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Merge branch 'sdtest' of github.com:PX4/Firmware into hil_usb_only

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This commit is contained in:
Lorenz Meier 2013-10-09 22:53:25 +02:00
commit b8ccf67e8c
2 changed files with 51 additions and 38 deletions
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12
src/drivers/px4io/px4io.cpp
View File

@ -95,6 +95,8 @@ extern device::Device *PX4IO_serial_interface() weak_function;
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
#define UPDATE_INTERVAL_MIN 2
/**
* The PX4IO class.
*
@ -817,8 +819,8 @@ PX4IO::task_main()
/* adjust update interval */
if (_update_interval != 0) {
if (_update_interval < 5)
_update_interval = 5;
if (_update_interval < UPDATE_INTERVAL_MIN)
_update_interval = UPDATE_INTERVAL_MIN;
if (_update_interval > 100)
_update_interval = 100;
orb_set_interval(_t_actuators, _update_interval);
@ -2058,8 +2060,8 @@ int
PX4IO::set_update_rate(int rate)
{
int interval_ms = 1000 / rate;
if (interval_ms < 3) {
interval_ms = 3;
if (interval_ms < UPDATE_INTERVAL_MIN) {
interval_ms = UPDATE_INTERVAL_MIN;
warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
}
@ -2442,7 +2444,7 @@ px4io_main(int argc, char *argv[])
if ((argc > 2)) {
g_dev->set_update_rate(atoi(argv[2]));
} else {
errx(1, "missing argument (50 - 400 Hz)");
errx(1, "missing argument (50 - 500 Hz)");
return 1;
}
exit(0);

77
src/systemcmds/tests/tests_file.c
View File

@ -63,24 +63,38 @@ test_file(int argc, char *argv[])
return 1;
}
uint8_t buf[512];
uint8_t write_buf[512 + 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[512 + 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);
memset(buf, 0, sizeof(buf));
warnx("aligned write - please wait..");
if ((0x3 & (uintptr_t)buf))
warnx("memory is unaligned!");
warnx("testing aligned and unaligned writes - please wait..");
start = hrt_absolute_time();
for (unsigned i = 0; i < iterations; i++) {
perf_begin(wperf);
write(fd, buf, sizeof(buf));
int wret = write(fd, write_buf + (i % 64), 512);
if (wret != 512) {
warn("WRITE ERROR!");
if ((0x3 & (uintptr_t)(write_buf + (i % 64))))
warnx("memory is unaligned, align shift: %d", (i % 64));
}
fsync(fd);
perf_end(wperf);
}
end = hrt_absolute_time();
@ -89,39 +103,36 @@ test_file(int argc, char *argv[])
perf_print_counter(wperf);
perf_free(wperf);
/* read back data for validation */
for (unsigned i = 0; i < iterations; i++) {
int rret = read(fd, read_buf, 512);
/* compare value */
for (int j = 0; j < 512; j++) {
if (read_buf[j] != write_buf[j + (i % 64)]) {
warnx("COMPARISON ERROR: byte %d, align shift: %d", j, (i % 64));
}
}
}
/* read back data for alignment checks */
// for (unsigned i = 0; i < iterations; i++) {
// perf_begin(wperf);
// int rret = read(fd, buf + (i % 64), sizeof(buf));
// fsync(fd);
// perf_end(wperf);
// }
int ret = unlink("/fs/microsd/testfile");
if (ret)
err(1, "UNLINKING FILE FAILED");
warnx("unaligned write - please wait..");
struct {
uint8_t byte;
uint8_t unaligned[512];
} unaligned_buf;
if ((0x3 & (uintptr_t)unaligned_buf.unaligned) == 0)
warnx("creating unaligned memory failed.");
wperf = perf_alloc(PC_ELAPSED, "SD writes (unaligned)");
start = hrt_absolute_time();
for (unsigned i = 0; i < iterations; i++) {
perf_begin(wperf);
write(fd, unaligned_buf.unaligned, sizeof(unaligned_buf.unaligned));
fsync(fd);
perf_end(wperf);
}
end = hrt_absolute_time();
close(fd);
warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
perf_print_counter(wperf);
perf_free(wperf);
/* list directory */
DIR *d;
struct dirent *dir;