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Spiro/file sys branch #1

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385b291
Pull up SoarFS for Free RTOS FAT FS
shivamdesai04 Mar 29, 2025
b7e0caf
File system code finally sending to uart, proceeding to test
SpiroDouvis Oct 18, 2025
ff3de34
Reinitialize fatfs in the ioc
SpiroDouvis Oct 18, 2025
41ff625
Revert "Reinitialize fatfs in the ioc"
SpiroDouvis Oct 25, 2025
1581949
reverting commit
SpiroDouvis Oct 25, 2025
6e65ffe
reverting to commit again
SpiroDouvis Oct 25, 2025
71a183e
Merge branch 'Spiro/FileSysBranch' of https://github.com/UCSOAR/H753Z…
SpiroDouvis Oct 25, 2025
8733e64
Fixed an issue when driver continuously failed to link
SpiroDouvis Oct 30, 2025
9fd025a
usb not mounting - partial implementation
SpiroDouvis Nov 8, 2025
f04a1b7
Pushing by Andrei's request, file system inactive
SpiroDouvis Jan 31, 2026
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174 changes: 167 additions & 7 deletions .cproject
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51 changes: 36 additions & 15 deletions .mxproject
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4 changes: 2 additions & 2 deletions .settings/language.settings.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1707894391894188628" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1821062983124376147" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
Expand All @@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1707895099523668121" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1821063690753855640" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
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26 changes: 14 additions & 12 deletions Components/DebugTask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,8 @@
#include "Command.hpp"
#include "CubeUtils.hpp"
#include <cstring>

#include "SystemDefines.hpp"
#include "usb_device.h"
#include "stm32h7xx_hal.h"

// External Tasks (to send debug commands to)
Expand All @@ -32,7 +33,7 @@ extern I2C_HandleTypeDef hi2c2;
* @brief Constructor, sets all member variables
*/
DebugTask::DebugTask()
: Task(TASK_DEBUG_QUEUE_DEPTH_OBJS), kUart_(UART::Debug2) {
: Task(TASK_DEBUG_QUEUE_DEPTH_OBJS), kUart_(UART::Debug) {
memset(debugBuffer, 0, sizeof(debugBuffer));
debugMsgIdx = 0;
isDebugMsgReady = false;
Expand All @@ -43,7 +44,7 @@ DebugTask::DebugTask()
*/
void DebugTask::InitTask() {
// Make sure the task is not already initialized
CUBE_ASSERT(rtTaskHandle == nullptr, "Cannot initialize Debug task twice");
SOAR_ASSERT(rtTaskHandle == nullptr, "Cannot initialize Debug task twice");

// Start the task
BaseType_t rtValue = xTaskCreate(
Expand All @@ -52,7 +53,7 @@ void DebugTask::InitTask() {
(UBaseType_t)TASK_DEBUG_PRIORITY, (TaskHandle_t*)&rtTaskHandle);

// Ensure creation succeded
CUBE_ASSERT(rtValue == pdPASS, "DebugTask::InitTask - xTaskCreate() failed");
SOAR_ASSERT(rtValue == pdPASS, "DebugTask::InitTask - xTaskCreate() failed");
}

// TODO: Only run thread when appropriate GPIO pin pulled HIGH (or by define)
Expand All @@ -62,6 +63,7 @@ void DebugTask::InitTask() {
void DebugTask::Run(void* pvParams) {
// Arm the interrupt
ReceiveData();
MX_USB_DEVICE_Init();
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Copilot AI Jan 31, 2026

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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();

Copilot uses AI. Check for mistakes.

while (1) {
Command cm;
Expand All @@ -87,20 +89,20 @@ void DebugTask::HandleDebugMessage(const char* msg) {
//-- SYSTEM / CHAR COMMANDS -- (Must be last)
if (strcmp(msg, "sysreset") == 0) {
// Reset the system
CUBE_ASSERT(false, "System reset requested");
SOAR_ASSERT(false, "System reset requested");
} else if (strcmp(msg, "sysinfo") == 0) {
// Print message
CUBE_PRINT("\n\n-- CUBE SYSTEM --\n");
CUBE_PRINT("Current System Free Heap: %d Bytes\n", xPortGetFreeHeapSize());
CUBE_PRINT("Lowest Ever Free Heap: %d Bytes\n",
SOAR_PRINT("\n\n-- SOAR SYSTEM --\n");
SOAR_PRINT("Current System Free Heap: %d Bytes\n", xPortGetFreeHeapSize());
SOAR_PRINT("Lowest Ever Free Heap: %d Bytes\n",
xPortGetMinimumEverFreeHeapSize());
CUBE_PRINT("Debug Task Runtime \t: %d ms\n\n",
SOAR_PRINT("Debug Task Runtime \t: %d ms\n\n",
TICKS_TO_MS(xTaskGetTickCount()));
} else {
// Single character command, or unknown command
switch (msg[0]) {
default:
CUBE_PRINT("Debug, unknown command: %s\n", msg);
SOAR_PRINT("Debug, unknown command: %s\n", msg);
break;
}
}
Expand Down Expand Up @@ -162,14 +164,14 @@ int32_t DebugTask::ExtractIntParameter(const char* msg,
uint16_t identifierLen) {
// Handle a command with an int parameter at the end
if (static_cast<uint16_t>(strlen(msg)) < identifierLen + 1) {
CUBE_PRINT("Int parameter command insufficient length\r\n");
SOAR_PRINT("Int parameter command insufficient length\r\n");
return ERRVAL;
}

// Extract the value and attempt conversion to integer
const int32_t val = Utils::StringToLong(&msg[identifierLen]);
if (val == ERRVAL) {
CUBE_PRINT("Int parameter command invalid value\r\n");
SOAR_PRINT("Int parameter command invalid value\r\n");
}

return val;
Expand Down
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