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-rw-r--r--src/systemcmds/config/config.c43
-rw-r--r--src/systemcmds/mtd/24xxxx_mtd.c40
-rw-r--r--src/systemcmds/mtd/mtd.c42
-rw-r--r--src/systemcmds/nshterm/module.mk2
-rw-r--r--src/systemcmds/nshterm/nshterm.c2
-rw-r--r--src/systemcmds/param/module.mk3
-rw-r--r--src/systemcmds/param/param.c67
-rw-r--r--src/systemcmds/perf/module.mk2
-rw-r--r--src/systemcmds/perf/perf.c2
-rw-r--r--src/systemcmds/preflight_check/module.mk2
-rw-r--r--src/systemcmds/pwm/module.mk2
-rw-r--r--src/systemcmds/pwm/pwm.c3
-rw-r--r--src/systemcmds/reboot/module.mk2
-rw-r--r--src/systemcmds/tests/test_conv.cpp2
-rw-r--r--src/systemcmds/tests/test_file.c10
-rw-r--r--src/systemcmds/tests/test_file2.c10
-rw-r--r--src/systemcmds/tests/test_float.c24
-rw-r--r--src/systemcmds/tests/test_mathlib.cpp4
-rw-r--r--src/systemcmds/tests/test_mixer.cpp34
-rw-r--r--src/systemcmds/tests/test_mtd.c19
-rw-r--r--src/systemcmds/tests/test_ppm_loopback.c1
-rw-r--r--src/systemcmds/tests/test_rc.c1
-rw-r--r--src/systemcmds/tests/test_servo.c1
-rw-r--r--src/systemcmds/tests/tests_main.c2
-rw-r--r--src/systemcmds/top/module.mk2
25 files changed, 198 insertions, 124 deletions
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index e6d4b763b..4a97d328c 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -1,8 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- * Author: Lorenz Meier <lm@inf.ethz.ch>
- * Author: Julian Oes <joes@student.ethz.ch>
+ * 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
@@ -94,7 +92,6 @@ do_device(int argc, char *argv[])
}
int fd;
- int ret;
fd = open(argv[0], 0);
@@ -104,6 +101,8 @@ do_device(int argc, char *argv[])
} else {
+ int ret;
+
if (argc == 2 && !strcmp(argv[1], "block")) {
/* disable the device publications */
@@ -132,7 +131,6 @@ static void
do_gyro(int argc, char *argv[])
{
int fd;
- int ret;
fd = open(GYRO_DEVICE_PATH, 0);
@@ -142,6 +140,8 @@ do_gyro(int argc, char *argv[])
} else {
+ int ret;
+
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the gyro internal sampling rate up to at least i Hz */
@@ -173,8 +173,13 @@ do_gyro(int argc, char *argv[])
warnx("gyro self test FAILED! Check calibration:");
struct gyro_scale scale;
ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
- warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
- warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+ if (ret) {
+ err(1, "failed getting gyro scale");
+ }
+
+ warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+ warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
} else {
warnx("gyro calibration and self test OK");
}
@@ -199,7 +204,6 @@ static void
do_mag(int argc, char *argv[])
{
int fd;
- int ret;
fd = open(MAG_DEVICE_PATH, 0);
@@ -209,6 +213,8 @@ do_mag(int argc, char *argv[])
} else {
+ int ret;
+
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the mag internal sampling rate up to at least i Hz */
@@ -240,8 +246,13 @@ do_mag(int argc, char *argv[])
warnx("mag self test FAILED! Check calibration:");
struct mag_scale scale;
ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
- warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
- warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+ if (ret) {
+ err(ret, "failed getting mag scale");
+ }
+
+ warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+ warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
} else {
warnx("mag calibration and self test OK");
}
@@ -266,7 +277,6 @@ static void
do_accel(int argc, char *argv[])
{
int fd;
- int ret;
fd = open(ACCEL_DEVICE_PATH, 0);
@@ -276,6 +286,8 @@ do_accel(int argc, char *argv[])
} else {
+ int ret;
+
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the accel internal sampling rate up to at least i Hz */
@@ -307,8 +319,13 @@ do_accel(int argc, char *argv[])
warnx("accel self test FAILED! Check calibration:");
struct accel_scale scale;
ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
- warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
- warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+ if (ret) {
+ err(ret, "failed getting accel scale");
+ }
+
+ warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+ warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
} else {
warnx("accel calibration and self test OK");
}
diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index e34be44e3..72200f418 100644
--- a/src/systemcmds/mtd/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
@@ -142,12 +142,9 @@ struct at24c_dev_s {
uint16_t pagesize; /* 32, 63 */
