Merge branch 'master' into autostart_cleanup

12 files changed, 452 insertions, 98 deletions

diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
index 6aa1d3d46..56482d140 100644
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -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
\ No newline at end of file
+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
diff --git a/makefiles/config_px4fmu-v1_test.mk b/makefiles/config_px4fmu-v1_test.mk
new file mode 100644
index 000000000..41e8b95ff
--- /dev/null
+++ b/makefiles/config_px4fmu-v1_test.mk
@@ -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                )
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 750c0e7c3..a1bb6c92b 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -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
 
 #
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 269ec238e..71414d62c 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -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;
 	}
 
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index e322c6349..a3d3a3933 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -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);
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index 042d9f816..d293f9954 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -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);
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index 458bb2259..7d9484d3e 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -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);
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 68a080c77..28e214a6c 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -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
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index cdb0b0337..7206b87d6 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -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
diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c
new file mode 100644
index 000000000..44e34d9ef
--- /dev/null
+++ b/src/systemcmds/tests/test_mount.c
@@ -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;
+}
diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h
index a57d04be3..bec13bd30 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -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
 
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 1088a4407..84535126f 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -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}
 };