From 25324ae0e2811d0ea169a7b42222dfc15311f4bb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Oct 2021 12:47:41 +1100
Subject: [PATCH] HAL_ChibiOS: support SDMMC2 for sdcard

---
 .../hwdef/common/stm32f47_mcuconf.h           |  4 ++-
 .../hwdef/scripts/chibios_hwdef.py            |  7 +++++
 libraries/AP_HAL_ChibiOS/sdcard.cpp           | 29 +++++++++++++------
 3 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
index b9620b76b8..84c44b6623 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
@@ -476,4 +476,6 @@
 // limit ISR count per byte
 #define STM32_I2C_ISR_LIMIT                 6
 
-
+#ifndef STM32_SDC_USE_SDMMC2
+#define STM32_SDC_USE_SDMMC2                FALSE
+#endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index deccc30986..65a7a9e38f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -706,6 +706,13 @@ def write_mcu_config(f):
         f.write('#define HAL_USE_SDC TRUE\n')
         build_flags.append('USE_FATFS=yes')
         env_vars['WITH_FATFS'] = "1"
+    elif have_type_prefix('SDMMC2'):
+        f.write('// SDMMC2 available, enable POSIX filesystem support\n')
+        f.write('#define USE_POSIX\n\n')
+        f.write('#define HAL_USE_SDC TRUE\n')
+        f.write('#define STM32_SDC_USE_SDMMC2 TRUE\n')
+        build_flags.append('USE_FATFS=yes')
+        env_vars['WITH_FATFS'] = "1"
     elif have_type_prefix('SDMMC'):
         f.write('// SDMMC available, enable POSIX filesystem support\n')
         f.write('#define USE_POSIX\n\n')
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.cpp b/libraries/AP_HAL_ChibiOS/sdcard.cpp
index c01804636f..7e02243000 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.cpp
+++ b/libraries/AP_HAL_ChibiOS/sdcard.cpp
@@ -55,10 +55,16 @@ bool sdcard_init()
     uint8_t sd_slowdown = AP_BoardConfig::get_sdcard_slowdown();
 #if HAL_USE_SDC
 
-    if (SDCD1.bouncebuffer == nullptr) {
+#if STM32_SDC_USE_SDMMC2 == TRUE
+    auto &sdcd = SDCD2;
+#else
+    auto &sdcd = SDCD1;
+#endif
+
+    if (sdcd.bouncebuffer == nullptr) {
         // allocate 4k bouncebuffer for microSD to match size in
         // AP_Logger
-        bouncebuffer_init(&SDCD1.bouncebuffer, 4096, true);
+        bouncebuffer_init(&sdcd.bouncebuffer, 4096, true);
     }
 
     if (sdcard_running) {
@@ -68,14 +74,14 @@ bool sdcard_init()
     const uint8_t tries = 3;
     for (uint8_t i=0; i<tries; i++) {
         sdcconfig.slowdown = sd_slowdown;
-        sdcStart(&SDCD1, &sdcconfig);
-        if(sdcConnect(&SDCD1) == HAL_FAILED) {
-            sdcStop(&SDCD1);
+        sdcStart(&sdcd, &sdcconfig);
+        if(sdcConnect(&sdcd) == HAL_FAILED) {
+            sdcStop(&sdcd);
             continue;
         }
         if (f_mount(&SDC_FS, "/", 1) != FR_OK) {
-            sdcDisconnect(&SDCD1);
-            sdcStop(&SDCD1);
+            sdcDisconnect(&sdcd);
+            sdcStop(&sdcd);
             continue;
         }
         printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
@@ -140,9 +146,14 @@ void sdcard_stop(void)
     f_mount(nullptr, "/", 1);
 #endif
 #if HAL_USE_SDC
+#if STM32_SDC_USE_SDMMC2 == TRUE
+    auto &sdcd = SDCD2;
+#else
+    auto &sdcd = SDCD1;
+#endif
     if (sdcard_running) {
-        sdcDisconnect(&SDCD1);
-        sdcStop(&SDCD1);
+        sdcDisconnect(&sdcd);
+        sdcStop(&sdcd);
         sdcard_running = false;
     }
 #elif HAL_USE_MMC_SPI