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-rw-r--r--src/systemcmds/esc_calib/module.mk2
-rw-r--r--src/systemcmds/motor_test/module.mk43
-rw-r--r--src/systemcmds/motor_test/motor_test.c132
-rw-r--r--src/systemcmds/mtd/24xxxx_mtd.c15
-rw-r--r--src/systemcmds/mtd/module.mk2
-rw-r--r--src/systemcmds/nshterm/module.mk6
-rw-r--r--src/systemcmds/nshterm/nshterm.c31
-rw-r--r--src/systemcmds/pwm/module.mk2
-rw-r--r--src/systemcmds/pwm/pwm.c87
-rw-r--r--src/systemcmds/reflect/module.mk41
-rw-r--r--src/systemcmds/reflect/reflect.c111
-rw-r--r--src/systemcmds/tests/test_sensors.c2
-rw-r--r--src/systemcmds/tests/tests_main.c2
-rw-r--r--src/systemcmds/ver/ver.c76
14 files changed, 488 insertions, 64 deletions
diff --git a/src/systemcmds/esc_calib/module.mk b/src/systemcmds/esc_calib/module.mk
index 990c56768..ce87eb3e2 100644
--- a/src/systemcmds/esc_calib/module.mk
+++ b/src/systemcmds/esc_calib/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND = esc_calib
SRCS = esc_calib.c
MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION = -Os
diff --git a/src/systemcmds/motor_test/module.mk b/src/systemcmds/motor_test/module.mk
new file mode 100644
index 000000000..261428ef9
--- /dev/null
+++ b/src/systemcmds/motor_test/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+# Copyright (c) 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.
+#
+############################################################################
+
+#
+# Build the motor_test tool.
+#
+
+MODULE_COMMAND = motor_test
+SRCS = motor_test.c
+
+MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION = -Os
diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c
new file mode 100644
index 000000000..77dc2f0d5
--- /dev/null
+++ b/src/systemcmds/motor_test/motor_test.c
@@ -0,0 +1,132 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ * Author: Holger Steinhaus <hsteinhaus@gmx.de>
+ *
+ * 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 motor_test.c
+ *
+ * Tool for drive testing
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/topics/test_motor.h>
+
+
+#include "systemlib/systemlib.h"
+#include "systemlib/err.h"
+
+
+__EXPORT int motor_test_main(int argc, char *argv[]);
+
+static void motor_test(unsigned channel, float value);
+static void usage(const char *reason);
+
+static orb_advert_t _test_motor_pub;
+
+void motor_test(unsigned channel, float value)
+{
+ struct test_motor_s _test_motor;
+
+ _test_motor.motor_number = channel;
+ _test_motor.timestamp = hrt_absolute_time();
+ _test_motor.value = value;
+
+ if (_test_motor_pub > 0) {
+ /* publish test state */
+ orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
+ } else {
+ /* advertise and publish */
+ _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
+ }
+}
+
+static void usage(const char *reason)
+{
+ if (reason != NULL) {
+ warnx("%s", reason);
+ }
+
+ errx(1,
+ "usage:\n"
+ "motor_test\n"
+ " -m <channel> Motor to test (0..7)\n"
+ " -p <power> Power (0..100)\n");
+}
+
+int motor_test_main(int argc, char *argv[])
+{
+ unsigned long channel = 0;
+ unsigned long lval;
+ float value = 0.0f;
+ int ch;
+
+ if (argc != 5) {
+ usage("please specify motor and power");
