Merged

7 files changed, 138 insertions, 232 deletions

diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c
index c5960e757..4c021303f 100644
--- a/apps/px4/tests/test_adc.c
+++ b/apps/px4/tests/test_adc.c
@@ -53,96 +53,40 @@
 #include "tests.h"
 
 #include <nuttx/analog/adc.h>
+#include <drivers/drv_adc.h>
+#include <systemlib/err.h>
 
 int test_adc(int argc, char *argv[])
 {
-	int		fd0 = 0;
-	int		ret = 0;
-
-	#pragma pack(push,1)
-	struct adc_msg4_s {
-		uint8_t      am_channel1;	/**< The 8-bit ADC Channel 1 */
-		int32_t      am_data1;		/**< ADC convert result 1 (4 bytes) */
-		uint8_t      am_channel2;	/**< The 8-bit ADC Channel 2 */
-		int32_t      am_data2;		/**< ADC convert result 2 (4 bytes) */
-		uint8_t      am_channel3;	/**< The 8-bit ADC Channel 3 */
-		int32_t      am_data3;		/**< ADC convert result 3 (4 bytes) */
-		uint8_t      am_channel4;	/**< The 8-bit ADC Channel 4 */
-		int32_t      am_data4;		/**< ADC convert result 4 (4 bytes) */
-	};
-	#pragma pack(pop)
-
-	struct adc_msg4_s sample1;
-
-	ssize_t nbytes;
-	int j;
-	int errval;
-
-	fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
-
-	if (fd0 <= 0) {
-		message("/dev/adc0 open fail: %d\n", errno);
-		return ERROR;
-
-	} else {
-		message("opened /dev/adc0 successfully\n");
-	}
-	usleep(10000);
-
-	for (j = 0; j < 10; j++) {
+	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
 
-		/* sleep 20 milliseconds */
-		usleep(20000);
-		nbytes = read(fd0, &sample1, sizeof(sample1));
+	if (fd < 0)
+		err(1, "can't open ADC device");
 
-		/* Handle unexpected return values */
+	for (unsigned i = 0; i < 5; i++) {
+		/* make space for a maximum of eight channels */
+		struct adc_msg_s data[8];
+		/* read all channels available */
+		ssize_t count = read(fd, data, sizeof(data));
 
-		if (nbytes < 0) {
-			errval = errno;
+		if (count < 0)
+			goto errout_with_dev;
 
-			if (errval != EINTR) {
-				message("reading /dev/adc0 failed: %d\n", errval);
-				errval = 3;
-				goto errout_with_dev;
-			}
+		unsigned channels = count / sizeof(data[0]);
 
-			message("\tinterrupted read..\n");
-
-		} else if (nbytes == 0) {
-			message("\tno data read, ignoring.\n");
-			ret = ERROR;
+		for (unsigned j = 0; j < channels; j++) {
+			printf("%d: %u  ", data[j].am_channel, data[j].am_data);
 		}
 
-		/* Print the sample data on successful return */
-
-		else {
-			if (nbytes != sizeof(sample1)) {
-				message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
-					nbytes, sizeof(sample1));
-				ret = ERROR;
-
-			} else {
-
-				message("CYCLE %d:\n", j);
-
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel1, sample1.am_data1);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel2, sample1.am_data2);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel3, sample1.am_data3);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel4, sample1.am_data4);
-			}
-		}
-		fflush(stdout);
+		printf("\n");
+		usleep(150000);
 	}
 
 	message("\t ADC test successful.\n");
 
 errout_with_dev:
 
-	if (fd0 != 0) close(fd0);
+	if (fd != 0) close(fd);
 
-	return ret;
+	return OK;
 }
diff --git a/apps/px4/tests/test_bson.c b/apps/px4/tests/test_bson.c
index e2a10ec29..a42c462ca 100644
--- a/apps/px4/tests/test_bson.c
+++ b/apps/px4/tests/test_bson.c
@@ -240,5 +240,5 @@ test_bson(int argc, char *argv[])
 	decode(&decoder);
 	free(buf);
 
-	exit(0);
+	return OK;
 }
\ No newline at end of file
diff --git a/apps/px4/tests/test_jig_voltages.c b/apps/px4/tests/test_jig_voltages.c
index 51f9b9a5b..10c93b264 100644
--- a/apps/px4/tests/test_jig_voltages.c
+++ b/apps/px4/tests/test_jig_voltages.c
@@ -52,7 +52,8 @@
 #include "tests.h"
 
