Merge branch 'navigator_new' into navigator_new_vector

ROMFS/px4fmu_test/init.d/rcS

@@ -2,6 +2,7 @@
 #
 # PX4FMU startup script for test hackery.
 #
+uorb start
 
 if sercon
 then
@@ -9,4 +10,68 @@ then
 
 	# Try to get an USB console
 	nshterm /dev/ttyACM0 &
-fi
+fi
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+	# Start playing the startup tune
+	tone_alarm start
+else
+	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm error
+fi
+
+#
+# Start a minimal system
+#
+
+if [ -f /etc/extras/px4io-v2_default.bin ]
+then
+	set io_file /etc/extras/px4io-v2_default.bin
+else
+	set io_file /etc/extras/px4io-v1_default.bin
+fi
+
+if px4io start
+then
+	echo "PX4IO OK"
+fi
+
+if px4io checkcrc $io_file
+then
+	echo "PX4IO CRC OK"
+else
+	echo "PX4IO CRC failure"
+	tone_alarm MBABGP
+	if px4io forceupdate 14662 $io_file
+	then
+		usleep 500000
+		if px4io start
+		then
+			echo "PX4IO restart OK"
+			tone_alarm MSPAA
+		else
+			echo "PX4IO restart failed"
+			tone_alarm MNGGG
+			sleep 5
+			reboot
+		fi
+	else
+		echo "PX4IO update failed"
+		tone_alarm MNGGG
+	fi
+fi
+
+#
+# The presence of this file suggests we're running a mount stress test
+#
+if [ -f /fs/microsd/mount_test_cmds.txt ]
+then
+	tests mount
+fi

makefiles/config_px4fmu-v1_test.mk

@@ -6,31 +6,29 @@
 # Use the configuration's ROMFS.
 #
 ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
 
 #
 # Board support modules
 #
 MODULES		+= drivers/device
 MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 MODULES		+= drivers/boards/px4fmu-v1
+MODULES		+= drivers/px4io
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/nshterm
 
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-
 #
 # Library modules
 #
 MODULES		+= modules/systemlib
-MODULES		+= modules/uORB
 MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
 
 #
 # Transitional support - add commands from the NuttX export archive.

makefiles/config_px4fmu-v2_test.mk

@@ -6,21 +6,28 @@
 # Use the configuration's ROMFS.
 #
 ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
 
 #
 # Board support modules
 #
 MODULES		+= drivers/device
 MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 MODULES		+= drivers/boards/px4fmu-v2
+MODULES		+= drivers/px4io
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/nshterm
 
 #
 # Library modules
 #
 MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
 
 #

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -302,7 +302,7 @@ CONFIG_USART2_RXDMA=y
 CONFIG_USART3_RXDMA=y
 # CONFIG_UART4_RS485 is not set
 CONFIG_UART4_RXDMA=y
-# CONFIG_UART5_RXDMA is not set
+CONFIG_UART5_RXDMA=y
 # CONFIG_USART6_RS485 is not set
 CONFIG_USART6_RXDMA=y
 # CONFIG_UART7_RS485 is not set

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"

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

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;
 	}
 

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);

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);

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);
 	}
 

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");
@@ -2419,6 +2422,69 @@ 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[])
 {
@@ -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") ||

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()) {

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;
+}

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

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
+

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);
+}
+
+
+

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

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);

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

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

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;
+}

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

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}