Add MSPs for Blackbox and SD card status/configuration

src/main/blackbox/blackbox.c

@@ -367,6 +367,14 @@ static blackboxMainState_t* blackboxHistory[3];
 
 static bool blackboxModeActivationConditionPresent = false;
 
+/**
+ * Return true if it is safe to edit the Blackbox configuration in the emasterConfig.
+ */
+bool blackboxMayEditConfig()
+{
+    return blackboxState <= BLACKBOX_STATE_STOPPED;
+}
+
 static bool blackboxIsOnlyLoggingIntraframes() {
     return masterConfig.blackbox_rate_num == 1 && masterConfig.blackbox_rate_denom == 32;
 }

src/main/blackbox/blackbox.h

@@ -25,3 +25,5 @@ void initBlackbox(void);
 void handleBlackbox(void);
 void startBlackbox(void);
 void finishBlackbox(void);
+
+bool blackboxMayEditConfig();

src/main/io/serial_msp.c

@@ -42,7 +42,7 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/gyro_sync.h"
-
+#include "drivers/sdcard.h"
 #include "drivers/buf_writer.h"
 #include "rx/rx.h"
 #include "rx/msp.h"
@@ -55,6 +55,7 @@
 #include "io/serial.h"
 #include "io/ledstrip.h"
 #include "io/flashfs.h"
+#include "io/asyncfatfs/asyncfatfs.h"
 
 #include "telemetry/telemetry.h"
 
@@ -74,6 +75,8 @@
 #include "flight/navigation.h"
 #include "flight/altitudehold.h"
 
+#include "blackbox/blackbox.h"
+
 #include "mw.h"
 
 #include "config/runtime_config.h"
@@ -238,6 +241,11 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_RXFAIL_CONFIG               77 //out message         Returns RXFAIL settings
 #define MSP_SET_RXFAIL_CONFIG           78 //in message          Sets RXFAIL settings
 
+#define MSP_SDCARD_SUMMARY              79 //out message         Get the state of the SD card
+
+#define MSP_BLACKBOX_CONFIG             80 //out message         Get blackbox settings
+#define MSP_SET_BLACKBOX_CONFIG         81 //in message          Set blackbox settings
+
 //
 // Baseflight MSP commands (if enabled they exist in Cleanflight)
 //
@@ -393,6 +401,14 @@ typedef enum {
     COMMAND_RECEIVED
 } mspState_e;
 
+typedef enum {
+    MSP_SDCARD_STATE_NOT_PRESENT = 0,
+    MSP_SDCARD_STATE_FATAL       = 1,
+    MSP_SDCARD_STATE_CARD_INIT   = 2,
+    MSP_SDCARD_STATE_FS_INIT     = 3,
+    MSP_SDCARD_STATE_READY       = 4
+} mspSDCardState_e;
+
 typedef enum {
     UNUSED_PORT = 0,
     FOR_GENERAL_MSP,
@@ -553,17 +569,65 @@ reset:
     }
 }
 
+static void serializeSDCardSummaryReply(void)
+{
+    headSerialReply(3 + 4 + 4);
+
+#ifdef USE_SDCARD
+    uint8_t flags = 1 /* SD card supported */ ;
+    uint8_t state;
+
+    serialize8(flags);
+
+    // Merge the card and filesystem states together
+    if (!sdcard_isInserted()) {
+        state = MSP_SDCARD_STATE_NOT_PRESENT;
+    } else {
+        switch (afatfs_getFilesystemState()) {
+            case AFATFS_FILESYSTEM_STATE_READY:
+                state = MSP_SDCARD_STATE_READY;
+            break;
+            case AFATFS_FILESYSTEM_STATE_INITIALIZATION:
+                if (sdcard_isInitialized()) {
+                    state = MSP_SDCARD_STATE_FS_INIT;
+                } else {
+                    state = MSP_SDCARD_STATE_CARD_INIT;
+                }
+            break;
+            case AFATFS_FILESYSTEM_STATE_FATAL:
+            case AFATFS_FILESYSTEM_STATE_UNKNOWN:
+                state = MSP_SDCARD_STATE_FATAL;
+            break;
+        }
+    }
+
+    serialize8(state);
+    serialize8(afatfs_getLastError());
+    // Write free space and total space in kilobytes
+    serialize32(afatfs_getContiguousFreeSpace() / 1024);
+    serialize32(sdcard_getMetadata()->numBlocks / 2); // Block size is half a kilobyte
+#else
+    serialize8(0);
+    serialize8(0);
+    serialize8(0);
+    serialize32(0);
+    serialize32(0);
+#endif
+}
+
 static void serializeDataflashSummaryReply(void)
 {
     headSerialReply(1 + 3 * 4);
 #ifdef USE_FLASHFS
     const flashGeometry_t *geometry = flashfsGetGeometry();
-    serialize8(flashfsIsReady() ? 1 : 0);
+    uint8_t flags = (flashfsIsReady() ? 1 : 0) | 2 /* FlashFS is supported */;
+
+    serialize8(flags);
     serialize32(geometry->sectors);
     serialize32(geometry->totalSize);
     serialize32(flashfsGetOffset()); // Effectively the current number of bytes stored on the volume
 #else
-    serialize8(0);
+    serialize8(0); // FlashFS is neither ready nor supported
     serialize32(0);
     serialize32(0);
     serialize32(0);
@@ -1304,6 +1368,26 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
 #endif
 
+    case MSP_BLACKBOX_CONFIG:
+        headSerialReply(4);
+
+#ifdef BLACKBOX
+        serialize8(1); //Blackbox supported
+        serialize8(masterConfig.blackbox_device);
+        serialize8(masterConfig.blackbox_rate_num);
+        serialize8(masterConfig.blackbox_rate_denom);
+#else
+        serialize8(0); // Blackbox not supported
+        serialize8(0);
+        serialize8(0);
+        serialize8(0);
+#endif
+        break;
+
+    case MSP_SDCARD_SUMMARY:
+        serializeSDCardSummaryReply();
+        break;
+
     case MSP_BF_BUILD_INFO:
         headSerialReply(11 + 4 + 4);
         for (i = 0; i < 11; i++)
@@ -1575,6 +1659,17 @@ static bool processInCommand(void)
         readEEPROM();
         break;
 
+#ifdef BLACKBOX
+    case MSP_SET_BLACKBOX_CONFIG:
+        // Don't allow config to be updated while Blackbox is logging
+        if (blackboxMayEditConfig()) {
+            masterConfig.blackbox_device = read8();
+            masterConfig.blackbox_rate_num = read8();
+            masterConfig.blackbox_rate_denom = read8();
+        }
+        break;
+#endif
+
 #ifdef USE_FLASHFS
     case MSP_DATAFLASH_ERASE:
         flashfsEraseCompletely();