+ }
+
+ while ((ch = getopt(argc, argv, "m:p:")) != EOF) {
+ switch (ch) {
+
+ case 'm':
+ /* Read in motor number */
+ channel = strtoul(optarg, NULL, 0);
+ break;
+
+ case 'p':
+ /* Read in power value */
+ lval = strtoul(optarg, NULL, 0);
+
+ if (lval > 100)
+ usage("value invalid");
+
+ value = ((float)lval)/100.f;
+ break;
+ default:
+ usage(NULL);
+ }
+ }
+
+ motor_test(channel, value);
+
+ printf("motor %d set to %.2f\n", channel, (double)value);
+
+ exit(0);
+}
diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index 991363797..f85ed8e2d 100644
--- a/src/systemcmds/mtd/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
@@ -80,11 +80,17 @@
/* As a minimum, the size of the AT24 part and its 7-bit I2C address are required. */
#ifndef CONFIG_AT24XX_SIZE
-# warning "Assuming AT24 size 64"
+/* XXX this is a well vetted special case,
+ * do not issue a warning any more
+ * # warning "Assuming AT24 size 64"
+ */
# define CONFIG_AT24XX_SIZE 64
#endif
#ifndef CONFIG_AT24XX_ADDR
-# warning "Assuming AT24 address of 0x50"
+/* XXX this is a well vetted special case,
+ * do not issue a warning any more
+ * # warning "Assuming AT24 address of 0x50"
+ */
# define CONFIG_AT24XX_ADDR 0x50
#endif
@@ -115,7 +121,10 @@
*/
#ifndef CONFIG_AT24XX_MTD_BLOCKSIZE
-# warning "Assuming driver block size is the same as the FLASH page size"
+/* XXX this is a well vetted special case,
+ * do not issue a warning any more
+ * # warning "Assuming driver block size is the same as the FLASH page size"
+ */
# define CONFIG_AT24XX_MTD_BLOCKSIZE AT24XX_PAGESIZE
#endif
diff --git a/src/systemcmds/mtd/module.mk b/src/systemcmds/mtd/module.mk
index b3fceceb5..1bc4f414e 100644
--- a/src/systemcmds/mtd/module.mk
+++ b/src/systemcmds/mtd/module.mk
@@ -4,3 +4,5 @@
MODULE_COMMAND = mtd
SRCS = mtd.c 24xxxx_mtd.c
+
+MAXOPTIMIZATION = -Os
diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk
index b22b446da..a12bc369e 100644
--- a/src/systemcmds/nshterm/module.mk
+++ b/src/systemcmds/nshterm/module.mk
@@ -38,4 +38,8 @@
MODULE_COMMAND = nshterm
SRCS = nshterm.c
-MODULE_STACKSIZE = 1200
+MODULE_STACKSIZE = 1600
+
+MAXOPTIMIZATION = -Os
+
+MODULE_PRIORITY = "SCHED_PRIORITY_DEFAULT-30"
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index fca1798e6..edeb5c624 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -51,6 +51,8 @@
#include <fcntl.h>
#include <systemlib/err.h>
+#include <uORB/topics/actuator_armed.h>
+
__EXPORT int nshterm_main(int argc, char *argv[]);
int
@@ -62,9 +64,30 @@ nshterm_main(int argc, char *argv[])
}
unsigned retries = 0;
int fd = -1;
+ int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
+ struct actuator_armed_s armed;
+ /* we assume the system does not provide arming status feedback */
+ bool armed_updated = false;
+
+ /* try the first 30 seconds or if arming system is ready */
+ while ((retries < 300) || armed_updated) {
+
+ /* abort if an arming topic is published and system is armed */
+ bool updated = false;
+ if (orb_check(armed_fd, &updated)) {
+ /* the system is now providing arming status feedback.
+ * instead of timing out, we resort to abort bringing
+ * up the terminal.
