Spiro/file sys branch by SpiroDouvis · Pull Request #1 · UCSOAR/H753ZIT6TemplateRepository

SpiroDouvis · 2026-01-31T19:11:46Z

Lets go push time

This reverts commit ff3de34.

…IT6TemplateRepository into Spiro/FileSysBranch

Copilot

Pull request overview

This PR integrates USB Mass Storage (MSC) support backed by FatFs and adds a SOAR-level filesystem wrapper/task layer, along with related CubeMX configuration and interrupt wiring.

Changes:

Added STM32 USB Device (MSC) descriptors, storage interface stubs, and USB init path.
Added FatFs middleware + a RAM-disk user_diskio implementation and CubeMX FATFS configuration.
Added SOAR filesystem wrapper (SoarFileSystem*) and a FileSystemTask, plus updated system logging/assert macros and removed UART4 IRQ usage.

Reviewed changes

Copilot reviewed 66 out of 67 changed files in this pull request and generated 22 comments.

Show a summary per file

File	Description
USB_DEVICE/Target/usbd_conf.h	Adds USB Device stack configuration (memory/logging/LPM/self-powered).
USB_DEVICE/App/usbd_storage_if.h	Declares MSC storage interface callbacks.
USB_DEVICE/App/usbd_storage_if.c	Implements MSC storage callbacks (currently stubbed).
USB_DEVICE/App/usbd_desc.h	Declares USB descriptor interface for device FS descriptors.
USB_DEVICE/App/usbd_desc.c	Implements USB descriptors (VID/PID/strings/BOS/serial).
USB_DEVICE/App/usb_device.h	Declares `MX_USB_DEVICE_Init()` for USB device startup.
USB_DEVICE/App/usb_device.c	Initializes USBD core, registers MSC class + storage, starts USB.
SoarOS	Updates SoarOS submodule revision.
SoarDrivers	Updates SoarDrivers submodule revision.
Middlewares/Third_Party/FatFs/src/option/syscall.c	Adds RTOS sync + heap hooks for FatFs re-entrancy / LFN heap mode.
Middlewares/Third_Party/FatFs/src/integer.h	Adds FatFs integer type definitions.
Middlewares/Third_Party/FatFs/src/ff_gen_drv.h	Adds disk driver glue layer API.
Middlewares/Third_Party/FatFs/src/ff_gen_drv.c	Implements link/unlink/get-count for attached disk drivers.
Middlewares/Third_Party/FatFs/src/ff.h	Adds FatFs public API header.
Middlewares/Third_Party/FatFs/src/diskio.h	Adds disk I/O API definitions used by FatFs.
Middlewares/Third_Party/FatFs/src/diskio.c	Implements disk I/O glue routing to linked drivers.
Middlewares/ST/STM32_USB_Device_Library/LICENSE.txt	Adds ST USB Device Library license file.
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c	Adds USBD control endpoint IO request implementation.
Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h	Declares USBD control endpoint IO request APIs.
Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h	Adds USBD core type/define header.
Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h	Adds USBD standard request handling header.
Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h	Adds USBD core header wiring requests/LL APIs.
Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_data.c	Adds MSC inquiry/mode sense data tables.
Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_bot.c	Adds MSC BOT transport implementation.
Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Inc/usbd_msc_scsi.h	Adds MSC SCSI command definitions/prototypes.
Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Inc/usbd_msc_data.h	Declares MSC inquiry/mode sense data exports.
Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Inc/usbd_msc_bot.h	Declares MSC BOT state/types/APIs.
Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Inc/usbd_msc.h	Declares MSC class interface + storage fops type.
H753ZIT6TemplateRepository.ioc	Enables FATFS/USB_DEVICE/USB_OTG_FS and updates clocks/pins/NVIC.
FATFS/Target/user_diskio.h	Declares the `USER_Driver` diskio driver.
FATFS/Target/user_diskio.c	Implements a RAM-disk diskio backend for FatFs.
FATFS/Target/ffconf.h	Adds FatFs configuration (re-entrant + RTOS sync, mkfs, etc.).
FATFS/App/fatfs.h	Declares FatFs app globals + `MX_FATFS_Init()`.
FATFS/App/fatfs.c	Links the FatFs disk driver + defines `get_fattime()`.
FATFS/App/app_fatfs.h	Declares FatFs app process/init API (and globals).
FATFS/App/app_fatfs.c	Implements an alternate `MX_FATFS_Init()` + defines `get_fattime()`.
Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c	Adds/updates PCD extended HAL for USB OTG.
Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pcd_ex.h	Adds/updates PCD extended HAL header.
Core/Src/stm32h7xx_it.c	Wires OTG_FS IRQ handler and removes UART4 IRQ path.
Core/Src/main.c	Enables HSI48, adds FATFS init, starts USB in default task, removes UART4 init.
Core/Inc/stm32h7xx_it.h	Updates IRQ prototype to `OTG_FS_IRQHandler`.
Core/Inc/stm32h7xx_hal_conf.h	Enables `HAL_PCD_MODULE_ENABLED` for USB OTG.
Components/main_system.hpp	Removes UART4/usart2 debug driver globals and UART namespace aliases.
Components/main_system.cpp	Updates task init list and switches prints/asserts to SOAR macros.
Components/SystemDefines.hpp	Updates default debug UART, swaps print/assert macro usage, adds FS task defines.
Components/RunInterface.hpp	Removes UART4 IRQ C++ bridge declaration.
Components/RunInterface.cpp	Removes UART4 IRQ C++ bridge implementation.
Components/FileSystem/SoarFileSystemExample.cpp	Adds example usage of filesystem wrapper APIs.
Components/FileSystem/SoarFileSystem.cpp	Adds FatFs-based filesystem wrapper implementation.
Components/FileSystem/Inc/SoarFileSystemExample.hpp	Declares example functions for filesystem wrapper.
Components/FileSystem/Inc/SoarFileSystem.hpp	Declares filesystem wrapper API/results/constants.
Components/FileSystem/Inc/FileSystemTask.hpp	Adds RTOS FileSystemTask interface.
Components/FileSystem/FileSystemTask.cpp	Implements FileSystemTask logic and example-driven operations.
Components/DebugTask.cpp	Switches to SOAR macros/default UART and calls USB init in task run.
.settings/language.settings.xml	Updates IDE toolchain detector env-hash values.

