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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-30 11:01:40 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-30 11:01:40 +0200 |
commit | 8495c440536a030dd13d53683b6c239304811d17 (patch) | |
tree | a0f8e1a413c7bf6798d2a6db847b8bb208af2a30 /src/systemcmds | |
parent | a4315aee2ee69068c9a13568091805e20d0b04c5 (diff) | |
parent | 857b843d445f59f2dc393e4d5f879fc56f77a0e0 (diff) | |
download | px4-firmware-8495c440536a030dd13d53683b6c239304811d17.tar.gz px4-firmware-8495c440536a030dd13d53683b6c239304811d17.tar.bz2 px4-firmware-8495c440536a030dd13d53683b6c239304811d17.zip |
Merge commit '857b843d445f59f2dc393e4d5f879fc56f77a0e0' into navigator_rewrite_drton
Diffstat (limited to 'src/systemcmds')
-rw-r--r-- | src/systemcmds/mtd/mtd.c | 38 | ||||
-rw-r--r-- | src/systemcmds/param/param.c | 4 | ||||
-rw-r--r-- | src/systemcmds/tests/test_conv.cpp | 2 | ||||
-rw-r--r-- | src/systemcmds/tests/test_file.c | 7 | ||||
-rw-r--r-- | src/systemcmds/tests/test_file2.c | 10 | ||||
-rw-r--r-- | src/systemcmds/tests/test_float.c | 10 | ||||
-rw-r--r-- | src/systemcmds/tests/test_mathlib.cpp | 4 | ||||
-rw-r--r-- | src/systemcmds/tests/test_mixer.cpp | 34 | ||||
-rw-r--r-- | src/systemcmds/tests/test_ppm_loopback.c | 1 | ||||
-rw-r--r-- | src/systemcmds/tests/test_rc.c | 1 | ||||
-rw-r--r-- | src/systemcmds/tests/test_servo.c | 1 |
11 files changed, 50 insertions, 62 deletions
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c index a57eaafe7..a925cdd40 100644 --- a/src/systemcmds/mtd/mtd.c +++ b/src/systemcmds/mtd/mtd.c @@ -91,7 +91,7 @@ static void mtd_test(void); static void mtd_erase(char *partition_names[], unsigned n_partitions); static void mtd_readtest(char *partition_names[], unsigned n_partitions); static void mtd_rwtest(char *partition_names[], unsigned n_partitions); -static void mtd_print_info(); +static void mtd_print_info(void); static int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions); @@ -104,6 +104,16 @@ static unsigned n_partitions_current = 0; static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"}; static const int n_partitions_default = sizeof(partition_names_default) / sizeof(partition_names_default[0]); +static void +mtd_status(void) +{ + if (!attached) + errx(1, "MTD driver not started"); + + mtd_print_info(); + exit(0); +} + int mtd_main(int argc, char *argv[]) { if (argc >= 2) { @@ -193,8 +203,12 @@ ramtron_attach(void) errx(1, "failed to initialize mtd driver"); int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_SETSPEED, (unsigned long)10*1000*1000); - if (ret != OK) - warnx(1, "failed to set bus speed"); + if (ret != OK) { + // FIXME: From the previous warnx call, it looked like this should have been an errx instead. Tried + // that but setting the bug speed does fail all the time. Which was then exiting and the board would + // not run correctly. So changed to warnx. + warnx("failed to set bus speed"); + } attached = true; } @@ -351,7 +365,7 @@ static ssize_t mtd_get_partition_size(void) return partsize; } -void mtd_print_info() +void mtd_print_info(void) { if (!attached) exit(1); @@ -382,16 +396,6 @@ mtd_test(void) } void -mtd_status(void) -{ - if (!attached) - errx(1, "MTD driver not started"); - - mtd_print_info(); - exit(0); -} - -void mtd_erase(char *partition_names[], unsigned n_partitions) { uint8_t v[64]; @@ -424,7 +428,7 @@ mtd_readtest(char *partition_names[], unsigned n_partitions) uint8_t v[128]; for (uint8_t i = 0; i < n_partitions; i++) { - uint32_t count = 0; + ssize_t count = 0; printf("reading %s expecting %u bytes\n", partition_names[i], expected_size); int fd = open(partition_names[i], O_RDONLY); if (fd == -1) { @@ -455,8 +459,8 @@ mtd_rwtest(char *partition_names[], unsigned n_partitions) uint8_t v[128], v2[128]; for (uint8_t i = 0; i < n_partitions; i++) { - uint32_t count = 0; - off_t offset = 0; + ssize_t count = 0; + off_t offset = 0; printf("rwtest %s testing %u bytes\n", partition_names[i], expected_size); int fd = open(partition_names[i], O_RDWR); if (fd == -1) { diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index d92ee88ef..328205e29 100644 --- a/src/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -63,7 +63,7 @@ static void do_show(const char* search_string); static void do_show_print(void *arg, param_t param); static void do_set(const char* name, const char* val, bool fail_on_not_found); static void do_compare(const char* name, const char* vals[], unsigned comparisons); -static void do_reset(); +static void do_reset(void); int param_main(int argc, char *argv[]) @@ -416,7 +416,7 @@ do_compare(const char* name, const char* vals[], unsigned comparisons) } static void -do_reset() +do_reset(void) { param_reset_all(); diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp index 50dece816..0ecdc8eb9 100644 --- a/src/systemcmds/tests/test_conv.cpp +++ b/src/systemcmds/tests/test_conv.cpp @@ -65,7 +65,7 @@ int test_conv(int argc, char *argv[]) float f = i/10000.0f; float fres = REG_TO_FLOAT(FLOAT_TO_REG(f)); if (fabsf(f - fres) > 0.0001f) { - warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), fres); + warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), (double)fres); return 1; } } diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c index 96be1e8df..86f23b485 100644 --- a/src/systemcmds/tests/test_file.c +++ b/src/systemcmds/tests/test_file.c @@ -102,7 +102,7 @@ test_file(int argc, char *argv[]) } /* 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}; + int 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++) { @@ -116,7 +116,7 @@ test_file(int argc, char *argv[]) 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++) { + for (size_t i = 0; i < sizeof(write_buf); i++) { /* this will wrap, but we just need a known value with spacing */ write_buf[i] = i+11; } @@ -224,9 +224,6 @@ test_file(int argc, char *argv[]) return 1; } - /* 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]); diff --git a/src/systemcmds/tests/test_file2.c b/src/systemcmds/tests/test_file2.c index ef555f6c3..8db3ea5ae 100644 --- a/src/systemcmds/tests/test_file2.c +++ b/src/systemcmds/tests/test_file2.c @@ -49,6 +49,8 @@ #include <stdlib.h> #include <getopt.h> +#include "tests.h" + #define FLAG_FSYNC 1 #define FLAG_LSEEK 2 @@ -85,9 +87,9 @@ static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t buffer[j] = get_value(ofs); ofs++; } - if (write(fd, buffer, sizeof(buffer)) != sizeof(buffer)) { - printf("write failed at offset %u\n", ofs); - exit(1); + if (write(fd, buffer, sizeof(buffer)) != (int)sizeof(buffer)) { + printf("write failed at offset %u\n", ofs); + exit(1); } if (flags & FLAG_FSYNC) { fsync(fd); @@ -116,7 +118,7 @@ static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t printf("read ofs=%u\r", ofs); } counter++; - if (read(fd, buffer, sizeof(buffer)) != sizeof(buffer)) { + if (read(fd, buffer, sizeof(buffer)) != (int)sizeof(buffer)) { printf("read failed at offset %u\n", ofs); exit(1); } diff --git a/src/systemcmds/tests/test_float.c b/src/systemcmds/tests/test_float.c index 4921c9bbb..e33cc6ef7 100644 --- a/src/systemcmds/tests/test_float.c +++ b/src/systemcmds/tests/test_float.c @@ -94,7 +94,7 @@ int test_float(int argc, char *argv[]) printf("\t success: asinf(1.0f) == 1.57079f\n"); } else { - printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one); + printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", (double)asinf_one); ret = -1; } @@ -128,7 +128,7 @@ int test_float(int argc, char *argv[]) float sinf_zero_one = sinf(0.1f); - if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) { + if (fabsf(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) { printf("\t success: sinf(0.1f) == 0.09983f\n"); } else { @@ -155,7 +155,7 @@ int test_float(int argc, char *argv[]) } char sbuf[30]; - sprintf(sbuf, "%8.4f", 0.553415f); + sprintf(sbuf, "%8.4f", (double)0.553415f); if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' && sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' @@ -166,7 +166,7 @@ int test_float(int argc, char *argv[]) ret = -5; } - sprintf(sbuf, "%8.4f", -0.553415f); + sprintf(sbuf, "%8.4f", (double)-0.553415f); if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' && sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' @@ -205,7 +205,7 @@ int test_float(int argc, char *argv[]) printf("\t success: (float) 1.55f == 1.55 (double)\n"); } else { - printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", f1); + printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", (double)f1); ret = -8; } diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp index 693a208ba..00c649c75 100644 --- a/src/systemcmds/tests/test_mathlib.cpp +++ b/src/systemcmds/tests/test_mathlib.cpp @@ -52,10 +52,6 @@ using namespace math; -const char* formatResult(bool res) { - return res ? "OK" : "ERROR"; -} - int test_mathlib(int argc, char *argv[]) { warnx("testing mathlib"); diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp index df382e2c6..8ab8fa2d6 100644 --- a/src/systemcmds/tests/test_mixer.cpp +++ b/src/systemcmds/tests/test_mixer.cpp @@ -81,7 +81,7 @@ int test_mixer(int argc, char *argv[]) warnx("testing mixer"); - char *filename = "/etc/mixers/IO_pass.mix"; + const char *filename = "/etc/mixers/IO_pass.mix"; if (argc > 1) filename = argv[1]; @@ -100,8 +100,6 @@ int test_mixer(int argc, char *argv[]) * e.g. on PX4IO. */ - unsigned nused = 0; - const unsigned chunk_size = 64; MixerGroup mixer_group(mixer_callback, 