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Merged master into mixer unit tests branch

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Lorenz Meier
2014-01-15 07:43:17 +01:00
parent 9612514a3f cd72f564ef
commit f3cd83e804
69 changed files with 2886 additions and 1044 deletions
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src/systemcmds/eeprom/eeprom.c
-265
View File
@@ -1,265 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 eeprom.c
*
* EEPROM service and utility app.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <board_config.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
#endif
__EXPORT int eeprom_main(int argc, char *argv[]);
static void eeprom_attach(void);
static void eeprom_start(void);
static void eeprom_erase(void);
static void eeprom_ioctl(unsigned operation);
static void eeprom_save(const char *name);
static void eeprom_load(const char *name);
static void eeprom_test(void);
static bool attached = false;
static bool started = false;
static struct mtd_dev_s *eeprom_mtd;
int eeprom_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start"))
eeprom_start();
if (!strcmp(argv[1], "save_param"))
eeprom_save(argv[2]);
if (!strcmp(argv[1], "load_param"))
eeprom_load(argv[2]);
if (!strcmp(argv[1], "erase"))
eeprom_erase();
if (!strcmp(argv[1], "test"))
eeprom_test();
if (0) { /* these actually require a file on the filesystem... */
if (!strcmp(argv[1], "reformat"))
eeprom_ioctl(FIOC_REFORMAT);
if (!strcmp(argv[1], "repack"))
eeprom_ioctl(FIOC_OPTIMIZE);
}
}
errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n");
}
static void
eeprom_attach(void)
{
/* find the right I2C */
struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
/* this resets the I2C bus, set correct bus speed again */
I2C_SETFREQUENCY(i2c, 400000);
if (i2c == NULL)
errx(1, "failed to locate I2C bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
eeprom_mtd = at24c_initialize(i2c);
if (eeprom_mtd) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: EEPROM needed %d attempts to attach", i+1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (eeprom_mtd == NULL)
errx(1, "failed to initialize EEPROM driver");
attached = true;
}
static void
eeprom_start(void)
{
int ret;
if (started)
errx(1, "EEPROM already mounted");
if (!attached)
eeprom_attach();
/* start NXFFS */
ret = nxffs_initialize(eeprom_mtd);
if (ret < 0)
errx(1, "failed to initialize NXFFS - erase EEPROM to reformat");
/* mount the EEPROM */
ret = mount(NULL, "/eeprom", "nxffs", 0, NULL);
if (ret < 0)
errx(1, "failed to mount /eeprom - erase EEPROM to reformat");
started = true;
warnx("mounted EEPROM at /eeprom");
exit(0);
}
extern int at24c_nuke(void);
static void
eeprom_erase(void)
{
if (!attached)
eeprom_attach();
if (at24c_nuke())
errx(1, "erase failed");
errx(0, "erase done, reboot now");
}
static void
eeprom_ioctl(unsigned operation)
{
int fd;
fd = open("/eeprom/.", 0);
if (fd < 0)
err(1, "open /eeprom");
if (ioctl(fd, operation, 0) < 0)
err(1, "ioctl");
exit(0);
}
static void
eeprom_save(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/eeprom/parameters'");
warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
/* delete the file in case it exists */
unlink(name);
/* create the file */
int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0)
err(1, "opening '%s' failed", name);
int result = param_export(fd, false);
close(fd);
if (result < 0) {
unlink(name);
errx(1, "error exporting to '%s'", name);
}
exit(0);
}
static void
eeprom_load(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/eeprom/parameters'");
warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
int fd = open(name, O_RDONLY);
if (fd < 0)
err(1, "open '%s'", name);
int result = param_load(fd);
close(fd);
if (result < 0)
errx(1, "error importing from '%s'", name);
exit(0);
}
extern void at24c_test(void);
static void
eeprom_test(void)
{
at24c_test();
exit(0);