Comments suppressed due to low confidence (7)

USB_DEVICE/App/usbd_storage_if.c:1

The MSC storage callbacks return USBD_OK but do not actually read into buf or persist writes. This will make the USB mass-storage device report successful I/O while returning garbage/old data and dropping host writes. Implement these functions to read/write the backing storage (e.g., the RAM disk used by FatFs) and return USBD_FAIL on errors.
USB_DEVICE/App/usbd_storage_if.c:1
The MSC storage callbacks return USBD_OK but do not actually read into buf or persist writes. This will make the USB mass-storage device report successful I/O while returning garbage/old data and dropping host writes. Implement these functions to read/write the backing storage (e.g., the RAM disk used by FatFs) and return USBD_FAIL on errors.
Components/FileSystem/SoarFileSystemExample.cpp:1
dataLine is never initialized because the snprintf is commented out, but it is passed to strlen() and written to the file. This is undefined behavior and can crash or write arbitrary memory. Either restore the snprintf line (or otherwise initialize dataLine) before using it.

/**

USB_DEVICE/App/usbd_desc.h:1

This is a header file but the include guard macro is named __USBD_DESC__C__, which is confusing and inconsistent with common conventions (and with the file extension). Rename the include guard to something like __USBD_DESC_H__ to avoid ambiguity and reduce maintenance mistakes.
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c:1
Correct typo: 'lzngth' should be 'length'.
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c:1
Correct typo: 'lzngth' should be 'length'.
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c:1
Correct typo: 'blength' should be 'length'.

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Copilot · 2026-01-31T19:17:19Z

FATFS/App/fatfs.h

+extern FATFS USERFatFS; /* File system object for USER logical drive */
+extern FIL USERFile; /* File object for USER */
+
+void MX_FATFS_Init(void);


MX_FATFS_Init is declared as void here, but there is also an int32_t MX_FATFS_Init(void) definition in FATFS/App/app_fatfs.c (same symbol name). This will cause conflicting declarations and/or multiple-definition link failures. Unify on a single MX_FATFS_Init API signature and ensure only one TU defines it.

