CAN logging with logfs (#1268)

### Changelist 
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->

Change the VC from using littlefs for CAN message logging to logfs.
Tested on the VC and was seeing 5-10% CPU load while logging the entire
CAN bus. Still needs more reliability testing but results looked
promising so far.

### Testing Done
<!-- Outline the testing that was done to demonstrate the changes are
solid. This could be unit tests, integration tests, testing on the car,
etc. Include relevant code snippets, screenshots, etc as needed. -->

Basic testing with the car on jacks. Nothing broke obviously, but still
needs more testing.

firmware/logfs/python/logfs/fs.py

@@ -264,3 +264,17 @@ def list_dir(self, matches: str = "/"):
         # Filter by provided prefix.
         filtered_paths = [path for path in paths if path.startswith(matches)]
         return filtered_paths
+
+    def cat(self, path: str) -> None:
+        """
+        Linux command to print contents of a file.
+
+        """
+        file = self.open(path=path, flags="r")
+        metadata = file.read_metadata()
+        data = file.read()
+
+        print("Metadata:")
+        print(metadata)
+        print("Data:")
+        print(data)

firmware/quadruna/VC/CMakeLists.txt

@@ -15,7 +15,7 @@ file(GLOB_RECURSE IO_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/src/io/*.c")
 list(APPEND IO_SRCS
         "${SHARED_IO_INCLUDE_DIR}/io_can.c"
         "${SHARED_IO_INCLUDE_DIR}/io_canLogging.c"
-        "${SHARED_IO_INCLUDE_DIR}/io_fileSystem_lfs.c"
+        "${SHARED_IO_INCLUDE_DIR}/io_fileSystem_logfs.c"
         "${SHARED_IO_INCLUDE_DIR}/io_jsoncan.c"
         "${SHARED_IO_INCLUDE_DIR}/io_chimera.c"
         "${SHARED_IO_INCLUDE_DIR}/io_led.c"
@@ -111,17 +111,6 @@ if ("${TARGET}" STREQUAL "deploy")
             "${MD5_LOCATION}"
     )
 
-    # LittleFS Library
-    # Add your replacement function source file to the littlefs_cm7 library
-    embedded_library(
-            "littlefs_cm7_vc"
-            "${LITTLEFS_SRCS}"
-            "${LITTLEFS_SOURCE_DIR}"
-            "cm7"
-            TRUE
-    )
-    target_compile_definitions("littlefs_cm7_vc" PRIVATE LFS_ASSERT=io_custom_lfs_assert)
-
     # Telemetry Protocol Buffers
     nanopb_generate_cpp(PROTO_SRCS PROTO_HDRS proto/telem.proto)
     set(P_SRCS ${PROTO_SRCS})
@@ -145,8 +134,8 @@ if ("${TARGET}" STREQUAL "deploy")
             "${ARM_CORE}"
     )
 
-    target_link_libraries("quadruna_VC_jsoncan" "quadruna_VC_stm32cube" "sbg_ecom_cm4")
-    target_link_libraries("quadruna_VC_app.elf" "quadruna_VC_stm32cube" "quadruna_VC_jsoncan" "quadruna_VC_commit_info" "littlefs_cm7_vc" "debug_modules" "m" "telem_proto")
+    target_link_libraries("quadruna_VC_jsoncan" "quadruna_VC_stm32cube" "sbg_ecom_cm7")
+    target_link_libraries("quadruna_VC_app.elf" "quadruna_VC_stm32cube" "quadruna_VC_jsoncan" "quadruna_VC_commit_info" "logfs_cm7" "debug_modules" "m" "telem_proto")
     target_link_libraries("quadruna_VC_boot.elf" "quadruna_VC_commit_info")
 
     embedded_image(

firmware/shared/src/io/io_canLogging.c

@@ -2,13 +2,15 @@
 
 #include <string.h>
 #include <stdbool.h>
+#include <stdio.h>
 #include <assert.h>
 #include "cmsis_os.h"
 #include "queue.h"
 #include "hw_gpio.h"
 #include "io_canLogging.h"
 #include "io_fileSystem.h"
 #include "io_time.h"
+
 // Private globals.
 static const CanConfig *config;
 #define QUEUE_SIZE 2048
@@ -37,18 +39,17 @@ static const osMessageQueueAttr_t queue_attr = {
 // assume the filesystem is already inited
 static int initLoggingFileSystem(void)
 {
-    // early return
-    uint32_t bootcount = 0;
-    current_bootcount  = io_fileSystem_getBootCount();
+    current_bootcount = io_fileSystem_getBootCount();
 
     // create new folder for this boot
-    sprintf(current_path, "%lu", current_bootcount);
+    sprintf(current_path, "/%lu.txt", current_bootcount);
     log_fd = io_fileSystem_open(current_path);
     if (log_fd < 0)
     {
         logging_error_remaining = 0;
         return 1;
     }
+
     return 0;
 }
 

firmware/shared/src/io/io_canLogging.h

@@ -1,6 +1,5 @@
 #include "io_can.h"
 #include "hw_sd.h"
-#include "lfs.h"
 
 typedef struct
 {

firmware/shared/src/io/io_fileSystem.h

@@ -1,32 +1,34 @@
 #include <stdint.h>
+#include <stddef.h>
 
 typedef enum
 {
-    FILE_OK        = 0,
-    FILE_ERROR     = -1, // general error
-    FILE_CORRUPTED = -2, // file system corrupted
-    FILE_NOT_FOUND = -3, // file not found
-    FILE_NO_SPACE  = -4, // no space left
-    FILE_ERROR_IO  = -5, // io error
+    FILE_OK            = 0,
+    FILE_ERROR         = -1, // general error
+    FILE_CORRUPTED     = -2, // file system corrupted
+    FILE_NOT_FOUND     = -3, // file not found
+    FILE_NO_SPACE      = -4, // no space left
+    FILE_ERROR_IO      = -5, // io error
+    FILE_ERROR_BAD_ARG = -6, // Invalid argument passed in
 } FileSystemError;
 
 // init the file system
 // config the file system
 // mount the file system
-int io_fileSystem_init(void);
+FileSystemError io_fileSystem_init(void);
 
 // open a file and return the file descriptor
 int io_fileSystem_open(const char *path);
 
 // write return error code
-int io_fileSystem_write(int fd, void *buf, size_t size);
+FileSystemError io_fileSystem_write(int fd, void *buf, size_t size);
 
 // given fd, buf, size, return error code
-int io_fileSystem_read(int fd, void *buf, size_t size);
+FileSystemError io_fileSystem_read(int fd, void *buf, size_t size);
 // close file
-int io_fileSystem_close(int fd);
+FileSystemError io_fileSystem_close(int fd);
 
 uint32_t io_fileSystem_getBootCount(void);
 
 // do the concrete write operation to the hardware
-int io_fileSystem_sync(int fd);
+FileSystemError io_fileSystem_sync(int fd);