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112 lines
3.0 KiB
112 lines
3.0 KiB
/* |
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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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