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SD-Card controller, using either SPI, SDIO, or eMMC interfaces
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This repository contains three Verilog hardware RTL controllers for handling SD cards from an FPGA. The first and older controller handles SD cards via their (optional) SPI interface. The second and newer controller works using the SDIO interface. This second controller has also been demonstrated to handle eMMC cards as well. A third controller has also been added to the mix. This third controller is an SDIO slave controller. It has been designed to enable an FPGA to act like an SD card.
The SDSPI controller exports an SD card controller interface from internal to an FPGA to the rest of the FPGA core, while taking care of the lower level details internal to the interface. Unlike the full SDIO controller in this respository, this controller focuses on the SPI interface of the SD Card. While this is a slower interface, the SPI interface is necessary to access the card when using a XuLA2 board (for which it was originally written), or in general any time the full 6--bit, bi--directional interface to the SD card has not been implemented. Further, for those who are die--hard Verilog authors, this core is written in Verilog as opposed to the XESS provided demonstration SD Card controller found on GitHub, which was written in VHDL. For those who are not such die--hard Verilog authors, this controller provides a lower level interface to the card than other controllers. Whereas the XESS controller will automatically start up the card and interact with it, this controller requires external software to be used when interacting with the card. This makes this SDSPI controller both more versatile, in the face of potential changes to the card interface, but also less turn-key.
While this core was written for the purpose of being used with the ZipCPU, as enhanced by the Wishbone DMA controller used by the ZipCPU, nothing in this core prevents it from being used with any other architecture that supports the 32-bit Wishbone interface of this core.
This core has been written as a wishbone slave, not a master. Using the core together with a separate master, such as a CPU or a DMA controller, only makes sense. This design choice, however, also restricts the core from being able to use the multiple block write or multiple block read commands, restricting it to single block read and write commands alone.
Status: The SDSPI IP is silicon proven. It is no longer under active development. It has been used successfully in several FPGA projects. The components of this IP have formal proofs, which they are known to pass. A Verilator C++ model also exists which can fairly faithfully represent an SD card's SPI interface. A software library also exists which can act as a back end when using the FATFS library.
AXI Support: The SDSPI controller has no support for an AXI environment. The RTL modifications required to provide AXI-Lite support to this controller would be minor. Testbench modifications would be more significant.
All-Verilog Test bench: The SDSPI controller has a C++ model only for simulation based testing. There is no all Verilog test bench at present, nor do I have any plans to develop one.
For more information, please consult the SDSPI user guide.
This repository also contains a second and newer SD card controller, designed to exploit both the full SDIO protocol and the 8b EMMC protocol--either with or without data strobes. This controller has been tested against both SDIO and eMMC chips, with the differences between the two types of chips handled by software.
The interface to this controller is roughly the same as that of the SDSPI controller, although there are enough significant differences to warrant a separate user guide and a separate driver.
The controller is designed to support IO modes all the way up to the HS400 mode used by eMMC. HS400 is an eMMC DDR mode based off of a 200MHz IO clock, using a data strobe pin on return. Also supported are an SDR mode using a 200MHz clock, DDR and SDR modes using a 100MHz clock, as well as both DDR and SDR support for integer divisions of the 100MHz clock, starting with a 50MHz clock and going all the way down to 100kHz. This is all based upon a nominal 100MHz system clock, together with a 400MHz clock for SERDES support. For designs without 8:1 and 1:8 SERDES IO components, 100MHz and slower clocks are still supported, depending upon whether or not DDR I/O components are available. Both open-drain and push-pull IOs are supported, and the front end can switch between the two as necessary based upon options within a PHY configuration register. No support is planned for any of the UHS-II protocols.
Both Wishbone and AXI interfaces are supported.
Status: The SDIO controller has now been silicon proven. It is currently working successfully in its first FPGA project, where it is being used to control both an SD card as well as an eMMC chip. It is also now working successfully in a second project. Many of the components of this IP have formal proofs, which they are known to pass.
Notably missing among the formal component proofs is a proof of the front end. The front end's verification depends upon integrated simulation testing.
