+    case 5: ctar = SPI_CTAR_PBR(1) | SPI_CTAR_BR(5) | SPI_CTAR_CSSCK(5); break;
+    default: ctar = SPI_CTAR_PBR(1) | SPI_CTAR_BR(6) | SPI_CTAR_CSSCK(6);
+#elif F_BUS == 24000000
+    case 5: ctar = SPI_CTAR_PBR(1) | SPI_CTAR_BR(4) | SPI_CTAR_CSSCK(4); break;
+    default: ctar = SPI_CTAR_PBR(1) | SPI_CTAR_BR(5) | SPI_CTAR_CSSCK(5);
+#else
+#error "MK20DX128 bus frequency must be 48 or 24 MHz"
+#endif
+  }
+
+  // CTAR0 - 8 bit transfer
+  ctar0 = ctar | SPI_CTAR_FMSZ(7);
+  // CTAR1 - 16 bit transfer
+  ctar1 = ctar | SPI_CTAR_FMSZ(15);
+
+  if (SPI0_CTAR0 != ctar0 || SPI0_CTAR1 != ctar1) {
+    SPI0_MCR = SPI_MCR_MSTR | SPI_MCR_MDIS | SPI_MCR_HALT | SPI_MCR_PCSIS(0x1F);
+    SPI0_CTAR0 = ctar0;
+    SPI0_CTAR1 = ctar1;
+  }
+  SPI0_MCR = SPI_MCR_MSTR | SPI_MCR_PCSIS(0x1F);
+  SPCR.enable_pins();
+}
+
+/** SPI receive a byte */
+static  uint8_t spiRec() {
+  SPI0_MCR |= SPI_MCR_CLR_RXF;
+  SPI0_SR = SPI_SR_TCF;
+  SPI0_PUSHR = 0xFF;
+  while (!(SPI0_SR & SPI_SR_TCF)) {}
+  return SPI0_POPR;
+}
+/** SPI receive multiple bytes */
+static uint8_t spiRec(uint8_t* buf, size_t len) {
+  // clear any data in RX FIFO
+  SPI0_MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
+  // use 16 bit frame to avoid TD delay between frames
+  // get one byte if len is odd
+  if (len & 1) {
+    *buf++ = spiRec();
+    len--;
+  }
+  // initial number of words to push into TX FIFO
+  int nf = len/2 < SPI_INITIAL_FIFO_DEPTH ? len/2 : SPI_INITIAL_FIFO_DEPTH;
+  for (int i = 0; i < nf; i++) {
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | 0XFFFF;
+  }
+  uint8_t* limit = buf + len - 2*nf;
+  while (buf < limit) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | 0XFFFF;
+    uint16_t w = SPI0_POPR;
+    *buf++ = w >> 8;
+    *buf++ = w & 0XFF;
+  }
+  // limit for rest of RX data
+  limit += 2*nf;
+  while (buf < limit) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    uint16_t w = SPI0_POPR;
+    *buf++ = w >> 8;
+    *buf++ = w & 0XFF;
+  }
+  return 0;
+}
+static void spiRecIgnore(size_t len) {
+  // clear any data in RX FIFO
+  SPI0_MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
+  // use 16 bit frame to avoid TD delay between frames
+  // get one byte if len is odd
+  if (len & 1) {
+    spiRec();
+    len--;
+  }
+  // initial number of words to push into TX FIFO
+  int nf = len/2 < SPI_INITIAL_FIFO_DEPTH ? len/2 : SPI_INITIAL_FIFO_DEPTH;
+  for (int i = 0; i < nf; i++) {
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | 0XFFFF;
+    len -= 2;
+  }
+  //uint8_t* limit = buf + len - 2*nf;
+  //while (buf < limit) {
+  while (len > 0) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | 0XFFFF;
+    SPI0_POPR;
+    len -= 2;
+  }
+  // limit for rest of RX data
+  while (nf > 0) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_POPR;
+    nf--;
+  }
+}
+/** SPI send a byte */
+static void spiSend(uint8_t b) {
+  SPI0_MCR |= SPI_MCR_CLR_RXF;
+  SPI0_SR = SPI_SR_TCF;
+  SPI0_PUSHR = b;
+  while (!(SPI0_SR & SPI_SR_TCF)) {}
+}
+/** SPI send multiple bytes */
+static void spiSend(const uint8_t* output, size_t len) {
+  // clear any data in RX FIFO
+  SPI0_MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
+  // use 16 bit frame to avoid TD delay between frames
+  // send one byte if len is odd
+  if (len & 1) {
+    spiSend(*output++);
+    len--;
+  }
+  // initial number of words to push into TX FIFO
+  int nf = len/2 < SPI_INITIAL_FIFO_DEPTH ? len/2 : SPI_INITIAL_FIFO_DEPTH;
+  // limit for pushing data into TX fifo
+  const uint8_t* limit = output + len;
+  for (int i = 0; i < nf; i++) {
+    uint16_t w = (*output++) << 8;
+    w |= *output++;
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | w;
+  }
+  // write data to TX FIFO
+  while (output < limit) {
+    uint16_t w = *output++ << 8;
+    w |= *output++;
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | w;
+    SPI0_POPR;
+  }
+  // wait for data to be sent
+  while (nf) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_POPR;
+    nf--;
+  }
+}
+
+
+
+
+
+
+
 //------------------------------------------------------------------------------
-#ifndef SOFTWARE_SPI
+#elif !defined(SOFTWARE_SPI)
 // functions for hardware SPI
 /** Send a byte to the card */
 static void spiSend(uint8_t b) {
@@ -32,6 +224,11 @@ static  uint8_t spiRec(void) {
   spiSend(0XFF);
   return SPDR;
 }
+
+
+
+
+
 #else  // SOFTWARE_SPI
 //------------------------------------------------------------------------------
 /** nop to tune soft SPI timing */
@@ -87,6 +284,14 @@ void spiSend(uint8_t data) {
   sei();
 }
 #endif  // SOFTWARE_SPI
+
+
+
+
+
+
+
+
 //------------------------------------------------------------------------------
 // send command and return error code.  Return zero for OK
 uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) {
@@ -217,13 +422,19 @@ uint8_t Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
   uint16_t t0 = (uint16_t)millis();
   uint32_t arg;
 
