Upgrade to F Prime 4.3.0

[nateinaction]

Upgrades the project to F´ 4.3.0, tracking nasa/fprime v4.3.0 and the matching fprime-zephyr#27.

What's here

• Bump lib/fprime to v4.3.0 and pull the matching tooling 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 4.3.0 needs (see fprime-zephyr#27).
• 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 bringing the upgrade up on hardware, and their fixes:

• Kernel panic on boot. Enabling 4.3.0's FW_DIRECT_PORT_CALLS default reorders component initialization so LoadSwitch read its GPIO before ZephyrGpioDriver had 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. Root cause was ModeManager::init() doing port I/O from init() (which runs before connectComponents()/configureTopology()) — that was never valid, direct port calls just made it deterministic. Fixed by moving the load-switch state restore into restorePersistentState(), called from setupTopology() after configureTopology(), so direct port calls could be turned back on.
• Malformed uplinked commands. In 4.3.0, Fw::Buffer::setData() implies advance(), which also shrinks the size. TcSecurityDeframer's old setData(ptr + header) followed by setSize(size - header - trailer) subtracted the header twice, so uplinked commands reached SpacePacketDeframer short by the header length and were rejected. Fixed by using Fw::Buffer::advance() instead.

Testing

Bench: 19 passed, 6 skipped, 4 failed — identical to the pre-upgrade indirect-port-call build, so no regression. Flash 64.64%, RAM 56.70%.

[coderabbitai]

Important

Draft PR not reviewed

Draft PRs are not automatically reviewed by default.

• Trigger a manual review

To automatically review draft PRs, update your CodeRabbit configuration:

reviews:
  auto_review:
    drafts: true

---

Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.

❤️ Share

• X
• Mastodon
• Reddit
• LinkedIn

_{Comment @coderabbitai help to get the list of available commands.}