uint16_t npages; /* 128, 256, 512, 1024 */
- perf_counter_t perf_reads;
- perf_counter_t perf_writes;
- perf_counter_t perf_resets;
- perf_counter_t perf_read_retries;
- perf_counter_t perf_read_errors;
- perf_counter_t perf_write_errors;
+ perf_counter_t perf_transfers;
+ perf_counter_t perf_resets_retries;
+ perf_counter_t perf_errors;
};
/************************************************************************************
@@ -240,8 +237,10 @@ void at24c_test(void)
} else if (result != 1) {
vdbg("unexpected %u\n", result);
}
- if ((count % 100) == 0)
+
+ if ((count % 100) == 0) {
vdbg("test %u errors %u\n", count, errors);
+ }
}
}
@@ -298,9 +297,9 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
for (;;) {
- perf_begin(priv->perf_reads);
+ perf_begin(priv->perf_transfers);
ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
- perf_end(priv->perf_reads);
+ perf_end(priv->perf_transfers);
if (ret >= 0)
break;
@@ -314,10 +313,10 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
* XXX maybe do special first-read handling with optional
* bus reset as well?
*/
- perf_count(priv->perf_read_retries);
+ perf_count(priv->perf_resets_retries);
if (--tries == 0) {
- perf_count(priv->perf_read_errors);
+ perf_count(priv->perf_errors);
return ERROR;
}
}
@@ -383,9 +382,9 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
for (;;) {
- perf_begin(priv->perf_writes);
+ perf_begin(priv->perf_transfers);
ret = I2C_TRANSFER(priv->dev, &msgv[0], 1);
- perf_end(priv->perf_writes);
+ perf_end(priv->perf_transfers);
if (ret >= 0)
break;
@@ -397,7 +396,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
* poll for write completion.
*/
if (--tries == 0) {
- perf_count(priv->perf_write_errors);
+ perf_count(priv->perf_errors);
return ERROR;
}
}
@@ -521,12 +520,9 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
priv->mtd.ioctl = at24c_ioctl;
priv->dev = dev;
- priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read");
- priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write");
- priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset");
- priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries");
- priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors");
- priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors");
+ priv->perf_transfers = perf_alloc(PC_ELAPSED, "eeprom_trans");
+ priv->perf_resets_retries = perf_alloc(PC_COUNT, "eeprom_rst");
+ priv->perf_errors = perf_alloc(PC_COUNT, "eeprom_errs");
}
/* attempt to read to validate device is present */
@@ -548,9 +544,9 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
}
};
- perf_begin(priv->perf_reads);
+ perf_begin(priv->perf_transfers);
int ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
- perf_end(priv->perf_reads);
+ perf_end(priv->perf_transfers);
if (ret < 0) {
return NULL;
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
index 0a88d40f3..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) {
@@ -160,7 +170,11 @@ static void
ramtron_attach(void)
{
/* find the right spi */
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+ struct spi_dev_s *spi = up_spiinitialize(4);
+#else
struct spi_dev_s *spi = up_spiinitialize(2);
+#endif
/* this resets the spi bus, set correct bus speed again */
SPI_SETFREQUENCY(spi, 10 * 1000 * 1000);
SPI_SETBITS(spi, 8);
@@ -189,8 +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;
}
@@ -347,7 +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);
@@ -378,16 +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];
@@ -420,7 +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) {
@@ -451,8 +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/nshterm/module.mk b/src/systemcmds/nshterm/module.mk
index a48588535..b22b446da 100644
--- a/src/systemcmds/nshterm/module.mk
+++ b/src/systemcmds/nshterm/module.mk
@@ -38,4 +38,4 @@
MODULE_COMMAND = nshterm
SRCS = nshterm.c
-MODULE_STACKSIZE = 3000
+MODULE_STACKSIZE = 1200
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index 7d9484d3e..fca1798e6 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -60,7 +60,7 @@ nshterm_main(int argc, char *argv[])
printf("Usage: nshterm <device>\n");
exit(1);
}
- uint8_t retries = 0;
+ unsigned retries = 0;
int fd = -1;
/* try the first 30 seconds */
diff --git a/src/systemcmds/param/module.mk b/src/systemcmds/param/module.mk
index 63f15ad28..f716eb71e 100644
--- a/src/systemcmds/param/module.mk
+++ b/src/systemcmds/param/module.mk
@@ -38,7 +38,8 @@
MODULE_COMMAND = param
SRCS = param.c
-MODULE_STACKSIZE = 4096
+# Note: measurements yielded a max of 900 bytes used.