+  pinMode(chipSelectPin_, OUTPUT);
+  digitalWrite(chipSelectPin_, HIGH);
+
+#ifdef USE_TEENSY3_SPI
+  spiBegin();
+  spiInit(6);
+#else
   // 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);
@@ -233,6 +444,7 @@ uint8_t Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
   // clear double speed
   SPSR &= ~(1 << SPI2X);
 #endif  // SOFTWARE_SPI
+#endif  // not USE_TEENSY3_SPI
 
   // must supply min of 74 clock cycles with CS high.
   for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
@@ -354,7 +566,16 @@ uint8_t Sd2Card::readData(uint32_t block,
     inBlock_ = 1;
   }
 
-#ifdef OPTIMIZE_HARDWARE_SPI
+#if defined(USE_TEENSY3_SPI)
+
+  // skip data before offset
+  //for (;offset_ < offset; offset_++) {
+    //spiRec();
+  //}
+  spiRecIgnore(offset);
+  spiRec(dst, count);
+
+#elif defined(OPTIMIZE_HARDWARE_SPI)
   // start first spi transfer
   SPDR = 0XFF;
 
@@ -402,7 +623,12 @@ uint8_t Sd2Card::readData(uint32_t block,
 void Sd2Card::readEnd(void) {
   if (inBlock_) {
       // skip data and crc
-#ifdef OPTIMIZE_HARDWARE_SPI
+#if defined(USE_TEENSY3_SPI)
+    if (offset_ < 514) {
+      spiRecIgnore(514 - offset_);
+      offset_ = 514;
+    }
+#elif defined(OPTIMIZE_HARDWARE_SPI)
     // optimize skip for hardware
     SPDR = 0XFF;
     while (offset_++ < 513) {
@@ -444,6 +670,14 @@ uint8_t Sd2Card::readRegister(uint8_t cmd, void* buf) {
  *
  * \param[in] sckRateID A value in the range [0, 6].
  *
+ * 0 = 8 MHz
+ * 1 = 4 MHz
+ * 2 = 2 MHz
+ * 3 = 1 MHz
+ * 4 = 500 kHz
+ * 5 = 125 kHz
+ * 6 = 63 kHz
+ *
  * 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.
@@ -452,6 +686,10 @@ uint8_t Sd2Card::readRegister(uint8_t cmd, void* buf) {
  * false, is returned for an invalid value of \a sckRateID.
  */
 uint8_t Sd2Card::setSckRate(uint8_t sckRateID) {
+#ifdef USE_TEENSY3_SPI
+  spiInit(sckRateID);
+  return true;
+#else
   if (sckRateID > 6) {
     error(SD_CARD_ERROR_SCK_RATE);
     return false;
@@ -466,6 +704,7 @@ uint8_t Sd2Card::setSckRate(uint8_t sckRateID) {
   SPCR |= (sckRateID & 4 ? (1 << SPR1) : 0)
     | (sckRateID & 2 ? (1 << SPR0) : 0);
   return true;
+#endif
 }
 //------------------------------------------------------------------------------
 // wait for card to go not busy

