HAL_ChibiOS: Enable sdcard on spi bus

libraries/AP_HAL_ChibiOS/Device.cpp

@@ -149,6 +149,12 @@ bool DeviceBus::adjust_timer(AP_HAL::Device::PeriodicHandle h, uint32_t period_u
  */
 void DeviceBus::bouncebuffer_setup(const uint8_t *&buf_tx, uint16_t tx_len,
                                    uint8_t *&buf_rx, uint16_t rx_len)
+{
+    bouncebuffer_setup_tx(buf_tx, tx_len);
+    bouncebuffer_setup_rx(buf_rx, rx_len);
+}
+
+void DeviceBus::bouncebuffer_setup_tx(const uint8_t *&buf_tx, uint16_t tx_len)
 {
     if (buf_tx && !IS_DMA_SAFE(buf_tx)) {
         if (tx_len > bounce_buffer_tx_size) {
@@ -165,7 +171,10 @@ void DeviceBus::bouncebuffer_setup(const uint8_t *&buf_tx, uint16_t tx_len,
         memcpy(bounce_buffer_tx, buf_tx, tx_len);
         buf_tx = bounce_buffer_tx;
     }
+}
 
+void DeviceBus::bouncebuffer_setup_rx(uint8_t *&buf_rx, uint16_t rx_len)
+{
     if (buf_rx && !IS_DMA_SAFE(buf_rx)) {
         if (rx_len > bounce_buffer_rx_size) {
             if (bounce_buffer_rx_size) {

libraries/AP_HAL_ChibiOS/Device.h

@@ -37,6 +37,11 @@ public:
 
     void bouncebuffer_setup(const uint8_t *&buf_tx, uint16_t tx_len,
                             uint8_t *&buf_rx, uint16_t rx_len);
+
+    void bouncebuffer_setup_tx(const uint8_t *&buf_tx, uint16_t tx_len);
+
+    void bouncebuffer_setup_rx(uint8_t *&buf_rx, uint16_t rx_len);
+
     void bouncebuffer_rx_copy(uint8_t *buf_rx, uint16_t rx_len);
     
 private:

libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp

@@ -23,6 +23,7 @@
 #include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
 #include <AP_HAL_ChibiOS/AP_HAL_ChibiOS_Private.h>
 #include "shared_dma.h"
+#include "sdcard.h"
 #include "hwdef/common/usbcfg.h"
 
 #include <hwdef.h>
@@ -69,9 +70,7 @@ static Empty::RCOutput rcoutDriver;
 static ChibiOS::Scheduler schedulerInstance;
 static ChibiOS::Util utilInstance;
 static Empty::OpticalFlow opticalFlowDriver;
-#ifdef USE_POSIX
-static FATFS SDC_FS; // FATFS object
-#endif
+
 
 #if HAL_WITH_IO_MCU
 HAL_UART_IO_DRIVER;
@@ -147,8 +146,11 @@ static THD_FUNCTION(main_loop,arg)
 #ifdef HAL_SPI_CHECK_CLOCK_FREQ
     // optional test of SPI clock frequencies
     ChibiOS::SPIDevice::test_clock_freq();
-#endif
-    
+#endif 
+
+    //Setup SD Card and Initialise FATFS bindings
+    sdcard_init();
+
     hal.uartB->begin(38400);
     hal.uartC->begin(57600);
     hal.analogin->init();
@@ -217,28 +219,6 @@ void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
     sdStart((SerialDriver*)&HAL_STDOUT_SERIAL, &stdoutcfg);
 #endif
 