+MODULE_STACKSIZE = 1800
MAXOPTIMIZATION = -Os
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 0cbba0a37..f8bff2f6f 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -61,8 +61,10 @@ static void do_load(const char* param_file_name);
static void do_import(const char* param_file_name);
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);
+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(void);
+static void do_reset_nostart(void);
int
param_main(int argc, char *argv[])
@@ -116,10 +118,17 @@ param_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "set")) {
- if (argc >= 4) {
- do_set(argv[2], argv[3]);
+ if (argc >= 5) {
+
+ /* if the fail switch is provided, fails the command if not found */
+ bool fail = !strcmp(argv[4], "fail");
+
+ do_set(argv[2], argv[3], fail);
+
+ } else if (argc >= 4) {
+ do_set(argv[2], argv[3], false);
} else {
- errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
+ errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'");
}
}
@@ -130,6 +139,14 @@ param_main(int argc, char *argv[])
errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
}
}
+
+ if (!strcmp(argv[1], "reset")) {
+ do_reset();
+ }
+
+ if (!strcmp(argv[1], "reset_nostart")) {
+ do_reset_nostart();
+ }
}
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
@@ -277,7 +294,7 @@ do_show_print(void *arg, param_t param)
}
static void
-do_set(const char* name, const char* val)
+do_set(const char* name, const char* val, bool fail_on_not_found)
{
int32_t i;
float f;
@@ -285,8 +302,8 @@ do_set(const char* name, const char* val)
/* set nothing if parameter cannot be found */
if (param == PARAM_INVALID) {
- /* param not found */
- errx(1, "Error: Parameter %s not found.", name);
+ /* param not found - fail silenty in scripts as it prevents booting */
+ errx(((fail_on_not_found) ? 1 : 0), "Error: Parameter %s not found.", name);
}
printf("%c %s: ",
@@ -402,3 +419,39 @@ do_compare(const char* name, const char* vals[], unsigned comparisons)
exit(ret);
}
+
+static void
+do_reset(void)
+{
+ param_reset_all();
+
+ if (param_save_default()) {
+ warnx("Param export failed.");
+ exit(1);
+ } else {
+ exit(0);
+ }
+}
+
+static void
+do_reset_nostart(void)
+{
+
+ int32_t autostart;
+ int32_t autoconfig;
+
+ (void)param_get(param_find("SYS_AUTOSTART"), &autostart);
+ (void)param_get(param_find("SYS_AUTOCONFIG"), &autoconfig);
+
+ param_reset_all();
+
+ (void)param_set(param_find("SYS_AUTOSTART"), &autostart);
+ (void)param_set(param_find("SYS_AUTOCONFIG"), &autoconfig);
+
+ if (param_save_default()) {
+ warnx("Param export failed.");
+ exit(1);
+ } else {
+ exit(0);
+ }
+}
diff --git a/src/systemcmds/perf/module.mk b/src/systemcmds/perf/module.mk
index 77952842b..ec39a7a85 100644
--- a/src/systemcmds/perf/module.mk
+++ b/src/systemcmds/perf/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND = perf
SRCS = perf.c
MAXOPTIMIZATION = -Os
+
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c
index b69ea597b..b08a2e3b7 100644
--- a/src/systemcmds/perf/perf.c
+++ b/src/systemcmds/perf/perf.c
@@ -73,7 +73,7 @@ int perf_main(int argc, char *argv[])
return -1;
}
- perf_print_all();
+ perf_print_all(0 /* stdout */);
fflush(stdout);
return 0;
}
diff --git a/src/systemcmds/preflight_check/module.mk b/src/systemcmds/preflight_check/module.mk
index 7c3c88783..0cb2a4cd0 100644
--- a/src/systemcmds/preflight_check/module.mk
