Upgrade to F Prime 4.3.0 - #507
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- Bump lib/fprime to v4.3.0 and pull the matching tooling in via lib/fprime/requirements.txt. - fprime-zephyr: merge upstream (std::atomic shim for the lockless priority queue, RawTime rework, ADC driver) and reapply the install DESTINATION / FPRIME_INSTALL_DEST / counting-semaphore-stub changes that 4.3.0 needs. - fprime-extras: config modules can no longer depend on Fw_Types, since Fw/FPrimeBasicTypes.h now includes config-generated type aliases. - Refresh the project config overrides with the constants 4.3.0 added: CpuAffinities modules, FrameContext secondary-header/sequence-flag/PVN fields, SaIndexUnset, SequenceArgumentsMaxSize, FW_COUNTING_SEMAPHORE_HANDLE_MAX_SIZE, FW_STRICT_ASSERTIONS, FW_DIRECT_PORT_CALLS, FW_ASSERTIONS_ALWAYS_ABORT, FW_SERIALIZE_FORCE_INLINE_LBB and Svc::CmdDispatcherCfg. - Command handlers now take non-primitive arguments by const reference. - CmdSeqIn carries Svc::SeqArgs, so sequence start ports and callers pass it through. - Deployments model as FPP systems: add Top/system.fpp and mark the topology as a deployment topology. - Omit the telemetry channels 4.3.0 added (CS_CurrentSequence, FilesReceivedFailed, EventsDropped) from the packet set. - Zephyr builds C++14, which 4.3.0 requires.
Two runtime faults found on the bench with the upgraded firmware: - Keep indirect port calls. Enabling 4.3.0's FW_DIRECT_PORT_CALLS default reorders component initialization so LoadSwitch reads its GPIO before ZephyrGpioDriver has configured the pin spec, tripping a Zephyr __ASSERT in gpio_pin_get_dt and panicking the kernel during topology setup. The board enumerated USB but never downlinked a frame. - Use Fw::Buffer::advance() in TcSecurityDeframer. In 4.3.0 setData() implies advance(), which also shrinks the size, so the old setData(ptr + header) followed by setSize(size - header - trailer) subtracted the header twice. Uplinked commands then reached SpacePacketDeframer short by the header length and were rejected as malformed.
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📝 WalkthroughSummary by CodeRabbit
WalkthroughThe change updates command handler parameter passing, sequence argument interfaces, persistent mode restoration, deployment definitions, packet framing metadata, buffer handling, and project platform configuration. ChangesReference deployment updates
Estimated code review effort: 3 (Moderate) | ~25 minutes Merge Risk: 🟠 High · up to This upgrade changes boot-time persistent mode restoration and coordinated framework dependencies. Current code can restore SAFE_MODE without reapplying its documented containment actions, while persistence read or truncation failures can overwrite a previously safe state as NORMAL, potentially leaving hardware controls in the wrong state after reboot; the dependency pins also still target draft commits. The PR is not merge-ready until these risks are fixed or explicitly accepted. Suggested reviewers: Poem
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
Full details: Docstring CoverageExplanation Docstring coverage is 22.22% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 18 functions across 14 files. (15 skipped: 15 unsupported.) Full details: Description checkExplanation The description clearly explains the upgrade scope, configuration and source changes, hardware fixes, verification results, and known integration failures. It does not include the template headings, related issues, or checklist, but the required technical and testing information is substantially complete.
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ModeManager::init() called loadState(), which drives the load switches via gpioGet_out/gpioSet_out. init() runs inside initComponents(), the first step of setupTopology -- before connectComponents() wires the ports and before configureTopology() opens the GPIO drivers. Reading an unconfigured gpio_dt_spec trips a Zephyr __ASSERT inside gpio_pin_get_dt and panics the kernel during startup, so the board enumerated USB but never downlinked a frame. Doing port I/O from init() was never valid; taking 4.3.0's FW_DIRECT_PORT_CALLS default of 1 just made it deterministic. Replace the init() override with restorePersistentState(), called from setupTopology() after configureTopology(), and turn direct port calls back on. Bench: 19 passed, 6 skipped, 4 failed -- identical to the indirect build, so no regression. Flash 64.64%, RAM 56.70%.