}
src/systemcmds/eeprom/module.mk
-39
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@@ -1,39 +0,0 @@
############################################################################
#
# Copyright (c) 2012, 2013 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.
#
############################################################################
#
# EEPROM file system driver
#
MODULE_COMMAND = eeprom
SRCS = 24xxxx_mtd.c eeprom.c
src/systemcmds/esc_calib/esc_calib.c
+1
View File
@@ -148,6 +148,7 @@ esc_calib_main(int argc, char *argv[])
case 'l':
/* Read in custom low value */
pwm_low = strtoul(optarg, &ep, 0);
if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN)
usage("low PWM invalid");
break;
src/systemcmds/eeprom/24xxxx_mtd.c → src/systemcmds/mtd/24xxxx_mtd.c
View File
src/systemcmds/mtd/module.mk
+6
View File
@@ -0,0 +1,6 @@
#
# RAMTRON file system driver
#
MODULE_COMMAND = mtd
SRCS = mtd.c 24xxxx_mtd.c
src/systemcmds/mtd/mtd.c
+378
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@@ -0,0 +1,378 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 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 mtd.c
*
* mtd service and utility app.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/spi.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
#include <board_config.h>
__EXPORT int mtd_main(int argc, char *argv[]);
#ifndef CONFIG_MTD
/* create a fake command with decent warnx to not confuse users */
int mtd_main(int argc, char *argv[])
{
errx(1, "MTD not enabled, skipping.");
}
#else
#ifdef CONFIG_MTD_RAMTRON
static void ramtron_attach(void);
#else
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
#endif
static void at24xxx_attach(void);
#endif
static void mtd_start(char *partition_names[], unsigned n_partitions);
static void mtd_test(void);
static void mtd_erase(char *partition_names[], unsigned n_partitions);
static void mtd_print_info();
static int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
static bool attached = false;
static bool started = false;
static struct mtd_dev_s *mtd_dev;
static unsigned n_partitions_current = 0;
/* note, these will be equally sized */
static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
static const int n_partitions_default = sizeof(partition_names_default) / sizeof(partition_names_default[0]);
int mtd_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start")) {
/* start mapping according to user request */
if (argc > 3) {
mtd_start(argv + 2, argc - 2);
} else {
mtd_start(partition_names_default, n_partitions_default);
}
}
if (!strcmp(argv[1], "test"))
mtd_test();
if (!strcmp(argv[1], "status"))
mtd_status();
if (!strcmp(argv[1], "erase")) {
if (argc < 3) {
errx(1, "usage: mtd erase <PARTITION_PATH..>");
}
mtd_erase(argv + 2, argc - 2);
}
}
errx(1, "expected a command, try 'start', 'erase' or 'test'");
}
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
off_t firstblock, off_t nblocks);
#ifdef CONFIG_MTD_RAMTRON
static void
ramtron_attach(void)
{
/* find the right spi */
struct spi_dev_s *spi = up_spiinitialize(2);
/* this resets the spi bus, set correct bus speed again */
SPI_SETFREQUENCY(spi, 40 * 1000 * 1000);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SELECT(spi, SPIDEV_FLASH, false);
if (spi == NULL)
errx(1, "failed to locate spi bus");
/* start the RAMTRON driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
mtd_dev = ramtron_initialize(spi);
if (mtd_dev) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: mtd needed %d attempts to attach", i + 1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (mtd_dev == NULL)
errx(1, "failed to initialize mtd driver");
attached = true;
}
#else
static void
at24xxx_attach(void)
{
/* find the right I2C */
struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
/* this resets the I2C bus, set correct bus speed again */
I2C_SETFREQUENCY(i2c, 400000);
if (i2c == NULL)
errx(1, "failed to locate I2C bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
