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-rw-r--r--src/systemcmds/eeprom/eeprom.c265
-rw-r--r--src/systemcmds/eeprom/module.mk39
-rw-r--r--src/systemcmds/esc_calib/esc_calib.c1
-rw-r--r--src/systemcmds/mtd/24xxxx_mtd.c (renamed from src/systemcmds/eeprom/24xxxx_mtd.c)0
-rw-r--r--src/systemcmds/mtd/module.mk6
-rw-r--r--src/systemcmds/mtd/mtd.c378
-rw-r--r--src/systemcmds/nshterm/nshterm.c4
-rw-r--r--src/systemcmds/param/param.c47
-rw-r--r--src/systemcmds/ramtron/module.mk6
-rw-r--r--src/systemcmds/ramtron/ramtron.c279
-rw-r--r--src/systemcmds/tests/module.mk3
-rw-r--r--src/systemcmds/tests/test_file.c163
-rw-r--r--src/systemcmds/tests/test_mount.c289
-rw-r--r--src/systemcmds/tests/tests.h1
-rw-r--r--src/systemcmds/tests/tests_main.c1
15 files changed, 794 insertions, 688 deletions
diff --git a/src/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c
deleted file mode 100644
index 2aed80e01..000000000
--- a/src/systemcmds/eeprom/eeprom.c
+++ /dev/null
@@ -1,265 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
- * Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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 eeprom.c
- *
- * EEPROM service and utility app.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/mount.h>
-#include <sys/ioctl.h>
-#include <sys/stat.h>
-
-#include <nuttx/i2c.h>
-#include <nuttx/mtd.h>
-#include <nuttx/fs/nxffs.h>
-#include <nuttx/fs/ioctl.h>
-
-#include <board_config.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
-#include "systemlib/err.h"
-
-#ifndef PX4_I2C_BUS_ONBOARD
-# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
-#endif
-
-__EXPORT int eeprom_main(int argc, char *argv[]);
-
-static void eeprom_attach(void);
-static void eeprom_start(void);
-static void eeprom_erase(void);
-static void eeprom_ioctl(unsigned operation);
-static void eeprom_save(const char *name);
-static void eeprom_load(const char *name);
-static void eeprom_test(void);
-
-static bool attached = false;
-static bool started = false;
-static struct mtd_dev_s *eeprom_mtd;
-
-int eeprom_main(int argc, char *argv[])
-{
- if (argc >= 2) {
- if (!strcmp(argv[1], "start"))
- eeprom_start();
-
- if (!strcmp(argv[1], "save_param"))
- eeprom_save(argv[2]);
-
- if (!strcmp(argv[1], "load_param"))
- eeprom_load(argv[2]);
-
- if (!strcmp(argv[1], "erase"))
- eeprom_erase();
-
- if (!strcmp(argv[1], "test"))
- eeprom_test();
-
- if (0) { /* these actually require a file on the filesystem... */
-
- if (!strcmp(argv[1], "reformat"))
- eeprom_ioctl(FIOC_REFORMAT);
-
- if (!strcmp(argv[1], "repack"))
- eeprom_ioctl(FIOC_OPTIMIZE);
- }
- }
-
- errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n");
-}
-
-
-static void
-eeprom_attach(void)
-{
- /* find the right I2C */
- struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
- /* this resets the I2C bus, set correct bus speed again */
- I2C_SETFREQUENCY(i2c, 400000);
-
- if (i2c == NULL)
- errx(1, "failed to locate I2C bus");
-
- /* start the MTD driver, attempt 5 times */
- for (int i = 0; i < 5; i++) {
- eeprom_mtd = at24c_initialize(i2c);
- if (eeprom_mtd) {
- /* abort on first valid result */
- if (i > 0) {
- warnx("warning: EEPROM needed %d attempts to attach", i+1);
- }
- break;
- }
- }
-
- /* if last attempt is still unsuccessful, abort */
