Fix task and added timings for write

app/src/lib/filesystem/chunkedTransfer.ts

@@ -15,7 +15,7 @@ import type {
 } from '$lib/platform_shared/filesystem'
 import type { Result, DataResult, ListResult, ProgressCallback } from '$lib/types/models'
 
-const MAX_CHUNK_SIZE = 2 ** 14
+const MAX_CHUNK_SIZE = 1024 * 64 // 64KB - must match ESP32 FS_MAX_CHUNK_SIZE
 
 type TimeoutId = ReturnType<typeof setTimeout>
 type CleanupFn = (() => void) | null
@@ -51,7 +51,7 @@ export class FileSystemClient {
 	private downloadListenerCleanup: CleanupFn = null
 	private completeListenerCleanup: CleanupFn = null
 	private uploadCompleteListenerCleanup: CleanupFn = null
-	private transferTimeout = 60000
+	private transferTimeout = 300000
 
 	constructor() {
 		this.setupListeners()

app/src/lib/stores/socket.ts

@@ -153,6 +153,8 @@ function createWebSocket() {
             }
 
             const { tag, msg } = decodeMessage(frame.data)
+            const key: keyof Message = (MESSAGE_TAG_TO_KEY.get(tag) ?? "") as keyof Message;
+            console.log(key + ": ", msg[key])
             if (msg.correlationResponse) {
                 const pending = pending_requests.get(msg.correlationResponse.correlationId)
                 if (pending) {

app/vite.config.ts

@@ -21,7 +21,7 @@ export default defineConfig({
     server: {
         proxy: {
             '/api': {
-                target: 'http://spot-micro.local/',
+                target: 'http://192.168.50.141/',
                 changeOrigin: true,
                 ws: true
             }

esp32/include/communication/comm_base.hpp

@@ -8,6 +8,7 @@
 #include <map>
 #include <type_traits>
 #include <communication/proto_helpers.h>
+#include <utils/timing.h>
 
 class CommAdapterBase {
   public:
@@ -54,7 +55,8 @@ class CommAdapterBase {
 
         pb_ostream_t stream = pb_ostream_from_buffer(buffer, out_size);
         if (!pb_encode(&stream, socket_message_Message_fields, &msg_)) {
-            ESP_LOGE("ProtoComm", "Failed to encode message (tag %d), buffer too small?", (int)tag);
+            ESP_LOGE("ProtoComm", "Failed to encode message (tag %d): %s (calc=%u, written=%u)",
+                     (int)tag, PB_GET_ERROR(&stream), out_size, stream.bytes_written);
             return;
         }
 
@@ -95,9 +97,11 @@ class CommAdapterBase {
     }
 
     void handleIncoming(const uint8_t* data, size_t len, int cid) {
+        TIME_IT(
         if (!decoder_.decode(data, len, cid)) {
             ESP_LOGE("ProtoComm", "Failed to decode incoming message from client %d", cid);
         }
+        , INCOMING_DECODE)
     }
 
     void sendPong(int cid) {

esp32/include/communication/proto_helpers.h

@@ -3,6 +3,7 @@
 #include <pb_encode.h>
 #include <pb_decode.h>
 #include <platform_shared/message.pb.h>
+#include <esp_log.h>
 #include <functional>
 #include <map>
 
@@ -71,32 +72,48 @@ class ProtoDecoder {
     bool decode(const uint8_t* data, size_t len, int clientId) {
         pb_istream_t stream = pb_istream_from_buffer(data, len);
 
-        if (!pb_decode(&stream, socket_message_Message_fields, &msg_)) {
+        // Reset message before decoding (nanopb will malloc FT_POINTER fields)
+        msg_ = socket_message_Message_init_zero;
+
+        bool success = pb_decode(&stream, socket_message_Message_fields, &msg_);
+
+        if (!success) {
+            ESP_LOGE("ProtoHelpers", "Decode failed: %s (len=%u)", PB_GET_ERROR(&stream), len);
+            pb_release(socket_message_Message_fields, &msg_);
             return false;
         }
 
+        bool handled = false;
         switch (msg_.which_message) {
             case socket_message_Message_sub_notif_tag:
                 if (subscribeHandler_) subscribeHandler_(msg_.message.sub_notif.tag, clientId);
-                return true;
+                handled = true;
+                break;
 
             case socket_message_Message_unsub_notif_tag:
                 if (unsubscribeHandler_) unsubscribeHandler_(msg_.message.unsub_notif.tag, clientId);
-                return true;
+                handled = true;
+                break;
 
             case socket_message_Message_pingmsg_tag:
                 if (pingHandler_) pingHandler_(clientId);
-                return true;
+                handled = true;
+                break;
 
             default: {
                 auto it = handlers_.find(msg_.which_message);
                 if (it != handlers_.end()) {
                     it->second(clientId);
-                    return true;
+                    handled = true;
                 }
-                return false;
+                break;
             }
         }
+
+        // Free any malloc'd FT_POINTER fields
+        pb_release(socket_message_Message_fields, &msg_);
+
+        return handled;
     }
 
   private:

esp32/include/filesystem.h

@@ -9,16 +9,18 @@
 #include <cstdio>
 #include <platform_shared/api.pb.h>
 
-#define MOUNT_POINT "/littlefs"
+#define MOUNT_POINT "/"
+#define LITTLEFS_MOUNT_POINT "/littlefs"
+#define SD_MOUNT_POINT "/sdcard"
 
