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Merge branch 'master' into autostart_cleanup

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This commit is contained in:
Anton Babushkin
2014-01-10 16:23:51 +01:00
parent b5d56523bc 6604d7b947
commit f5501a0508
12 changed files with 452 additions and 98 deletions
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67
ROMFS/px4fmu_test/init.d/rcS
View File

@@ -2,6 +2,7 @@
#
# PX4FMU startup script for test hackery.
#
uorb start
if sercon
then
@@ -9,4 +10,68 @@ then
# Try to get an USB console
nshterm /dev/ttyACM0 &
fi
fi
#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm error
fi
#
# Start a minimal system
#
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set io_file /etc/extras/px4io-v2_default.bin
else
set io_file /etc/extras/px4io-v1_default.bin
fi
if px4io start
then
echo "PX4IO OK"
fi
if px4io checkcrc $io_file
then
echo "PX4IO CRC OK"
else
echo "PX4IO CRC failure"
tone_alarm MBABGP
if px4io forceupdate 14662 $io_file
then
usleep 500000
if px4io start
then
echo "PX4IO restart OK"
tone_alarm MSPAA
else
echo "PX4IO restart failed"
tone_alarm MNGGG
sleep 5
reboot
fi
else
echo "PX4IO update failed"
tone_alarm MNGGG
fi
fi
#
# The presence of this file suggests we're running a mount stress test
#
if [ -f /fs/microsd/mount_test_cmds.txt ]
then
tests mount
fi

48
makefiles/config_px4fmu-v1_test.mk Normal file
View File

@@ -0,0 +1,48 @@
#
# Makefile for the px4fmu_default configuration
#
#
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/stm32/adc
MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/boards/px4fmu-v1
MODULES += drivers/px4io
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main )

7
makefiles/config_px4fmu-v2_test.mk
View File

@@ -6,22 +6,29 @@
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/stm32/adc
MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/px4io
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
MODULES += systemcmds/hw_ver
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#

15
src/drivers/boards/px4fmu-v2/px4fmu2_init.c
View File

@@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void)
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\n");
message("[boot] Initialized SPI port 1 (SENSORS)\n");
/* Get the SPI port for the FRAM */
@@ -294,20 +294,23 @@ __EXPORT int nsh_archinitialize(void)
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi2, 375000000);
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
message("[boot] Successfully initialized SPI port 2\n");
message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
@@ -315,7 +318,7 @@ __EXPORT int nsh_archinitialize(void)
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}

2
src/drivers/hott/hott_sensors/hott_sensors.cpp
View File

@@ -211,7 +211,7 @@ hott_sensors_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
SCHED_PRIORITY_DEFAULT,
1024,
hott_sensors_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);

2
src/drivers/hott/hott_telemetry/hott_telemetry.cpp
View File

@@ -237,7 +237,7 @@ hott_telemetry_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
SCHED_PRIORITY_DEFAULT,
2048,
hott_telemetry_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);

4
src/systemcmds/nshterm/nshterm.c
View File

@@ -62,7 +62,9 @@ nshterm_main(int argc, char *argv[])
}
uint8_t retries = 0;
int fd = -1;
while (retries < 50) {
/* try the first 30 seconds */
while (retries < 300) {
/* the retries are to cope with the behaviour of /dev/ttyACM0 */
/* which may not be ready immediately. */
fd = open(argv[1], O_RDWR);

3
src/systemcmds/tests/module.mk
View File

@@ -28,4 +28,5 @@ SRCS = test_adc.c \
tests_main.c \
test_param.c \
test_ppm_loopback.c \
test_rc.c
test_rc.c \
test_mount.c