- if (eeprom_mtd == NULL)
- errx(1, "failed to initialize EEPROM driver");
-
- attached = true;
-}
-
-static void
-eeprom_start(void)
-{
- int ret;
-
- if (started)
- errx(1, "EEPROM already mounted");
-
- if (!attached)
- eeprom_attach();
-
- /* start NXFFS */
- ret = nxffs_initialize(eeprom_mtd);
-
- if (ret < 0)
- errx(1, "failed to initialize NXFFS - erase EEPROM to reformat");
-
- /* mount the EEPROM */
- ret = mount(NULL, "/eeprom", "nxffs", 0, NULL);
-
- if (ret < 0)
- errx(1, "failed to mount /eeprom - erase EEPROM to reformat");
-
- started = true;
- warnx("mounted EEPROM at /eeprom");
- exit(0);
-}
-
-extern int at24c_nuke(void);
-
-static void
-eeprom_erase(void)
-{
- if (!attached)
- eeprom_attach();
-
- if (at24c_nuke())
- errx(1, "erase failed");
-
- errx(0, "erase done, reboot now");
-}
-
-static void
-eeprom_ioctl(unsigned operation)
-{
- int fd;
-
- fd = open("/eeprom/.", 0);
-
- if (fd < 0)
- err(1, "open /eeprom");
-
- if (ioctl(fd, operation, 0) < 0)
- err(1, "ioctl");
-
- exit(0);
-}
-
-static void
-eeprom_save(const char *name)
-{
- if (!started)
- errx(1, "must be started first");
-
- if (!name)
- err(1, "missing argument for device name, try '/eeprom/parameters'");
-
- warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
-
- /* delete the file in case it exists */
- unlink(name);
-
- /* create the file */
- int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
-
- if (fd < 0)
- err(1, "opening '%s' failed", name);
-
- int result = param_export(fd, false);
- close(fd);
-
- if (result < 0) {
- unlink(name);
- errx(1, "error exporting to '%s'", name);
- }
-
- exit(0);
-}
-
-static void
-eeprom_load(const char *name)
-{
- if (!started)
- errx(1, "must be started first");
-
- if (!name)
- err(1, "missing argument for device name, try '/eeprom/parameters'");
-
- warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
-
- int fd = open(name, O_RDONLY);
-
- if (fd < 0)
- err(1, "open '%s'", name);
-
- int result = param_load(fd);
- close(fd);
-
- if (result < 0)
- errx(1, "error importing from '%s'", name);
-
- exit(0);
-}
-
-extern void at24c_test(void);
-
-static void
-eeprom_test(void)
-{
- at24c_test();
- exit(0);
-}
diff --git a/src/systemcmds/eeprom/module.mk b/src/systemcmds/eeprom/module.mk
deleted file mode 100644
index 07f3945be..000000000
--- a/src/systemcmds/eeprom/module.mk
+++ /dev/null
@@ -1,39 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2012, 2013 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.
-#
-############################################################################
-
-#
-# EEPROM file system driver
-#
-
-MODULE_COMMAND = eeprom
-SRCS = 24xxxx_mtd.c eeprom.c
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index b237b31be..ad1996694 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -148,6 +148,7 @@ esc_calib_main(int argc, char *argv[])
case 'l':
/* Read in custom low value */
+ pwm_low = strtoul(optarg, &ep, 0);
if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN)
usage("low PWM invalid");
break;
diff --git a/src/systemcmds/eeprom/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index e34be44e3..e34be44e3 100644
--- a/src/systemcmds/eeprom/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
