Support external SD card on MB6HC

10 files changed, 119 insertions, 19 deletions

diff --git a/src/Duet3_V06/Pins_Duet3_V06.h b/src/Duet3_V06/Pins_Duet3_V06.h
index 773b1d09..741df19e 100644
--- a/src/Duet3_V06/Pins_Duet3_V06.h
+++ b/src/Duet3_V06/Pins_Duet3_V06.h
@@ -151,10 +151,10 @@ constexpr Pin DiagPin = PortCPin(20);
 constexpr bool DiagOnPolarity = true;
 
 // SD cards
-constexpr size_t NumSdCards = 1;
-constexpr Pin SdCardDetectPins[1] = { PortAPin(29) };
-constexpr Pin SdWriteProtectPins[1] = { NoPin };
-constexpr Pin SdSpiCSPins[1] = { NoPin };
+constexpr size_t NumSdCards = 2;											// we now allow one SPI-connected SD card to be configured at boot time
+constexpr Pin SdCardDetectPins[NumSdCards] = { PortAPin(29), NoPin };
+constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin };
+constexpr Pin SdSpiCSPins[NumSdCards] = { NoPin, NoPin };
 constexpr uint32_t ExpectedSdCardSpeed = 25000000;
 constexpr IRQn SdhcIRQn = HSMCI_IRQn;
 
diff --git a/src/Libraries/sd_mmc/sd_mmc.c b/src/Libraries/sd_mmc/sd_mmc.c
index d05eb40a..11d0cd75 100644
--- a/src/Libraries/sd_mmc/sd_mmc.c
+++ b/src/Libraries/sd_mmc/sd_mmc.c
@@ -1928,6 +1928,19 @@ uint32_t sd_mmc_get_interface_speed(uint8_t slot)
 
 #endif
 
+#if SD_MMC_SPI_MEM_CNT != 0
+
+// Change the CS pin used by an SPI-connected card slot. Only used by the Duet 3 MB6HC. Linker garbage collection will eliminate this function in other builds.
+void sd_mmc_change_cs_pin(uint8_t slot, Pin csPin) noexcept
+{
+	if (slot >= SD_MMC_HSMCI_MEM_CNT)
+	{
+		sd_mmc_spi_change_cs_pin(slot - SD_MMC_HSMCI_MEM_CNT, csPin);
+	}
+}
+
+#endif
+
 // Initialise for reading blocks
 // On entry the card is not selected
 // If SD_MMC_OK is returned then the card is selected, otherwise it is not selected
diff --git a/src/Libraries/sd_mmc/sd_mmc.h b/src/Libraries/sd_mmc/sd_mmc.h
index 619bf3a1..b71be5bd 100644
--- a/src/Libraries/sd_mmc/sd_mmc.h
+++ b/src/Libraries/sd_mmc/sd_mmc.h
@@ -177,6 +177,9 @@ void sd_mmc_unmount(uint8_t slot) noexcept;
 // Get the interface speed in bytes/sec
 uint32_t sd_mmc_get_interface_speed(uint8_t slot) noexcept;
 
+// Change the CS pin used by an SPI-connected card slot. Only used by the Duet 3 MB6HC. Linker garbage collection will eliminate this function in other builds.
+void sd_mmc_change_cs_pin(uint8_t slot, Pin csPin) noexcept;
+
 #endif
 
 /**
diff --git a/src/Libraries/sd_mmc/sd_mmc_spi.cpp b/src/Libraries/sd_mmc/sd_mmc_spi.cpp
index a32336b9..2df31a90 100644
--- a/src/Libraries/sd_mmc/sd_mmc_spi.cpp
+++ b/src/Libraries/sd_mmc/sd_mmc_spi.cpp
@@ -70,7 +70,7 @@ extern void debugPrintf(const char* fmt, ...) noexcept;
 static sd_mmc_spi_errno_t sd_mmc_spi_err;
 
 //! Slot array of SPI structures
-static SharedSpiClient *sd_mmc_spi_devices[SD_MMC_SPI_MEM_CNT];
+static SharedSpiClient *sd_mmc_spi_devices[SD_MMC_SPI_MEM_CNT] = { 0 };
 static SharedSpiClient *currentSpiClient = nullptr;
 