mtd_dev = at24c_initialize(i2c);
if (mtd_dev) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: EEPROM needed %d attempts to attach", i+1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (mtd_dev == NULL)
errx(1, "failed to initialize EEPROM driver");
attached = true;
}
#endif
static void
mtd_start(char *partition_names[], unsigned n_partitions)
{
int ret;
if (started)
errx(1, "mtd already mounted");
if (!attached) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
at24xxx_attach();
#else
ramtron_attach();
#endif
}
if (!mtd_dev) {
warnx("ERROR: Failed to create RAMTRON FRAM MTD instance");
exit(1);
}
unsigned long blocksize, erasesize, neraseblocks;
unsigned blkpererase, nblocks, partsize;
ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions);
if (ret)
exit(3);
/* Now create MTD FLASH partitions */
warnx("Creating partitions");
FAR struct mtd_dev_s *part[n_partitions];
char blockname[32];
unsigned offset;
unsigned i;
for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
warnx(" Partition %d. Block offset=%lu, size=%lu",
i, (unsigned long)offset, (unsigned long)nblocks);
/* Create the partition */
part[i] = mtd_partition(mtd_dev, offset, nblocks);
if (!part[i]) {
warnx("ERROR: mtd_partition failed. offset=%lu nblocks=%lu",
(unsigned long)offset, (unsigned long)nblocks);
exit(4);
}
/* Initialize to provide an FTL block driver on the MTD FLASH interface */
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", i);
ret = ftl_initialize(i, part[i]);
if (ret < 0) {
warnx("ERROR: ftl_initialize %s failed: %d", blockname, ret);
exit(5);
}
/* Now create a character device on the block device */
ret = bchdev_register(blockname, partition_names[i], false);
if (ret < 0) {
warnx("ERROR: bchdev_register %s failed: %d", partition_names[i], ret);
exit(6);
}
}
n_partitions_current = n_partitions;
started = true;
exit(0);
}
int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions)
{
/* Get the geometry of the FLASH device */
FAR struct mtd_geometry_s geo;
int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
if (ret < 0) {
warnx("ERROR: mtd->ioctl failed: %d", ret);
return ret;
}
*blocksize = geo.blocksize;
*erasesize = geo.blocksize;
*neraseblocks = geo.neraseblocks;
/* Determine the size of each partition. Make each partition an even
* multiple of the erase block size (perhaps not using some space at the
* end of the FLASH).
*/
*blkpererase = geo.erasesize / geo.blocksize;
*nblocks = (geo.neraseblocks / n_partitions) * *blkpererase;
*partsize = *nblocks * geo.blocksize;
return ret;
}
void mtd_print_info()
{
if (!attached)
exit(1);
unsigned long blocksize, erasesize, neraseblocks;
unsigned blkpererase, nblocks, partsize;
int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current);
if (ret)
exit(3);
warnx("Flash Geometry:");
printf(" blocksize: %lu\n", blocksize);
printf(" erasesize: %lu\n", erasesize);
printf(" neraseblocks: %lu\n", neraseblocks);
printf(" No. partitions: %u\n", n_partitions_current);
printf(" Partition size: %u Blocks (%u bytes)\n", nblocks, partsize);
printf(" TOTAL SIZE: %u KiB\n", neraseblocks * erasesize / 1024);
}
void
mtd_test(void)
{
warnx("This test routine does not test anything yet!");
exit(1);
}
void
mtd_status(void)
{
if (!attached)
errx(1, "MTD driver not started");
mtd_print_info();
exit(0);
}
void
mtd_erase(char *partition_names[], unsigned n_partitions)
{
uint8_t v[64];
memset(v, 0xFF, sizeof(v));
for (uint8_t i = 0; i < n_partitions; i++) {
uint32_t count = 0;
printf("Erasing %s\n", partition_names[i]);
int fd = open(partition_names[i], O_WRONLY);
if (fd == -1) {
errx(1, "Failed to open partition");
}
while (write(fd, &v, sizeof(v)) == sizeof(v)) {
count += sizeof(v);
}
printf("Erased %lu bytes\n", (unsigned long)count);
close(fd);
}
exit(0);
}
#endif
src/systemcmds/nshterm/nshterm.c
+3 -1
View File
@@ -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/param/param.c
+38 -9
View File