diff --git a/src/systemcmds/mtd/module.mk b/src/systemcmds/mtd/module.mk
new file mode 100644
index 000000000..b3fceceb5
--- /dev/null
+++ b/src/systemcmds/mtd/module.mk
@@ -0,0 +1,6 @@
+#
+# RAMTRON file system driver
+#
+
+MODULE_COMMAND = mtd
+SRCS = mtd.c 24xxxx_mtd.c
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
new file mode 100644
index 000000000..41da63750
--- /dev/null
+++ b/src/systemcmds/mtd/mtd.c
@@ -0,0 +1,378 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013-2014 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 mtd.c
+ *
+ * mtd service and utility app.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/mount.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+
+#include <nuttx/spi.h>
+#include <nuttx/mtd.h>
+#include <nuttx/fs/nxffs.h>
+#include <nuttx/fs/ioctl.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
+#include "systemlib/err.h"
+
+#include <board_config.h>
+
+__EXPORT int mtd_main(int argc, char *argv[]);
+
+#ifndef CONFIG_MTD
+
+/* create a fake command with decent warnx to not confuse users */
+int mtd_main(int argc, char *argv[])
+{
+ errx(1, "MTD not enabled, skipping.");
+}
+
+#else
+
+#ifdef CONFIG_MTD_RAMTRON
+static void ramtron_attach(void);
+#else
+
+#ifndef PX4_I2C_BUS_ONBOARD
+# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
+#endif
+
+static void at24xxx_attach(void);
+#endif
+static void mtd_start(char *partition_names[], unsigned n_partitions);
+static void mtd_test(void);
+static void mtd_erase(char *partition_names[], unsigned n_partitions);
+static void mtd_print_info();
+static int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
+ unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
+
+static bool attached = false;
+static bool started = false;
+static struct mtd_dev_s *mtd_dev;
+static unsigned n_partitions_current = 0;
+
+/* note, these will be equally sized */
+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]);
+
+int mtd_main(int argc, char *argv[])
+{
+ if (argc >= 2) {
+ if (!strcmp(argv[1], "start")) {
+
+ /* start mapping according to user request */
+ if (argc > 3) {
+ mtd_start(argv + 2, argc - 2);
+
+ } else {
+ mtd_start(partition_names_default, n_partitions_default);
+ }
+ }
+
+ if (!strcmp(argv[1], "test"))
+ mtd_test();
+
+ if (!strcmp(argv[1], "status"))
+ mtd_status();
+
+ if (!strcmp(argv[1], "erase")) {
+ if (argc < 3) {
+ errx(1, "usage: mtd erase <PARTITION_PATH..>");
+ }
+ mtd_erase(argv + 2, argc - 2);
+ }
+ }
+
+ errx(1, "expected a command, try 'start', 'erase' or 'test'");
+}
+
+struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
+struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
+ off_t firstblock, off_t nblocks);
+
+#ifdef CONFIG_MTD_RAMTRON
+static void
+ramtron_attach(void)
+{
+ /* find the right spi */
+ struct spi_dev_s *spi = up_spiinitialize(2);
+ /* this resets the spi bus, set correct bus speed again */
+ SPI_SETFREQUENCY(spi, 40 * 1000 * 1000);
+ SPI_SETBITS(spi, 8);
+ SPI_SETMODE(spi, SPIDEV_MODE3);
+ SPI_SELECT(spi, SPIDEV_FLASH, false);
+
+ if (spi == NULL)
+ errx(1, "failed to locate spi bus");
+
+ /* start the RAMTRON driver, attempt 5 times */
+ for (int i = 0; i < 5; i++) {
+ mtd_dev = ramtron_initialize(spi);
+
+ if (mtd_dev) {
+ /* abort on first valid result */
+ if (i > 0) {
