SD-Card controller

This repository contains two 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.

SPI-based controller

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 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 7--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.

Roadmap and TODO items

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.

SDIO

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.

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-Lite 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.

For more information, please consult the SDIO user guide.

Roadmap and TODO items

Although the initial RTL has both been fully drafted and successfully hardware tested, this project is far from finished. Several key steps remain before this controller will be a completed product:

• Multi-block: Multiple block commands have been demonstrated in simulation when using the Verilog SDIO model. Multiblock simulation support is still lacking in the Verilog eMMC model.

  Multiblock commands form the basis for the DMA's operation.

• OPT_DMA: An optional DMA is now available, and passing tests in silicon.

  Only the Wishbone version of the DMA controller exists at present.

  Although components exist in my wb2axip repository which could support an AXI DMA, these components have neither been integrated nor tested as part of this design. Other user's have successfully connected external AXI MM2S and S2MM components to the AXI stream interface, and have thus demonstrated successful DMA support in AXI environments.

• 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 be unsynchronized. 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.

  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 repository that contains both this component and the ZipCPU.

• AXI Support: This design has also been demonstrated in AXI environments. The control interface has an 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. At present, however, there is no integrated AXI DMA master capability--only AXI stream ports. (Integrated AXI DMA master support is planned, just not funded at present.)

  When coupled with external AXI MM2S and S2MM components, the IP may sufficiently provide for the needs of most AXI environments.

• 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.

  Failure to receive a CRC token when one is expected will (now) generate an error condition, as will receiving a negative CRC acknowledgment.

• eMMC Boot mode: No plan exists to support eMMC boot mode (at present). This decision will likely be revisited in the future.

  Some (untested, preliminary) support exists for boot mode in the Verilog eMMC model.

• eMMC Collision Detection: Collision detection remains an ongoing issue with eMMC support. This issue is limited to 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.

Logic usage

Current logic usage is being tracked for iCE40 and Xilinx 6-LUT devices in the usage.txt file in the RTL/ directory.

Commercial Applications

Should you find the GPLv3 license insufficient for your needs, other licenses may be purchased from Gisselquist Technology, LLC.