aboutsummaryrefslogtreecommitdiff
path: root/src
diff options
context:
space:
mode:
Diffstat (limited to 'src')
-rw-r--r--src/drivers/boards/px4fmu-v1/board_config.h1
-rw-r--r--src/drivers/boards/px4fmu-v2/board_config.h2
-rw-r--r--src/drivers/boards/px4fmu-v2/px4fmu2_init.c15
-rw-r--r--src/drivers/hott/hott_sensors/hott_sensors.cpp2
-rw-r--r--src/drivers/hott/hott_telemetry/hott_telemetry.cpp2
-rw-r--r--src/drivers/px4fmu/fmu.cpp29
-rw-r--r--src/drivers/px4io/px4io.cpp116
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp12
-rw-r--r--src/modules/systemlib/board_serial.c60
-rw-r--r--src/modules/systemlib/board_serial.h49
-rw-r--r--src/modules/systemlib/module.mk5
-rw-r--r--src/modules/systemlib/otp.c224
-rw-r--r--src/modules/systemlib/otp.h151
-rw-r--r--src/systemcmds/nshterm/nshterm.c4
-rw-r--r--src/systemcmds/tests/module.mk3
-rw-r--r--src/systemcmds/tests/test_file.c161
-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
19 files changed, 967 insertions, 160 deletions
diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 6f7166284..02c26b5c0 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -60,6 +60,7 @@ __BEGIN_DECLS
/* PX4IO connection configuration */
#define PX4IO_SERIAL_DEVICE "/dev/ttyS2"
+#define UDID_START 0x1FFF7A10
//#ifdef CONFIG_STM32_SPI2
//# error "SPI2 is not supported on this board"
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index a19ed9d24..4972e6914 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -52,6 +52,8 @@ __BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
+
+#define UDID_START 0x1FFF7A10
/****************************************************************************************************
* Definitions
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 269ec238e..71414d62c 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void)
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
- message("[boot] Successfully initialized SPI port 1\n");
+ message("[boot] Initialized SPI port 1 (SENSORS)\n");
/* Get the SPI port for the FRAM */
@@ -294,20 +294,23 @@ __EXPORT int nsh_archinitialize(void)
return -ENODEV;
}
- /* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
- SPI_SETFREQUENCY(spi2, 375000000);
+ /* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+ * and de-assert the known chip selects. */
+
+ // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+ SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
- message("[boot] Successfully initialized SPI port 2\n");
+ message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
- message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
+ message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
@@ -315,7 +318,7 @@ __EXPORT int nsh_archinitialize(void)
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
- message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+ message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index e322c6349..a3d3a3933 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -211,7 +211,7 @@ hott_sensors_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT,
- SCHED_PRIORITY_MAX - 40,
+ SCHED_PRIORITY_DEFAULT,
1024,
hott_sensors_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index 042d9f816..d293f9954 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -237,7 +237,7 @@ hott_telemetry_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT,
- SCHED_PRIORITY_MAX - 40,
+ SCHED_PRIORITY_DEFAULT,
2048,
hott_telemetry_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index b878d29bc..b28d318d7 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -65,6 +65,7 @@
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/pwm_limit/pwm_limit.h>
+#include <systemlib/board_serial.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_rc_input.h>
@@ -224,10 +225,10 @@ PX4FMU::PX4FMU() :
_armed(false),
_pwm_on(false),
_mixers(nullptr),
- _failsafe_pwm( {0}),
- _disarmed_pwm( {0}),
- _num_failsafe_set(0),
- _num_disarmed_set(0)
+ _failsafe_pwm({0}),
+ _disarmed_pwm({0}),
+ _num_failsafe_set(0),
+ _num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN;
@@ -575,7 +576,7 @@ PX4FMU::task_main()
if (i >= outputs.noutputs ||
!isfinite(outputs.output[i]) ||
outputs.output[i] < -1.0f ||
- outputs.output[i] > 1.0f) {
+ outputs.output[i] > 1.0f) {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
@@ -933,7 +934,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
- /* FALLTHROUGH */
+ /* FALLTHROUGH */
case PWM_SERVO_SET(3):
case PWM_SERVO_SET(2):
if (_mode < MODE_4PWM) {
@@ -941,7 +942,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
- /* FALLTHROUGH */
+ /* FALLTHROUGH */
case PWM_SERVO_SET(1):
case PWM_SERVO_SET(0):
if (arg <= 2100) {
@@ -960,7 +961,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
- /* FALLTHROUGH */
+ /* FALLTHROUGH */
case PWM_SERVO_GET(3):
case PWM_SERVO_GET(2):
if (_mode < MODE_4PWM) {
@@ -968,7 +969,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
- /* FALLTHROUGH */
+ /* FALLTHROUGH */
case PWM_SERVO_GET(1):
case PWM_SERVO_GET(0):
*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
@@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[])
errx(0, "FMU driver stopped");
}
+ if (!strcmp(verb, "id")) {
+ char id[12];
+ (void)get_board_serial(id);
+
+ errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
+ (unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
+ (unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
+ }
+
if (fmu_start() != OK)
errx(1, "failed to start the FMU driver");
@@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[])
sensor_reset(0);
warnx("resettet default time");
}
+
exit(0);
}
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index cbdd5acc4..0ca35d2f2 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012, 2013 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
@@ -35,7 +35,7 @@
* @file px4io.cpp
* Driver for the PX4IO board.
