mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
113 lines
3.0 KiB
C++
113 lines
3.0 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "SPIDevice.h"
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#include "sdcard.h"
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#include "hwdef/common/spi_hook.h"
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#ifdef USE_POSIX
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static FATFS SDC_FS; // FATFS object
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#endif
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#if HAL_USE_MMC_SPI
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MMCDriver MMCD1;
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static AP_HAL::OwnPtr<AP_HAL::SPIDevice> device;
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static MMCConfig mmcconfig;
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static SPIConfig lowspeed;
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static SPIConfig highspeed;
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#endif
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void sdcard_init() {
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#ifdef USE_POSIX
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#if HAL_USE_SDC
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sdcStart(&SDCD1, NULL);
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if(sdcConnect(&SDCD1) == HAL_FAILED) {
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printf("Err: Failed to initialize SDIO!\n");
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} else {
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if (f_mount(&SDC_FS, "/", 1) != FR_OK) {
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printf("Err: Failed to mount SD Card!\n");
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sdcDisconnect(&SDCD1);
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} else {
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printf("Successfully mounted SDCard..\n");
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}
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//Create APM Directory
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mkdir("/APM", 0777);
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}
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#endif
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#if HAL_USE_MMC_SPI
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device = AP_HAL::get_HAL().spi->get_device("sdcard");
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mmcObjectInit(&MMCD1);
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mmcconfig.spip =
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static_cast<ChibiOS::SPIDevice*>(device.get())->get_driver();
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mmcconfig.hscfg = &highspeed;
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mmcconfig.lscfg = &lowspeed;
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mmcStart(&MMCD1, &mmcconfig);
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if (mmcConnect(&MMCD1) == HAL_FAILED) {
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printf("Err: Failed to initialize SDCARD_SPI!\n");
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} else {
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if (f_mount(&SDC_FS, "/", 1) != FR_OK) {
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printf("Err: Failed to mount SD Card!\n");
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mmcDisconnect(&MMCD1);
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} else {
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printf("Successfully mounted SDCard..\n");
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}
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//Create APM Directory
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mkdir("/APM", 0777);
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}
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#endif
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#endif
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}
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#if HAL_USE_MMC_SPI
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void spiStartHook(SPIDriver *spip, const SPIConfig *config) {
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device->set_speed(
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config == &lowspeed ?
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AP_HAL::Device::SPEED_LOW : AP_HAL::Device::SPEED_HIGH);
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}
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void spiStopHook(SPIDriver *spip) {
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}
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void spiSelectHook(SPIDriver *spip) {
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static_cast<ChibiOS::SPIDevice*>(device.get())->spi_select();
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}
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void spiUnselectHook(SPIDriver *spip) {
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static_cast<ChibiOS::SPIDevice*>(device.get())->spi_unselect();
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}
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void spiIgnoreHook(SPIDriver *spip, size_t n) {
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static_cast<ChibiOS::SPIDevice*>(device.get())->spi_ignore(n);
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}
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void spiSendHook(SPIDriver *spip, size_t n, const void *txbuf) {
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static_cast<ChibiOS::SPIDevice*>(device.get())->spi_send(n, txbuf);
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}
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void spiReceiveHook(SPIDriver *spip, size_t n, void *rxbuf) {
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static_cast<ChibiOS::SPIDevice*>(device.get())->spi_receive(n, rxbuf);
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}
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#endif
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