Pulls in nasa/fprime-community#64 (enum command-handler const-ref fix), which the fork's PR #27 branch had reimplemented separately.
Fold in the const-reference enum command fix and other 4.3.0-related cleanups from LeStarch/fprime-extras#2.
Pick up LeStarch/fprime-extras#2 now that it merged upstream, plus DropDetector, BufferRepeater, and RateDelay additions from main.
nateinaction
marked this pull request as ready for review
August 28, 2026 20:54
nateinaction
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August 28, 2026 21:04
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Actionable comments posted: 3
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Inline comments:
In `@lib/fprime-zephyr`:
- Line 1: Update ZephyrADCDriver’s m_dataBuffer declaration from const U16[1] to
writable U16[1], then pass it directly as adc_sequence.buffer and remove the
const_cast while preserving the existing ADC read behavior.
In `@PROVESFlightControllerReference/Components/ModeManager/ModeManager.cpp`:
- Around line 41-43: Update ModeManager::loadState so persisted safe-mode
records validate safeModeReason before assigning it, rejecting or normalizing
values outside the defined 0–6 range while preserving valid reasons. Add a
state-file test covering an invalid safeModeReason and confirming the resulting
safe-mode behavior.
In `@PROVESFlightControllerReference/project/config/PlatformCfg.fpp`:
- Around line 32-34: Regenerate the F Prime outputs after updating
FW_COUNTING_SEMAPHORE_HANDLE_MAX_SIZE in PlatformCfg.fpp, then ensure the
generated results are included before building and formatting.
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📒 Files selected for processing (29)
PROVESFlightControllerReference/Components/DetumbleManager/DetumbleManager.cppPROVESFlightControllerReference/Components/DetumbleManager/DetumbleManager.hppPROVESFlightControllerReference/Components/Drv/RtcManager/RtcManager.cppPROVESFlightControllerReference/Components/Drv/RtcManager/RtcManager.hppPROVESFlightControllerReference/Components/ModeManager/ModeManager.cppPROVESFlightControllerReference/Components/ModeManager/ModeManager.hppPROVESFlightControllerReference/Components/SBand/SBand.cppPROVESFlightControllerReference/Components/SBand/SBand.hppPROVESFlightControllerReference/Components/StartupManager/StartupManager.cppPROVESFlightControllerReference/Components/StartupManager/StartupManager.hppPROVESFlightControllerReference/Components/TcSecurityDeframer/TcSecurityDeframer.cppPROVESFlightControllerReference/ReferenceDeployment/Top/CMakeLists.txtPROVESFlightControllerReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppiPROVESFlightControllerReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cppPROVESFlightControllerReference/ReferenceDeployment/Top/system.fppPROVESFlightControllerReference/ReferenceDeployment/Top/topology.fppPROVESFlightControllerReference/project/config/AcConstants.fppPROVESFlightControllerReference/project/config/CdhCoreConfig.fppPROVESFlightControllerReference/project/config/ComCcsdsConfig.fppPROVESFlightControllerReference/project/config/ComCfg.fppPROVESFlightControllerReference/project/config/CommandDispatcherImplCfg.hppPROVESFlightControllerReference/project/config/FileHandlingConfig.fppPROVESFlightControllerReference/project/config/FpConfig.hPROVESFlightControllerReference/project/config/FpConstants.fppPROVESFlightControllerReference/project/config/PlatformCfg.fpplib/fprimelib/fprime-extraslib/fprime-zephyrprj.conf
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Mikefly123
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LGTM! Thanks for pushing through to get this upgrade online
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Upgrades the flight software from F´ 4.2.2 to 4.3.0.
Verified end to end on a PROVES flight control board v5e: the board boots, reports
FrameworkVersion: [v4.3.0], downlinks CCSDS TM frames, and accepts authenticated uplink.Framework and libraries
lib/fprime→v4.3.0. The tooling (fprime-tools, fprime-gds, fpp) follows automatically throughlib/fprime/requirements.txt.lib/fprime-zephyr→ Support F Prime 4.3.0 fprime-zephyr#27lib/fprime-extras→ Support F Prime 4.3.0 LeStarch/fprime-extras#2Both submodule PRs have been merged.