-    //Setup SD Card and Initialise FATFS bindings
-    /*
-     * Start SD Driver
-     */
-#ifdef USE_POSIX
-    FRESULT err;
-    sdcStart(&SDCD1, NULL);
-
-    if(sdcConnect(&SDCD1) == HAL_FAILED) {
-        printf("Err: Failed to initialize SDIO!\n");
-    } else {
-        err = f_mount(&SDC_FS, "/", 1);
-        if (err != FR_OK) {
-            printf("Err: Failed to mount SD Card!\n");
-            sdcDisconnect(&SDCD1);
-        } else {
-            printf("Successfully mounted SDCard..\n");
-        }
-        //Create APM Directory
-        mkdir("/APM", 0777);
-    }
-#endif
     assert(callbacks);
     g_callbacks = callbacks;
 

libraries/AP_HAL_ChibiOS/SPIDevice.cpp

@@ -114,6 +114,10 @@ SPIDevice::~SPIDevice()
     free(pname);
 }
 
+SPIDriver * SPIDevice::get_driver() {
+	return spi_devices[device_desc.bus].driver;
+}
+
 bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
 {
     switch (speed) {
@@ -225,19 +229,21 @@ bool SPIDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint3
 }
 
 /*
-  allow for control of SPI chip select pin
- */
-bool SPIDevice::set_chip_select(bool set)
+ used to acquire bus and (optionally) assert cs
+*/
+bool SPIDevice::acquire_bus(bool set, bool skip_cs)
 {
     bus.semaphore.assert_owner();
     if (set && cs_forced) {
         return true;
     }
     if (!set && !cs_forced) {
-        return false;
+        return true;
     }
     if (!set && cs_forced) {
-        spiUnselectI(spi_devices[device_desc.bus].driver);          /* Slave Select de-assertion.       */
+        if(!skip_cs) {
+            spiUnselectI(spi_devices[device_desc.bus].driver);          /* Slave Select de-assertion.       */
+        }
         spiReleaseBus(spi_devices[device_desc.bus].driver);              /* Ownership release.               */
         cs_forced = false;
         bus.dma_handle->unlock();
@@ -255,12 +261,21 @@ bool SPIDevice::set_chip_select(bool set)
         }
         spiStart(spi_devices[device_desc.bus].driver, &bus.spicfg);        /* Setup transfer parameters.       */
         bus.spi_started = true;
-        spiSelectI(spi_devices[device_desc.bus].driver);                /* Slave Select assertion.          */
+        if(!skip_cs) {
+            spiSelectI(spi_devices[device_desc.bus].driver);                /* Slave Select assertion.          */
+        }
         cs_forced = true;
     }
     return true;
 }
 
+/*
+  allow for control of SPI chip select pin
+ */
+bool SPIDevice::set_chip_select(bool set) {
+    return acquire_bus(set, false);
+}
+
 /*
   return a SPIDevice given a string device name
  */
@@ -303,6 +318,51 @@ SPIDeviceManager::get_device(const char *name)
     return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(*busp, desc));
 }
 
+#if HAL_USE_MMC_SPI == TRUE
+
+void SPIDevice::spi_select() {
+    bus.semaphore.take(HAL_SEMAPHORE_BLOCK_FOREVER);
+    acquire_bus(true, false);
+}
+
+void SPIDevice::spi_unselect() {
+    acquire_bus(false, false);
+    bus.semaphore.give();
+}
+
+void SPIDevice::spi_ignore(size_t n) {
+    if (!cs_forced) {
+        //special mode to init sdcard without cs asserted
+        bus.semaphore.take(HAL_SEMAPHORE_BLOCK_FOREVER);
+        acquire_bus(true, true);
+        spiIgnore(spi_devices[device_desc.bus].driver, n);
+        acquire_bus(false, true);
+        bus.semaphore.give();
+    } else {
+        bus.semaphore.assert_owner();
+        spiIgnore(spi_devices[device_desc.bus].driver, n);
+    }
+}
+
+void SPIDevice::spi_send(size_t tx_len, const void *txbuf) {
+    bus.semaphore.assert_owner();
+    const uint8_t *tbuf = (uint8_t *) txbuf;
+    bus.bouncebuffer_setup_tx(tbuf, tx_len);
+    spiSend(spi_devices[device_desc.bus].driver, tx_len, tbuf);
+}
+
+void SPIDevice::spi_receive(size_t rx_len, void *rxbuf) {
+    bus.semaphore.assert_owner();
+    uint8_t *rbuf = (uint8_t *) rxbuf;
+    bus.bouncebuffer_setup_rx(rbuf, rx_len);
+    spiReceive(spi_devices[device_desc.bus].driver, rx_len, rbuf);
+    if (rxbuf != rbuf) {
+        memcpy(rxbuf, rbuf, rx_len);
+    }
+}
+
+#endif
+
 
