Support for scripting in flash using littlefs

.gitmodules

@@ -42,3 +42,6 @@
 [submodule "modules/lwip"]
 	path = modules/lwip
 	url = https://github.com/ArduPilot/lwip.git
+[submodule "modules/littlefs"]
+	path = modules/littlefs
+	url = https://github.com/ArduPilot/littlefs.git

Tools/AP_Bootloader/wscript

@@ -12,7 +12,7 @@ def build(bld):
 
     bld.ap_stlib(
         name= 'AP_Bootloader_libs',
-        use='dronecan',
+        use=['dronecan'],
         dynamic_source='modules/DroneCAN/libcanard/dsdlc_generated/src/**.c',
         ap_vehicle='AP_Bootloader',
         ap_libraries= flashiface_lib + [
@@ -27,7 +27,7 @@ def build(bld):
     # build external libcanard library
     bld.stlib(source='../../modules/DroneCAN/libcanard/canard.c',
               name='libcanard',
-              use='dronecan',
+              use=['dronecan'],
               target='libcanard')
 
     bld.ap_program(

Tools/AP_Periph/wscript

@@ -91,7 +91,7 @@ def build(bld):
         dynamic_source='modules/DroneCAN/libcanard/dsdlc_generated/src/**.c',
         ap_vehicle='AP_Periph',
         ap_libraries= libraries,
-        use='dronecan',
+        use=['dronecan'],
         exclude_src=[
             'libraries/AP_HAL_ChibiOS/Storage.cpp'
         ]
@@ -100,7 +100,7 @@ def build(bld):
     # build external libcanard library
     bld.stlib(source='../../modules/DroneCAN/libcanard/canard.c',
               name='libcanard',
-              use='dronecan',
+              use=['dronecan'],
               target='libcanard')
 
     bld.ap_program(

Tools/Replay/wscript

@@ -7,7 +7,7 @@ def configure(cfg):
     cfg.env.HAL_GCS_ENABLED = 0
 
 def build(bld):
-    if isinstance(bld.get_board(), boards.chibios) and bld.env['WITH_FATFS'] != '1':
+    if isinstance(bld.get_board(), boards.chibios) and bld.env['WITH_FATFS'] != '1' and bld.env['WITH_LITTLEFS'] != 1:
         # we need a filesystem for replay
         return
 

Tools/ardupilotwaf/ardupilotwaf.py

@@ -445,6 +445,10 @@ def ap_stlib(bld, **kw):
     kw['target'] = kw['name']
     kw['source'] = []
 
+    if 'use' not in kw:
+        kw['use'] = []
+    kw['use'].append('littlefs')
+
     bld.stlib(**kw)
 
 _created_program_dirs = set()

Tools/ardupilotwaf/boards.py

@@ -826,6 +826,9 @@ def configure_env(self, cfg, env):
                 cfg.fatal("Failed to find SFML Audio libraries")
             env.CXXFLAGS += ['-DWITH_SITL_TONEALARM']
 
+        if cfg.options.sitl_littlefs:
+            env.CXXFLAGS += ['-DHAL_OS_LITTLEFS_IO=1']
+
         if cfg.env.DEST_OS == 'cygwin':
             env.LIB += [
                 'winmm',

Tools/ardupilotwaf/littlefs.py

@@ -0,0 +1,25 @@
+# encoding: utf-8
+
+"""
+Adds support for building littlefs as part of a Waf build
+"""
+
+from waflib.Configure import conf
+
+def configure(cfg):
+    cfg.env.append_value('GIT_SUBMODULES', 'littlefs')
+    cfg.env.prepend_value('INCLUDES', [
+        cfg.srcnode.abspath() + '/modules/littlefs/',
+    ])
+
+
+@conf
+def littlefs(bld, **kw):
+    kw.update(
+        name='littlefs',
+        source=['modules/littlefs/lfs.c', 'modules/littlefs/lfs_util.c', 'modules/littlefs/bd/lfs_filebd.c'],
+        target='littlefs',
+        defines=['LFS_NO_DEBUG'],
+        cflags=['-Wno-format', '-Wno-format-extra-args', '-Wno-shadow', '-Wno-unused-function', '-Wno-missing-declarations']
+    )
+    return bld.stlib(**kw)

libraries/AP_Filesystem/AP_Filesystem.cpp

@@ -32,6 +32,9 @@ static AP_Filesystem_FATFS fs_local;
 #elif AP_FILESYSTEM_ESP32_ENABLED
 #include "AP_Filesystem_ESP32.h"
 static AP_Filesystem_ESP32 fs_local;
+#elif AP_FILESYSTEM_LITTLEFS_ENABLED
+#include "AP_Filesystem_FlashMemory_LittleFS.h"
+static AP_Filesystem_FlashMemory_LittleFS fs_local;
 #elif AP_FILESYSTEM_POSIX_ENABLED
 #include "AP_Filesystem_posix.h"
 static AP_Filesystem_Posix fs_local;

libraries/AP_Filesystem/AP_Filesystem.h

@@ -38,6 +38,9 @@
 #if AP_FILESYSTEM_FATFS_ENABLED
 #include "AP_Filesystem_FATFS.h"
 #endif
+#if AP_FILESYSTEM_LITTLEFS_ENABLED
+#include "AP_Filesystem_FlashMemory_LittleFS.h"
+#endif
 
 struct dirent {
    char    d_name[MAX_NAME_LEN]; /* filename */
@@ -56,6 +59,9 @@ struct dirent {
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_QURT
 #include "AP_Filesystem_posix.h"
+#if AP_FILESYSTEM_LITTLEFS_ENABLED
+#include "AP_Filesystem_FlashMemory_LittleFS.h"
+#endif
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_ESP32