 //! 32 bits response of the last command
@@ -108,7 +108,11 @@ static uint8_t sd_mmc_spi_crc7(uint8_t * buf, uint8_t size) noexcept
 		value = *buf++;
 		for (i = 0; i < 8; i++) {
 			crc <<= 1;
+#if 1	// DC
+			if ((value ^ crc) & 0x80)
+#else
 			if ((value & 0x80) ^ (crc & 0x80))
+#endif
 			{
 				crc ^= 0x09;
 			}
@@ -348,6 +352,19 @@ void sd_mmc_spi_init(const Pin csPins[SD_MMC_SPI_MEM_CNT]) noexcept
 	}
 }
 
+#if 1
+
+// This function is used by the Duet 3 MB6HC to enable support for a second SD card
+void sd_mmc_spi_change_cs_pin(uint8_t spiSlot, Pin csPin) noexcept
+{
+	if (spiSlot < SD_MMC_SPI_MEM_CNT)
+	{
+		sd_mmc_spi_devices[spiSlot]->SetCsPin(csPin);
+	}
+}
+
+#endif
+
 // Note, every call to sd_mmc_spi_select_device must be matched to a call to sd_mmc_spi_deselect_device so that the SPI mutex gets released!
 // Unfortunately, sd_mmc.c calls this more than one without deselecting it in between. So check whether it is already selected.
 bool sd_mmc_spi_select_device(uint8_t slot, uint32_t clock, uint8_t bus_width, bool high_speed) noexcept
diff --git a/src/Libraries/sd_mmc/sd_mmc_spi.h b/src/Libraries/sd_mmc/sd_mmc_spi.h
index 164bc625..80be7dd5 100644
--- a/src/Libraries/sd_mmc/sd_mmc_spi.h
+++ b/src/Libraries/sd_mmc/sd_mmc_spi.h
@@ -243,6 +243,9 @@ typedef void (*spiIdleFunc_t)(uint32_t, uint32_t) noexcept;
 // Set the idle function and return the old one
 spiIdleFunc_t sd_mmc_spi_set_idle_func(spiIdleFunc_t) noexcept;
 
+// This function is used by the Duet 3 MB6HC to enable support for a second SD card
+void sd_mmc_spi_change_cs_pin(uint8_t spiSlot, Pin csPin) noexcept;
+
 #endif
 //! @}
 
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 8e1b12f8..b6a14f48 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -4404,7 +4404,13 @@ GCodeResult Platform::ConfigurePort(GCodeBuffer& gb, const StringRef& reply) THR
 {
 	// Exactly one of FHJPSR is allowed
 	unsigned int charsPresent = 0;
-	for (char c : (const char[]){'R', 'J', 'F', 'H', 'P', 'S'})
+	for (char c :
+#ifdef DUET3_V06
+		(const char[]){'D', 'R', 'J', 'F', 'H', 'P', 'S'}
+#else
+		(const char[]){'R', 'J', 'F', 'H', 'P', 'S'}
+#endif
+		)
 	{
 		charsPresent <<= 1;
 		if (gb.Seen(c))
@@ -4443,6 +4449,10 @@ GCodeResult Platform::ConfigurePort(GCodeBuffer& gb, const StringRef& reply) THR
 			const uint32_t slot = gb.GetLimitedUIValue('R', MaxSpindles);
 			return spindles[slot].Configure(gb, reply);
 		}
+#ifdef DUET3_V06
+	case 64:	// D
+		return MassStorage::ConfigureSdCard(gb, reply);
+#endif
 
 	default:
 		reply.copy("exactly one of FHJPSR must be given");
diff --git a/src/Platform/RepRap.cpp b/src/Platform/RepRap.cpp
index 035818f0..b2c56027 100644
--- a/src/Platform/RepRap.cpp
+++ b/src/Platform/RepRap.cpp
@@ -238,7 +238,7 @@ constexpr ObjectModelArrayDescriptor RepRap::volumesArrayDescriptor =
 constexpr ObjectModelArrayDescriptor RepRap::volChangesArrayDescriptor =
 {
 	nullptr,
-	[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return NumSdCards; },
+	[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return MassStorage::GetNumVolumes(); },
 	[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
 																		{ return ExpressionValue((int32_t)MassStorage::GetVolumeSeq(context.GetLastIndex())); }
 };
@@ -314,7 +314,7 @@ constexpr ObjectModelTableEntry RepRap::objectModelTable[] =
 	{ "trackedObjects",			OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxTrackedObjects),					ObjectModelEntryFlags::verbose },
 	{ "triggers",				OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxTriggers),							ObjectModelEntryFlags::verbose },
 #if HAS_MASS_STORAGE
-	{ "volumes",				OBJECT_MODEL_FUNC_NOSELF((int32_t)NumSdCards),							ObjectModelEntryFlags::verbose },
+	{ "volumes",				OBJECT_MODEL_FUNC_NOSELF((int32_t)MassStorage::GetNumVolumes()),		ObjectModelEntryFlags::verbose },
 #else
 	{ "volumes",				OBJECT_MODEL_FUNC_NOSELF((int32_t)0),									ObjectModelEntryFlags::verbose },
 #endif
@@ -1688,14 +1688,14 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) con
 #if HAS_MASS_STORAGE
 		// Total and mounted volumes
 		size_t mountedCards = 0;
-		for (size_t i = 0; i < NumSdCards; i++)
+		for (size_t i = 0; i < MassStorage::GetNumVolumes(); i++)
 		{
 			if (MassStorage::IsDriveMounted(i))
 			{
-				mountedCards |= (1 << i);
+				mountedCards |= (1u << i);
 			}
 		}
-		response->catf(",\"volumes\":%u,\"mountedVolumes\":%u", NumSdCards, mountedCards);
+		response->catf(",\"volumes\":%u,\"mountedVolumes\":%u", MassStorage::GetNumVolumes(), mountedCards);
 #endif
 