-#define FS_CONFIG_DIRECTORY MOUNT_POINT "/config"
-#define DEVICE_CONFIG_FILE MOUNT_POINT "/config/peripheral.pb"
-#define CAMERA_SETTINGS_FILE MOUNT_POINT "/config/cameraSettings.pb"
-#define AP_SETTINGS_FILE MOUNT_POINT "/config/apSettings.pb"
-#define MDNS_SETTINGS_FILE MOUNT_POINT "/config/mdnsSettings.pb"
-#define WIFI_SETTINGS_FILE MOUNT_POINT "/config/wifiSettings.pb"
-#define PERIPHERAL_SETTINGS_FILE MOUNT_POINT "/config/peripheralSettings.pb"
-#define SERVO_SETTINGS_FILE MOUNT_POINT "/config/servoSettings.pb"
+#define FS_CONFIG_DIRECTORY LITTLEFS_MOUNT_POINT "/config"
+#define DEVICE_CONFIG_FILE LITTLEFS_MOUNT_POINT "/config/peripheral.pb"
+#define CAMERA_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/cameraSettings.pb"
+#define AP_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/apSettings.pb"
+#define MDNS_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/mdnsSettings.pb"
+#define WIFI_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/wifiSettings.pb"
+#define PERIPHERAL_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/peripheralSettings.pb"
+#define SERVO_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/servoSettings.pb"
 
 namespace FileSystem {
 

esp32/include/filesystem_ws.h

@@ -6,9 +6,16 @@
 #include <string>
 #include <functional>
 #include <cstdio>
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#include <freertos/task.h>
+#include <freertos/semphr.h>
 
-#define FS_MAX_CHUNK_SIZE 16384
+#define FS_MAX_CHUNK_SIZE (1024 * 64)
 #define FS_TRANSFER_TIMEOUT_MS 30000
+#define FS_WRITE_QUEUE_SIZE 4
+#define FS_WRITER_TASK_STACK_SIZE 4096
+#define FS_WRITER_TASK_PRIORITY 5
 
 namespace FileSystemWS {
 
@@ -29,6 +36,7 @@ struct UploadState {
     uint32_t fileSize;
     uint32_t totalChunks;
     uint32_t chunksReceived;
+    uint32_t chunksWritten;
     uint32_t bytesReceived;
     uint32_t lastActivityTime;
     int clientId;
@@ -36,6 +44,14 @@ struct UploadState {
     std::string errorMessage;
 };
 
+struct WriteRequest {
+    uint32_t transferId;
+    uint8_t* data;
+    size_t size;
+    uint32_t chunkIndex;
+    bool isLastChunk;
+};
+
 using SendMetadataCallback = std::function<void(const socket_message_FSDownloadMetadata&, int clientId)>;
 using SendCallback = std::function<void(const socket_message_FSDownloadData&, int clientId)>;
 using SendCompleteCallback = std::function<void(const socket_message_FSDownloadComplete&, int clientId)>;
@@ -44,6 +60,10 @@ using SendUploadCompleteCallback = std::function<void(const socket_message_FSUpl
 class FileSystemHandler {
   public:
     FileSystemHandler();
+    ~FileSystemHandler();
+
+    void startWriterTask();
+    void stopWriterTask();
 
     void setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData, SendCompleteCallback sendComplete,
                           SendUploadCompleteCallback sendUploadComplete);
@@ -63,6 +83,12 @@ class FileSystemHandler {
     std::map<uint32_t, UploadState> uploads_;
     uint32_t transferIdCounter_;
 
+    // Async writer task
+    QueueHandle_t writeQueue_;
+    TaskHandle_t writerTaskHandle_;
+    SemaphoreHandle_t uploadsMutex_;
+    volatile bool writerTaskRunning_;
+
     inline uint32_t generateTransferId() { return ++transferIdCounter_; }
 
     SendMetadataCallback sendMetadataCallback_;
@@ -74,6 +100,8 @@ class FileSystemHandler {
     bool deleteRecursive(const std::string& path);
     bool sendNextDownloadChunk(uint32_t transferId);
     void finalizeUpload(uint32_t transferId, bool success, const std::string& error = "");
+    void processWriteRequest(const WriteRequest& req);
+    static void writerTaskFunc(void* param);
 };
 
 extern FileSystemHandler fsHandler;

esp32/include/global.h

@@ -36,3 +36,16 @@
 #ifndef I2C_FREQUENCY
 #define I2C_FREQUENCY 100000UL
 #endif
+
+// Optional SD card mounting via SDMMC (1-bit mode for ESP32-S3-CAM)
+// Pin definitions - override in build flags if needed
+#ifndef SD_CMD_PIN
+#define SD_CMD_PIN GPIO_NUM_38
+#endif
+#ifndef SD_CLK_PIN
+#define SD_CLK_PIN GPIO_NUM_39
+#endif
+#ifndef SD_DATA_PIN
+#define SD_DATA_PIN GPIO_NUM_40
+#endif
+

esp32/include/utils/timing.h

@@ -16,17 +16,18 @@
         }                                                                                         \
     } while (0)
 