+++ b/src/systemcmds/preflight_check/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND = preflight_check
SRCS = preflight_check.c
MAXOPTIMIZATION = -Os
+
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/pwm/module.mk b/src/systemcmds/pwm/module.mk
index 4a23bba90..13a24150f 100644
--- a/src/systemcmds/pwm/module.mk
+++ b/src/systemcmds/pwm/module.mk
@@ -38,4 +38,4 @@
MODULE_COMMAND = pwm
SRCS = pwm.c
-MODULE_STACKSIZE = 4096
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 1828c660f..e0e6ca537 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -515,7 +515,8 @@ pwm_main(int argc, char *argv[])
ret = poll(&fds, 1, 0);
if (ret > 0) {
- int ret = read(0, &c, 1);
+ ret = read(0, &c, 1);
+
if (ret > 0) {
/* reset output to the last value */
for (unsigned i = 0; i < servo_count; i++) {
diff --git a/src/systemcmds/reboot/module.mk b/src/systemcmds/reboot/module.mk
index 19f64af54..edf9d8b37 100644
--- a/src/systemcmds/reboot/module.mk
+++ b/src/systemcmds/reboot/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND = reboot
SRCS = reboot.c
MAXOPTIMIZATION = -Os
+
+MODULE_STACKSIZE = 800
diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp
index 50dece816..fda949c61 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", (double)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..570583dee 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;
}
@@ -149,6 +149,8 @@ test_file(int argc, char *argv[])
}
end = hrt_absolute_time();
+ warnx("write took %llu us", (end - start));
+
close(fd);
fd = open("/fs/microsd/testfile", O_RDONLY);
@@ -192,7 +194,6 @@ test_file(int argc, char *argv[])
warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
- start = hrt_absolute_time();
for (unsigned i = 0; i < iterations; i++) {
int wret = write(fd, write_buf, chunk_sizes[c]);
@@ -224,9 +225,6 @@ 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..bb8b6c7f5 100644
--- a/src/systemcmds/tests/test_float.c
+++ b/src/systemcmds/tests/test_float.c
@@ -68,7 +68,7 @@ int test_float(int argc, char *argv[])
float sinf_one = sinf(1.0f);
float sqrt_two = sqrt(2.0f);
- if (sinf_zero == 0.0f) {
+ if (fabsf(sinf_zero) < FLT_EPSILON) {
printf("\t success: sinf(0.0f) == 0.0f\n");
} else {
@@ -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 {
@@ -136,7 +136,7 @@ int test_float(int argc, char *argv[])
ret = -2;
}
- if (sqrt_two == 1.41421356f) {
+ if (fabsf(sqrt_two - 1.41421356f) < FLT_EPSILON) {
printf("\t success: sqrt(2.0f) == 1.41421f\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'
@@ -188,7 +188,7 @@ int test_float(int argc, char *argv[])
double d1d2 = d1 * d2;
- if (d1d2 == 2.022200000000000219557705349871) {
+ if (fabs(d1d2 - 2.022200000000000219557705349871) < DBL_EPSILON) {
printf("\t success: 1.0111 * 2.0 == 2.0222\n");
} else {
@@ -201,11 +201,11 @@ int test_float(int argc, char *argv[])
// Assign value of f1 to d1
d1 = f1;
- if (f1 == (float)d1) {
+ if (fabsf(f1 - (float)d1) < FLT_EPSILON) {
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;
}
@@ -216,7 +216,7 @@ int test_float(int argc, char *argv[])
double sin_one = sin(1.0);
double atan2_ones = atan2(1.0, 1.0);
- if (sin_zero == 0.0) {
+ if (fabs(sin_zero - 0.0) < DBL_EPSILON) {
printf("\t success: sin(0.0) == 0.0\n");
} else {
@@ -224,7 +224,7 @@ int test_float(int argc, char *argv[])
ret = -9;
}
- if (sin_one == 0.841470984807896504875657228695) {
+ if (fabs(sin_one - 0.841470984807896504875657228695) < DBL_EPSILON) {