Both Verilog and C++ models have been built which can be used to test this controller in simulation. Unlike the Verilog SDIO model, the C++ SDIO supports a file-backed memory, allowing full software testing with filesystem(s) present. All three simulation components have been now been tested successfully: the Verilog SDIO and eMMC models, as well as the SDIO C++ model.
Features include:
Multi-block: Multiple block commands have been demonstrated in simulation when using both the Verilog SDIO model and eMMC models.
Multiblock commands form the basis for the DMA's operation.
OPT_DMA: An optional DMA is now available, and passing tests in silicon.
Both Wishbone and AXI versions of the DMA controller exist and routinely pass all simulation based testing.
STREAM DMA: At customer request, hooks now exist for an (optional) stream DMA interface. This interface will accept an AXI stream input, and/or an AXI stream output. Data present on the AXI stream input may then be written directly to the device. Reads from the device may also produce data at the output stream.
This interface is now supported and tested via simulation. No known issues exist. It does have some software quirks:
When using the stream interface, the DMA address should be set to -1. This selects the stream interface as either source or destination. (The actual controller command will indicate the direction of the transfer.)
Any memory source (MM2S) should be configured for the full transfer length--potentially many blocks.
There is no TLAST stream input (slave).
When the external (SD or eMMC) device is the data source (S2MM), the TLAST signal will be set at the end of each 512B block. This may require the external DMA to be configured to transfer data one block at a time, or perhaps to ignore the TLAST signal.
Transfer errors (failing CRCs, non-responsive cards, etc.) may cause the streams to lose synchronization. To fix, the design may be given a soft reset (if necessary), and the external MM2S/S2MM DMAs may also need to be given similar resets.
C++ Model: A Verilator C++ model of an SDIO component is now a part of the repository. This model has demonstrated tremendous utility when doing software testing.
For more information, please consult the SDIO user guide.
Now that the RTL has been fully drafted and successfully tested in hardware, it's moving from its development to application phase. Further improvements could still be made, as listed below:
C++ Model: The design is missing a C++ model for testing the eMMC interface. A C++ model exists for testing the SDIO interface, just not the eMMC interface. The difference between the two would be the commands supported and their meanings. More significant differences include both BOOT mode, and HS400 which requires the DS.
Better time modeling: After reviewing various specifications, it is
apparent the Verilog eMMC model needs better
IO time modeling. An ideal solution would depend upon both $hold and
$setup simulation timing constraints, although it is not clear to what
extent such constraints would be supported by the open source tool chain(s).
eMMC Boot mode: Boot testing has been successfully demonstrated in hardware following a CMD0 with a 0xf0f0f0f0 argument. Automatic boot on startup has not yet been tested in hardware. Likewise alternate boot mode has yet to pass testing in hardware.
Support exists for boot mode in the Verilog eMMC model.
eMMC Collision Detection: Collision detection remains an known issue
with eMMC support. This issue
is limited to CMD40, the GO_IRQ_STATE command, and specifically to the
case where both controller and device attempt to leave the IRQ state at the
same time. Without collision support, the message to leave the IRQ state
may be corrupted on return. This should be detectable via a bad CRC on
the command line.
The eMMC software driver has no need for CMD40 support, and hence there is no pressing need for this capability.
The Slave controller is new. This controller is designed to let an external "host" interact with an FPGA via the SDIO protocol. As an example, I am intending to test an RPi CM4 interface with an FPGA via this controller and protocol. The RPi should be able to read/write anything in the FPGA Wishbone (or eventually AXI) address space via this approach. At present, via simulation only, all commands to/from memory only apply to blocks of 512Bytes, so there's some work left to be done.
The slave capability turns SDIO read and write requests into Wishbone (or AXI) bus requests. It is designed to be a hands off capability that doesn't require any (local) CPU. If connected to a memory device, this slave capability could easily make that memory device available over an SDIO interface.
Possible uses include:
Controlling a memory, external to the FPGA, through the SDIO interface.
Possibilities include flash (read-only), SDRAM, eMMC, SDIO, SATA, you name it. This might make it possible for an external CPU to read data at nearly the same time the FPGA is recording or processing it in real time.
Video overlay control, whereby the host generates an overlay for the FPGA to place on an active video stream.