+ */
+ armed_updated = true;
+ orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
+
+ if (armed.armed) {
+ /* this is not an error, but we are done */
+ exit(0);
+ }
+ }
- /* 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);
@@ -87,7 +110,7 @@ nshterm_main(int argc, char *argv[])
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
- warnx("ERROR get termios config %s: %d\n", argv[1], termios_state);
+ warnx("ERR get config %s: %d\n", argv[1], termios_state);
close(fd);
return -1;
}
@@ -96,7 +119,7 @@ nshterm_main(int argc, char *argv[])
uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/);
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
- warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", argv[1]);
+ warnx("ERR set config %s\n", argv[1]);
close(fd);
return -1;
}
diff --git a/src/systemcmds/pwm/module.mk b/src/systemcmds/pwm/module.mk
index 13a24150f..a51ac8e0c 100644
--- a/src/systemcmds/pwm/module.mk
+++ b/src/systemcmds/pwm/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND = pwm
SRCS = pwm.c
MODULE_STACKSIZE = 1800
+
+MAXOPTIMIZATION = -Os
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index c8d698b86..eeba89fa8 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -74,34 +74,34 @@ usage(const char *reason)
"usage:\n"
"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info ...\n"
"\n"
- " arm Arm output\n"
- " disarm Disarm output\n"
+ "arm\t\t\t\tArm output\n"
+ "disarm\t\t\t\tDisarm output\n"
"\n"
- " rate ... Configure PWM rates\n"
- " [-g <channel group>] Channel group that should update at the alternate rate\n"
- " [-m <chanmask> ] Directly supply channel mask\n"
- " [-a] Configure all outputs\n"
- " -r <alt_rate> PWM rate (50 to 400 Hz)\n"
+ "rate ...\t\t\tConfigure PWM rates\n"
+ "\t[-g <channel group>]\t(e.g. 0,1,2)\n"
+ "\t[-m <channel mask> ]\t(e.g. 0xF)\n"
+ "\t[-a]\t\t\tConfigure all outputs\n"
+ "\t-r <alt_rate>\t\tPWM rate (50 to 400 Hz)\n"
"\n"
- " failsafe ... Configure failsafe PWM values\n"
- " disarmed ... Configure disarmed PWM values\n"
- " min ... Configure minimum PWM values\n"
- " max ... Configure maximum PWM values\n"
- " [-c <channels>] Supply channels (e.g. 1234)\n"
- " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
- " [-a] Configure all outputs\n"
- " -p <pwm value> PWM value\n"
+ "failsafe ...\t\t\tFailsafe PWM\n"
+ "disarmed ...\t\t\tDisarmed PWM\n"
+ "min ...\t\t\t\tMinimum PWM\n"
+ "max ...\t\t\t\tMaximum PWM\n"
+ "\t[-c <channels>]\t\t(e.g. 1234)\n"
+ "\t[-m <channel mask> ]\t(e.g. 0xF)\n"
+ "\t[-a]\t\t\tConfigure all outputs\n"
+ "\t-p <pwm value>\t\tPWM value\n"
"\n"
- " test ... Directly set PWM values\n"
- " [-c <channels>] Supply channels (e.g. 1234)\n"
- " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
- " [-a] Configure all outputs\n"
- " -p <pwm value> PWM value\n"
+ "test ...\t\t\tDirectly set PWM\n"
+ "\t[-c <channels>]\t\t(e.g. 1234)\n"
+ "\t[-m <channel mask> ]\t(e.g. 0xF)\n"
+ "\t[-a]\t\t\tConfigure all outputs\n"
+ "\t-p <pwm value>\t\tPWM value\n"
"\n"
- " info Print information about the PWM device\n"
+ "info\t\t\t\tPrint information\n"
"\n"
- " -v Print verbose information\n"
- " -d <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
+ "\t-v\t\t\tVerbose\n"
+ "\t-d <dev>\t\t(default " PWM_OUTPUT_DEVICE_PATH ")\n"
);
}
@@ -123,7 +123,7 @@ pwm_main(int argc, char *argv[])
unsigned single_ch = 0;
unsigned pwm_value = 0;
- if (argc < 1)
+ if (argc < 2)
usage(NULL);
while ((ch = getopt(argc-1, &argv[1], "d:vc:g:m:ap:r:")) != EOF) {
@@ -165,7 +165,7 @@ pwm_main(int argc, char *argv[])
/* Read in mask directly */
set_mask = strtoul(optarg, &ep, 0);
if (*ep != '\0')
- usage("bad set_mask value");
+ usage("BAD set_mask VAL");
break;
case 'a':
@@ -176,12 +176,12 @@ pwm_main(int argc, char *argv[])
case 'p':
pwm_value = strtoul(optarg, &ep, 0);
if (*ep != '\0')
- usage("bad PWM value provided");
+ usage("BAD PWM VAL");
break;
case 'r':
alt_rate = strtoul(optarg, &ep, 0);
if (*ep != '\0')
- usage("bad alternative rate provided");
+ usage("BAD rate VAL");
break;
default:
break;
@@ -189,7 +189,7 @@ pwm_main(int argc, char *argv[])
}
if (print_verbose && set_mask > 0) {
- warnx("Chose channels: ");
+ warnx("Channels: ");
printf(" ");