-#define TIME_IT(code)                                                                       \
+    // Note: name must be a valid variable name too
+#define TIME_IT(code, name)                                                                       \
     {                                                                                       \
-        uint64_t time_it_start = esp_timer_get_time();                                      \
+        uint64_t time_it_start##name = esp_timer_get_time();                                      \
         code;                                                                               \
-        uint64_t time_it_elapsed = esp_timer_get_time() - time_it_start;                    \
-        if (time_it_elapsed < 1000) {                                                       \
-            ESP_LOGI("Time It", "Time elapsed: %llu microseconds", time_it_elapsed);        \
-        } else if (time_it_elapsed < 1000000) {                                             \
-            ESP_LOGI("Time It", "Time elapsed: %llu milliseconds", time_it_elapsed / 1000); \
+        uint64_t time_it_elapsed##name = esp_timer_get_time() - time_it_start##name;                    \
+        if (time_it_elapsed##name < 1000) {                                                       \
+            ESP_LOGI("Time It - " #name, "Time elapsed: %llu microseconds", time_it_elapsed##name);        \
+        } else if (time_it_elapsed##name < 1000000) {                                             \
+            ESP_LOGI("Time It - " #name, "Time elapsed: %llu milliseconds", time_it_elapsed##name / 1000); \
         } else {                                                                            \
-            ESP_LOGI("Time It", "Time elapsed: %.2f seconds", time_it_elapsed / 1000000.0); \
+            ESP_LOGI("Time It - " #name, "Time elapsed: %.2f seconds", time_it_elapsed##name / 1000000.0); \
         }                                                                                   \
     }
 

esp32/src/communication/webserver.cpp

@@ -2,6 +2,7 @@
 #include <esp_log.h>
 #include <cstring>
 #include <algorithm>
+#include <utils/timing.h>
 
 static const char* TAG = "WebServer";
 
@@ -121,6 +122,10 @@ esp_err_t WebServer::httpHandler(httpd_req_t* req) {
 }
 
 esp_err_t WebServer::wsHandler(httpd_req_t* req) {
+    esp_err_t result;
+    httpd_ws_frame_t frame;
+    esp_err_t ret;
+    TIME_IT(
     WebServer* self = static_cast<WebServer*>(req->user_ctx);
 
     if (req->method == HTTP_GET) {
@@ -133,17 +138,21 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
         return ESP_OK;
     }
 
-    httpd_ws_frame_t frame;
+    
     memset(&frame, 0, sizeof(httpd_ws_frame_t));
     frame.type = HTTPD_WS_TYPE_BINARY;
 
-    esp_err_t ret = httpd_ws_recv_frame(req, &frame, 0);
+    
+    TIME_IT(
+    ret = httpd_ws_recv_frame(req, &frame, 0);
     if (ret != ESP_OK) {
         ESP_LOGE(TAG, "Failed to get frame len: %s", esp_err_to_name(ret));
         return ret;
     }
+    , FRAME_LEN)
 
     if (frame.len > 0) {
+        TIME_IT(
         frame.payload = (uint8_t*)malloc(frame.len);
         if (!frame.payload) {
             ESP_LOGE(TAG, "Failed to allocate frame payload");
@@ -156,6 +165,7 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
             free(frame.payload);
             return ret;
         }
+        , FRAME_RECEIVE)
     }
 
     if (frame.type == HTTPD_WS_TYPE_CLOSE) {
@@ -169,15 +179,18 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
         return ESP_OK;
     }
 
-    esp_err_t result = ESP_OK;
+    result = ESP_OK;
     if (self->wsFrameHandler_) {
+        TIME_IT(
         result = self->wsFrameHandler_(req, &frame);
+        , FRAME_HANDLER)
     }
 
     if (frame.payload) {
         free(frame.payload);
     }
 
+    , WS_HANDLER)
     return result;
 }
 
@@ -265,7 +278,19 @@ esp_err_t WebServer::wsSend(int sockfd, const uint8_t* data, size_t len) {
                               .type = HTTPD_WS_TYPE_BINARY,
                               .payload = const_cast<uint8_t*>(data),
                               .len = len};
-    return httpd_ws_send_frame_async(server_, sockfd, &frame);
+    xSemaphoreTake(wsMutex_, portMAX_DELAY);
+    esp_err_t ret = httpd_ws_send_frame_async(server_, sockfd, &frame);
+    xSemaphoreGive(wsMutex_);
+
+    if (ret != ESP_OK) {
+        if (httpd_ws_get_fd_info(server_, sockfd) != HTTPD_WS_CLIENT_WEBSOCKET) {
+        ESP_LOGW(TAG, "Removing disconnected client %d", sockfd);
+        removeWsClient(sockfd);
+            return ESP_ERR_INVALID_STATE;
+        } 
+    }
+
+    return ret;
 }
 
 esp_err_t WebServer::wsSendAll(const uint8_t* data, size_t len) {

esp32/src/communication/websocket.cpp

@@ -24,8 +24,26 @@ void Websocket::onWsClose(int sockfd) {
 }
 
 esp_err_t Websocket::onFrame(httpd_req_t* req, httpd_ws_frame_t* frame) {
+    // Handle PING - respond with PONG
+    if (frame->type == HTTPD_WS_TYPE_PING) {
+        httpd_ws_frame_t pong = {
+            .final = true,
+            .fragmented = false,
+            .type = HTTPD_WS_TYPE_PONG,
+            .payload = frame->payload,
+            .len = frame->len
+        };
+        return httpd_ws_send_frame(req, &pong);
+    }
+
+    // Ignore PONG frames
+    if (frame->type == HTTPD_WS_TYPE_PONG) {
+        return ESP_OK;
+    }
+
+    // Ignore other non-binary frames
     if (frame->type != HTTPD_WS_TYPE_BINARY) {
-        ESP_LOGW(TAG, "Expected binary frame, got type %d", frame->type);
+        ESP_LOGD(TAG, "Ignoring frame type %d", frame->type);
         return ESP_OK;
     }
 

esp32/src/filesystem.cpp

@@ -6,6 +6,9 @@
 #include <esp_log.h>
 #include <pb_encode.h>
 #include <pb_decode.h>
+#include "esp_vfs_fat.h"
+#include <sdmmc_cmd.h>
+#include <driver/sdmmc_host.h>
 
 static const char *TAG = "FileSystem";
 