 		// Machine mode and name
@@ -2079,7 +2079,7 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) const noexc
 	{
 		// Add the static fields
 		response->catf(",\"geometry\":\"%s\",\"axes\":%u,\"totalAxes\":%u,\"axisNames\":\"%s\",\"volumes\":%u,\"numTools\":%u,\"myName\":\"%.s\",\"firmwareName\":\"%.s\"",
-						move->GetGeometryString(), numVisibleAxes, gCodes->GetTotalAxes(), gCodes->GetAxisLetters(), NumSdCards, GetNumberOfContiguousTools(), myName.c_str(), FIRMWARE_NAME);
+						move->GetGeometryString(), numVisibleAxes, gCodes->GetTotalAxes(), gCodes->GetAxisLetters(), MassStorage::GetNumVolumes(), GetNumberOfContiguousTools(), myName.c_str(), FIRMWARE_NAME);
 	}
 
 	response->cat("}\n");			// include a newline to help PanelDue resync
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index 0351298c..2db51861 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -101,7 +101,8 @@ enum class PinUsedBy : uint8_t
 	gpout,
 	filamentMonitor,
 	temporaryInput,
-	sensor
+	sensor,
+	sdCard
 };
 
 #include "Pins.h"
diff --git a/src/Storage/MassStorage.cpp b/src/Storage/MassStorage.cpp
index 8e21ad70..dcab61c2 100644
--- a/src/Storage/MassStorage.cpp
+++ b/src/Storage/MassStorage.cpp
@@ -19,6 +19,10 @@ static_assert(SD_MMC_MEM_CNT == NumSdCards);
 # include <SBC/SbcInterface.h>
 #endif
 
+#ifdef DUET3_V06
+# include <GCodes/GCodeBuffer/GCodeBuffer.h>
+#endif
+
 // A note on using mutexes:
 // Each SD card volume has its own mutex. There is also one for the file table, and one for the find first/find next buffer.
 // The FatFS subsystem locks and releases the appropriate volume mutex when it is called.
@@ -93,6 +97,10 @@ static uint64_t GetFreeSpace(size_t slot)
 static const char * const VolPathNames[] = { "0:/", "1:/" };
 static_assert(ARRAY_SIZE(VolPathNames) >= NumSdCards, "Incorrect VolPathNames array");
 
+#ifdef DUET3_V06
+static IoPort sd1Ports[2];		// first element is CS port, second is CD port
+#endif
+
 constexpr ObjectModelTableEntry SdCardInfo::objectModelTable[] =
 {
 	// Within each group, these entries must be in alphabetical order
@@ -173,6 +181,41 @@ static FileStore files[MAX_FILES];
 