Config overrides
The project overrides F´'s config files wholesale, so every constant 4.3.0 added had to be brought across by hand. Missing ones fail at wildly different stages — fpp symbol resolution, C++ compile, or not at all until runtime — so this is the bulk of the diff:
CpuAffinitiesmodules inComCcsdsConfig,CdhCoreConfigandFileHandlingConfigComCfg: thePvnenum,SaIndexUnset, and theFrameContextfields 4.3.0 added (hasSecHdr,sequenceFlags,pvn,saIndex).SpacePacketFramer/SpacePacketDeframerread the first two, so they are not optional.AcConstants:SequenceArgumentsMaxSizePlatformCfg:FW_COUNTING_SEMAPHORE_HANDLE_MAX_SIZEFpConstants:FW_SERIALIZE_TRUE_VALUE/FW_SERIALIZE_FALSE_VALUEare now dictionary constantsFpConfig.h:FW_STRICT_ASSERTIONS,FW_DIRECT_PORT_CALLS,FW_ASSERTIONS_ALWAYS_ABORT,FW_SERIALIZE_FORCE_INLINE_LBB,POSIX_THREADS_ENABLE_NAMESCommandDispatcherImplCfg.hpp: theSvc::CmdDispatcherCfgnamespace andgetEventOpcodeSource changes
constreference (RtcManager,SBand,DetumbleManager).Svc::CmdSeqInnow carriesSvc::SeqArgs, so the sequence-start handlers inStartupManagerand therunSequence_outcalls inStartupManagerandModeManagerpass it through.ReferenceDeployment/Top/system.fppand marked the topologydeployment topology.CS_CurrentSequenceon all three sequencers,FilesReceivedFailed,EventsDropped) from the packet set.prj.confselectsCONFIG_STD_CPP14. 4.3.0 setsCMAKE_CXX_STANDARD 14and uses digit separators; Zephyr was defaulting this build to C++11.Two runtime regressions caught on hardware
Both produced a board that enumerated USB but never downlinked, so they are worth calling out:
Port I/O from
ModeManager::init().init()calledloadState(), which drives the load switches throughgpioGet_out/gpioSet_out.init()runs insideinitComponents()— the first step ofsetupTopology, beforeconnectComponents()wires the ports and beforeconfigureTopology()opens the GPIO drivers. Reading an unconfiguredgpio_dt_spectrips a Zephyr__ASSERTinsidegpio_pin_get_dtand panics the kernel during startup.Doing port I/O from
init()was never valid; taking 4.3.0'sFW_DIRECT_PORT_CALLSdefault of1just made it deterministic. (The// TODO: commented out because this crashes the board on bootnext torunSafeModeSequence()inloadStateis the same hazard, previously worked around at the symptom.) Fixed properly by replacing theinit()override withrestorePersistentState(), called fromsetupTopology()afterconfigureTopology()— so direct port calls are enabled, as upstream intends. Flash 64.64%, RAM 56.70%.Fw::Buffer::advance()inTcSecurityDeframer. 4.3.0 reworkedFw::Bufferwith offset/capacity tracking, andsetData()now impliesadvance()— which shrinks the size too. The existingsetData(ptr + header)followed bysetSize(size - header - trailer)therefore subtracted the header twice, and uplinked commands arrived atSpacePacketDeframershort by the header length and were rejected as malformed.Testing
make buildclean from scratch, including the YAMCS MDB.make test-unit: 8/8 pass.make check-console-disabled: passes.The four failures are
tmp112,veml6031,drv2605andmode_manager::test_safe_09. Both face sensors reportDeviceInitFailed ... return code: -5(-EIO), i.e. the face I2C bus is not answering, and theface0LoadSwitch.TURN_ONthat precedes them succeeds. This did not clear after a board reset, so it is not only the known session-accumulated face-I2C wedge — it may be physical (face board seating or power). It reproduces identically on both builds and is independent of the 4.3.0 change, but it should be re-run on a healthy bench before merge.