Behold! The FileSystem Has Arrived!

.codespell-ignore-words.txt

@@ -1 +1,2 @@
 comIn
+Ines

CMakeLists.txt

@@ -4,6 +4,7 @@
 ####
 
 cmake_minimum_required(VERSION 3.24.2)
+add_compile_definitions(_POSIX_C_SOURCE=200809L)
 
 # Set BOARD_ROOT to find custom boards
 # The structure is BOARD_ROOT/boards/vendor/board
@@ -33,6 +34,11 @@ fprime_setup_included_code()
 
 # This includes project-wide objects
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FprimeZephyrReference")
-
+if (FPRIME_USE_POSIX)
+    set_target_properties(Drv_Ip PROPERTIES EXCLUDE_FROM_ALL TRUE)
+    set_target_properties(Drv_TcpServer PROPERTIES EXCLUDE_FROM_ALL TRUE)
+    set_target_properties(Drv_TcpClient PROPERTIES EXCLUDE_FROM_ALL TRUE)
+    set_target_properties(Drv_Udp PROPERTIES EXCLUDE_FROM_ALL TRUE)
+endif()
 set_target_properties(Svc_FatalHandler PROPERTIES EXCLUDE_FROM_ALL TRUE)
 set_target_properties(fprime-zephyr_Drv_ZephyrSpiDriver PROPERTIES EXCLUDE_FROM_ALL TRUE)

FprimeZephyrReference/Components/CMakeLists.txt

@@ -9,3 +9,4 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Burnwire/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/BootloaderTrigger/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/AntennaDeployer/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FsSpace/")

FprimeZephyrReference/Components/FsSpace/CMakeLists.txt

@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/FsSpace.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/FsSpace.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/FsSpace.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/FsSpaceTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/FsSpaceTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )

FprimeZephyrReference/Components/FsSpace/FsSpace.cpp

@@ -0,0 +1,36 @@
+// ======================================================================
+// \title  FsSpace.cpp
+// \author starchmd
+// \brief  cpp file for FsSpace component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/FsSpace/FsSpace.hpp"
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+#include "Os/FileSystem.hpp"
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+FsSpace ::FsSpace(const char* const compName) : FsSpaceComponentBase(compName) {}
+
+FsSpace ::~FsSpace() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+void FsSpace ::run_handler(FwIndexType portNum, U32 context) {
+    FwSizeType freeBytes = 0;
+    FwSizeType totalBytes = 0;
+    Os::FileSystem::Status status = Os::FileSystem::getFreeSpace("/prmDb.dat", totalBytes, freeBytes);
+    if (status == Os::FileSystem::OP_OK) {
+        this->tlmWrite_FreeSpace(freeBytes);
+        this->tlmWrite_TotalSpace(totalBytes);
+    }
+}
+
+}  // namespace Components

FprimeZephyrReference/Components/FsSpace/FsSpace.fpp

@@ -0,0 +1,27 @@
+module Components {
+    @ Read free space
+    passive component FsSpace {
+
+        ##############################################################################
+        #### Uncomment the following examples to start customizing your component ####
+        ##############################################################################
+
+        @ Free disk space telemetry channel
+        telemetry FreeSpace: FwSizeType
+
+        @ Total disk space telemetry channel
+        telemetry TotalSpace: FwSizeType
+
+        sync input port run: Svc.Sched
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+
+    }
+}

FprimeZephyrReference/Components/FsSpace/FsSpace.hpp

@@ -0,0 +1,40 @@
+// ======================================================================
+// \title  FsSpace.hpp
+// \author starchmd
+// \brief  hpp file for FsSpace component implementation class
+// ======================================================================
+
+#ifndef Components_FsSpace_HPP
+#define Components_FsSpace_HPP
+
+#include "FprimeZephyrReference/Components/FsSpace/FsSpaceComponentAc.hpp"
+
+namespace Components {
+
+class FsSpace final : public FsSpaceComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct FsSpace object
+    FsSpace(const char* const compName  //!< The component name
+    );
+
+    //! Destroy FsSpace object
+    ~FsSpace();
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for run
+    void run_handler(FwIndexType portNum,  //!< The port number
+                     U32 context           //!< The call order
+                     ) override;
+};
+
+}  // namespace Components
+
+#endif