Soft-core CPU software loading or shared memory handling
Bridging an interface--such as 10Gb network, available to the FPGA, to the host. (Given that the fastest this interface might go is only 50MB/s, it doesn't really make sense to try to keep up with a 10Gb or 125MB/s link over SDIO, but it is still an option. Perhaps the HS400 mode might make more sense here?)
At any rate, development is ongoing.
Key features of this design include:
Hands-Off - No run-time configuration is required from the local system. All commands come from the external/remote system.
SDR/DDR, 1b, 4b, or 8b - Basic stuff here. SDIO doesn't have or require 8b interfaces, so the only use for the 8b interface would be for eMMC control. This design should be able to (eventually) handle the eMMC, but that's a future thing if ever.
Low Logic - I wasn't expecting this one, but the SDSlave controller has less than half the logic requirement of the SDIO controller. We'll see if this continues to be the case as more commands are implemented.
Status: This slave controller has yet to see Silicon. An FPGA design exists for testing this controller, but that test remains pending.
All Mandatory Commands - At present, this design only supports some of the mandatory SD commands, not all of them. As such, it's not likely to work with any generic SDIO host (yet). Commands supported include: CMD0, CMD2, CMD3, CMD7, CMD8, CMD9, CMD10, CMD12, CMD13, CMD15, CMD17, CMD18, CMD19, CMD24, CMD25, CMD55, ACMD6, ACMD13, ACMD41, and ACMD51. Not all of these commands have been tested or simulated.
Commands still needing support include: CMD4, CMD11, CMD16, CMD23, CMD27, CMD32, CMD33, CMD38, CMD42, CMD56, ACMD22, ACMD23, and ACMD42.
The SCR register is only partially implemented, and writes to it are not (yet) supported.
While reading the CSD register is supported, the values read may (or may not) yet reflect the state of anything within.
Error Handling - The current simulation is primarily a "happy path" simulation environment. While errors may still take place, I've only ever canceled the simulation following any error rather than making sure the errors are properly handled, detected, identified, and recovered from. For example, any request to read from or write to an address that yields a bus error should properly end any transactions. That has not been demonstrated yet, and I would (currently) doubt that the error handling would be clean.
Variable block sizes - At some point in time, I may need or wish to support block sizes of other than 512Bytes. The current architecture, however, will restrict all block sizes to powers of two and ... I'm so far okay with that.
User Guide - This needs to be written. For now, the major SDIO commands are implemented, and so the SDIO spec can serve (somewhat) as a user guide for working with this IP. It's just that ... the SDIO spec will tell you nothing about how to set it up, so this still needs to be done.
Hardware Testing - My plan is to connect this to an RPi CM4 module, and see how things go. I'll let you know.
eMMC FSM - The FSM module may be rewritten to support an eMMC slave controller. The other slave modules have been built to work in an eMMC environment (8b, w/ or w/o DS), so it should only require a rewrite of the FSM to support eMMC devices instead of SD devices.
Better Timing: The current design is built based upon clock edge transitions. It does not meet the IO timing requirements found in the specification, yet might be good enough to work.
Bottom line? This is still a work in progress, and it will probably remain so until hardware testing completes.
Current logic usage is being tracked for iCE40 and Xilinx 6-LUT devices in the usage.txt file in the RTL/ directory.
Should you find the GPLv3 license insufficient for your needs, other licenses may be purchased from Gisselquist Technology, LLC.
No C++ eMMC model exists at present.
SW Testing: Control software has been written, and has been used to demonstrate both SDIO and EMMC performance. This software is designed to work with the FATFS library.
Software testing is currently taking place as part of the integrated test benches associated with separate repositories, such as the VideoZip and Eth10G repositories that contain both this component and the ZipCPU.
AXI Support: This design has also been demonstrated in AXI environments. The control interface also has an (optional) AXI-Lite port which can be used to interact with the IP. A flag exists to swap endianness, so that the design will be properly little endian when using this interface. The AXI version of the design includes an integrated AXI DMA.
CRC Tokens: CRC token's are 5b response values, indicating whether or not a page has transferred successfully. The frontend can successfully recognize those CRC tokens following block write transfers or boot requests.
Failure to receive a CRC token when one is expected will (now) generate an error condition, as will receiving a negative CRC acknowledgment.