Copilot · 2026-01-31T19:17:20Z

FATFS/App/fatfs.c

+void MX_FATFS_Init(void)
+{
+  /*## FatFS: Link the USER driver ###########################*/
+  retUSER = FATFS_LinkDriver(&USER_Driver, USERPath);
+
+  /* USER CODE BEGIN Init */
+  /* additional user code for init */
+  /* USER CODE END Init */
+}
+
+/**
+  * @brief  Gets Time from RTC
+  * @param  None
+  * @retval Time in DWORD
+  */
+DWORD get_fattime(void)
+{
+  /* USER CODE BEGIN get_fattime */
+  return 0;
+  /* USER CODE END get_fattime */
+}
+


This file defines MX_FATFS_Init and get_fattime, but FATFS/App/app_fatfs.c also defines MX_FATFS_Init and get_fattime. If both files are compiled (typical CubeMX setup), this will produce multiple-definition linker errors. Remove one implementation (preferred), or rename one set of functions, or make one translation unit excluded from the build.

Suggested change

void MX_FATFS_Init(void)

{

/*## FatFS: Link the USER driver ###########################*/

retUSER = FATFS_LinkDriver(&USER_Driver, USERPath);

/* USER CODE BEGIN Init */

/* additional user code for init */

/* USER CODE END Init */

}

/**

* @brief Gets Time from RTC

* @param None

* @retval Time in DWORD

*/

DWORD get_fattime(void)

{

/* USER CODE BEGIN get_fattime */

return 0;

/* USER CODE END get_fattime */

}

Copilot · 2026-01-31T19:17:20Z

FATFS/App/fatfs.c

+DWORD get_fattime(void)
+{
+  /* USER CODE BEGIN get_fattime */
+  return 0;
+  /* USER CODE END get_fattime */
+}


This file defines MX_FATFS_Init and get_fattime, but FATFS/App/app_fatfs.c also defines MX_FATFS_Init and get_fattime. If both files are compiled (typical CubeMX setup), this will produce multiple-definition linker errors. Remove one implementation (preferred), or rename one set of functions, or make one translation unit excluded from the build.

Copilot · 2026-01-31T19:17:20Z

FATFS/App/app_fatfs.c

+FATFS USERFatFs;    /* File system object for USER logical drive */
+FIL USERFile;       /* File  object for USER */
+char USERPath[4];   /* USER logical drive path */


This TU introduces multiple symbol conflicts with the CubeMX-style fatfs.c: USERFile and USERPath are also defined in FATFS/App/fatfs.c, and MX_FATFS_Init/get_fattime are duplicated as well. Additionally, USERFatFs (lowercase s) is a different symbol than USERFatFS used elsewhere, which can cause unresolved references. Consolidate to a single FatFs app layer (either fatfs.* or app_fatfs.*), and make the global names consistent.

Copilot · 2026-01-31T19:17:21Z

FATFS/App/app_fatfs.c

+int32_t MX_FATFS_Init(void)
+{
+  /*## FatFS: Link the disk I/O driver(s)  ###########################*/
+if(disk.nbr > 0) {
+	FATFS_UnLinkDriver(USERPath);
+}


This TU introduces multiple symbol conflicts with the CubeMX-style fatfs.c: USERFile and USERPath are also defined in FATFS/App/fatfs.c, and MX_FATFS_Init/get_fattime are duplicated as well. Additionally, USERFatFs (lowercase s) is a different symbol than USERFatFS used elsewhere, which can cause unresolved references. Consolidate to a single FatFs app layer (either fatfs.* or app_fatfs.*), and make the global names consistent.

