mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 21:53:33 +08:00
Merge remote-tracking branch 'px4/master' into pwm_ioctls
Conflicts: src/drivers/px4io/px4io.cpp
This commit is contained in:
Julian Oes
@@ -54,7 +54,8 @@
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int
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test_file(int argc, char *argv[])
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{
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const iterations = 200;
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const unsigned iterations = 100;
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const unsigned alignments = 65;
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/* check if microSD card is mounted */
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struct stat buffer;
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@@ -63,68 +64,190 @@ test_file(int argc, char *argv[])
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return 1;
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}
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uint8_t buf[512];
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hrt_abstime start, end;
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perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)");
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/* perform tests for a range of chunk sizes */
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unsigned chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
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int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
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memset(buf, 0, sizeof(buf));
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for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
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warnx("aligned write - please wait..");
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printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]);
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if ((0x3 & (uintptr_t)buf))
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warnx("memory is unaligned!");
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for (unsigned a = 0; a < alignments; a++) {
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start = hrt_absolute_time();
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for (unsigned i = 0; i < iterations; i++) {
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perf_begin(wperf);
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write(fd, buf, sizeof(buf));
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fsync(fd);
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perf_end(wperf);
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printf("\n");
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warnx("----- alignment test: %u bytes -----", a);
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uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
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/* fill write buffer with known values */
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for (int i = 0; i < sizeof(write_buf); i++) {
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/* this will wrap, but we just need a known value with spacing */
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write_buf[i] = i+11;
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}
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uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
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hrt_abstime start, end;
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//perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)");
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int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
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warnx("testing unaligned writes - please wait..");
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start = hrt_absolute_time();
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for (unsigned i = 0; i < iterations; i++) {
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//perf_begin(wperf);
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int wret = write(fd, write_buf + a, chunk_sizes[c]);
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if (wret != chunk_sizes[c]) {
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warn("WRITE ERROR!");
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if ((0x3 & (uintptr_t)(write_buf + a)))
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errx(1, "memory is unaligned, align shift: %d", a);
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}
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fsync(fd);
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//perf_end(wperf);
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}
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end = hrt_absolute_time();
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//warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
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//perf_print_counter(wperf);
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//perf_free(wperf);
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close(fd);
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fd = open("/fs/microsd/testfile", O_RDONLY);
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/* read back data for validation */
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for (unsigned i = 0; i < iterations; i++) {
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int rret = read(fd, read_buf, chunk_sizes[c]);
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if (rret != chunk_sizes[c]) {
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errx(1, "READ ERROR!");
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}
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/* compare value */
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bool compare_ok = true;
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for (int j = 0; j < chunk_sizes[c]; j++) {
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if (read_buf[j] != write_buf[j + a]) {
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warnx("COMPARISON ERROR: byte %d, align shift: %d", j, a);
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compare_ok = false;
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break;
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}
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}
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if (!compare_ok) {
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errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
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}
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}
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/*
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* ALIGNED WRITES AND UNALIGNED READS
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*/
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close(fd);
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int ret = unlink("/fs/microsd/testfile");
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fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
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warnx("testing aligned writes - please wait..");
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start = hrt_absolute_time();
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for (unsigned i = 0; i < iterations; i++) {
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int wret = write(fd, write_buf, chunk_sizes[c]);
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if (wret != chunk_sizes[c]) {
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err(1, "WRITE ERROR!");
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}
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}
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fsync(fd);
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warnx("reading data aligned..");
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close(fd);
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fd = open("/fs/microsd/testfile", O_RDONLY);
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bool align_read_ok = true;
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/* read back data unaligned */
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for (unsigned i = 0; i < iterations; i++) {
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int rret = read(fd, read_buf, chunk_sizes[c]);
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if (rret != chunk_sizes[c]) {
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err(1, "READ ERROR!");
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}
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/* compare value */
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bool compare_ok = true;
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for (int j = 0; j < chunk_sizes[c]; j++) {
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if (read_buf[j] != write_buf[j]) {
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warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
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align_read_ok = false;
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break;
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}
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}
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if (!align_read_ok) {
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errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
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}
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}
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warnx("align read result: %s\n", (align_read_ok) ? "OK" : "ERROR");
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warnx("reading data unaligned..");
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close(fd);
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fd = open("/fs/microsd/testfile", O_RDONLY);
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bool unalign_read_ok = true;
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int unalign_read_err_count = 0;
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memset(read_buf, 0, sizeof(read_buf));
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/* read back data unaligned */
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for (unsigned i = 0; i < iterations; i++) {
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int rret = read(fd, read_buf + a, chunk_sizes[c]);
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if (rret != chunk_sizes[c]) {
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err(1, "READ ERROR!");
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}
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for (int j = 0; j < chunk_sizes[c]; j++) {
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if ((read_buf + a)[j] != write_buf[j]) {
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warnx("COMPARISON ERROR: byte %d, align shift: %d: %u != %u", j, a, (unsigned int)read_buf[j + a], (unsigned int)write_buf[j]);
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unalign_read_ok = false;
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unalign_read_err_count++;
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if (unalign_read_err_count > 10)
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break;
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}
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}
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if (!unalign_read_ok) {
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errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
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}
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}
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ret = unlink("/fs/microsd/testfile");
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close(fd);
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if (ret)
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err(1, "UNLINKING FILE FAILED");
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}
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}
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end = hrt_absolute_time();
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warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
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perf_print_counter(wperf);
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perf_free(wperf);
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int ret = unlink("/fs/microsd/testfile");
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if (ret)
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err(1, "UNLINKING FILE FAILED");
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warnx("unaligned write - please wait..");
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struct {
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uint8_t byte;
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uint8_t unaligned[512];
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} unaligned_buf;
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if ((0x3 & (uintptr_t)unaligned_buf.unaligned) == 0)
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warnx("creating unaligned memory failed.");
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wperf = perf_alloc(PC_ELAPSED, "SD writes (unaligned)");
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start = hrt_absolute_time();
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for (unsigned i = 0; i < iterations; i++) {
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perf_begin(wperf);
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write(fd, unaligned_buf.unaligned, sizeof(unaligned_buf.unaligned));
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fsync(fd);
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perf_end(wperf);
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}
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end = hrt_absolute_time();
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close(fd);
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warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
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perf_print_counter(wperf);
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perf_free(wperf);
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/* list directory */
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DIR *d;
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struct dirent *dir;
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DIR *d;
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struct dirent *dir;
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d = opendir("/fs/microsd");
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if (d) {
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