Tests for all PWM pins

1 files changed, 335 insertions, 0 deletions

diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
new file mode 100644
index 000000000..798724cf1
--- /dev/null
+++ b/src/systemcmds/tests/test_file.c
@@ -0,0 +1,335 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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_file.c
+ *
+ * File write test.
+ */
+
+#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/perf_counter.h>
+#include <string.h>
+
+#include <drivers/drv_hrt.h>
+
+#include "tests.h"
+
+int
+test_file(int argc, char *argv[])
+{
+	const unsigned iterations = 100;
+	const unsigned alignments = 65;
+
+	/* check if microSD card is mounted */
+	struct stat buffer;
+	if (stat("/fs/microsd/", &buffer)) {
+		warnx("no microSD card mounted, aborting file test");
+		return 1;
+	}
+
+	/* perform tests for a range of chunk sizes */
+	unsigned chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
+
+	for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
+
+		printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]);
+
+		for (unsigned a = 0; a < alignments; a++) {
+
+			printf("\n");
+			warnx("----- alignment test: %u bytes -----", a);
+
+			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;
+			//perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)");
+
+			int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+
+			warnx("testing unaligned writes - please wait..");
+
+			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);
+
+				}
+
+				fsync(fd);
+				//perf_end(wperf);
+
+			}
+			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);
+
+			/* 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]) {
+					errx(1, "READ ERROR!");
+				}
+				
+				/* 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) {
+					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+				}
+
+			}
+
+			/*
+			 * ALIGNED WRITES AND UNALIGNED READS
+			 */
+
+			close(fd);
+			int ret = unlink("/fs/microsd/testfile");
+			fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+
+			warnx("testing aligned writes - please wait..");
+
+			start = hrt_absolute_time();
+			for (unsigned i = 0; i < iterations; i++) {
+				int wret = write(fd, write_buf, chunk_sizes[c]);
+
+				if (wret != chunk_sizes[c]) {
+					err(1, "WRITE ERROR!");
+				}
+
+			}
+
+			fsync(fd);
+
+			warnx("reading data aligned..");
+
+			close(fd);
+			fd = open("/fs/microsd/testfile", O_RDONLY);
+
+			bool align_read_ok = true;
+
+			/* read back data unaligned */
+			for (unsigned i = 0; i < iterations; i++) {
+				int rret = read(fd, read_buf, chunk_sizes[c]);
+
+				if (rret != chunk_sizes[c]) {
+					err(1, "READ ERROR!");
+				}
+				
+				/* compare value */
+				bool compare_ok = true;
+
+				for (int j = 0; j < chunk_sizes[c]; j++) {
+					if (read_buf[j] != write_buf[j]) {
+						warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
+						align_read_ok = false;
+						break;
+					}
+				}
+
+				if (!align_read_ok) {
+					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+				}
+
+			}
+
+			warnx("align read result: %s\n", (align_read_ok) ? "OK" : "ERROR");
+
+			warnx("reading data unaligned..");
+
+			close(fd);
+			fd = open("/fs/microsd/testfile", O_RDONLY);
+
+			bool unalign_read_ok = true;
+			int unalign_read_err_count = 0;
+
+			memset(read_buf, 0, sizeof(read_buf));
+
+			/* read back data unaligned */
+			for (unsigned i = 0; i < iterations; i++) {
+				int rret = read(fd, read_buf + a, chunk_sizes[c]);
+
+				if (rret != chunk_sizes[c]) {
+					err(1, "READ ERROR!");
+				}
+
+				for (int j = 0; j < chunk_sizes[c]; j++) {
+
+					if ((read_buf + a)[j] != write_buf[j]) {
+						warnx("COMPARISON ERROR: byte %d, align shift: %d: %u != %u", j, a, (unsigned int)read_buf[j + a], (unsigned int)write_buf[j]);
+						unalign_read_ok = false;
+						unalign_read_err_count++;
+						
+						if (unalign_read_err_count > 10)
+							break;
+					}
+				}
+
+				if (!unalign_read_ok) {
+					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+				}
+
+			}
+
+			ret = unlink("/fs/microsd/testfile");
+			close(fd);
+
+			if (ret)
+				err(1, "UNLINKING FILE FAILED");
+
+		}
+	}
+
+	/* 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 */
+		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");
+		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