Merge branch 'sdtest' of github.com:PX4/Firmware into hil_usb_only

2 files changed, 50 insertions, 37 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 38e183608..969dbefea 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -95,6 +95,8 @@ extern device::Device *PX4IO_serial_interface() weak_function;
 #define PX4IO_SET_DEBUG			_IOC(0xff00, 0)
 #define PX4IO_INAIR_RESTART_ENABLE	_IOC(0xff00, 1)
 
+#define UPDATE_INTERVAL_MIN		2
+
 /**
  * The PX4IO class.
  *
@@ -817,8 +819,8 @@ PX4IO::task_main()
 
 		/* adjust update interval */
 		if (_update_interval != 0) {
-			if (_update_interval < 5)
-				_update_interval = 5;
+			if (_update_interval < UPDATE_INTERVAL_MIN)
+				_update_interval = UPDATE_INTERVAL_MIN;
 			if (_update_interval > 100)
 				_update_interval = 100;
 			orb_set_interval(_t_actuators, _update_interval);
@@ -2058,8 +2060,8 @@ int
 PX4IO::set_update_rate(int rate)
 {
 	int interval_ms = 1000 / rate;
-	if (interval_ms < 3) {
-		interval_ms = 3;
+	if (interval_ms < UPDATE_INTERVAL_MIN) {
+		interval_ms = UPDATE_INTERVAL_MIN;
 		warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
 	}
 
@@ -2442,7 +2444,7 @@ px4io_main(int argc, char *argv[])
 		if ((argc > 2)) {
 			g_dev->set_update_rate(atoi(argv[2]));
 		} else {
-			errx(1, "missing argument (50 - 400 Hz)");
+			errx(1, "missing argument (50 - 500 Hz)");
 			return 1;
 		}
 		exit(0);
diff --git a/src/systemcmds/tests/tests_file.c b/src/systemcmds/tests/tests_file.c
index f36c28061..372bc5c90 100644
--- a/src/systemcmds/tests/tests_file.c
+++ b/src/systemcmds/tests/tests_file.c
@@ -63,24 +63,38 @@ test_file(int argc, char *argv[])
 		return 1;
 	}
 
-	uint8_t buf[512];
+	uint8_t write_buf[512 + 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[512 + 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);
-	memset(buf, 0, sizeof(buf));
 
-	warnx("aligned write - please wait..");
-
-	if ((0x3 & (uintptr_t)buf))
-		warnx("memory is unaligned!");
+	warnx("testing aligned and unaligned writes - please wait..");
 
 	start = hrt_absolute_time();
 	for (unsigned i = 0; i < iterations; i++) {
 		perf_begin(wperf);
-		write(fd, buf, sizeof(buf));
+		int wret = write(fd, write_buf + (i % 64), 512);
+
+		if (wret != 512) {
+			warn("WRITE ERROR!");
+
+			if ((0x3 & (uintptr_t)(write_buf + (i % 64))))
+				warnx("memory is unaligned, align shift: %d", (i % 64));
+
+		}
+
 		fsync(fd);
 		perf_end(wperf);
+
 	}
 	end = hrt_absolute_time();
 
@@ -89,39 +103,36 @@ test_file(int argc, char *argv[])
 	perf_print_counter(wperf);
 	perf_free(wperf);
 
-	int ret = unlink("/fs/microsd/testfile");
-
-	if (ret)
-		err(1, "UNLINKING FILE FAILED");
+	/* read back data for validation */
+	for (unsigned i = 0; i < iterations; i++) {
+		int rret = read(fd, read_buf, 512);
+		
+		/* compare value */
+
+		for (int j = 0; j < 512; j++) {
+			if (read_buf[j] != write_buf[j + (i % 64)]) {
+				warnx("COMPARISON ERROR: byte %d, align shift: %d", j, (i % 64));
+			}
+		}
 
-	warnx("unaligned write - please wait..");
+	}
 
-	struct {
-		uint8_t byte;
-		uint8_t unaligned[512];
-	} unaligned_buf;
+	/* read back data for alignment checks */
+	// for (unsigned i = 0; i < iterations; i++) {
+	// 	perf_begin(wperf);
+	// 	int rret = read(fd, buf + (i % 64), sizeof(buf));
+	// 	fsync(fd);
+	// 	perf_end(wperf);
 
-	if ((0x3 & (uintptr_t)unaligned_buf.unaligned) == 0)
-		warnx("creating unaligned memory failed.");
+	// }
 
-	wperf = perf_alloc(PC_ELAPSED, "SD writes (unaligned)");
+	int ret = unlink("/fs/microsd/testfile");
 
-	start = hrt_absolute_time();
-	for (unsigned i = 0; i < iterations; i++) {
-		perf_begin(wperf);
-		write(fd, unaligned_buf.unaligned, sizeof(unaligned_buf.unaligned));
-		fsync(fd);
-		perf_end(wperf);
-	}
-	end = hrt_absolute_time();
+	if (ret)
+		err(1, "UNLINKING FILE FAILED");
 
 	close(fd);
 
-	warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
-
-	perf_print_counter(wperf);
-	perf_free(wperf);
-
 	/* list directory */
 	DIR           *d;
 	struct dirent *dir;