 #if HAS_MASS_STORAGE
 
+# ifdef DUET3_V06
+
+// Return the number of volumes, which on the 6HC is normally 1 but can be increased to 2
+size_t MassStorage::GetNumVolumes() noexcept
+{
+	return (sd1Ports[0].IsValid()) ? 2 : 1;		// we have 2 slots if the second one has a valid CS pin, else 1
+}
+
+// Configure additional SD card slots
+// The card detect pin may be NoPin if the SD card slot doesn't support card detect
+GCodeResult MassStorage::ConfigureSdCard(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
+{
+	(void)gb.GetLimitedUIValue('D', 1, 2);		// only slot 1 may be configured
+	IoPort * const portAddresses[2] = { &sd1Ports[0], &sd1Ports[1] };
+	if (gb.Seen('C'))
+	{
+		const PinAccess accessNeeded[2] = { PinAccess::write1, PinAccess::read };
+		if (IoPort::AssignPorts(gb, reply, PinUsedBy::sdCard, 2, portAddresses, accessNeeded) == 0)
+		{
+			return GCodeResult::error;
+		}
+		sd_mmc_change_cs_pin(1, sd1Ports[0].GetPin());
+		info[1].cdPin = sd1Ports[1].GetPin();
+		reprap.VolumesUpdated();
+	}
+	else
+	{
+		reply.copy("SD card 1 uses pins ");
+		IoPort::AppendPinNames(reply, 2, portAddresses);
+	}
+	return GCodeResult::ok;
+}
+
+# endif
+
 // Sequence number management
 uint16_t MassStorage::GetVolumeSeq(unsigned int volume) noexcept
 {
@@ -895,7 +938,7 @@ bool MassStorage::CheckDriveMounted(const char* path) noexcept
 	const size_t card = (strlen(path) >= 2 && path[1] == ':' && isDigit(path[0]))
 						? path[0] - '0'
 						: 0;
-	return card < NumSdCards && info[card].isMounted;
+	return card < GetNumVolumes() && info[card].isMounted;
 }
 
 // Return true if any files are open on the file system
@@ -941,7 +984,7 @@ bool MassStorage::IsCardDetected(size_t card) noexcept
 // This may only be called to mount one card at a time.
 GCodeResult MassStorage::Mount(size_t card, const StringRef& reply, bool reportSuccess) noexcept
 {
-	if (card >= NumSdCards)
+	if (card >= GetNumVolumes())
 	{
 		reply.copy("SD card number out of range");
 		return GCodeResult::error;
@@ -1037,7 +1080,7 @@ GCodeResult MassStorage::Mount(size_t card, const StringRef& reply, bool reportS
 // If an error occurs, return true with the error message in 'reply'.
 GCodeResult MassStorage::Unmount(size_t card, const StringRef& reply) noexcept
 {
-	if (card >= NumSdCards)
+	if (card >= GetNumVolumes())
 	{
 		reply.copy("SD card number out of range");
 		return GCodeResult::error;
@@ -1058,7 +1101,7 @@ GCodeResult MassStorage::Unmount(size_t card, const StringRef& reply) noexcept
 
 bool MassStorage::IsDriveMounted(size_t drive) noexcept
 {
-	return drive < NumSdCards
+	return drive < GetNumVolumes()
 #if HAS_MASS_STORAGE
 		&& info[drive].isMounted
 #endif
@@ -1166,7 +1209,7 @@ void MassStorage::RecordSimulationTime(const char *printingFilePath, uint32_t si
 // Get information about the SD card and interface speed
 MassStorage::InfoResult MassStorage::GetCardInfo(size_t slot, uint64_t& capacity, uint64_t& freeSpace, uint32_t& speed, uint32_t& clSize) noexcept
 {
-	if (slot >= NumSdCards)
+	if (slot >= GetNumVolumes())
 	{
 		return InfoResult::badSlot;
 	}
diff --git a/src/Storage/MassStorage.h b/src/Storage/MassStorage.h
index 86b0782f..854d56b4 100644
--- a/src/Storage/MassStorage.h
+++ b/src/Storage/MassStorage.h
@@ -48,6 +48,12 @@ namespace MassStorage
 	bool FileExists(const char *filePath) noexcept;
 	void CloseAllFiles() noexcept;
 	void Spin() noexcept;
+
+# ifdef DUET3_V06
+	size_t GetNumVolumes() noexcept;														// The number of SD slots may be 1 or 2 on the 6HC
+# else
+	inline size_t GetNumVolumes() noexcept { return NumSdCards; }
+# endif
 #endif
 
 #if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
@@ -99,8 +105,11 @@ namespace MassStorage
 
 	InfoResult GetCardInfo(size_t slot, uint64_t& capacity, uint64_t& freeSpace, uint32_t& speed, uint32_t& clSize) noexcept;
 
+# ifdef DUET3_V06
+	GCodeResult ConfigureSdCard(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);		// Configure additional SD card slots
+# endif
+
 # if SUPPORT_OBJECT_MODEL
-	inline size_t GetNumVolumes() noexcept { return NumSdCards; }
 	const ObjectModel *_ecv_from GetVolume(size_t vol) noexcept;
 # endif
 
@@ -108,4 +117,5 @@ namespace MassStorage
 
 }
 
+
 #endif