0); @@ -124,7 +122,6 @@ int test_mixer(int argc, char *argv[]) return 1; /* FIRST mark the mixer as invalid */ - bool mixer_ok = false; /* THEN actually delete it */ mixer_group.reset(); char mixer_text[256]; /* large enough for one mixer */ @@ -140,7 +137,6 @@ int test_mixer(int argc, char *argv[]) /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { - bool mixer_ok = false; return 1; } @@ -156,15 +152,6 @@ int test_mixer(int argc, char *argv[]) /* if anything was parsed */ if (resid != mixer_text_length) { - - /* only set mixer ok if no residual is left over */ - if (resid == 0) { - mixer_ok = true; - } else { - /* not yet reached the end of the mixer, set as not ok */ - mixer_ok = false; - } - warnx("used %u", mixer_text_length - resid); /* copy any leftover text to the base of the buffer for re-use */ @@ -192,7 +179,7 @@ int test_mixer(int argc, char *argv[]) should_arm = true; /* run through arming phase */ - for (int i = 0; i < output_max; i++) { + for (unsigned i = 0; i < output_max; i++) { actuator_controls[i] = 0.1f; r_page_servo_disarmed[i] = PWM_LOWEST_MIN; r_page_servo_control_min[i] = PWM_DEFAULT_MIN; @@ -213,7 +200,7 @@ int test_mixer(int argc, char *argv[]) pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); - for (int i = 0; i < mixed; i++) + for (unsigned i = 0; i < mixed; i++) { /* check mixed outputs to be zero during init phase */ if (hrt_elapsed_time(&starttime) < INIT_TIME_US && @@ -228,7 +215,7 @@ int test_mixer(int argc, char *argv[]) return 1; } - //printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]); + //printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, (double)outputs_unlimited[i], (double)outputs[i], (int)r_page_servos[i]); } usleep(sleep_quantum_us); sleepcount++; @@ -244,7 +231,7 @@ int test_mixer(int argc, char *argv[]) for (int j = -jmax; j <= jmax; j++) { - for (int i = 0; i < output_max; i++) { + for (unsigned i = 0; i < output_max; i++) { actuator_controls[i] = j/10.0f + 0.1f * i; r_page_servo_disarmed[i] = PWM_LOWEST_MIN; r_page_servo_control_min[i] = PWM_DEFAULT_MIN; @@ -257,11 +244,11 @@ int test_mixer(int argc, char *argv[]) pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); warnx("mixed %d outputs (max %d)", mixed, output_max); - for (int i = 0; i < mixed; i++) + for (unsigned i = 0; i < mixed; i++) { servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) { - printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]); + printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]); warnx("mixer violated predicted value"); return 1; } @@ -282,7 +269,7 @@ int test_mixer(int argc, char *argv[]) pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); - for (int i = 0; i < mixed; i++) + for (unsigned i = 0; i < mixed; i++) { /* check mixed outputs to be zero during init phase */ if (r_page_servos[i] != r_page_servo_disarmed[i]) { @@ -316,7 +303,7 @@ int test_mixer(int argc, char *argv[]) pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); - for (int i = 0; i < mixed; i++) + for (unsigned i = 0; i < mixed; i++) { /* predict value */ servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; @@ -333,7 +320,7 @@ int test_mixer(int argc, char *argv[]) /* check post ramp phase */ if (hrt_elapsed_time(&starttime) > RAMP_TIME_US && fabsf(servo_predicted[i] - r_page_servos[i]) > 2) { - printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]); + printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]); warnx("mixer violated predicted value"); return 1; } @@ -372,6 +359,7 @@ int test_mixer(int argc, char *argv[]) } warnx("SUCCESS: No errors in mixer test"); + return 0; } static int diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c index b9041b013..addd57bea 100644 --- a/src/systemcmds/tests/test_ppm_loopback.c +++ b/src/systemcmds/tests/test_ppm_loopback.c @@ -65,7 +65,6 @@ int test_ppm_loopback(int argc, char *argv[]) int _rc_sub = orb_subscribe(ORB_ID(input_rc)); int servo_fd, result; - servo_position_t data[PWM_OUTPUT_MAX_CHANNELS]; servo_position_t pos; servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR); diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c index 57c0e7f4c..c9f9ef439 100644 --- a/src/systemcmds/tests/test_rc.c +++ b/src/systemcmds/tests/test_rc.c @@ -52,6 +52,7 @@ #include <arch/board/board.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_rc_input.h> +#include <drivers/drv_hrt.h> #include <systemlib/err.h> #include "tests.h" diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c index ef8512bf5..9c6951ca2 100644 --- a/src/systemcmds/tests/test_servo.c +++ b/src/systemcmds/tests/test_servo.c @@ -51,6 +51,7 @@ #include <arch/board/board.h> #include <drivers/drv_pwm_output.h> +#include <systemlib/err.h> #include <nuttx/spi.h> |