From 3b230c4ec0f22733fe6a91adc3b77ede0a3bdec8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Aug 2022 17:18:50 +1000
Subject: [PATCH] hwdef: enable flash-from-SD on Pixhawk6X

---
 .../hwdef/Pixhawk6X/hwdef-bl.dat              | 29 +++++++++++++++++++
 .../AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat  |  3 ++
 2 files changed, 32 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat
index a5441cf790..8ca7a6488f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat
@@ -74,3 +74,32 @@ define HAL_STORAGE_SIZE 16384
 
 # enable DFU by default
 ENABLE_DFU_BOOT 1
+
+# support flashing from SD card:
+# power enable pins
+PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# FATFS support:
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_SEMAPHORES 0
+define CH_CFG_USE_MUTEXES 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+define CH_CFG_USE_REGISTRY 1
+
+# microSD support
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
index d0399f2075..5fbccffb4a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -369,3 +369,6 @@ ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
 # note that if firmware is build with --secure-bl then DFU is
 # disabled
 ENABLE_DFU_BOOT 1
+
+# build ABIN for flash-from-bootloader support:
+env BUILD_ABIN True