*
- * PX4IO is connected via I2C.
+ * PX4IO is connected via I2C or DMA enabled high-speed UART.
*/
#include <nuttx/config.h>
@@ -1690,6 +1690,9 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
+ if (ret)
+ return ret;
+
retries--;
log("mixer sent");
@@ -2420,6 +2423,69 @@ detect(int argc, char *argv[])
}
void
+checkcrc(int argc, char *argv[])
+{
+ bool keep_running = false;
+
+ if (g_dev == nullptr) {
+ /* allocate the interface */
+ device::Device *interface = get_interface();
+
+ /* create the driver - it will set g_dev */
+ (void)new PX4IO(interface);
+
+ if (g_dev == nullptr)
+ errx(1, "driver alloc failed");
+ } else {
+ /* its already running, don't kill the driver */
+ keep_running = true;
+ }
+
+ /*
+ check IO CRC against CRC of a file
+ */
+ if (argc < 2) {
+ printf("usage: px4io checkcrc filename\n");
+ exit(1);
+ }
+ int fd = open(argv[1], O_RDONLY);
+ if (fd == -1) {
+ printf("open of %s failed - %d\n", argv[1], errno);
+ exit(1);
+ }
+ const uint32_t app_size_max = 0xf000;
+ uint32_t fw_crc = 0;
+ uint32_t nbytes = 0;
+ while (true) {
+ uint8_t buf[16];
+ int n = read(fd, buf, sizeof(buf));
+ if (n <= 0) break;
+ fw_crc = crc32part(buf, n, fw_crc);
+ nbytes += n;
+ }
+ close(fd);
+ while (nbytes < app_size_max) {
+ uint8_t b = 0xff;
+ fw_crc = crc32part(&b, 1, fw_crc);
+ nbytes++;
+ }
+
+ int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
+
+ if (!keep_running) {
+ delete g_dev;
+ g_dev = nullptr;
+ }
+
+ if (ret != OK) {
+ printf("check CRC failed - %d\n", ret);
+ exit(1);
+ }
+ printf("CRCs match\n");
+ exit(0);
+}
+
+void
bind(int argc, char *argv[])
{
int pulses;
@@ -2613,6 +2679,9 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "detect"))
detect(argc - 1, argv + 1);
+ if (!strcmp(argv[1], "checkcrc"))
+ checkcrc(argc - 1, argv + 1);
+
if (!strcmp(argv[1], "update")) {
if (g_dev != nullptr) {
@@ -2798,49 +2867,6 @@ px4io_main(int argc, char *argv[])
exit(0);
}
- if (!strcmp(argv[1], "checkcrc")) {
- /*
- check IO CRC against CRC of a file
- */
- if (argc <= 2) {
- printf("usage: px4io checkcrc filename\n");
- exit(1);
- }
- if (g_dev == nullptr) {
- printf("px4io is not started\n");
- exit(1);
- }
- int fd = open(argv[2], O_RDONLY);
- if (fd == -1) {
- printf("open of %s failed - %d\n", argv[2], errno);
- exit(1);
- }
- const uint32_t app_size_max = 0xf000;
- uint32_t fw_crc = 0;
- uint32_t nbytes = 0;
- while (true) {
- uint8_t buf[16];
- int n = read(fd, buf, sizeof(buf));
- if (n <= 0) break;
- fw_crc = crc32part(buf, n, fw_crc);
- nbytes += n;
- }
- close(fd);
- while (nbytes < app_size_max) {
- uint8_t b = 0xff;
- fw_crc = crc32part(&b, 1, fw_crc);
- nbytes++;
- }
-
- int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
- if (ret != OK) {
- printf("check CRC failed - %d\n", ret);
- exit(1);
- }
- printf("CRCs match\n");
- exit(0);
- }
-
if (!strcmp(argv[1], "rx_dsm") ||
!strcmp(argv[1], "rx_dsm_10bit") ||
!strcmp(argv[1], "rx_dsm_11bit") ||
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index b8ef73d04..d8dbf9085 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -175,7 +175,6 @@ private:
/* takeoff/launch states */
bool launch_detected;
bool usePreTakeoffThrust;
- bool launch_detection_message_sent;
/* Landingslope object */