@@ -79,7 +82,7 @@ void listFilesProto(const std::string &directory, api_FileEntry *entry) {
     if (path.empty() || path[0] != '/') {
         path = "/" + directory;
     }
-    std::string fullPath = std::string(MOUNT_POINT) + path;
+    std::string fullPath = path;
     listFilesProtoRecursive(fullPath, entry);
 }
 
@@ -108,7 +111,7 @@ esp_err_t getFilesProto(httpd_req_t *request) {
 
 bool init() {
     esp_vfs_littlefs_conf_t conf = {
-        .base_path = MOUNT_POINT,
+        .base_path = LITTLEFS_MOUNT_POINT,
         .partition_label = "spiffs",
         .format_if_mount_failed = true,
         .dont_mount = false,
@@ -134,6 +137,38 @@ bool init() {
 
     mkdirRecursive(FS_CONFIG_DIRECTORY);
 
+    esp_vfs_fat_sdmmc_mount_config_t sd_mount_config = {
+        .format_if_mount_failed = false,
+        .max_files = 4,
+        .allocation_unit_size = 16 * 1024,
+    };
+
+    sdmmc_host_t host = SDMMC_HOST_DEFAULT();
+    host.flags = SDMMC_HOST_FLAG_1BIT;  // Use 1-bit mode
+    host.max_freq_khz = SDMMC_FREQ_DEFAULT;
+
+    sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT();
+    slot_config.width = 1;  // 1-bit mode
+    slot_config.clk = SD_CLK_PIN;
+    slot_config.cmd = SD_CMD_PIN;
+    slot_config.d0 = SD_DATA_PIN;
+    slot_config.flags |= SDMMC_SLOT_FLAG_INTERNAL_PULLUP;
+
+    sdmmc_card_t *card = nullptr;
+    esp_err_t err = esp_vfs_fat_sdmmc_mount(SD_MOUNT_POINT, &host, &slot_config, &sd_mount_config, &card);
+    if (err != ESP_OK) {
+        if (err == ESP_FAIL) {
+            ESP_LOGW(TAG, "Failed to mount SD card filesystem");
+        } else {
+            ESP_LOGW(TAG, "SD card not present or failed to initialize (%s)", esp_err_to_name(err));
+        }
+        // Don't fail - SD card is optional
+    } else {
+        ESP_LOGI(TAG, "SD card mounted at %s", SD_MOUNT_POINT);
+        ESP_LOGI(TAG, "SD card: %s, %lluMB", card->cid.name,
+                 ((uint64_t)card->csd.capacity) * card->csd.sector_size / (1024 * 1024));
+    }
+
     return true;
 }
 
@@ -231,7 +266,7 @@ esp_err_t getFiles(httpd_req_t *request) {
 
 esp_err_t getConfigFile(httpd_req_t *request) {
     const char *uri = request->uri;
-    std::string path = std::string(MOUNT_POINT) + "/config" + std::string(uri).substr(11);
+    std::string path = std::string(LITTLEFS_MOUNT_POINT) + "/config" + std::string(uri).substr(11);
 
     if (!fileExists(path.c_str())) {
         return WebServer::sendError(request, 404, "File not found");
@@ -253,7 +288,7 @@ esp_err_t getConfigFile(httpd_req_t *request) {
 }
 
 esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
-    std::string fullPath = std::string(MOUNT_POINT) + req.path;
+    std::string fullPath = req.path;
     ESP_LOGI(TAG, "Deleting file: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;
@@ -267,7 +302,7 @@ esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
 }
 
 esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
-    std::string fullPath = std::string(MOUNT_POINT) + req.path;
+    std::string fullPath = req.path;
     ESP_LOGI(TAG, "Editing file: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;
@@ -326,7 +361,7 @@ bool editFile(const char *filename, const uint8_t *content, size_t size) { retur
 bool editFile(const char *filename, const char *content) { return writeFile(filename, content); }
 
 esp_err_t mkdir(httpd_req_t *request, const api_FileMkdirRequest &req) {
-    std::string fullPath = std::string(MOUNT_POINT) + req.path;
+    std::string fullPath = req.path;
     ESP_LOGI(TAG, "Creating directory: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;

esp32/src/filesystem_ws.cpp

@@ -7,6 +7,8 @@
 #include <dirent.h>
 #include <sys/stat.h>
 #include <cstring>
+#include <cerrno>
+#include <utils/timing.h>
 
 static const char* TAG = "FileSystemWS";
 
@@ -14,7 +16,137 @@ namespace FileSystemWS {
 
 FileSystemHandler fsHandler;
 