+ warnx("warning: mtd needed %d attempts to attach", i + 1);
+ }
+
+ break;
+ }
+ }
+
+ /* if last attempt is still unsuccessful, abort */
+ if (mtd_dev == NULL)
+ errx(1, "failed to initialize mtd driver");
+
+ attached = true;
+}
+#else
+
+static void
+at24xxx_attach(void)
+{
+ /* find the right I2C */
+ struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
+ /* this resets the I2C bus, set correct bus speed again */
+ I2C_SETFREQUENCY(i2c, 400000);
+
+ if (i2c == NULL)
+ errx(1, "failed to locate I2C bus");
+
+ /* start the MTD driver, attempt 5 times */
+ for (int i = 0; i < 5; i++) {
+ mtd_dev = at24c_initialize(i2c);
+ if (mtd_dev) {
+ /* abort on first valid result */
+ if (i > 0) {
+ warnx("warning: EEPROM needed %d attempts to attach", i+1);
+ }
+ break;
+ }
+ }
+
+ /* if last attempt is still unsuccessful, abort */
+ if (mtd_dev == NULL)
+ errx(1, "failed to initialize EEPROM driver");
+
+ attached = true;
+}
+#endif
+
+static void
+mtd_start(char *partition_names[], unsigned n_partitions)
+{
+ int ret;
+
+ if (started)
+ errx(1, "mtd already mounted");
+
+ if (!attached) {
+ #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+ at24xxx_attach();
+ #else
+ ramtron_attach();
+ #endif
+ }
+
+ if (!mtd_dev) {
+ warnx("ERROR: Failed to create RAMTRON FRAM MTD instance");
+ exit(1);
+ }
+
+ unsigned long blocksize, erasesize, neraseblocks;
+ unsigned blkpererase, nblocks, partsize;
+
+ ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions);
+ if (ret)
+ exit(3);
+
+ /* Now create MTD FLASH partitions */
+
+ warnx("Creating partitions");
+ FAR struct mtd_dev_s *part[n_partitions];
+ char blockname[32];
+
+ unsigned offset;
+ unsigned i;
+
+ for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
+
+ warnx(" Partition %d. Block offset=%lu, size=%lu",
+ i, (unsigned long)offset, (unsigned long)nblocks);
+
+ /* Create the partition */
+
+ part[i] = mtd_partition(mtd_dev, offset, nblocks);
+
+ if (!part[i]) {
+ warnx("ERROR: mtd_partition failed. offset=%lu nblocks=%lu",
+ (unsigned long)offset, (unsigned long)nblocks);
+ exit(4);
+ }
+
+ /* Initialize to provide an FTL block driver on the MTD FLASH interface */
+
+ snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", i);
+
+ ret = ftl_initialize(i, part[i]);
+
+ if (ret < 0) {
+ warnx("ERROR: ftl_initialize %s failed: %d", blockname, ret);
+ exit(5);
+ }
+
+ /* Now create a character device on the block device */
+
+ ret = bchdev_register(blockname, partition_names[i], false);
+
+ if (ret < 0) {
+ warnx("ERROR: bchdev_register %s failed: %d", partition_names[i], ret);
+ exit(6);
+ }
+ }
+
+ n_partitions_current = n_partitions;
+
+ started = true;
+ exit(0);
+}
+
+int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
+ unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions)
+{
+ /* Get the geometry of the FLASH device */
+
+ FAR struct mtd_geometry_s geo;
+
+ int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
+
+ if (ret < 0) {
+ warnx("ERROR: mtd->ioctl failed: %d", ret);
+ return ret;
+ }
+
+ *blocksize = geo.blocksize;
+ *erasesize = geo.blocksize;
+ *neraseblocks = geo.neraseblocks;
+
+ /* Determine the size of each partition. Make each partition an even
+ * multiple of the erase block size (perhaps not using some space at the
+ * end of the FLASH).