Landingslope landingslope;
@@ -397,8 +396,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_mavlink_fd(-1),
launchDetector(),
launch_detected(false),
- usePreTakeoffThrust(false),
- launch_detection_message_sent(false)
+ usePreTakeoffThrust(false)
{
/* safely initialize structs */
vehicle_attitude_s _att = {0};
@@ -985,10 +983,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// warnx("Launch detection running");
if(!launch_detected) { //do not do further checks once a launch was detected
if (launchDetector.launchDetectionEnabled()) {
-// warnx("Launch detection enabled");
- if(!launch_detection_message_sent) {
+ static hrt_abstime last_sent = 0;
+ if(hrt_absolute_time() - last_sent > 4e6) {
+// warnx("Launch detection running");
mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
- launch_detection_message_sent = true;
+ last_sent = hrt_absolute_time();
}
launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
if (launchDetector.getLaunchDetected()) {
@@ -1057,7 +1056,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (mission_item_triplet.current.nav_cmd != NAV_CMD_TAKEOFF) {
launch_detected = false;
usePreTakeoffThrust = false;
- launch_detection_message_sent = false;
}
if (was_circle_mode && !_l1_control.circle_mode()) {
diff --git a/src/modules/systemlib/board_serial.c b/src/modules/systemlib/board_serial.c
new file mode 100644
index 000000000..ad8c2bf83
--- /dev/null
+++ b/src/modules/systemlib/board_serial.c
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ * 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 board_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include "otp.h"
+#include "board_config.h"
+#include "board_serial.h"
+
+int get_board_serial(char *serialid)
+{
+ const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
+ union udid id;
+ val_read((unsigned *)&id, udid_ptr, sizeof(id));
+
+
+ /* Copy the serial from the chips non-write memory and swap endianess */
+ serialid[0] = id.data[3]; serialid[1] = id.data[2]; serialid[2] = id.data[1]; serialid[3] = id.data[0];
+ serialid[4] = id.data[7]; serialid[5] = id.data[6]; serialid[6] = id.data[5]; serialid[7] = id.data[4];
+ serialid[8] = id.data[11]; serialid[9] = id.data[10]; serialid[10] = id.data[9]; serialid[11] = id.data[8];
+
+ return 0;
+} \ No newline at end of file
diff --git a/src/modules/systemlib/board_serial.h b/src/modules/systemlib/board_serial.h
new file mode 100644
index 000000000..b14bb4376
--- /dev/null
+++ b/src/modules/systemlib/board_serial.h
@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ * 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 board_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#pragma once
+
+__BEGIN_DECLS
+
+__EXPORT int get_board_serial(char *serialid);
+
+__END_DECLS
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 843cda722..8c6c300d6 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -49,4 +49,7 @@ SRCS = err.c \
airspeed.c \
system_params.c \
mavlink_log.c \
- rc_check.c
+ rc_check.c \
+ otp.c \
+ board_serial.c
+
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
new file mode 100644
index 000000000..695574fdc
--- /dev/null
+++ b/src/modules/systemlib/otp.c
@@ -0,0 +1,224 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ * Authors:
+ * Lorenz Meier <lm@inf.ethz.ch>
+ * David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ * 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 otp.c
+ * otp estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include <nuttx/config.h>
+#include <board_config.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <string.h> // memset
+#include "conversions.h"
+#include "otp.h"
+#include "err.h" // warnx
+#include <assert.h>
+
+
+int val_read(void *dest, volatile const void *src, int bytes)
+{
+
+ int i;
+
+ for (i = 0; i < bytes / 4; i++) {
+ *(((volatile unsigned *)dest) + i) = *(((volatile unsigned *)src) + i);
+ }
+
+ return i * 4;
+}
+
+
+int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature)
+{
+
+ warnx("write_otp: PX4 / %02X / %02X / %02X / ... etc \n", id_type, vid, pid);
+
+ int errors = 0;
+
+ // descriptor
+ if (F_write_byte(ADDR_OTP_START, 'P'))
+ errors++;
+ // write the 'P' from PX4. to first byte in OTP
+ if (F_write_byte(ADDR_OTP_START + 1, 'X'))
+ errors++; // write the 'P' from PX4. to first byte in OTP
+ if (F_write_byte(ADDR_OTP_START + 2, '4'))
+ errors++;
+ if (F_write_byte(ADDR_OTP_START + 3, '\0'))
+ errors++;
+ //id_type
+ if (F_write_byte(ADDR_OTP_START + 4, id_type))
+ errors++;
+ // vid and pid are 4 bytes each
+ if (F_write_word(ADDR_OTP_START + 5, vid))
+ errors++;
+ if (F_write_word(ADDR_OTP_START + 9, pid))
+ errors++;
+
+ // leave some 19 bytes of space, and go to the next block...
+ // then the auth sig starts
+ for (int i = 0 ; i < 128 ; i++) {
+ if (F_write_byte(ADDR_OTP_START + 32 + i, signature[i]))
+ errors++;
+ }
+
+ return errors;
+}
+
+int lock_otp(void)
+{
+ //determine the required locking size - can only write full lock bytes */
+// int size = sizeof(struct otp) / 32;
+//
+// struct otp_lock otp_lock_mem;
+//
+// memset(&otp_lock_mem, OTP_LOCK_UNLOCKED, sizeof(otp_lock_mem));
+// for (int i = 0; i < sizeof(otp_lock_mem) / sizeof(otp_lock_mem.lock_bytes[0]); i++)
+// otp_lock_mem.lock_bytes[i] = OTP_LOCK_LOCKED;
+ //XXX add the actual call here to write the OTP_LOCK bytes only at final stage
+ // val_copy(lock_ptr, &otp_lock_mem, sizeof(otp_lock_mem));
+
+ int locksize = 5;
+
+ int errors = 0;
+
+ // or just realise it's exctly 5x 32byte blocks we need to lock. 1 block for ID,type,vid,pid, and 4 blocks for certificate, which is 128 bytes.
+ for (int i = 0 ; i < locksize ; i++) {
+ if (F_write_byte(ADDR_OTP_LOCK_START + i, OTP_LOCK_LOCKED))
+ errors++;
+ }
+
+ return errors;
+}
+
+
+
+// COMPLETE, BUSY, or other flash error?
+int F_GetStatus(void)
+{
+ int fs = F_COMPLETE;
+
+ if ((FLASH->status & F_BSY) == F_BSY) { fs = F_BUSY; } else {
+
+ if ((FLASH->status & F_WRPERR) != (uint32_t)0x00) { fs = F_ERROR_WRP; } else {
+
+ if ((FLASH->status & (uint32_t)0xEF) != (uint32_t)0x00) { fs = F_ERROR_PROGRAM; } else {
+
+ if ((FLASH->status & F_OPERR) != (uint32_t)0x00) { fs = F_ERROR_OPERATION; } else {
+ fs = F_COMPLETE;
+ }
+ }
+ }
+ }
+
+ return fs;
+}
+
+
+// enable FLASH Registers
+void F_unlock(void)
+{
+ if ((FLASH->control & F_CR_LOCK) != 0) {
+ FLASH->key = F_KEY1;
+ FLASH->key = F_KEY2;
+ }
+}
+
+// lock the FLASH Registers
+void F_lock(void)
+{
+ FLASH->control |= F_CR_LOCK;
+}
+
+// flash write word.
