Initial attempt at getting SDIO to work

nuttx/configs/px4fmuv2/include/board.h

@@ -181,6 +181,17 @@
 #  define SDIO_SDXFR_CLKDIV     (3 << SDIO_CLKCR_CLKDIV_SHIFT)
 #endif
 
+/* DMA Channl/Stream Selections *****************************************************/
+/* Stream selections are arbitrary for now but might become important in the future
+ * is we set aside more DMA channels/streams.
+ *
+ * SDIO DMA
+ *   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
+ *   DMAMAP_SDIO_2 = Channel 4, Stream 6
+ */
+
+#define DMAMAP_SDIO DMAMAP_SDIO_1
+
 /* High-resolution timer
  */
 #ifdef CONFIG_HRT_TIMER

nuttx/configs/px4fmuv2/nsh/defconfig

@@ -192,7 +192,7 @@ CONFIG_STM32_USART6=y
 CONFIG_STM32_ADC1=y
 CONFIG_STM32_ADC2=n
 CONFIG_STM32_ADC3=n
-CONFIG_STM32_SDIO=n
+CONFIG_STM32_SDIO=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SYSCFG=y
 CONFIG_STM32_TIM9=y
@@ -780,13 +780,40 @@ CONFIG_FS_BINFS=y
 # CONFIG_MMCSD_SPICLOCK - Maximum SPI clock to drive MMC/SD card.
 #   Default is 20MHz, current setting 24 MHz
 #
-CONFIG_MMCSD=n
+#CONFIG_MMCSD=n
 # XXX need to rejig this for SDIO
 #CONFIG_MMCSD_SPI=y
 #CONFIG_MMCSD_NSLOTS=1
 #CONFIG_MMCSD_READONLY=n
 #CONFIG_MMCSD_SPICLOCK=24000000
 
+#
+# Maintain legacy build behavior (revisit)
+#
+
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SPI=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MTD=y
+
+#
+# SPI-based MMC/SD driver
+#
+CONFIG_MMCSD_NSLOTS=1
+CONFIG_MMCSD_READONLY=n
+CONFIG_MMCSD_SPICLOCK=12500000
+
+#
+# STM32 SDIO-based MMC/SD driver
+#
+CONFIG_SDIO_DMA=y
+#CONFIG_SDIO_PRI=128
+#CONFIG_SDIO_DMAPRIO
+#CONFIG_SDIO_WIDTH_D1_ONLY
+CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
+CONFIG_MMCSD_MMCSUPPORT=n
+CONFIG_MMCSD_HAVECARDDETECT=n
+
 #
 # Block driver buffering
 #
@@ -1004,8 +1031,8 @@ CONFIG_NSH_FATMOUNTPT=/tmp
 # Architecture-specific NSH options
 #
 #CONFIG_NSH_MMCSDSPIPORTNO=3
-#CONFIG_NSH_MMCSDSLOTNO=0
-#CONFIG_NSH_MMCSDMINOR=0
+CONFIG_NSH_MMCSDSLOTNO=0
+CONFIG_NSH_MMCSDMINOR=0
 
 
 #

src/drivers/boards/px4fmuv2/px4fmu_init.c

@@ -55,6 +55,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/spi.h>
 #include <nuttx/i2c.h>
+#include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
 
@@ -128,6 +129,7 @@ __EXPORT void stm32_boardinitialize(void)
 
 static struct spi_dev_s *spi1;
 static struct spi_dev_s *spi2;
+static struct sdio_dev_s *sdio;
 
 #include <math.h>
 
@@ -225,5 +227,28 @@ __EXPORT int nsh_archinitialize(void)
 
 	//message("[boot] Successfully bound SPI port 2 to the FRAM driver\n");
 
+	#ifdef CONFIG_MMCSD
+	/* First, get an instance of the SDIO interface */
+
+	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+	if (!sdio) {
+		message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
+			CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+	if (ret != OK) {
+		message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
+	sdio_mediachange(sdio, true);
+
+	message("[boot] Initialized SDIO\n");
+	#endif
+
 	return OK;
 }