 #include <nuttx/analog/adc.h>
-
+#include <drivers/drv_adc.h>
+#include <systemlib/err.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -89,129 +90,79 @@
 
 int test_jig_voltages(int argc, char *argv[])
 {
-	int		fd0 = 0;
-	int		ret = OK;
-	const int nchannels = 4;
-
-	struct adc_msg4_s
-	{
-	  uint8_t      am_channel1;               /* The 8-bit ADC Channel */
-	  int32_t      am_data1;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel2;               /* The 8-bit ADC Channel */
-	  int32_t      am_data2;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel3;               /* The 8-bit ADC Channel */
-	  int32_t      am_data3;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel4;               /* The 8-bit ADC Channel */
-	  int32_t      am_data4;                  /* ADC convert result (4 bytes) */
-	}__attribute__((__packed__));;
-
-	struct adc_msg4_s sample1[4];
-
-	size_t readsize;
-	ssize_t nbytes;
-	int i = 0;
-	int j = 0;
-	int errval;
-
-	char name[11];
-	sprintf(name, "/dev/adc%d", j);
-	fd0 = open(name, O_RDONLY | O_NONBLOCK);
-	if (fd0 < 0)
-	{
-		printf("ADC: %s open fail\n", name);
-		return ERROR;
-	} else {
-		printf("Opened %s successfully\n", name);
+	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
+	int ret = OK;
+
+	if (fd < 0) {
+		warnx("can't open ADC device");
+		return 1;
+	}
+
+	/* make space for a maximum of eight channels */
+	struct adc_msg_s data[8];
+	/* read all channels available */
+	ssize_t count = read(fd, data, sizeof(data));
+
+	if (count < 0) {
+		close(fd);
+		warnx("can't read from ADC driver. Forgot 'adc start' command?");
+		return 1;
+	}
+
+	unsigned channels = count / sizeof(data[0]);
+
+	for (unsigned j = 0; j < channels; j++) {
+		printf("%d: %u  ", data[j].am_channel, data[j].am_data);
 	}
 
+	printf("\n");
+
+	warnx("\t ADC operational.\n");
 
 	/* Expected values */
-	int16_t expected_min[] = {2700, 2700, 2200, 2000};
-	int16_t expected_max[] = {3000, 3000, 2500, 2200};
-	char* check_res[nchannels];
+	int16_t expected_min[] = {2800, 2800, 1800,  800};
+	int16_t expected_max[] = {3100, 3100, 2100, 1100};
+	char *check_res[channels];
 
-	/* first adc read round */
-	readsize = 4 * sizeof(struct adc_msg_s);
+	if (channels < 4) {
+		close(fd);
+		warnx("not all four test channels available, aborting.");
+		return 1;
 
-	/* Empty all buffers */
-	do {
-		nbytes = read(fd0, sample1, readsize);
+	} else {
+		/* Check values */
+		check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
+		check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
+		check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
+		check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";
+
+		/* Accumulate result */
+		ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
+		ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
+		ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
+		ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
+
+		message("Sample:");
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
+
+		if (ret != OK) {
+			printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
+			goto errout_with_dev;
+		}
 	}
-	while (nbytes > 0);
-
-	up_udelay(20000);//microseconds
-	/* Take measurements */
-	nbytes = read(fd0, sample1, readsize);
-
-    /* Handle unexpected return values */
-
-    if (nbytes <= 0)
-      {
-        errval = errno;
-        if (errval != EINTR)
-          {
-            message("read %s failed: %d\n",
-                    name, errval);
-            errval = 3;
-            goto errout_with_dev;
-          }
-
-        message("\tInterrupted read...\n");
-      }
-    else if (nbytes == 0)
-      {
-        message("\tNo data read, Ignoring\n");
-      }
-
-    /* Print the sample data on successful return */
-
-    else
-    {
-    	int nsamples = nbytes / sizeof(struct adc_msg_s);
-    	if (nsamples * sizeof(struct adc_msg_s) != nbytes)
-    	{
-    		message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
-    				nbytes, sizeof(struct adc_msg_s));
-    	}
-    	else
-    	{
-    		/* Check values */
-    		check_res[0] = (expected_min[0] < sample1[i].am_data1 && expected_max[0] > sample1[i].am_data1) ? "OK" : "FAIL";
-    		check_res[1] = (expected_min[1] < sample1[i].am_data2 && expected_max[1] > sample1[i].am_data2) ? "OK" : "FAIL";
-    		check_res[2] = (expected_min[2] < sample1[i].am_data3 && expected_max[2] > sample1[i].am_data3) ? "OK" : "FAIL";
-    		check_res[3] = (expected_min[3] < sample1[i].am_data4 && expected_max[3] > sample1[i].am_data4) ? "OK" : "FAIL";
-
-    		/* Accumulate result */
-    		ret += (expected_min[0] > sample1[i].am_data1 || expected_max[0] < sample1[i].am_data1) ? 1 : 0;
-    		// XXX Chan 11 not connected on test setup
-    		//ret += (expected_min[1] > sample1[i].am_data2 || expected_max[1] < sample1[i].am_data2) ? 1 : 0;
-    		ret += (expected_min[2] > sample1[i].am_data3 || expected_max[2] < sample1[i].am_data3) ? 1 : 0;
-    		ret += (expected_min[3] > sample1[i].am_data4 || expected_max[3] < sample1[i].am_data4) ? 1 : 0;
-
-    		message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-    					i, sample1[i].am_channel1, sample1[i].am_data1, expected_min[0], expected_max[0], check_res[0]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel2, sample1[i].am_data2, expected_min[1], expected_max[1], check_res[1]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel3, sample1[i].am_data3, expected_min[2], expected_max[2], check_res[2]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel4, sample1[i].am_data4, expected_min[3], expected_max[3], check_res[3]);
-
-    		if (ret != OK) {
-    			printf("\t ADC test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
-    		 	goto errout_with_dev;
-    		}
-    	}
-    }
-
-	printf("\t ADC test successful.\n");
-
-	errout_with_dev:
-	  if (fd0 != 0) close(fd0);
+
+	printf("\t JIG voltages test successful.\n");
+
+errout_with_dev:
+
+	if (fd != 0) close(fd);
 