Copilot · 2026-01-31T19:17:23Z

Components/FileSystem/Inc/SoarFileSystem.hpp

+     * @param filename Name of the file to check
+     * @retval bool True if file exists, false otherwise
+     */
+    bool SoarFS_FileExists(const char *filename);


All SoarFS_* functions are declared with C linkage (extern \"C\"), but they are defined in SoarFileSystem.cpp without C linkage. That will cause linker errors due to mismatched symbol mangling. Either remove the extern \"C\" wrapper (recommended for a C++ API), or apply extern \"C\" to the definitions as well and ensure the API is strictly C-compatible.

Copilot · 2026-01-31T19:17:24Z

Components/FileSystem/Inc/SoarFileSystem.hpp

+     * @param fileSize Pointer to store file size
+     * @retval SoarFS_Result_t Status of operation
+     */
+    SoarFS_Result_t SoarFS_GetFileSize(const char *filename, uint32_t *fileSize);


All SoarFS_* functions are declared with C linkage (extern \"C\"), but they are defined in SoarFileSystem.cpp without C linkage. That will cause linker errors due to mismatched symbol mangling. Either remove the extern \"C\" wrapper (recommended for a C++ API), or apply extern \"C\" to the definitions as well and ensure the API is strictly C-compatible.

Copilot · 2026-01-31T19:17:24Z

Components/FileSystem/Inc/SoarFileSystem.hpp

+    SoarFS_Result_t SoarFS_CloseAllFiles(void);
+
+#ifdef __cplusplus
+}
+#endif


All SoarFS_* functions are declared with C linkage (extern \"C\"), but they are defined in SoarFileSystem.cpp without C linkage. That will cause linker errors due to mismatched symbol mangling. Either remove the extern \"C\" wrapper (recommended for a C++ API), or apply extern \"C\" to the definitions as well and ensure the API is strictly C-compatible.

Copilot · 2026-01-31T19:17:24Z

Components/FileSystem/SoarFileSystem.cpp

+    if (MX_FATFS_Init() != APP_OK)
+    {
+        return SOAR_FS_ERROR;
+    }
+
+    // Try to mount the file system
+    fr = f_mount(&USERFatFs, USERPath, 1);


MX_FATFS_Init() is used as if it returns APP_OK, but FATFS/App/fatfs.h declares it as void. Also, the mount call uses USERFatFs, while other files/globals use USERFatFS (different symbol). Align the FatFs init API to a single signature and make the FATFS instance naming consistent across the project to avoid compile/link failures.

Suggested change

if (MX_FATFS_Init() != APP_OK)

{

return SOAR_FS_ERROR;

}

// Try to mount the file system

fr = f_mount(&USERFatFs, USERPath, 1);

MX_FATFS_Init();

// Try to mount the file system

fr = f_mount(&USERFatFS, USERPath, 1);

Copilot · 2026-01-31T19:17:24Z

Components/DebugTask.cpp

 void DebugTask::Run(void* pvParams) {
  // Arm the interrupt
  ReceiveData();
+  MX_USB_DEVICE_Init();


MX_USB_DEVICE_Init() is also called from StartDefaultTask in Core/Src/main.c. Initializing the USB device stack twice can lead to allocation/endpoint/state issues depending on the ST middleware behavior. Ensure USB init happens in exactly one place (either the default task or a dedicated init path) and remove the duplicate call.

Suggested change

MX_USB_DEVICE_Init();

shivamdesai04 and others added 10 commits March 29, 2025 11:00

Pull up SoarFS for Free RTOS FAT FS

385b291

File system code finally sending to uart, proceeding to test

b7e0caf

Reinitialize fatfs in the ioc

ff3de34

Revert "Reinitialize fatfs in the ioc"

41ff625

This reverts commit ff3de34.

reverting commit

1581949

reverting to commit again

6e65ffe

Merge branch 'Spiro/FileSysBranch' of https://github.com/UCSOAR/H753Z…

71a183e

…IT6TemplateRepository into Spiro/FileSysBranch

Fixed an issue when driver continuously failed to link

8733e64

usb not mounting - partial implementation

9fd025a

Pushing by Andrei's request, file system inactive

f04a1b7

Copilot AI review requested due to automatic review settings January 31, 2026 19:11

Copilot AI reviewed Jan 31, 2026

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