+int F_write_word(uint32_t Address, uint32_t Data)
+{
+ unsigned char octet[4] = {0, 0, 0, 0};
+
+ int ret = 0;
+
+ for (int i = 0; i < 4; i++) {
+ octet[i] = (Data >> (i * 8)) & 0xFF;
+ ret = F_write_byte(Address + i, octet[i]);
+ }
+
+ return ret;
+}
+
+// flash write byte
+int F_write_byte(uint32_t Address, uint8_t Data)
+{
+ volatile int status = F_COMPLETE;
+
+ //warnx("F_write_byte: %08X %02d", Address , Data ) ;
+
+ //Check the parameters
+ assert(IS_F_ADDRESS(Address));
+
+ //Wait for FLASH operation to complete by polling on BUSY flag.
+ status = F_GetStatus();
+
+ while (status == F_BUSY) { status = F_GetStatus();}
+
+ if (status == F_COMPLETE) {
+ //if the previous operation is completed, proceed to program the new data
+ FLASH->control &= CR_PSIZE_MASK;
+ FLASH->control |= F_PSIZE_BYTE;
+ FLASH->control |= F_CR_PG;
+
+ *(volatile uint8_t *)Address = Data;
+
+ //Wait for FLASH operation to complete by polling on BUSY flag.
+ status = F_GetStatus();
+
+ while (status == F_BUSY) { status = F_GetStatus();}
+
+ //if the program operation is completed, disable the PG Bit
+ FLASH->control &= (~F_CR_PG);
+ }
+
+ //Return the Program Status
+ return !(status == F_COMPLETE);
+}
+
+
+
diff --git a/src/modules/systemlib/otp.h b/src/modules/systemlib/otp.h
new file mode 100644
index 000000000..f10e129d8
--- /dev/null
+++ b/src/modules/systemlib/otp.h
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ * 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 otp.h
+ * One TIme Programmable ( OTP ) Flash routine/s.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#ifndef OTP_H_
+#define OTP_H_
+
+__BEGIN_DECLS
+
+#define ADDR_OTP_START 0x1FFF7800
+#define ADDR_OTP_LOCK_START 0x1FFF7A00
+
+#define OTP_LOCK_LOCKED 0x00
+#define OTP_LOCK_UNLOCKED 0xFF
+
+
+
+#include <unistd.h>
+#include <stdio.h>
+
+// possible flash statuses
+#define F_BUSY 1
+#define F_ERROR_WRP 2
+#define F_ERROR_PROGRAM 3
+#define F_ERROR_OPERATION 4
+#define F_COMPLETE 5
+
+typedef struct {
+ volatile uint32_t accesscontrol; // 0x00
+ volatile uint32_t key; // 0x04
+ volatile uint32_t optionkey; // 0x08
+ volatile uint32_t status; // 0x0C
+ volatile uint32_t control; // 0x10
+ volatile uint32_t optioncontrol; //0x14
+} flash_registers;
+
+#define PERIPH_BASE ((uint32_t)0x40000000) //Peripheral base address
+#define AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000)
+#define F_R_BASE (AHB1PERIPH_BASE + 0x3C00)
+#define FLASH ((flash_registers *) F_R_BASE)
+
+#define F_BSY ((uint32_t)0x00010000) //FLASH Busy flag bit
+#define F_OPERR ((uint32_t)0x00000002) //FLASH operation Error flag bit
+#define F_WRPERR ((uint32_t)0x00000010) //FLASH Write protected error flag bit
+#define CR_PSIZE_MASK ((uint32_t)0xFFFFFCFF)
+#define F_PSIZE_WORD ((uint32_t)0x00000200)
+#define F_PSIZE_BYTE ((uint32_t)0x00000000)
+#define F_CR_PG ((uint32_t)0x00000001) // a bit in the F_CR register
+#define F_CR_LOCK ((uint32_t)0x80000000) // also another bit.