printf("\t success: sin(1.0) == 0.84147098480\n");
} else {
@@ -232,7 +232,7 @@ int test_float(int argc, char *argv[])
ret = -10;
}
- if (atan2_ones != 0.785398) {
+ if (fabs(atan2_ones - 0.785398) < DBL_EPSILON) {
printf("\t success: atan2(1.0, 1.0) == 0.785398\n");
} else {
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_mtd.c b/src/systemcmds/tests/test_mtd.c
index bac9efbdb..43231ccad 100644
--- a/src/systemcmds/tests/test_mtd.c
+++ b/src/systemcmds/tests/test_mtd.c
@@ -57,6 +57,8 @@
#define PARAM_FILE_NAME "/fs/mtd_params"
static int check_user_abort(int fd);
+static void print_fail(void);
+static void print_success(void);
int check_user_abort(int fd) {
/* check if user wants to abort */
@@ -126,7 +128,7 @@ test_mtd(int argc, char *argv[])
uint8_t write_buf[chunk_sizes[c]] __attribute__((aligned(64)));
/* fill write buffer with known values */
- for (int i = 0; i < sizeof(write_buf); i++) {
+ for (unsigned i = 0; i < sizeof(write_buf); i++) {
/* this will wrap, but we just need a known value with spacing */
write_buf[i] = i+11;
}
@@ -137,11 +139,14 @@ test_mtd(int argc, char *argv[])
int fd = open(PARAM_FILE_NAME, O_RDONLY);
int rret = read(fd, read_buf, chunk_sizes[c]);
close(fd);
+ if (rret <= 0) {
+ err(1, "read error");
+ }
fd = open(PARAM_FILE_NAME, O_WRONLY);
printf("printing 2 percent of the first chunk:\n");
- for (int i = 0; i < sizeof(read_buf) / 50; i++) {
+ for (unsigned i = 0; i < sizeof(read_buf) / 50; i++) {
printf("%02X", read_buf[i]);
}
printf("\n");
@@ -166,14 +171,16 @@ test_mtd(int argc, char *argv[])
}
end = hrt_absolute_time();
+ warnx("write took %llu us", (end - start));
+
close(fd);
fd = open(PARAM_FILE_NAME, O_RDONLY);
/* read back data for validation */
for (unsigned i = 0; i < iterations; i++) {
- int rret = read(fd, read_buf, chunk_sizes[c]);
+ int rret2 = read(fd, read_buf, chunk_sizes[c]);
- if (rret != chunk_sizes[c]) {
+ if (rret2 != (int)chunk_sizes[c]) {
warnx("READ ERROR!");
print_fail();
return 1;
@@ -182,7 +189,7 @@ test_mtd(int argc, char *argv[])
/* compare value */
bool compare_ok = true;
- for (int j = 0; j < chunk_sizes[c]; j++) {
+ for (unsigned j = 0; j < chunk_sizes[c]; j++) {
if (read_buf[j] != write_buf[j]) {
warnx("COMPARISON ERROR: byte %d", j);
print_fail();
@@ -211,7 +218,7 @@ test_mtd(int argc, char *argv[])
char ffbuf[64];
memset(ffbuf, 0xFF, sizeof(ffbuf));
int fd = open(PARAM_FILE_NAME, O_WRONLY);
- for (int i = 0; i < file_size / sizeof(ffbuf); i++) {
+ for (unsigned i = 0; i < file_size / sizeof(ffbuf); i++) {
int ret = write(fd, ffbuf, sizeof(ffbuf));
if (ret != sizeof(ffbuf)) {
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>
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index fe22f6177..e3f26924f 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -235,7 +235,7 @@ test_perf(int argc, char *argv[])
printf("perf: expect count of 1\n");
perf_print_counter(ec);
printf("perf: expect at least two counters\n");
- perf_print_all();
+ perf_print_all(0);
perf_free(cc);
perf_free(ec);
diff --git a/src/systemcmds/top/module.mk b/src/systemcmds/top/module.mk
index 9239aafc3..548a09f85 100644
--- a/src/systemcmds/top/module.mk
+++ b/src/systemcmds/top/module.mk
@@ -38,7 +38,7 @@
MODULE_COMMAND = top
SRCS = top.c
-MODULE_STACKSIZE = 3000
+MODULE_STACKSIZE = 1700
MAXOPTIMIZATION = -Os
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-08 02:50:23 +0000