@@ -72,7 +72,12 @@ param_main(int argc, char *argv[])
if (argc >= 3) {
do_save(argv[2]);
} else {
do_save(param_get_default_file());
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
} else {
exit(0);
}
}
}
@@ -133,11 +138,8 @@ param_main(int argc, char *argv[])
static void
do_save(const char* param_file_name)
{
/* delete the parameter file in case it exists */
unlink(param_file_name);
/* create the file */
int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
int fd = open(param_file_name, O_WRONLY | O_CREAT);
if (fd < 0)
err(1, "opening '%s' failed", param_file_name);
@@ -146,7 +148,7 @@ do_save(const char* param_file_name)
close(fd);
if (result < 0) {
unlink(param_file_name);
(void)unlink(param_file_name);
errx(1, "error exporting to '%s'", param_file_name);
}
@@ -203,11 +205,38 @@ do_show_print(void *arg, param_t param)
int32_t i;
float f;
const char *search_string = (const char*)arg;
const char *p_name = (const char*)param_name(param);
/* print nothing if search string is invalid and not matching */
if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
/* param not found */
return;
if (!(arg == NULL)) {
/* start search */
char *ss = search_string;
char *pp = p_name;
bool mismatch = false;
/* XXX this comparison is only ok for trailing wildcards */
while (*ss != '\0' && *pp != '\0') {
if (*ss == *pp) {
ss++;
pp++;
} else if (*ss == '*') {
if (*(ss + 1) != '\0') {
warnx("* symbol only allowed at end of search string.");
exit(1);
}
pp++;
} else {
/* param not found */
return;
}
}
/* the search string must have been consumed */
if (!(*ss == '\0' || *ss == '*'))
return;
}
printf("%c %s: ",
src/systemcmds/ramtron/module.mk
-6
View File
@@ -1,6 +0,0 @@
#
# RAMTRON file system driver
#
MODULE_COMMAND = ramtron
SRCS = ramtron.c
src/systemcmds/ramtron/ramtron.c
-279
View File
@@ -1,279 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 ramtron.c
*
* ramtron service and utility app.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/spi.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
__EXPORT int ramtron_main(int argc, char *argv[]);
#ifndef CONFIG_MTD_RAMTRON
/* create a fake command with decent message to not confuse users */
int ramtron_main(int argc, char *argv[])
{
errx(1, "RAMTRON not enabled, skipping.");
}
#else
static void ramtron_attach(void);
static void ramtron_start(void);
static void ramtron_erase(void);
static void ramtron_ioctl(unsigned operation);
static void ramtron_save(const char *name);
static void ramtron_load(const char *name);
static void ramtron_test(void);
static bool attached = false;
static bool started = false;
static struct mtd_dev_s *ramtron_mtd;
int ramtron_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start"))
ramtron_start();
if (!strcmp(argv[1], "save_param"))
ramtron_save(argv[2]);
if (!strcmp(argv[1], "load_param"))
ramtron_load(argv[2]);
if (!strcmp(argv[1], "erase"))
ramtron_erase();
if (!strcmp(argv[1], "test"))
ramtron_test();
if (0) { /* these actually require a file on the filesystem... */
if (!strcmp(argv[1], "reformat"))
ramtron_ioctl(FIOC_REFORMAT);
if (!strcmp(argv[1], "repack"))
ramtron_ioctl(FIOC_OPTIMIZE);
}
}
errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
}
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
static void
ramtron_attach(void)
{
/* find the right spi */
struct spi_dev_s *spi = up_spiinitialize(2);
/* this resets the spi bus, set correct bus speed again */
// xxx set in ramtron driver, leave this out
// SPI_SETFREQUENCY(spi, 4000000);
SPI_SETFREQUENCY(spi, 375000000);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SELECT(spi, SPIDEV_FLASH, false);
if (spi == NULL)
errx(1, "failed to locate spi bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
ramtron_mtd = ramtron_initialize(spi);
if (ramtron_mtd) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: ramtron needed %d attempts to attach", i+1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (ramtron_mtd == NULL)