 	return ret;
 }
diff --git a/apps/px4/tests/test_sleep.c b/apps/px4/tests/test_sleep.c
index c7b9d2833..ae682b542 100644
--- a/apps/px4/tests/test_sleep.c
+++ b/apps/px4/tests/test_sleep.c
@@ -90,9 +90,8 @@ int test_sleep(int argc, char *argv[])
 	printf("\t %d 100ms sleeps\n", nsleeps);
 	fflush(stdout);
 
-	for (int i = 0; i < nsleeps; i++) {
+	for (unsigned int i = 0; i < nsleeps; i++) {
 		usleep(100000);
-		//printf("\ttick\n");
 	}
 
 	printf("\t Sleep test successful.\n");
diff --git a/apps/px4/tests/test_time.c b/apps/px4/tests/test_time.c
index 25bf02c31..8a164f3fc 100644
--- a/apps/px4/tests/test_time.c
+++ b/apps/px4/tests/test_time.c
@@ -95,7 +95,7 @@ cycletime(void)
 
 	lasttime = cycles;
 
-	return (basetime + cycles) / 168;
+	return (basetime + cycles) / 168;	/* XXX magic number */
 }
 
 /****************************************************************************
@@ -133,9 +133,9 @@ int test_time(int argc, char *argv[])
 	lowdelta = abs(delta / 100);
 
 	/* loop checking the time */
-	for (unsigned i = 0; i < 100000; i++) {
+	for (unsigned i = 0; i < 100; i++) {
 
-		usleep(rand() * 10);
+		usleep(rand());
 
 		uint32_t flags = irqsave();
 
@@ -154,7 +154,7 @@ int test_time(int argc, char *argv[])
 			fprintf(stderr, "h %llu  c %llu  d %lld\n", h, c, delta - lowdelta);
 	}
 
-	printf("Maximum jitter %lld\n", maxdelta);
+	printf("Maximum jitter %lldus\n", maxdelta);
 
 	return 0;
 }
diff --git a/apps/px4/tests/tests_file.c b/apps/px4/tests/tests_file.c
index 697410cee..6f75b9812 100644
--- a/apps/px4/tests/tests_file.c
+++ b/apps/px4/tests/tests_file.c
@@ -37,6 +37,7 @@
  * File write test.
  */
 
+#include <sys/stat.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <fcntl.h>
@@ -51,6 +52,13 @@
 int
 test_file(int argc, char *argv[])
 {
+	/* check if microSD card is mounted */
+	struct stat buffer;
+	if (stat("/fs/microsd/", &buffer)) {
+		warnx("no microSD card mounted, aborting file test");
+		return 1;
+	}
+
 	uint8_t buf[512];
 	hrt_abstime start, end;
 	perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c
index 906d25f9e..ad6828f20 100644
--- a/apps/px4/tests/tests_main.c
+++ b/apps/px4/tests/tests_main.c
@@ -78,43 +78,44 @@ static int test_jig(int argc, char *argv[]);
  * Private Data
  ****************************************************************************/
 