 #ifdef HAL_SPI_CHECK_CLOCK_FREQ
 /*

libraries/AP_HAL_ChibiOS/SPIDevice.h

@@ -88,11 +88,24 @@ public:
 
     bool set_chip_select(bool set) override;
 
+    bool acquire_bus(bool acquire, bool skip_cs);
+
+    SPIDriver * get_driver();
+
 #ifdef HAL_SPI_CHECK_CLOCK_FREQ
     // used to measure clock frequencies
     static void test_clock_freq(void);
 #endif
     
+#if HAL_USE_MMC_SPI == TRUE
+    //functions to be used by hal_mmc_spi.c sdcard driver
+    void spi_select();
+    void spi_unselect();
+    void spi_ignore(size_t n);
+    void spi_send(size_t n, const void *txbuf);
+    void spi_receive(size_t n, void *rxbuf);
+#endif
+
 private:
     SPIBus &bus;
     SPIDesc &device_desc;

libraries/AP_HAL_ChibiOS/hwdef/common/spi_hook.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include "hal.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if HAL_USE_MMC_SPI == TRUE
+void spiStartHook(SPIDriver *spip, const SPIConfig *config);
+void spiStopHook(SPIDriver *spip);
+void spiSelectHook(SPIDriver *spip);
+void spiUnselectHook(SPIDriver *spip);
+void spiIgnoreHook(SPIDriver *spip,size_t n);
+void spiSendHook(SPIDriver *spip,size_t n, const void *txbuf);
+void spiReceiveHook(SPIDriver *spip, size_t n, void *rxbuf);
+#endif
+
+#ifdef __cplusplus
+}
+#endif

libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat

@@ -90,7 +90,7 @@ PC9 SBUS_INVERT_TX OUTPUT LOW
 
 # SPI Device table 
 SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
-SPIDEV sdcard     SPI2 DEVID2 SDCARD_CS MODE3 1*MHZ 16*MHZ
+SPIDEV sdcard     SPI2 DEVID2 SDCARD_CS MODE0 400*KHZ 25*MHZ
 SPIDEV bmp280     SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
 SPIDEV osd        SPI3 DEVID4 OSD_CS MODE0 1*MHZ 4*MHZ
 
@@ -109,6 +109,10 @@ define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
 define STORAGE_FLASH_PAGE 1
 define HAL_STORAGE_SIZE 8192
 
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
 # define default battery setup
 define HAL_BATT_VOLT_PIN 12
 define HAL_BATT_CURR_PIN 11

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -311,6 +311,13 @@ def enable_can(f):
     f.write('#define HAL_WITH_UAVCAN 1\n')
     env_vars['HAL_WITH_UAVCAN'] = '1'
 
+def has_sdcard_spi():
+    '''check for sdcard connected to spi bus'''
+    for dev in spidev:
+        if(dev[0] == 'sdcard'):
+            return True
+    return False
+
 def write_mcu_config(f):
     '''write MCU config defines'''
     f.write('// MCU type (ChibiOS define)\n')
@@ -328,6 +335,13 @@ def write_mcu_config(f):
         f.write('#define USE_POSIX\n\n')
         f.write('#define HAL_USE_SDC TRUE\n')
         build_flags.append('USE_FATFS=yes')
+    elif has_sdcard_spi():
+         f.write('// MMC via SPI available, enable POSIX filesystem support\n')
+         f.write('#define USE_POSIX\n\n')
+         f.write('#define HAL_USE_MMC_SPI TRUE\n')
+         f.write('#define HAL_USE_SDC FALSE\n')
+         f.write('#define HAL_SDCARD_SPI_HOOK TRUE\n')
+         build_flags.append('USE_FATFS=yes') 
     else:
         f.write('#define HAL_USE_SDC FALSE\n')
         build_flags.append('USE_FATFS=no')