for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) {
if (set_mask & 1<<i)
@@ -364,7 +364,7 @@ pwm_main(int argc, char *argv[])
usage("no channels set");
}
if (pwm_value == 0)
- usage("no PWM value provided");
+ usage("no PWM provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
@@ -383,7 +383,7 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK)
- errx(ret, "failed setting failsafe values");
+ errx(ret, "BAD input VAL");
}
exit(0);
@@ -393,7 +393,7 @@ pwm_main(int argc, char *argv[])
usage("no channels set");
}
if (pwm_value == 0)
- usage("no PWM value provided");
+ usage("no PWM provided");
/* get current servo values */
struct pwm_output_values last_spos;
@@ -487,7 +487,7 @@ pwm_main(int argc, char *argv[])
steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]);
steps_timing_index++ ) {
- warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]);
+ warnx("Step input (0 to 100%%) over %u us ramp", steps_timings_us[steps_timing_index]);
while (1) {
for (unsigned i = 0; i < servo_count; i++) {
@@ -526,7 +526,7 @@ pwm_main(int argc, char *argv[])
err(1, "PWM_SERVO_SET(%d)", i);
}
}
- warnx("Key pressed, user abort\n");
+ warnx("User abort\n");
exit(0);
}
}
@@ -654,9 +654,28 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
+ } else if (!strcmp(argv[1], "terminatefail")) {
+
+ if (argc < 3) {
+ errx(1, "arg missing [on|off]");
+ } else {
+
+ if (!strcmp(argv[2], "on")) {
+ /* force failsafe */
+ ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 1);
+ } else {
+ /* force failsafe */
+ ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 0);
+ }
+
+ if (ret != OK) {
+ warnx("FAILED setting termination failsafe %s", argv[2]);
+ }
+ }
+ exit(0);
}
- usage("specify arm|disarm|rate|failsafe|disarmed|min|max|test|info|forcefail");
+ usage(NULL);
return 0;
}
diff --git a/src/systemcmds/reflect/module.mk b/src/systemcmds/reflect/module.mk
new file mode 100644
index 000000000..973eb775d
--- /dev/null
+++ b/src/systemcmds/reflect/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+# Copyright (c) 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.
+#
+############################################################################
+
+#
+# Dump file utility
+#
+
+MODULE_COMMAND = reflect
+SRCS = reflect.c
+
+MAXOPTIMIZATION = -Os
diff --git a/src/systemcmds/reflect/reflect.c b/src/systemcmds/reflect/reflect.c
new file mode 100644
index 000000000..6bb53c71a
--- /dev/null
+++ b/src/systemcmds/reflect/reflect.c
@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2014 Andrew Tridgell. 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 reflect.c
+ *
+ * simple data reflector for load testing terminals (especially USB)
+ *
+ * @author Andrew Tridgell
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <assert.h>
+#include <systemlib/err.h>
+
+__EXPORT int reflect_main(int argc, char *argv[]);
+
+// memory corruption checking
+#define MAX_BLOCKS 1000
+static uint32_t nblocks;
+struct block {
+ uint32_t v[256];
+};
+static struct block *blocks[MAX_BLOCKS];
+
+#define VALUE(i) ((i*7) ^ 0xDEADBEEF)
+
+static void allocate_blocks(void)
+{
+ while (nblocks < MAX_BLOCKS) {
+ blocks[nblocks] = calloc(1, sizeof(struct block));
+ if (blocks[nblocks] == NULL) {
+ break;
+ }
+ for (uint32_t i=0; i<sizeof(blocks[nblocks]->v)/sizeof(uint32_t); i++) {
+ blocks[nblocks]->v[i] = VALUE(i);
+ }
+ nblocks++;
+ }
+ printf("Allocated %u blocks\n", nblocks);
+}
+
+static void check_blocks(void)
+{
+ for (uint32_t n=0; n<nblocks; n++) {
+ for (uint32_t i=0; i<sizeof(blocks[nblocks]->v)/sizeof(uint32_t); i++) {
+ assert(blocks[n]->v[i] == VALUE(i));
+ }
+ }
+}
+
+int
+reflect_main(int argc, char *argv[])
+{
+ uint32_t total = 0;
+ printf("Starting reflector\n");
+
+ allocate_blocks();
+
+ while (true) {
+ char buf[128];
+ ssize_t n = read(0, buf, sizeof(buf));
+ if (n < 0) {
+ break;
+ }
+ if (n > 0) {
+ write(1, buf, n);
+ }
+ total += n;
+ if (total > 1024000) {
+ check_blocks();
+ total = 0;
+ }
+ }
+ return OK;
+}
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index a4f17eebd..e005bf9c1 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -331,7 +331,7 @@ mag(int argc, char *argv[])
float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