-FileSystemHandler::FileSystemHandler() : transferIdCounter_(0) {}
+FileSystemHandler::FileSystemHandler()
+    : transferIdCounter_(0), writeQueue_(nullptr), writerTaskHandle_(nullptr), uploadsMutex_(nullptr),
+      writerTaskRunning_(false) {
+    uploadsMutex_ = xSemaphoreCreateMutex();
+}
+
+FileSystemHandler::~FileSystemHandler() {
+    stopWriterTask();
+    if (uploadsMutex_) {
+        vSemaphoreDelete(uploadsMutex_);
+    }
+}
+
+void FileSystemHandler::startWriterTask() {
+    if (writerTaskHandle_ != nullptr) {
+        return;
+    }
+
+    writeQueue_ = xQueueCreate(FS_WRITE_QUEUE_SIZE, sizeof(WriteRequest));
+    if (!writeQueue_) {
+        ESP_LOGE(TAG, "Failed to create write queue");
+        return;
+    }
+
+    writerTaskRunning_ = true;
+    BaseType_t result =
+        xTaskCreate(writerTaskFunc, "fs_writer", FS_WRITER_TASK_STACK_SIZE, this, FS_WRITER_TASK_PRIORITY, &writerTaskHandle_);
+
+    if (result != pdPASS) {
+        ESP_LOGE(TAG, "Failed to create writer task");
+        vQueueDelete(writeQueue_);
+        writeQueue_ = nullptr;
+        writerTaskRunning_ = false;
+    } else {
+        ESP_LOGI(TAG, "Writer task started");
+    }
+}
+
+void FileSystemHandler::stopWriterTask() {
+    if (!writerTaskRunning_) {
+        return;
+    }
+
+    writerTaskRunning_ = false;
+
+    // Send a poison pill to wake up the task
+    WriteRequest poison = {0, nullptr, 0, 0, false};
+    if (writeQueue_) {
+        xQueueSend(writeQueue_, &poison, portMAX_DELAY);
+    }
+
+    // Wait for task to finish
+    if (writerTaskHandle_) {
+        vTaskDelay(pdMS_TO_TICKS(100));
+        writerTaskHandle_ = nullptr;
+    }
+
+    if (writeQueue_) {
+        // Drain any remaining requests and free their data
+        WriteRequest req;
+        while (xQueueReceive(writeQueue_, &req, 0) == pdTRUE) {
+            if (req.data) {
+                free(req.data);
+            }
+        }
+        vQueueDelete(writeQueue_);
+        writeQueue_ = nullptr;
+    }
+
+    ESP_LOGI(TAG, "Writer task stopped");
+}
+
+void FileSystemHandler::writerTaskFunc(void* param) {
+    FileSystemHandler* self = static_cast<FileSystemHandler*>(param);
+    WriteRequest req;
+
+    while (self->writerTaskRunning_) {
+        if (xQueueReceive(self->writeQueue_, &req, pdMS_TO_TICKS(10)) == pdTRUE) {
+            if (req.data == nullptr) {
+                // Poison pill - exit
+                break;
+            }
+            self->processWriteRequest(req);
+            free(req.data);
+        }
+    }
+
+    vTaskDelete(nullptr);
+}
+
+void FileSystemHandler::processWriteRequest(const WriteRequest& req) {
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
+
+    auto it = uploads_.find(req.transferId);
+    if (it == uploads_.end()) {
+        xSemaphoreGive(uploadsMutex_);
+        return;
+    }
+
+    UploadState& state = it->second;
+
+    if (state.hasError) {
+        xSemaphoreGive(uploadsMutex_);
+        return;
+    }
+
+    size_t bytesWritten = fwrite(req.data, 1, req.size, state.file);
+
+    if (bytesWritten != req.size) {
+        state.hasError = true;
+        state.errorMessage = "Failed to write chunk";
+        xSemaphoreGive(uploadsMutex_);
+        finalizeUpload(req.transferId, false, state.errorMessage);
+        return;
+    }
+
+    state.chunksWritten++;
+    ESP_LOGD(TAG, "Async write chunk %u/%u: %u bytes", state.chunksWritten, state.totalChunks, bytesWritten);
+
+    // Periodic flush
+    if (state.chunksWritten > 0 && state.chunksWritten % 64 == 0) {
+        fflush(state.file);
+    }
+
+    bool shouldFinalize = req.isLastChunk;
+    xSemaphoreGive(uploadsMutex_);
+
+    if (shouldFinalize) {
+        finalizeUpload(req.transferId, true);
+    }
+}
 
 void FileSystemHandler::setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData,
                                          SendCompleteCallback sendComplete,
@@ -52,35 +184,46 @@ void FileSystemHandler::cleanupExpiredTransfers() {
         }
     }
 
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     auto ulIt = uploads_.begin();
     while (ulIt != uploads_.end()) {
         if (now - ulIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (ulIt->second.file) {
                 fclose(ulIt->second.file);
+                ulIt->second.file = nullptr;
             }
-            remove(ulIt->second.path.c_str());
-            ESP_LOGW(TAG, "Upload %u timed out, deleted partial file", ulIt->first);
+            std::string path = ulIt->second.path;
+            uint32_t chunksReceived = ulIt->second.chunksReceived;
+            int clientId = ulIt->second.clientId;
+            uint32_t transferId = ulIt->first;
+
+            ulIt = uploads_.erase(ulIt);
+            xSemaphoreGive(uploadsMutex_);
+
+            remove(path.c_str());
+            ESP_LOGW(TAG, "Upload %u timed out, deleted partial file", transferId);
 
             if (sendUploadCompleteCallback_) {
                 socket_message_FSUploadComplete complete = socket_message_FSUploadComplete_init_zero;
-                complete.transfer_id = ulIt->first;
+                complete.transfer_id = transferId;
                 complete.success = false;
                 strncpy(complete.error, "Transfer timed out", sizeof(complete.error) - 1);
-                complete.chunks_received = ulIt->second.chunksReceived;
-                sendUploadCompleteCallback_(complete, ulIt->second.clientId);
+                complete.chunks_received = chunksReceived;
+                sendUploadCompleteCallback_(complete, clientId);
             }
 
