From 86cf63fca4ed0e661119a82735d2cbac9b72f4c6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 14 Feb 2023 20:39:55 +1100
Subject: [PATCH] AP_BoardConfig: add BRD_SD_MISSION parameter

---
 libraries/AP_BoardConfig/AP_BoardConfig.cpp   | 10 +++++
 libraries/AP_BoardConfig/AP_BoardConfig.h     | 45 ++++++-------------
 .../AP_BoardConfig/AP_BoardConfig_config.h    | 37 +++++++++++++++
 3 files changed, 61 insertions(+), 31 deletions(-)
 create mode 100644 libraries/AP_BoardConfig/AP_BoardConfig_config.h

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index eda2ebe6cc..bf223c878e 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -340,6 +340,16 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     AP_GROUPINFO("HEAT_LOWMGN", 23, AP_BoardConfig, heater.imu_arming_temperature_margin_low, HAL_IMU_TEMP_MARGIN_LOW_DEFAULT),
 #endif
 
+#if AP_SDCARD_STORAGE_ENABLED
+    // @Param: SD_MISSION
+    // @DisplayName:  SDCard Mission size
+    // @Description: This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.
+    // @Range: 0 64
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("SD_MISSION", 24, AP_BoardConfig, sdcard_storage.mission_kb, 0),
+#endif
+    
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index cf1ee134bc..f190b6cf5d 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -1,45 +1,15 @@
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
+#include "AP_BoardConfig_config.h"
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_RTC/AP_RTC.h>
 #include <AC_PID/AC_PI.h>
 
-#ifndef AP_FEATURE_BOARD_DETECT
-#if defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
-#define AP_FEATURE_BOARD_DETECT 1
-#else
-#define AP_FEATURE_BOARD_DETECT 0
-#endif
-#endif
-
-#ifndef AP_FEATURE_RTSCTS
-#define AP_FEATURE_RTSCTS 0
-#endif
-
-#ifndef AP_FEATURE_SBUS_OUT
-#define AP_FEATURE_SBUS_OUT 0
-#endif
-
 #if HAL_RCINPUT_WITH_AP_RADIO
 #include <AP_Radio/AP_Radio.h>
 #endif
 
-#ifndef HAL_WATCHDOG_ENABLED_DEFAULT
-#define HAL_WATCHDOG_ENABLED_DEFAULT false
-#endif
-
-#if HAL_HAVE_IMU_HEATER
-#ifndef HAL_IMUHEAT_P_DEFAULT
-#define HAL_IMUHEAT_P_DEFAULT 200
-#endif
-#ifndef HAL_IMUHEAT_I_DEFAULT
-#define HAL_IMUHEAT_I_DEFAULT 0.3
-#endif
-#endif
-
-
 extern "C" typedef int (*main_fn_t)(int argc, char **);
 
 class AP_BoardConfig {
@@ -221,6 +191,13 @@ public:
     bool get_board_heater_arming_temperature(int8_t &temperature) const;
 #endif
 
+#if AP_SDCARD_STORAGE_ENABLED
+    // return number of kb of mission storage to use on microSD
+    static uint16_t get_sdcard_mission_kb(void) {
+        return _singleton? _singleton->sdcard_storage.mission_kb.get() : 0;
+    }
+#endif
+
 private:
     static AP_BoardConfig *_singleton;
     
@@ -238,6 +215,12 @@ private:
         AP_Int8 io_enable;
     } state;
 
+#if AP_SDCARD_STORAGE_ENABLED
+    struct {
+        AP_Int16 mission_kb;
+    } sdcard_storage;
+#endif
+
 #if AP_FEATURE_BOARD_DETECT
     static enum px4_board_type px4_configured_board;
 
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_config.h b/libraries/AP_BoardConfig/AP_BoardConfig_config.h
new file mode 100644
index 0000000000..95c4092eb9
--- /dev/null
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_config.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Filesystem/AP_Filesystem_config.h>
+
+#ifndef AP_FEATURE_BOARD_DETECT
+#if defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
+#define AP_FEATURE_BOARD_DETECT 1
+#else
+#define AP_FEATURE_BOARD_DETECT 0
+#endif
+#endif
+
+#ifndef AP_FEATURE_RTSCTS
+#define AP_FEATURE_RTSCTS 0
+#endif
+
+#ifndef AP_FEATURE_SBUS_OUT
+#define AP_FEATURE_SBUS_OUT 0
+#endif
+
+#ifndef HAL_WATCHDOG_ENABLED_DEFAULT
+#define HAL_WATCHDOG_ENABLED_DEFAULT false
+#endif
+
+#if HAL_HAVE_IMU_HEATER
+#ifndef HAL_IMUHEAT_P_DEFAULT
+#define HAL_IMUHEAT_P_DEFAULT 200
+#endif
+#ifndef HAL_IMUHEAT_I_DEFAULT
+#define HAL_IMUHEAT_I_DEFAULT 0.3
+#endif
+#endif
+
+#ifndef AP_SDCARD_STORAGE_ENABLED
+#define AP_SDCARD_STORAGE_ENABLED (HAL_MEM_CLASS >= HAL_MEM_CLASS_1000) && HAVE_FILESYSTEM_SUPPORT && BOARD_FLASH_SIZE > 1024
+#endif