-struct {
+const struct {
 	const char 	*name;
 	int	(* fn)(int argc, char *argv[]);
 	unsigned	options;
-	int			passed;
 #define OPT_NOHELP	(1<<0)
 #define OPT_NOALLTEST	(1<<1)
 #define OPT_NOJIGTEST	(1<<2)
 } tests[] = {
-	{"led",			test_led,	0, 0},
-	{"int",			test_int,	0, 0},
-	{"float",		test_float,	0, 0},
-	{"sensors",		test_sensors,	0, 0},
-	{"gpio",		test_gpio,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"adc",			test_adc,	OPT_NOJIGTEST, 0},
-	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST, 0},
-	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-    {"hott_telemetry",	test_hott_telemetry,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"tone",		test_tone,	0, 0},
-	{"sleep",		test_sleep,	OPT_NOJIGTEST, 0},
-	{"time",		test_time,	OPT_NOJIGTEST, 0},
-	{"perf",		test_perf,	OPT_NOJIGTEST, 0},
-	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST, 0},
-	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
-	{"param",		test_param,	0, 0},
-	{"bson",		test_bson,	0, 0},
-	{"file",		test_file,	0, 0},
-	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
-	{NULL,			NULL, 		0, 0}
+	{"led",			test_led,	0},
+	{"int",			test_int,	0},
+	{"float",		test_float,	0},
+	{"sensors",		test_sensors,	0},
+	{"gpio",		test_gpio,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"adc",			test_adc,	OPT_NOJIGTEST},
+	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
+	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"hott_telemetry",	test_hott_telemetry,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"tone",		test_tone,	0},
+	{"sleep",		test_sleep,	OPT_NOJIGTEST},
+	{"time",		test_time,	OPT_NOJIGTEST},
+	{"perf",		test_perf,	OPT_NOJIGTEST},
+	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST},
+	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"param",		test_param,	0},
+	{"bson",		test_bson,	0},
+	{"file",		test_file,	0},
+	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
+	{NULL,			NULL, 		0}
 };
 
+#define NTESTS (sizeof(tests) / sizeof(tests[0]))
+
 static int
 test_help(int argc, char *argv[])
 {
@@ -134,6 +135,7 @@ test_all(int argc, char *argv[])
 	unsigned	i;
 	char		*args[2] = {"all", NULL};
 	unsigned int failcount = 0;
+	bool		passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
 
@@ -148,11 +150,11 @@ test_all(int argc, char *argv[])
 				fprintf(stderr, "  [%s] \t\t\tFAIL\n", tests[i].name);
 				fflush(stderr);
 				failcount++;
-
+				passed[i] = false;
 			} else {
-				tests[i].passed = 1;
 				printf("  [%s] \t\t\tPASS\n", tests[i].name);
 				fflush(stdout);
+				passed[i] = true;
 			}
 		}
 	}
@@ -196,7 +198,7 @@ test_all(int argc, char *argv[])
 	unsigned int k;
 
 	for (k = 0; k < i; k++) {
-		if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOALLTEST)) {
+		if (!passed[k] && !(tests[k].options & OPT_NOALLTEST)) {
 			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
 		}
 	}
@@ -243,6 +245,7 @@ int test_jig(int argc, char *argv[])
 	unsigned	i;
 	char		*args[2] = {"jig", NULL};
 	unsigned int failcount = 0;
+	bool		passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
 	for (i = 0; tests[i].name; i++) {
@@ -255,10 +258,11 @@ int test_jig(int argc, char *argv[])
 				fprintf(stderr, "  [%s] \t\t\tFAIL\n", tests[i].name);
 				fflush(stderr);
 				failcount++;
+				passed[i] = false;
 			} else {
-				tests[i].passed = 1;
 				printf("  [%s] \t\t\tPASS\n", tests[i].name);
 				fflush(stdout);
+				passed[i] = true;
 			}
 		}
 	}
@@ -297,7 +301,7 @@ int test_jig(int argc, char *argv[])
 	unsigned int k;
 	for (k = 0; k < i; k++)
 	{
-		if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOJIGTEST))
+		if (!passed[i] && !(tests[k].options & OPT_NOJIGTEST))
 		{
 			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
 		}