+ */
+
+ *blkpererase = geo.erasesize / geo.blocksize;
+ *nblocks = (geo.neraseblocks / n_partitions) * *blkpererase;
+ *partsize = *nblocks * geo.blocksize;
+
+ return ret;
+}
+
+void mtd_print_info()
+{
+ if (!attached)
+ exit(1);
+
+ unsigned long blocksize, erasesize, neraseblocks;
+ unsigned blkpererase, nblocks, partsize;
+
+ int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current);
+ if (ret)
+ exit(3);
+
+ warnx("Flash Geometry:");
+
+ printf(" blocksize: %lu\n", blocksize);
+ printf(" erasesize: %lu\n", erasesize);
+ printf(" neraseblocks: %lu\n", neraseblocks);
+ printf(" No. partitions: %u\n", n_partitions_current);
+ printf(" Partition size: %u Blocks (%u bytes)\n", nblocks, partsize);
+ printf(" TOTAL SIZE: %u KiB\n", neraseblocks * erasesize / 1024);
+
+}
+
+void
+mtd_test(void)
+{
+ warnx("This test routine does not test anything yet!");
+ exit(1);
+}
+
+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];
+ memset(v, 0xFF, sizeof(v));
+ for (uint8_t i = 0; i < n_partitions; i++) {
+ uint32_t count = 0;
+ printf("Erasing %s\n", partition_names[i]);
+ int fd = open(partition_names[i], O_WRONLY);
+ if (fd == -1) {
+ errx(1, "Failed to open partition");
+ }
+ while (write(fd, &v, sizeof(v)) == sizeof(v)) {
+ count += sizeof(v);
+ }
+ printf("Erased %lu bytes\n", (unsigned long)count);
+ close(fd);
+ }
+ exit(0);
+}
+
+#endif
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/param/param.c b/src/systemcmds/param/param.c
index 65f291f40..580fdc62f 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -72,7 +72,12 @@ param_main(int argc, char *argv[])
if (argc >= 3) {
do_save(argv[2]);
} else {
- do_save(param_get_default_file());
+ if (param_save_default()) {
+ warnx("Param export failed.");
+ exit(1);
+ } else {
+ exit(0);
+ }
}
}
@@ -133,11 +138,8 @@ param_main(int argc, char *argv[])
static void
do_save(const char* param_file_name)
{
- /* delete the parameter file in case it exists */
- unlink(param_file_name);
-
/* create the file */
- int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
+ int fd = open(param_file_name, O_WRONLY | O_CREAT);
if (fd < 0)
err(1, "opening '%s' failed", param_file_name);
@@ -146,7 +148,7 @@ do_save(const char* param_file_name)
close(fd);
if (result < 0) {
- unlink(param_file_name);
+ (void)unlink(param_file_name);
errx(1, "error exporting to '%s'", param_file_name);
}
@@ -203,11 +205,38 @@ do_show_print(void *arg, param_t param)
int32_t i;
float f;
const char *search_string = (const char*)arg;
+ const char *p_name = (const char*)param_name(param);
/* print nothing if search string is invalid and not matching */
- if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
- /* param not found */
- return;
+ if (!(arg == NULL)) {
+
+ /* start search */
+ char *ss = search_string;
+ char *pp = p_name;
+ bool mismatch = false;
+
+ /* XXX this comparison is only ok for trailing wildcards */
+ while (*ss != '\0' && *pp != '\0') {
+
+ if (*ss == *pp) {
+ ss++;
+ pp++;
+ } else if (*ss == '*') {
+ if (*(ss + 1) != '\0') {
+ warnx("* symbol only allowed at end of search string.");
+ exit(1);
+ }
+
+ pp++;
+ } else {
+ /* param not found */
+ return;
+ }
+ }
+
+ /* the search string must have been consumed */
+ if (!(*ss == '\0' || *ss == '*'))
+ return;
}
printf("%c %s: ",
diff --git a/src/systemcmds/ramtron/module.mk b/src/systemcmds/ramtron/module.mk
deleted file mode 100644
index e4eb1d143..000000000
--- a/src/systemcmds/ramtron/module.mk
+++ /dev/null
@@ -1,6 +0,0 @@
-#
-# RAMTRON file system driver
-#
-
-MODULE_COMMAND = ramtron
-SRCS = ramtron.c
diff --git a/src/systemcmds/ramtron/ramtron.c b/src/systemcmds/ramtron/ramtron.c
deleted file mode 100644
index 03c713987..000000000
--- a/src/systemcmds/ramtron/ramtron.c
+++ /dev/null
@@ -1,279 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 PX4 Development Team. All rights reserved.
- * Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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 ramtron.c
- *
- * ramtron service and utility app.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/mount.h>
-#include <sys/ioctl.h>
-#include <sys/stat.h>
-
-#include <nuttx/spi.h>
-#include <nuttx/mtd.h>
-#include <nuttx/fs/nxffs.h>
-#include <nuttx/fs/ioctl.h>
-
-#include <arch/board/board.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
-#include "systemlib/err.h"
-
-__EXPORT int ramtron_main(int argc, char *argv[]);
-
-#ifndef CONFIG_MTD_RAMTRON
-
-/* create a fake command with decent message to not confuse users */
-int ramtron_main(int argc, char *argv[])
-{
- errx(1, "RAMTRON not enabled, skipping.");
-}
-#else
-
-static void ramtron_attach(void);
-static void ramtron_start(void);
-static void ramtron_erase(void);
-static void ramtron_ioctl(unsigned operation);
-static void ramtron_save(const char *name);
-static void ramtron_load(const char *name);
-static void ramtron_test(void);
-
-static bool attached = false;
-static bool started = false;
-static struct mtd_dev_s *ramtron_mtd;
-
-int ramtron_main(int argc, char *argv[])
-{
- if (argc >= 2) {
- if (!strcmp(argv[1], "start"))
- ramtron_start();
-
- if (!strcmp(argv[1], "save_param"))
- ramtron_save(argv[2]);
-
- if (!strcmp(argv[1], "load_param"))
- ramtron_load(argv[2]);
-
- if (!strcmp(argv[1], "erase"))
- ramtron_erase();
-
- if (!strcmp(argv[1], "test"))
- ramtron_test();
-
- if (0) { /* these actually require a file on the filesystem... */
-
- if (!strcmp(argv[1], "reformat"))
- ramtron_ioctl(FIOC_REFORMAT);
-
- if (!strcmp(argv[1], "repack"))
- ramtron_ioctl(FIOC_OPTIMIZE);
- }
- }
-
- errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
-}
-
-struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
-
-
-static void
-ramtron_attach(void)
-{
- /* find the right spi */
- struct spi_dev_s *spi = up_spiinitialize(2);
- /* this resets the spi bus, set correct bus speed again */
- // xxx set in ramtron driver, leave this out
-// SPI_SETFREQUENCY(spi, 4000000);
- SPI_SETFREQUENCY(spi, 375000000);
- SPI_SETBITS(spi, 8);
- SPI_SETMODE(spi, SPIDEV_MODE3);
- SPI_SELECT(spi, SPIDEV_FLASH, false);
-
- if (spi == NULL)
- errx(1, "failed to locate spi bus");
-
- /* start the MTD driver, attempt 5 times */
- for (int i = 0; i < 5; i++) {
- ramtron_mtd = ramtron_initialize(spi);
- if (ramtron_mtd) {
- /* abort on first valid result */
- if (i > 0) {
- warnx("warning: ramtron needed %d attempts to attach", i+1);
- }
- break;
- }
- }
-
- /* if last attempt is still unsuccessful, abort */
- if (ramtron_mtd == NULL)
- errx(1, "failed to initialize ramtron driver");
-
- attached = true;
-}
-
-static void
-ramtron_start(void)
-{
- int ret;
-
- if (started)
- errx(1, "ramtron already mounted");
-
- if (!attached)
- ramtron_attach();
-
- /* start NXFFS */
- ret = nxffs_initialize(ramtron_mtd);
-
- if (ret < 0)
- errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
-
- /* mount the ramtron */
- ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
-
- if (ret < 0)
- errx(1, "failed to mount /ramtron - erase ramtron to reformat");
-
- started = true;
- warnx("mounted ramtron at /ramtron");
- exit(0);
-}
-
-//extern int at24c_nuke(void);
-
-static void
-ramtron_erase(void)
-{
- if (!attached)
- ramtron_attach();
-
-// if (at24c_nuke())
- errx(1, "erase failed");
-
- errx(0, "erase done, reboot now");
-}
-
-static void
-ramtron_ioctl(unsigned operation)
-{
- int fd;
-
- fd = open("/ramtron/.", 0);
-
- if (fd < 0)
- err(1, "open /ramtron");
-
- if (ioctl(fd, operation, 0) < 0)
- err(1, "ioctl");
-
- exit(0);
-}
-
-static void
-ramtron_save(const char *name)
-{
- if (!started)
- errx(1, "must be started first");
-
- if (!name)
- err(1, "missing argument for device name, try '/ramtron/parameters'");
-
- warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
-
- /* delete the file in case it exists */
- unlink(name);
-
- /* create the file */
- int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
-
- if (fd < 0)
- err(1, "opening '%s' failed", name);
-