111
src/systemcmds/tests/test_file.c
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +35,8 @@
* @file test_file.c
*
* File write test.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <sys/stat.h>
@@ -119,7 +121,6 @@ test_file(int argc, char *argv[])
uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
hrt_abstime start, end;
//perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)");
int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
@@ -127,19 +128,18 @@ test_file(int argc, char *argv[])
start = hrt_absolute_time();
for (unsigned i = 0; i < iterations; i++) {
//perf_begin(wperf);
int wret = write(fd, write_buf + a, chunk_sizes[c]);
if (wret != chunk_sizes[c]) {
warn("WRITE ERROR!");
if ((0x3 & (uintptr_t)(write_buf + a)))
errx(1, "memory is unaligned, align shift: %d", a);
warnx("memory is unaligned, align shift: %d", a);
return 1;
}
fsync(fd);
//perf_end(wperf);
if (!check_user_abort())
return OK;
@@ -147,11 +147,6 @@ test_file(int argc, char *argv[])
}
end = hrt_absolute_time();
//warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
//perf_print_counter(wperf);
//perf_free(wperf);
close(fd);
fd = open("/fs/microsd/testfile", O_RDONLY);
@@ -160,7 +155,8 @@ test_file(int argc, char *argv[])
int rret = read(fd, read_buf, chunk_sizes[c]);
if (rret != chunk_sizes[c]) {
errx(1, "READ ERROR!");
warnx("READ ERROR!");
return 1;
}
/* compare value */
@@ -175,7 +171,8 @@ test_file(int argc, char *argv[])
}
if (!compare_ok) {
errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
return 1;
}
if (!check_user_abort())
@@ -198,7 +195,8 @@ test_file(int argc, char *argv[])
int wret = write(fd, write_buf, chunk_sizes[c]);
if (wret != chunk_sizes[c]) {
err(1, "WRITE ERROR!");
warnx("WRITE ERROR!");
return 1;
}
if (!check_user_abort())
@@ -220,7 +218,8 @@ test_file(int argc, char *argv[])
int rret = read(fd, read_buf, chunk_sizes[c]);
if (rret != chunk_sizes[c]) {
err(1, "READ ERROR!");
warnx("READ ERROR!");
return 1;
}
/* compare value */
@@ -238,7 +237,8 @@ test_file(int argc, char *argv[])
}
if (!align_read_ok) {
errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
return 1;
}
}
@@ -260,7 +260,8 @@ test_file(int argc, char *argv[])
int rret = read(fd, read_buf + a, chunk_sizes[c]);
if (rret != chunk_sizes[c]) {
err(1, "READ ERROR!");
warnx("READ ERROR!");
return 1;
}
for (int j = 0; j < chunk_sizes[c]; j++) {
@@ -279,7 +280,8 @@ test_file(int argc, char *argv[])
}
if (!unalign_read_ok) {
errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
return 1;
}
}
@@ -287,9 +289,10 @@ test_file(int argc, char *argv[])
ret = unlink("/fs/microsd/testfile");
close(fd);
if (ret)
err(1, "UNLINKING FILE FAILED");
if (ret) {
warnx("UNLINKING FILE FAILED");
return 1;
}
}
}
@@ -309,75 +312,9 @@ test_file(int argc, char *argv[])
} else {
/* failed opening dir */
err(1, "FAILED LISTING MICROSD ROOT DIRECTORY");
}
return 0;
}
#if 0
int
test_file(int argc, char *argv[])
{
const iterations = 1024;
/* check if microSD card is mounted */
struct stat buffer;
if (stat("/fs/microsd/", &buffer)) {
warnx("no microSD card mounted, aborting file test");
warnx("FAILED LISTING MICROSD ROOT DIRECTORY");
return 1;
}
uint8_t buf[512];
hrt_abstime start, end;
perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
memset(buf, 0, sizeof(buf));
start = hrt_absolute_time();
for (unsigned i = 0; i < iterations; i++) {
perf_begin(wperf);
write(fd, buf, sizeof(buf));
perf_end(wperf);
}
end = hrt_absolute_time();
close(fd);
unlink("/fs/microsd/testfile");
warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
perf_print_counter(wperf);
perf_free(wperf);
warnx("running unlink test");
/* ensure that common commands do not run against file count limits */
for (unsigned i = 0; i < 64; i++) {
warnx("unlink iteration #%u", i);
int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
if (fd < 0)
errx(1, "failed opening test file before unlink()");
int ret = write(fd, buf, sizeof(buf));
if (ret < 0)
errx(1, "failed writing test file before unlink()");
close(fd);
ret = unlink("/fs/microsd/testfile");
if (ret != OK)
errx(1, "failed unlinking test file");
fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
if (fd < 0)
errx(1, "failed opening test file after unlink()");
ret = write(fd, buf, sizeof(buf));
if (ret < 0)
errx(1, "failed writing test file after unlink()");
close(fd);
}
return 0;
}
#endif