libraries/AP_HAL_ChibiOS/sdcard.cpp

@@ -0,0 +1,112 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ * 
+ */
+
+#include "SPIDevice.h"
+#include "sdcard.h"
+#include "hwdef/common/spi_hook.h"
+
+#ifdef USE_POSIX
+static FATFS SDC_FS; // FATFS object
+#endif
+
+#if HAL_USE_MMC_SPI
+MMCDriver MMCD1;
+static AP_HAL::OwnPtr<AP_HAL::SPIDevice> device;
+static MMCConfig mmcconfig;
+static SPIConfig lowspeed;
+static SPIConfig highspeed;
+#endif
+
+void sdcard_init() {
+
+#ifdef USE_POSIX
+#if HAL_USE_SDC
+    sdcStart(&SDCD1, NULL);
+
+    if(sdcConnect(&SDCD1) == HAL_FAILED) {
+        printf("Err: Failed to initialize SDIO!\n");
+    } else {
+        if (f_mount(&SDC_FS, "/", 1) != FR_OK) {
+            printf("Err: Failed to mount SD Card!\n");
+            sdcDisconnect(&SDCD1);
+        } else {
+            printf("Successfully mounted SDCard..\n");
+        }
+        //Create APM Directory
+        mkdir("/APM", 0777);
+    }
+#endif
+#if HAL_USE_MMC_SPI
+    device = AP_HAL::get_HAL().spi->get_device("sdcard");
+
+    mmcObjectInit(&MMCD1);
+
+    mmcconfig.spip =
+            static_cast<ChibiOS::SPIDevice*>(device.get())->get_driver();
+    mmcconfig.hscfg = &highspeed;
+    mmcconfig.lscfg = &lowspeed;
+
+    mmcStart(&MMCD1, &mmcconfig);
+
+    if (mmcConnect(&MMCD1) == HAL_FAILED) {
+        printf("Err: Failed to initialize SDCARD_SPI!\n");
+    } else {
+        if (f_mount(&SDC_FS, "/", 1) != FR_OK) {
+            printf("Err: Failed to mount SD Card!\n");
+            mmcDisconnect(&MMCD1);
+        } else {
+            printf("Successfully mounted SDCard..\n");
+        }
+        //Create APM Directory
+        mkdir("/APM", 0777);
+    }
+#endif
+#endif
+}
+
+#if HAL_USE_MMC_SPI
+
+void spiStartHook(SPIDriver *spip, const SPIConfig *config) {
+    device->set_speed(
+            config == &lowspeed ?
+                    AP_HAL::Device::SPEED_LOW : AP_HAL::Device::SPEED_HIGH);
+}
+
+void spiStopHook(SPIDriver *spip) {
+}
+
+void spiSelectHook(SPIDriver *spip) {
+    static_cast<ChibiOS::SPIDevice*>(device.get())->spi_select();
+}
+
+void spiUnselectHook(SPIDriver *spip) {
+    static_cast<ChibiOS::SPIDevice*>(device.get())->spi_unselect();
+}
+
+void spiIgnoreHook(SPIDriver *spip, size_t n) {
+    static_cast<ChibiOS::SPIDevice*>(device.get())->spi_ignore(n);
+}
+
+void spiSendHook(SPIDriver *spip, size_t n, const void *txbuf) {
+    static_cast<ChibiOS::SPIDevice*>(device.get())->spi_send(n, txbuf);
+}
+
+void spiReceiveHook(SPIDriver *spip, size_t n, void *rxbuf) {
+    static_cast<ChibiOS::SPIDevice*>(device.get())->spi_receive(n, rxbuf);
+}
+
+#endif
+

libraries/AP_HAL_ChibiOS/sdcard.h

@@ -0,0 +1,18 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ * 
+ */
+#pragma once
+
+void sdcard_init();