-            ulIt = uploads_.erase(ulIt);
+            xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
         } else {
             ++ulIt;
         }
     }
+    xSemaphoreGive(uploadsMutex_);
 }
 
 socket_message_FSDeleteResponse FileSystemHandler::handleDelete(const socket_message_FSDeleteRequest& req) {
     socket_message_FSDeleteResponse response = socket_message_FSDeleteResponse_init_zero;
 
-    std::string path = std::string(MOUNT_POINT) + req.path;
+    std::string path = req.path;
     ESP_LOGI(TAG, "Delete request: %s", path.c_str());
 
     struct stat st;
@@ -129,7 +272,7 @@ bool FileSystemHandler::deleteRecursive(const std::string& path) {
 socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_message_FSMkdirRequest& req) {
     socket_message_FSMkdirResponse response = socket_message_FSMkdirResponse_init_zero;
 
-    std::string path = std::string(MOUNT_POINT) + req.path;
+    std::string path = req.path;
     ESP_LOGI(TAG, "Mkdir request: %s", path.c_str());
 
     struct stat st;
@@ -150,6 +293,15 @@ socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_messa
 }
 
 void FileSystemHandler::listDirectory(const std::string& path, socket_message_FSListResponse& response) {
+
+    // Root "/" is virtual - list mount points instead
+    if (strcmp(path.c_str(), "/") == 0) {
+        strncpy(response.directories[0].name, LITTLEFS_MOUNT_POINT + 1, sizeof(response.directories[0].name) - 1);
+        strncpy(response.directories[1].name, SD_MOUNT_POINT + 1, sizeof(response.directories[1].name) - 1);
+        response.directories_count = 2;
+        return;
+    }
+
     DIR* dir = opendir(path.c_str());
     if (!dir) {
         return;
@@ -191,15 +343,13 @@ void FileSystemHandler::listDirectory(const std::string& path, socket_message_FS
 socket_message_FSListResponse FileSystemHandler::handleList(const socket_message_FSListRequest& req) {
     socket_message_FSListResponse response = socket_message_FSListResponse_init_zero;
 
-    std::string path = std::string(MOUNT_POINT);
-    if (strlen(req.path) > 0 && req.path[0] != '\0') {
-        path += req.path;
-    }
+    std::string path = req.path;
 
     ESP_LOGI(TAG, "List request: %s", path.c_str());
 
     struct stat st;
-    if (stat(path.c_str(), &st) != 0) {
+    // Make sure that path exists, or that it is a root listing
+    if (strcmp(path.c_str(), "/") != 0 && stat(path.c_str(), &st) != 0) {
         response.success = false;
         strncpy(response.error, "Path not found", sizeof(response.error) - 1);
         return response;
@@ -212,7 +362,7 @@ socket_message_FSListResponse FileSystemHandler::handleList(const socket_message
 }
 
 void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadRequest& req, int clientId) {
-    std::string path = std::string(MOUNT_POINT) + req.path;
+    std::string path = req.path;
     ESP_LOGI(TAG, "Download request: %s", path.c_str());
 
     struct stat st;
@@ -308,8 +458,28 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
         bytesToRead = state.fileSize - position;
     }
 
-    size_t bytesRead = fread(data->data.bytes, 1, bytesToRead, state.file);
+    // Allocate buffer for FT_POINTER data field
+    data->data = (pb_bytes_array_t*)malloc(PB_BYTES_ARRAY_T_ALLOCSIZE(bytesToRead));
+    if (!data->data) {
+        delete data;
+        if (sendCompleteCallback_) {
+            socket_message_FSDownloadComplete complete = socket_message_FSDownloadComplete_init_zero;
+            complete.transfer_id = transferId;
+            complete.success = false;
+            strncpy(complete.error, "Memory allocation failed", sizeof(complete.error) - 1);
+            complete.total_chunks = state.chunksSent;
+            complete.file_size = state.fileSize;
+            sendCompleteCallback_(complete, state.clientId);
+        }
+        fclose(state.file);
+        downloads_.erase(it);
+        ESP_LOGE(TAG, "Download failed - memory allocation: %u", transferId);
+        return false;
+    }
+
+    size_t bytesRead = fread(data->data->bytes, 1, bytesToRead, state.file);
     if (bytesRead == 0 && bytesToRead > 0) {
+        free(data->data);
         delete data;
         if (sendCompleteCallback_) {
             socket_message_FSDownloadComplete complete = socket_message_FSDownloadComplete_init_zero;
@@ -326,12 +496,13 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
         ESP_LOGE(TAG, "Download failed - read error: %u", transferId);
         return false;
     }
-    data->data.size = bytesRead;
+    data->data->size = bytesRead;
 
     if (sendDataCallback_) {
         sendDataCallback_(*data, state.clientId);
     }
 
+    free(data->data);
     delete data;
     state.chunksSent++;
     ESP_LOGD(TAG, "Download chunk %u/%u sent: %u bytes", state.chunksSent, state.totalChunks, bytesRead);
@@ -343,17 +514,22 @@ socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const
                                                                           int clientId) {
     socket_message_FSUploadStartResponse response = socket_message_FSUploadStartResponse_init_zero;
 
-    std::string path = std::string(MOUNT_POINT) + req.path;
+    std::string path = req.path;
     ESP_LOGI(TAG, "Upload start request: %s, size=%u, chunks=%u", path.c_str(), req.file_size, req.total_chunks);
 