289
src/systemcmds/tests/test_mount.c Normal file
View File

@@ -0,0 +1,289 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file test_mount.c
*
* Device mount / unmount stress test
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <sys/stat.h>
#include <dirent.h>
#include <stdio.h>
#include <stddef.h>
#include <unistd.h>
#include <fcntl.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include "tests.h"
const int fsync_tries = 1;
const int abort_tries = 10;
int
test_mount(int argc, char *argv[])
{
const unsigned iterations = 2000;
const unsigned alignments = 10;
const char* cmd_filename = "/fs/microsd/mount_test_cmds.txt";
/* check if microSD card is mounted */
struct stat buffer;
if (stat("/fs/microsd/", &buffer)) {
warnx("no microSD card mounted, aborting file test");
return 1;
}
/* list directory */
DIR *d;
struct dirent *dir;
d = opendir("/fs/microsd");
if (d) {
while ((dir = readdir(d)) != NULL) {
//printf("%s\n", dir->d_name);
}
closedir(d);
warnx("directory listing ok (FS mounted and readable)");
} else {
/* failed opening dir */
warnx("FAILED LISTING MICROSD ROOT DIRECTORY");
if (stat(cmd_filename, &buffer) == OK) {
(void)unlink(cmd_filename);
}
return 1;
}
/* read current test status from file, write test instructions for next round */
/* initial values */
int it_left_fsync = fsync_tries;
int it_left_abort = abort_tries;
int cmd_fd;
if (stat(cmd_filename, &buffer) == OK) {
/* command file exists, read off state */
cmd_fd = open(cmd_filename, O_RDWR | O_NONBLOCK);
char buf[64];
int ret = read(cmd_fd, buf, sizeof(buf));
if (ret > 0) {
int count = 0;
ret = sscanf(buf, "TEST: %u %u %n", &it_left_fsync, &it_left_abort, &count);
} else {
buf[0] = '\0';
}
if (it_left_fsync > fsync_tries)
it_left_fsync = fsync_tries;
if (it_left_abort > abort_tries)
it_left_abort = abort_tries;
warnx("Iterations left: #%d / #%d of %d / %d\n(%s)", it_left_fsync, it_left_abort,
fsync_tries, abort_tries, buf);
int it_left_fsync_prev = it_left_fsync;
/* now write again what to do next */
if (it_left_fsync > 0)
it_left_fsync--;
if (it_left_fsync == 0 && it_left_abort > 0) {
it_left_abort--;
/* announce mode switch */
if (it_left_fsync_prev != it_left_fsync && it_left_fsync == 0) {
warnx("\n SUCCESSFULLY PASSED FSYNC'ED WRITES, CONTINUTING WITHOUT FSYNC");
fsync(stdout);
fsync(stderr);
usleep(20000);
}
}
if (it_left_abort == 0) {
(void)unlink(cmd_filename);
return 0;
}
} else {
/* this must be the first iteration, do something */
cmd_fd = open(cmd_filename, O_TRUNC | O_WRONLY | O_CREAT);
warnx("First iteration of file test\n");
}
char buf[64];
int wret = sprintf(buf, "TEST: %d %d ", it_left_fsync, it_left_abort);
lseek(cmd_fd, 0, SEEK_SET);
write(cmd_fd, buf, strlen(buf) + 1);
fsync(cmd_fd);
/* perform tests for a range of chunk sizes */
unsigned chunk_sizes[] = {32, 64, 128, 256, 512, 600, 1200};
for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
printf("\n\n====== FILE TEST: %u bytes chunks (%s) ======\n", chunk_sizes[c], (it_left_fsync > 0) ? "FSYNC" : "NO FSYNC");
printf("unpower the system immediately (within 0.5s) when the hash (#) sign appears\n");
fsync(stdout);
fsync(stderr);
usleep(50000);
for (unsigned a = 0; a < alignments; a++) {
printf(".");
uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
/* fill write buffer with known values */
for (int i = 0; i < sizeof(write_buf); i++) {
/* this will wrap, but we just need a known value with spacing */
write_buf[i] = i+11;
}
uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
hrt_abstime start, end;
int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
start = hrt_absolute_time();
for (unsigned i = 0; i < iterations; i++) {
int wret = write(fd, write_buf + a, chunk_sizes[c]);
if (wret != chunk_sizes[c]) {
warn("WRITE ERROR!");
if ((0x3 & (uintptr_t)(write_buf + a)))
warnx("memory is unaligned, align shift: %d", a);
return 1;
}
if (it_left_fsync > 0) {
fsync(fd);
} else {
printf("#");
fsync(stdout);
fsync(stderr);
}
}
if (it_left_fsync > 0) {
printf("#");
}
printf(".");
fsync(stdout);
fsync(stderr);
usleep(200000);
end = hrt_absolute_time();
close(fd);
fd = open("/fs/microsd/testfile", O_RDONLY);
/* read back data for validation */
for (unsigned i = 0; i < iterations; i++) {
int rret = read(fd, read_buf, chunk_sizes[c]);
if (rret != chunk_sizes[c]) {
warnx("READ ERROR!");
return 1;
}
/* compare value */
bool compare_ok = true;
for (int j = 0; j < chunk_sizes[c]; j++) {
if (read_buf[j] != write_buf[j + a]) {
warnx("COMPARISON ERROR: byte %d, align shift: %d", j, a);
compare_ok = false;
break;
}
}
if (!compare_ok) {
warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
return 1;
}
}
int ret = unlink("/fs/microsd/testfile");
close(fd);
if (ret) {
warnx("UNLINKING FILE FAILED");
return 1;
}
}
}
fsync(stdout);
fsync(stderr);
usleep(20000);
/* we always reboot for the next test if we get here */
warnx("Iteration done, rebooting..");
fsync(stdout);
fsync(stderr);
usleep(50000);
systemreset(false);
/* never going to get here */
return 0;
}

1
src/systemcmds/tests/tests.h
View File

@@ -109,6 +109,7 @@ extern int test_bson(int argc, char *argv[]);
extern int test_file(int argc, char *argv[]);
extern int test_mixer(int argc, char *argv[]);
extern int test_rc(int argc, char *argv[]);
extern int test_mount(int argc, char *argv[]);
__END_DECLS

1
src/systemcmds/tests/tests_main.c
View File

@@ -106,6 +106,7 @@ const struct {
{"file", test_file, 0},
{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
{"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
{NULL, NULL, 0}
};