- if (len < 1.0f || len > 3.0f) {
+ if (len < 0.25f || len > 3.0f) {
warnx("MAG scale error!");
return ERROR;
}
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index e3f26924f..0f56704e6 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -110,7 +110,9 @@ const struct {
{"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST},
{"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
{"mtd", test_mtd, 0},
+#ifndef TESTS_MATHLIB_DISABLE
{"mathlib", test_mathlib, 0},
+#endif
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
{NULL, NULL, 0}
};
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index 9ae080ee2..2ead3e632 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -44,14 +44,16 @@
#include <string.h>
#include <version/version.h>
#include <systemlib/err.h>
+#include <systemlib/mcu_version.h>
-// string constants for version commands
+/* string constants for version commands */
static const char sz_ver_hw_str[] = "hw";
static const char sz_ver_hwcmp_str[] = "hwcmp";
static const char sz_ver_git_str[] = "git";
static const char sz_ver_bdate_str[] = "bdate";
static const char sz_ver_gcc_str[] = "gcc";
static const char sz_ver_all_str[] = "all";
+static const char mcu_ver_str[] = "mcu";
static void usage(const char *reason)
{
@@ -59,55 +61,87 @@ static void usage(const char *reason)
printf("%s\n", reason);
}
- printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n");
+ printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu}\n\n");
}
__EXPORT int ver_main(int argc, char *argv[]);
int ver_main(int argc, char *argv[])
{
- int ret = 1; //defaults to an error
+ /* defaults to an error */
+ int ret = 1;
- // first check if there are at least 2 params
+ /* first check if there are at least 2 params */
if (argc >= 2) {
if (argv[1] != NULL) {
- if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) {
- printf("%s\n", HW_ARCH);
- ret = 0;
- } else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) {
+ if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) {
if (argc >= 3 && argv[2] != NULL) {
- // compare 3rd parameter with HW_ARCH string, in case of match, return 0
+ /* compare 3rd parameter with HW_ARCH string, in case of match, return 0 */
ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH));
if (ret == 0) {
printf("ver hwcmp match: %s\n", HW_ARCH);
}
+ return ret;
} else {
errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'");
}
+ }
- } else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
- printf("%s\n", FW_GIT);
- ret = 0;
+ /* check if we want to show all */
+ bool show_all = !strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str));
- } else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) {
- printf("%s %s\n", __DATE__, __TIME__);
+ if (show_all || !strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) {
+ printf("HW arch: %s\n", HW_ARCH);
ret = 0;
- } else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
- printf("%s\n", __VERSION__);
+ }
+
+ if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
+ printf("FW git-hash: %s\n", FW_GIT);
ret = 0;
- } else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) {
- printf("HW arch: %s\n", HW_ARCH);
+ }
+
+ if (show_all || !strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) {
printf("Build datetime: %s %s\n", __DATE__, __TIME__);
- printf("FW git-hash: %s\n", FW_GIT);
- printf("GCC toolchain: %s\n", __VERSION__);
ret = 0;
- } else {
+ }
+
+ if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
+ printf("Toolchain: %s\n", __VERSION__);
+ ret = 0;
+
+ }
+
+ if (show_all || !strncmp(argv[1], mcu_ver_str, sizeof(mcu_ver_str))) {
+
+ char rev;
+ char* revstr;
+
+ int chip_version = mcu_version(&rev, &revstr);
+
+ if (chip_version < 0) {
+ printf("UNKNOWN MCU\n");
+
+ } else {
+ printf("MCU: %s, rev. %c\n", revstr, rev);
+
+ if (chip_version < MCU_REV_STM32F4_REV_3) {
+ printf("\nWARNING WARNING WARNING!\n"
+ "Revision %c has a silicon errata\n"
+ "This device can only utilize a maximum of 1MB flash safely!\n"
+ "http://px4.io/help/errata\n\n", rev);
+ }
+ }
+
+ ret = 0;
+ }
+
+ if (ret == 1) {
errx(1, "unknown command.\n");
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-02 02:10:13 +0000