-    size_t fs_total = 0, fs_used = 0;
-    esp_littlefs_info("spiffs", &fs_total, &fs_used);
-    size_t freeSpace = fs_total - fs_used;
-    if (freeSpace < req.file_size + 4096) {
-        response.success = false;
-        strncpy(response.error, "Insufficient storage space", sizeof(response.error) - 1);
-        return response;
+    // Check available space on the target filesystem
+    if (path.find(SD_MOUNT_POINT) != 0) {
+        // LittleFS path
+        size_t fs_total = 0, fs_used = 0;
+        esp_littlefs_info("spiffs", &fs_total, &fs_used);
+        size_t freeSpace = fs_total - fs_used;
+        if (freeSpace < req.file_size + 4096) {
+            response.success = false;
+            strncpy(response.error, "Insufficient storage space", sizeof(response.error) - 1);
+            return response;
+        }
     }
+    // TODO: SD card space check skipped - FAT doesn't have a simple API for this
 
     size_t lastSlash = path.find_last_of('/');
     if (lastSlash != std::string::npos && lastSlash > 0) {
@@ -368,11 +544,15 @@ socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const
 
     FILE* file = fopen(path.c_str(), "wb");
     if (!file) {
+        ESP_LOGE(TAG, "fopen failed for '%s': %s (errno=%d)", path.c_str(), strerror(errno), errno);
         response.success = false;
-        strncpy(response.error, "Cannot open file for writing", sizeof(response.error) - 1);
+        snprintf(response.error, sizeof(response.error) - 1, "Cannot open file: %s", strerror(errno));
         return response;
     }
 
+    // Set larger buffer for better write performance
+    setvbuf(file, nullptr, _IOFBF, 32 * 1024);
+
     uint32_t transferId = generateTransferId();
 
     UploadState state;
@@ -381,12 +561,15 @@ socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const
     state.fileSize = req.file_size;
     state.totalChunks = req.total_chunks;
     state.chunksReceived = 0;
+    state.chunksWritten = 0;
     state.bytesReceived = 0;
     state.lastActivityTime = esp_timer_get_time() / 1000;
     state.clientId = clientId;
     state.hasError = false;
 
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     uploads_[transferId] = state;
+    xSemaphoreGive(uploadsMutex_);
 
     response.success = true;
     response.transfer_id = transferId;
@@ -399,8 +582,16 @@ socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const
 void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req) {
     uint32_t transferId = req.transfer_id;
 
+    // Auto-start writer task if not running
+    if (!writerTaskRunning_) {
+        startWriterTask();
+    }
+
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
+
     auto it = uploads_.find(transferId);
     if (it == uploads_.end()) {
+        xSemaphoreGive(uploadsMutex_);
         ESP_LOGW(TAG, "Upload data for unknown transfer: %u", transferId);
         return;
     }
@@ -409,6 +600,7 @@ void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req)
     state.lastActivityTime = esp_timer_get_time() / 1000;
 
     if (state.hasError) {
+        xSemaphoreGive(uploadsMutex_);
         return;
     }
 
@@ -416,32 +608,61 @@ void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req)
         ESP_LOGW(TAG, "Upload chunk out of order: expected %u, got %u", state.chunksReceived, req.chunk_index);
     }
 
-    size_t bytesWritten = fwrite(req.data.bytes, 1, req.data.size, state.file);
-    if (bytesWritten != req.data.size) {
+    if (!req.data || req.data->size == 0) {
         state.hasError = true;
-        state.errorMessage = "Failed to write chunk";
+        state.errorMessage = "Empty or invalid data chunk";
+        xSemaphoreGive(uploadsMutex_);
         finalizeUpload(transferId, false, state.errorMessage);
         return;
     }
 
-    state.chunksReceived++;
-    state.bytesReceived += bytesWritten;
+    // Copy data for async write
+    WriteRequest writeReq;
+    writeReq.transferId = transferId;
+    writeReq.size = req.data->size;
+    writeReq.chunkIndex = req.chunk_index;
+    writeReq.data = static_cast<uint8_t*>(malloc(req.data->size));
 
-    if (state.chunksReceived > 0 && state.chunksReceived % 64 == 0) {
-        ESP_LOGD(TAG, "Flushing file at chunk %u", state.chunksReceived);
-        fflush(state.file);
+    if (!writeReq.data) {
+        state.hasError = true;
+        state.errorMessage = "Memory allocation failed";
+        xSemaphoreGive(uploadsMutex_);
+        finalizeUpload(transferId, false, state.errorMessage);
+        return;
     }
 
-    ESP_LOGD(TAG, "Upload chunk %u/%u: %u bytes", state.chunksReceived, state.totalChunks, bytesWritten);
+    memcpy(writeReq.data, req.data->bytes, req.data->size);
 
-    if (state.chunksReceived >= state.totalChunks) {
-        finalizeUpload(transferId, true);
+    state.chunksReceived++;
+    state.bytesReceived += req.data->size;
+    writeReq.isLastChunk = (state.chunksReceived >= state.totalChunks);
+
+    ESP_LOGD(TAG, "Queuing chunk %u/%u: %u bytes", state.chunksReceived, state.totalChunks, req.data->size);
+
+    xSemaphoreGive(uploadsMutex_);
+
+    // Check queue is valid
+    if (!writeQueue_) {
+        ESP_LOGE(TAG, "Write queue not initialized");
+        free(writeReq.data);
+        finalizeUpload(transferId, false, "Write queue not initialized");
+        return;
+    }
+
+    // Try to queue (non-blocking) - if full, do sync write to avoid blocking HTTP server
+    if (xQueueSend(writeQueue_, &writeReq, 0) != pdTRUE) {
+        ESP_LOGD(TAG, "Queue full, doing sync write for chunk %u", writeReq.chunkIndex);
+        processWriteRequest(writeReq);
+        free(writeReq.data);
     }
 }
 
 void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const std::string& error) {
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
+
     auto it = uploads_.find(transferId);
     if (it == uploads_.end()) {
+        xSemaphoreGive(uploadsMutex_);
         return;
     }
 