errx(1, "failed to initialize ramtron driver");
attached = true;
}
static void
ramtron_start(void)
{
int ret;
if (started)
errx(1, "ramtron already mounted");
if (!attached)
ramtron_attach();
/* start NXFFS */
ret = nxffs_initialize(ramtron_mtd);
if (ret < 0)
errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
/* mount the ramtron */
ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
if (ret < 0)
errx(1, "failed to mount /ramtron - erase ramtron to reformat");
started = true;
warnx("mounted ramtron at /ramtron");
exit(0);
}
//extern int at24c_nuke(void);
static void
ramtron_erase(void)
{
if (!attached)
ramtron_attach();
// if (at24c_nuke())
errx(1, "erase failed");
errx(0, "erase done, reboot now");
}
static void
ramtron_ioctl(unsigned operation)
{
int fd;
fd = open("/ramtron/.", 0);
if (fd < 0)
err(1, "open /ramtron");
if (ioctl(fd, operation, 0) < 0)
err(1, "ioctl");
exit(0);
}
static void
ramtron_save(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/ramtron/parameters'");
warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
/* delete the file in case it exists */
unlink(name);
/* create the file */
int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0)
err(1, "opening '%s' failed", name);
int result = param_export(fd, false);
close(fd);
if (result < 0) {
unlink(name);
errx(1, "error exporting to '%s'", name);
}
exit(0);
}
static void
ramtron_load(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/ramtron/parameters'");
warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
int fd = open(name, O_RDONLY);
if (fd < 0)
err(1, "open '%s'", name);
int result = param_load(fd);
close(fd);
if (result < 0)
errx(1, "error importing from '%s'", name);
exit(0);
}
//extern void at24c_test(void);
static void
ramtron_test(void)
{
// at24c_test();
exit(0);
}
#endif
src/systemcmds/tests/module.mk
+2 -1
View File
@@ -29,4 +29,5 @@ SRCS = test_adc.c \
test_param.c \
test_ppm_loopback.c \
test_rc.c \
test_conv.cpp
test_conv.cpp \
test_mount.c
src/systemcmds/tests/test_file.c
+75 -88
View File
@@ -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 +54,40 @@
#include "tests.h"
int check_user_abort(int fd);
int check_user_abort(int fd) {
/* 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.");
fsync(fd);
close(fd);
return OK;
/* not reached */
}
}
}
return 1;
}
int
test_file(int argc, char *argv[])
{
@@ -86,7 +123,6 @@ 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 +130,25 @@ 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(fd))
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 +157,8 @@ 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 +173,13 @@ 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(fd))
return OK;
}
/*
@@ -152,16 +190,20 @@ 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(fd))
return OK;
}
fsync(fd);
@@ -178,7 +220,8 @@ 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 +233,14 @@ test_file(int argc, char *argv[])
align_read_ok = false;
break;
}
if (!check_user_abort(fd))
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 +262,8 @@ 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 +276,14 @@ test_file(int argc, char *argv[])
if (unalign_read_err_count > 10)
break;
}
if (!check_user_abort(fd))
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 +291,10 @@ 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 +314,9 @@ 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
+289
View File
@@ -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
+1
View File
@@ -110,6 +110,7 @@ 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_conv(int argc, char *argv[]);
extern int test_mount(int argc, char *argv[]);
__END_DECLS
src/systemcmds/tests/tests_main.c
+1
View File
@@ -107,6 +107,7 @@ const struct {
{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
{"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST},
{"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
{NULL, NULL, 0}
};