FprimeZephyrReference/Components/FsSpace/docs/sdd.md

@@ -0,0 +1,15 @@
+# Components::FsSpace
+
+Read free space from the filesystem (specifically the filesystem containing /prmDb.dat)/
+
+## Telemetry
+| Name | Description |
+|---|---|
+| FreeSpace | Free space in bytes |
+| TotalSpace | Total space in bytes |
+
+
+## Change Log
+| Date | Description |
+|---|---|
+|---| Initial Draft |

FprimeZephyrReference/ReferenceDeployment/CMakeLists.txt

@@ -20,5 +20,8 @@ if (FPRIME_PLATFORM STREQUAL "Zephyr")
             "${CMAKE_CURRENT_LIST_DIR}/Main.cpp"
         DEPENDS
             ${FPRIME_CURRENT_MODULE}_Top
+        CHOOSES_IMPLEMENTATIONS
+            # Can remain stubs for now
+            Os_File_Posix
     )
 endif()

FprimeZephyrReference/ReferenceDeployment/Main.cpp

@@ -19,7 +19,6 @@ int main(int argc, char* argv[]) {
     // This sleep is necessary to allow the USB CDC ACM interface to initialize before
     // the application starts writing to it.
     k_sleep(K_MSEC(3000));
-
     Os::init();
     // Object for communicating state to the topology
     ReferenceDeployment::TopologyState inputs;

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -36,6 +36,8 @@ telemetry packets ReferenceDeploymentPackets {
     CdhCore.version.FrameworkVersion
     CdhCore.version.ProjectVersion
     CdhCore.version.LibraryVersion01
+    fsSpace.FreeSpace
+    fsSpace.TotalSpace
   }
 
   packet Led id 5 group 4 {

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp

@@ -50,6 +50,7 @@ U32 rateGroup1HzContext[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {getRateGr
  * desired, but is extracted here for clarity.
  */
 void configureTopology() {
+    prmDb.configure("/prmDb.dat");
     // Rate group driver needs a divisor list
     rateGroupDriver.configure(rateGroupDivisorsSet);
     // Rate groups require context arrays.
@@ -77,6 +78,7 @@ void setupTopology(const TopologyState& state) {
     // Project-specific component configuration. Function provided above. May be inlined, if desired.
     configureTopology();
     // Autocoded parameter loading. Function provided by autocoder.
+    prmDb.readParamFile();
     loadParameters();
     // Autocoded task kick-off (active components). Function provided by autocoder.
     startTasks(state);

FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp

@@ -37,6 +37,11 @@ module ReferenceDeployment {
     stack size Default.STACK_SIZE \
     priority 4
 
+  instance prmDb: Svc.PrmDb base id 0x10003000 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 5
+
   # ----------------------------------------------------------------------
   # Queued component instances
   # ----------------------------------------------------------------------
@@ -73,8 +78,6 @@ module ReferenceDeployment {
 
   instance gpioBurnwire1: Zephyr.ZephyrGpioDriver base id 0x10023000
 
-  instance prmDb: Components.NullPrmDb base id 0x10024000
-
   instance comDelay: Components.ComDelay base id 0x10025000
 
   instance lora: Zephyr.LoRa base id 0x10026000
@@ -84,4 +87,6 @@ module ReferenceDeployment {
   instance comSplitterTelemetry: Svc.ComSplitter base id 0x10028000
 
   instance antennaDeployer: Components.AntennaDeployer base id 0x10029000
+
+  instance fsSpace: Components.FsSpace base id 0x10030000
 }

FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp

@@ -43,6 +43,8 @@ module ReferenceDeployment {
     instance comSplitterTelemetry
     # For UART sideband communication
     instance comDriver
+    instance fsSpace
+
 
   # ----------------------------------------------------------------------
   # Pattern graph specifiers
@@ -134,6 +136,7 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[6] -> comDelay.run
       rateGroup1Hz.RateGroupMemberOut[7] -> burnwire.schedIn
       rateGroup1Hz.RateGroupMemberOut[8] -> antennaDeployer.schedIn
+      rateGroup1Hz.RateGroupMemberOut[9] -> fsSpace.run
 