@@ -449,13 +670,22 @@ void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const
 
     if (state.file) {
         fclose(state.file);
+        state.file = nullptr;
     }
 
+    std::string path = state.path;
+    uint32_t bytesReceived = state.bytesReceived;
+    uint32_t chunksReceived = state.chunksReceived;
+    int clientId = state.clientId;
+
+    uploads_.erase(it);
+    xSemaphoreGive(uploadsMutex_);
+
     if (!success) {
-        remove(state.path.c_str());
-        ESP_LOGW(TAG, "Upload failed, deleted partial file: %s", state.path.c_str());
+        remove(path.c_str());
+        ESP_LOGW(TAG, "Upload failed, deleted partial file: %s", path.c_str());
     } else {
-        ESP_LOGI(TAG, "Upload completed: %s (%u bytes)", state.path.c_str(), state.bytesReceived);
+        ESP_LOGI(TAG, "Upload completed: %s (%u bytes)", path.c_str(), bytesReceived);
     }
 
     if (sendUploadCompleteCallback_) {
@@ -465,11 +695,9 @@ void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const
         if (!error.empty()) {
             strncpy(complete.error, error.c_str(), sizeof(complete.error) - 1);
         }
-        complete.chunks_received = state.chunksReceived;
-        sendUploadCompleteCallback_(complete, state.clientId);
+        complete.chunks_received = chunksReceived;
+        sendUploadCompleteCallback_(complete, clientId);
     }
-
-    uploads_.erase(it);
 }
 
 socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
@@ -489,17 +717,22 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
         return response;
     }
 
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     auto ulIt = uploads_.find(transferId);
     if (ulIt != uploads_.end()) {
         if (ulIt->second.file) {
             fclose(ulIt->second.file);
+            ulIt->second.file = nullptr;
         }
-        remove(ulIt->second.path.c_str());
+        std::string path = ulIt->second.path;
         uploads_.erase(ulIt);
+        xSemaphoreGive(uploadsMutex_);
+        remove(path.c_str());
         response.success = true;
         ESP_LOGI(TAG, "Upload cancelled: %u", transferId);
         return response;
     }
+    xSemaphoreGive(uploadsMutex_);
 
     response.success = false;
     return response;

esp32/src/main.cpp

@@ -1,6 +1,7 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 #include <esp_log.h>
+#include <esp_heap_caps.h>
 #include <nvs_flash.h>
 #include <wifi/wifi_idf.h>
 #include <mdns.h>
@@ -42,6 +43,8 @@ WiFiService wifiService;
 APService apService;
 
 void setupServer() {
+    ESP_LOGI("Main", "Free heap before server: %lu, largest block: %lu",
+             esp_get_free_heap_size(), heap_caps_get_largest_free_block(MALLOC_CAP_8BIT));
     server.config(50 + WWW_ASSETS_COUNT, 16384);
     server.listen(80);
 
@@ -154,7 +157,7 @@ void setupEventSocket() {
     });
 
     wsSocket.on<socket_message_FSUploadData>(
-        [&](const socket_message_FSUploadData &data, int clientId) { FileSystemWS::fsHandler.handleUploadData(data); });
+        [&](const socket_message_FSUploadData &data, int clientId) { TIME_IT(FileSystemWS::fsHandler.handleUploadData(data), handle_upload) });
 
     using CorrelationHandler =
         std::function<void(const socket_message_CorrelationRequest &, socket_message_CorrelationResponse &, int)>;

platform_shared/filesystem.options

@@ -16,11 +16,11 @@ socket_message.FSListResponse.directories max_count:20
 # Streaming download messages
 socket_message.FSDownloadRequest.path max_size:256
 socket_message.FSDownloadMetadata.error max_size:128
-socket_message.FSDownloadData.data max_size:16384
+socket_message.FSDownloadData.data type:FT_POINTER
 socket_message.FSDownloadComplete.error max_size:128
 
 # Streaming upload messages
 socket_message.FSUploadStart.path max_size:256
 socket_message.FSUploadStartResponse.error max_size:128
-socket_message.FSUploadData.data max_size:16384
+socket_message.FSUploadData.data type:FT_POINTER
 socket_message.FSUploadComplete.error max_size:128

platformio.ini

@@ -54,6 +54,12 @@ build_flags =
 	-D USS_RIGHT_PIN=14
 	-D SDA_PIN=47
 	-D SCL_PIN=21
+    -D SD_CMD_PIN=GPIO_NUM_38
+    -D SD_CLK_PIN=GPIO_NUM_39
+    -D SD_DATA_PIN=GPIO_NUM_40
+
+
+    
 
 [env:seeed-xiao-esp32s3]
 platform = espressif32
@@ -82,8 +88,8 @@ platform = espressif32 @ 6.8.1
 framework = espidf
 monitor_speed = 115200
 monitor_filters =
-    direct
-    esp32_exception_decoder
+	direct
+	esp32_exception_decoder
 build_flags =
 	${factory_settings.build_flags}
     ${features.build_flags}
@@ -96,6 +102,8 @@ build_flags =
     -fdata-sections
     -Wl,--gc-sections
     -I submodules/nanopb
+    -D PB_FIELD_32BIT=1
+    -D PB_ENABLE_MALLOC=1
     -Wno-missing-braces
     -Wno-format
     -D CONFIG_HTTPD_WS_SUPPORT=1