utility/Sd2PinMap.h

@@ -17,9 +17,23 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
-// Warning this file was generated by a program.
+
 #ifndef Sd2PinMap_h
 #define Sd2PinMap_h
+
+#if defined(__arm__) || defined(__MK20DX128__) || defined(__MK20DX256__)
+
+#include <Arduino.h>
+
+uint8_t const SS_PIN = SS;
+uint8_t const MOSI_PIN = MOSI;
+uint8_t const MISO_PIN = MISO;
+uint8_t const SCK_PIN = SCK;
+
+
+#elif defined(__AVR__)
+
+// Warning this file was generated by a program.
 #include <avr/io.h>
 
 //------------------------------------------------------------------------------
@@ -166,6 +180,47 @@ static const pin_map_t digitalPinMap[] = {
 };
 //------------------------------------------------------------------------------
 #elif defined(__AVR_ATmega32U4__)
+#if defined(CORE_TEENSY)
+// Teensy 2.0
+
+// Two Wire (aka I2C) ports
+uint8_t const SDA_PIN = 6;
+uint8_t const SCL_PIN = 5;
+
+// SPI port
+uint8_t const SS_PIN = 0;
+uint8_t const MOSI_PIN = 2;
+uint8_t const MISO_PIN = 3;
+uint8_t const SCK_PIN = 1;
+
+static const pin_map_t digitalPinMap[] = {
+  {&DDRB, &PINB, &PORTB, 0},  // B0  0
+  {&DDRB, &PINB, &PORTB, 1},  // B1  1
+  {&DDRB, &PINB, &PORTB, 2},  // B2  2
+  {&DDRB, &PINB, &PORTB, 3},  // B3  3
+  {&DDRB, &PINB, &PORTB, 7},  // B7  4
+  {&DDRD, &PIND, &PORTD, 0},  // D0  5
+  {&DDRD, &PIND, &PORTD, 1},  // D1  6
+  {&DDRD, &PIND, &PORTD, 2},  // D2  7
+  {&DDRD, &PIND, &PORTD, 3},  // D3  8
+  {&DDRC, &PINC, &PORTC, 6},  // C6  9
+  {&DDRC, &PINC, &PORTC, 7},  // C7 10
+  {&DDRD, &PIND, &PORTD, 6},  // D6 11
+  {&DDRD, &PIND, &PORTD, 7},  // D7 12
+  {&DDRB, &PINB, &PORTB, 4},  // B4 13
+  {&DDRB, &PINB, &PORTB, 5},  // B5 14
+  {&DDRB, &PINB, &PORTB, 6},  // B6 15
+  {&DDRF, &PINF, &PORTF, 7},  // F7 16
+  {&DDRF, &PINF, &PORTF, 6},  // F6 17
+  {&DDRF, &PINF, &PORTF, 5},  // F5 18
+  {&DDRF, &PINF, &PORTF, 4},  // F4 19
+  {&DDRF, &PINF, &PORTF, 1},  // F1 20
+  {&DDRF, &PINF, &PORTF, 0},  // F0 21
+  {&DDRD, &PIND, &PORTD, 4},  // D4 22
+  {&DDRD, &PIND, &PORTD, 5},  // D5 23
+  {&DDRE, &PINE, &PORTE, 6}   // E6 24
+};
+#else
 // Leonardo
 
 // Two Wire (aka I2C) ports
@@ -204,6 +259,7 @@ static const pin_map_t digitalPinMap[] = {
   {&DDRF, &PINF, &PORTF, 1},  // F1 22
   {&DDRF, &PINF, &PORTF, 0},  // F0 23
 };
+#endif
 //------------------------------------------------------------------------------
 #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
 // Teensy++ 1.0 & 2.0
@@ -349,4 +405,9 @@ static inline __attribute__((always_inline))
     badPinNumber();
   }
 }
+
+#else
+#error Architecture or board not supported.
+#endif
+
 #endif  // Sd2PinMap_h