+
+#define F_KEY1 ((uint32_t)0x45670123)
+#define F_KEY2 ((uint32_t)0xCDEF89AB)
+#define IS_F_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) || (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) < 0x1FFF7A0F)))
+
+
+
+#pragma pack(push, 1)
+
+/*
+ * The OTP area is divided into 16 OTP data blocks of 32 bytes and one lock OTP block of 16 bytes.
+ * The OTP data and lock blocks cannot be erased. The lock block contains 16 bytes LOCKBi (0 ≤ i ≤ 15)
+ * to lock the corresponding OTP data block (blocks 0 to 15). Each OTP data block can be programmed
+ * until the value 0x00 is programmed in the corresponding OTP lock byte. The lock bytes must only
+ * contain 0x00 and 0xFF values, otherwise the OTP bytes might not be taken into account correctly.
+ */
+
+struct otp {
+ // first 32 bytes = the '0' Block
+ char id[4]; ///4 bytes < 'P' 'X' '4' '\n'
+ uint8_t id_type; ///1 byte < 0 for USB VID, 1 for generic VID
+ uint32_t vid; ///4 bytes
+ uint32_t pid; ///4 bytes
+ char unused[19]; ///19 bytes
+ // Cert-of-Auth is next 4 blocks ie 1-4 ( where zero is first block )
+ char signature[128];
+ // insert extras here
+ uint32_t lock_bytes[4];
+};
+
+struct otp_lock {
+ uint8_t lock_bytes[16];
+};
+#pragma pack(pop)
+
+#define ADDR_F_SIZE 0x1FFF7A22
+
+#pragma pack(push, 1)
+union udid {
+ uint32_t serial[3];
+ char data[12];
+};
+#pragma pack(pop)
+
+
+/**
+ * s
+ */
+//__EXPORT float calc_indicated_airspeed(float differential_pressure);
+
+__EXPORT void F_unlock(void);
+__EXPORT void F_lock(void);
+__EXPORT int val_read(void *dest, volatile const void *src, int bytes);
+__EXPORT int val_write(volatile void *dest, const void *src, int bytes);
+__EXPORT int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature);
+__EXPORT int lock_otp(void);
+
+
+__EXPORT int F_write_byte(uint32_t Address, uint8_t Data);
+__EXPORT int F_write_word(uint32_t Address, uint32_t Data);
+
+__END_DECLS
+
+#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/tests/module.mk b/src/systemcmds/tests/module.mk
index 4fbd296d2..1509ac064 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -29,4 +29,5 @@ SRCS = test_adc.c \
tests_main.c \
test_param.c \
test_ppm_loopback.c \
- test_rc.c
+ test_rc.c \
+ test_mount.c
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 798724cf1..7206b87d6 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 +54,38 @@
#include "tests.h"
+int check_user_abort();
+
+int check_user_abort() {
+ /* 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.");
+ return OK;
+ /* not reached */
+ }
+ }
+ }
+
+ return 1;
+}
+
int
test_file(int argc, char *argv[])
{
@@ -86,7 +121,6 @@ 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 +128,25 @@ 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())
+ 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 +155,8 @@ 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 +171,13 @@ 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())
+ return OK;
+
}
/*
@@ -152,16 +188,20 @@ 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())
+ return OK;
+
}
fsync(fd);
@@ -178,7 +218,8 @@ 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 +231,14 @@ test_file(int argc, char *argv[])
align_read_ok = false;
break;
}
+
+ if (!check_user_abort())
+ 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 +260,8 @@ 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 +274,14 @@ test_file(int argc, char *argv[])
if (unalign_read_err_count > 10)
break;
}
+
+ if (!check_user_abort())
+ 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 +289,10 @@ 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 +312,9 @@ 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 6420d3798..8223de712 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -109,6 +109,7 @@ extern int test_bson(int argc, char *argv[]);
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_mount(int argc, char *argv[]);
extern int test_mathlib(int argc, char *argv[]);
__END_DECLS
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 5fab8f82e..d0a8635ed 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -106,6 +106,7 @@ const struct {
{"file", test_file, 0},
{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
{"mathlib", test_mathlib, 0},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
{NULL, NULL, 0}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-19 23:38:50 +0000