- int result = param_export(fd, false);
- close(fd);
-
- if (result < 0) {
- unlink(name);
- errx(1, "error exporting to '%s'", name);
- }
-
- exit(0);
-}
-
-static void
-ramtron_load(const char *name)
-{
- if (!started)
- errx(1, "must be started first");
-
- if (!name)
- err(1, "missing argument for device name, try '/ramtron/parameters'");
-
- warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
-
- int fd = open(name, O_RDONLY);
-
- if (fd < 0)
- err(1, "open '%s'", name);
-
- int result = param_load(fd);
- close(fd);
-
- if (result < 0)
- errx(1, "error importing from '%s'", name);
-
- exit(0);
-}
-
-//extern void at24c_test(void);
-
-static void
-ramtron_test(void)
-{
-// at24c_test();
- exit(0);
-}
-
-#endif
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 576caff99..6a05ac3c6 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -29,4 +29,5 @@ SRCS = test_adc.c \
test_param.c \
test_ppm_loopback.c \
test_rc.c \
- test_conv.cpp
+ test_conv.cpp \
+ test_mount.c
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 798724cf1..83d09dd5e 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
@@ -35,9 +35,12 @@
* @file test_file.c
*
* File write test.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <sys/stat.h>
+#include <poll.h>
#include <dirent.h>
#include <stdio.h>
#include <stddef.h>
@@ -51,6 +54,40 @@
#include "tests.h"
+int check_user_abort(int fd);
+
+int check_user_abort(int fd) {
+ /* check if user wants to abort */
+ char c;
+
+ struct pollfd fds;
+ int ret;
+ fds.fd = 0; /* stdin */
+ fds.events = POLLIN;
+ ret = poll(&fds, 1, 0);
+
+ if (ret > 0) {
+
+ read(0, &c, 1);
+
+ switch (c) {
+ case 0x03: // ctrl-c
+ case 0x1b: // esc
+ case 'c':
+ case 'q':
+ {
+ warnx("Test aborted.");
+ fsync(fd);
+ close(fd);
+ return OK;
+ /* not reached */
+ }
+ }
+ }
+
+ return 1;
+}
+
int
test_file(int argc, char *argv[])
{
@@ -86,7 +123,6 @@ 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);
@@ -94,28 +130,25 @@ 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(fd))
+ return OK;
}
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);
@@ -124,7 +157,8 @@ 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 */
@@ -139,9 +173,13 @@ 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(fd))
+ return OK;
+
}
/*
@@ -152,16 +190,20 @@ test_file(int argc, char *argv[])
int ret = unlink("/fs/microsd/testfile");
fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
- warnx("testing aligned writes - please wait..");
+ 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]);
if (wret != chunk_sizes[c]) {
- err(1, "WRITE ERROR!");
+ warnx("WRITE ERROR!");
+ return 1;
}
+ if (!check_user_abort(fd))
+ return OK;
+
}
fsync(fd);
@@ -178,7 +220,8 @@ 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 */
@@ -190,10 +233,14 @@ test_file(int argc, char *argv[])
align_read_ok = false;
break;
}
+
+ if (!check_user_abort(fd))
+ return OK;
}
if (!align_read_ok) {
- errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+ warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+ return 1;
}
}
@@ -215,7 +262,8 @@ 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++) {
@@ -228,10 +276,14 @@ test_file(int argc, char *argv[])
if (unalign_read_err_count > 10)
break;
}
+
+ if (!check_user_abort(fd))
+ return OK;
}
if (!unalign_read_ok) {
- errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+ warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+ return 1;
}
}
@@ -239,9 +291,10 @@ 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;
+ }
}
}
@@ -261,75 +314,9 @@ 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 321e91e60..ff05cc322 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -110,6 +110,7 @@ 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_conv(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 1c717d3ea..0d3dabc00 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -107,6 +107,7 @@ const struct {
{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
{"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
{NULL, NULL, 0}
};
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-04 23:47:33 +0000