     }
 

boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5-pinctrl.dtsi

@@ -1,6 +1,16 @@
 #include <zephyr/dt-bindings/pinctrl/rpi-pico-rp2350a-pinctrl.h>
 
 &pinctrl {
+	spi0_default: spi0_default {
+		group1 {
+			pinmux = <SPI0_SCK_P18>, <SPI0_TX_P19>;
+		};
+
+		group2 {
+			pinmux = <SPI0_RX_P16>;
+			input-enable;
+		};
+	};
 	spi1_default: spi1_default {
 		group1 {
 			pinmux = <SPI1_SCK_P10>, <SPI1_TX_P11>;

boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi

@@ -14,6 +14,17 @@
 		zephyr,code-partition = &code_partition;
 	};
 
+	fstab {
+                compatible = "zephyr,fstab";
+                ffs1: ffs1 {
+                        compatible = "zephyr,fstab,fatfs";
+                        automount;
+                        disk-access;
+                        mount-point = "/";
+                };
+        };
+
+
 	aliases {
 		watchdog0 = &wdt0;
 	};
@@ -89,6 +100,24 @@ zephyr_udc0: &usbd {
 	status = "okay";
 };
 
+&spi0 {
+	status = "okay";
+	cs-gpios = <&gpio0 15 GPIO_ACTIVE_LOW>;
+	pinctrl-0 = <&spi0_default>;
+	pinctrl-names = "default";
+	sdhc0: sdhc@0 {
+                compatible = "zephyr,sdhc-spi-slot";
+                reg = <0>;
+                status = "okay";
+                mmc {
+                    compatible = "zephyr,sdmmc-disk";
+                    disk-name = "SD";
+                    status = "okay";
+                };
+                spi-max-frequency = <24000000>;
+        };
+};
+
 &spi1 {
 	status = "okay";
 	cs-gpios = <&gpio0 9 GPIO_ACTIVE_LOW>;

lib/makelib/zephyr.mk

@@ -24,11 +24,8 @@ clean-zephyr-config: ## Remove west configuration
 
 .PHONY: zephyr-workspace
 zephyr-workspace: fprime-venv ## Setup Zephyr bootloader, modules, and tools directories
-	@test -d ../lib/zephyr-workspace/bootloader || \
-	test -d ../lib/zephyr-workspace/modules || \
-	test -d ../lib/zephyr-workspace/tools || { \
-		$(WESTX) update; \
-	}
+	$(WESTX) update; \
+
 
 .PHONY: clean-zephyr-workspace
 clean-zephyr-workspace: ## Remove Zephyr bootloader, modules, and tools directories

prj.conf

@@ -54,3 +54,14 @@ CONFIG_LOG=n
 CONFIG_LOG_DEFAULT_LEVEL=3
 
 CONFIG_CBPRINTF_FP_SUPPORT=y
+
+
+CONFIG_POSIX_AEP_CHOICE_PSE52=y
+CONFIG_POSIX_FILE_SYSTEM=y
+CONFIG_FILE_SYSTEM=y
+CONFIG_SDHC=y
+CONFIG_DISK_ACCESS=y
+CONFIG_FAT_FILESYSTEM_ELM=y
+CONFIG_FS_FATFS_EXFAT=y
+CONFIG_FS_FATFS_MOUNT_MKFS=y
+CONFIG_FS_FATFS_FSTAB_AUTOMOUNT=y

settings.ini

@@ -8,3 +8,6 @@ default_cmake_options:  FPRIME_ENABLE_FRAMEWORK_UTS=OFF
                         FPRIME_ENABLE_AUTOCODER_UTS=OFF
                         BOARD_ROOT=.
                         BOARD=proves_flight_control_board_v5d/rp2350a/m33
+                        FPRIME_USE_POSIX=ON
+                        FPRIME_CMAKE_QUIET=ON
+                        FPRIME_INSTALL_STATIC_LIBRARIES=OFF

west.yml

@@ -84,6 +84,13 @@ manifest:
       groups:
         - bootloader
 
+    # FAT Filesystem support
+    - name: fatfs
+      revision: 16245c7c41d2b79e74984f49b5202551786b8a9b
+      path: lib/zephyr-workspace/modules/fs/fatfs
+      groups:
+        - fs
+
   self:
     path: .
     west-commands: west-commands.yml