From e7c1e8e94b082a0ba5b22b2f449844ee9a76a50a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 4 Jan 2014 13:53:59 +0100 Subject: [PATCH 01/13] Added tests for mount / fsync / reboot --- src/systemcmds/tests/module.mk | 3 +- src/systemcmds/tests/test_mount.c | 232 ++++++++++++++++++++++++++++++ src/systemcmds/tests/tests.h | 1 + src/systemcmds/tests/tests_main.c | 1 + 4 files changed, 236 insertions(+), 1 deletion(-) create mode 100644 src/systemcmds/tests/test_mount.c diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 68a080c77c..28e214a6c4 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -28,4 +28,5 @@ SRCS = test_adc.c \ tests_main.c \ test_param.c \ test_ppm_loopback.c \ - test_rc.c + test_rc.c \ + test_mount.c diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c new file mode 100644 index 0000000000..bef953d112 --- /dev/null +++ b/src/systemcmds/tests/test_mount.c @@ -0,0 +1,232 @@ +/**************************************************************************** + * + * 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 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +int +test_mount(int argc, char *argv[]) +{ + const unsigned iterations = 100; + const unsigned alignments = 65; + + /* check if microSD card is mounted */ + struct stat buffer; + if (stat("/fs/microsd/", &buffer)) { + warnx("no microSD card mounted, aborting file test"); + return 1; + } + + /* read current test status from file, write test instructions for next round */ + const char* cmd_filename = "/fs/microsd/mount_test_cmds"; + + /* initial values */ + int it_left_fsync = 100; + int it_left_abort = 100; + + int cmd_fd; + if (stat(cmd_filename, &buffer)) { + + /* command file exists, read off state */ + cmd_fd = open(cmd_filename, O_RDWR); + char buf[64]; + int ret = read(cmd_fd, buf, sizeof(buf)); + if (ret > 0) + ret = sscanf("%d %d", &it_left_fsync, &it_left_abort); + + warnx("Iterations left: #%d / #%d\n(%s)", it_left_fsync, it_left_abort, buf); + + /* 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--; + + 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); + } + + char buf[64]; + sprintf(buf, "%d %d", it_left_fsync, it_left_abort); + write(cmd_fd, buf, strlen(buf) + 1); + + /* perform tests for a range of chunk sizes */ + unsigned chunk_sizes[] = {1, 5, 8, 13, 16, 32}; + + for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) { + + printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]); + + for (unsigned a = 0; a < alignments; a++) { + + printf("\n"); + warnx("----- alignment test: %u bytes -----", a); + + 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; + //perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)"); + + int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); + + warnx("testing unaligned writes - please wait.."); + + 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); + + } + + if (it_left_fsync > 0) { + fsync(fd); + } else { + if (it_left_abort % chunk_sizes[c] == 0) { + systemreset(); + } + } + //perf_end(wperf); + + } + 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); + + /* 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; + } + + } + } + + /* 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"); + return 1; + } + + /* we always reboot for the next test if we get here */ + systemreset(); + + /* never going to get here */ + return 0; +} diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index a57d04be37..bec13bd304 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -109,6 +109,7 @@ extern int test_bson(int argc, char *argv[]); extern int test_file(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); extern int test_rc(int argc, char *argv[]); +extern int test_mount(int argc, char *argv[]); __END_DECLS diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 1088a44076..84535126fb 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -106,6 +106,7 @@ const struct { {"file", test_file, 0}, {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST}, {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {NULL, NULL, 0} }; From 97e8386290b89b0877fe57de31000801b7d0b8c0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 4 Jan 2014 13:54:14 +0100 Subject: [PATCH 02/13] Auto-restarting mount test if config file present --- ROMFS/px4fmu_test/init.d/rcS | 25 ++++++++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index 6aa1d3d46b..d8ed71f121 100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -9,4 +9,27 @@ then # Try to get an USB console nshterm /dev/ttyACM0 & -fi \ No newline at end of file +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 + +# +# The presence of this file suggests we're running a mount stress test +# +if [ -f /fs/microsd/mount_test_cmds ] +then + tests mount +fi From 7fa36a22d730ee9fbcd5ce8ecd61ae6e415b595e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 4 Jan 2014 14:05:23 +0100 Subject: [PATCH 03/13] Fixed tests config --- makefiles/config_px4fmu-v2_test.mk | 3 +++ 1 file changed, 3 insertions(+) diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 0f60e88b5e..3139a0db49 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -16,11 +16,14 @@ MODULES += drivers/led MODULES += drivers/boards/px4fmu-v2 MODULES += systemcmds/perf MODULES += systemcmds/reboot +MODULES += systemcmds/tests +MODULES += systemcmds/nshterm # # Library modules # MODULES += modules/systemlib +MODULES += modules/systemlib/mixer MODULES += modules/uORB # From 05649eb09c0ad26e64d42471bf091dc7ee6ce5fb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 4 Jan 2014 17:05:19 +0100 Subject: [PATCH 04/13] Create test config for FMUv1 --- makefiles/config_px4fmu-v1_test.mk | 48 ++++++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 makefiles/config_px4fmu-v1_test.mk diff --git a/makefiles/config_px4fmu-v1_test.mk b/makefiles/config_px4fmu-v1_test.mk new file mode 100644 index 0000000000..41e8b95ff5 --- /dev/null +++ b/makefiles/config_px4fmu-v1_test.mk @@ -0,0 +1,48 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# 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 + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/uORB + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is ... but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) From 7590d91cf24d7fdd9bc0167958eba16cf584c67c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 4 Jan 2014 17:05:52 +0100 Subject: [PATCH 05/13] Improved mount test --- ROMFS/px4fmu_test/init.d/rcS | 44 ++++++++- makefiles/config_px4fmu-v2_test.mk | 4 + src/systemcmds/tests/test_file.c | 71 +------------- src/systemcmds/tests/test_mount.c | 148 +++++++++++++++++++---------- 4 files changed, 149 insertions(+), 118 deletions(-) diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index d8ed71f121..56482d1407 100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -2,6 +2,7 @@ # # PX4FMU startup script for test hackery. # +uorb start if sercon then @@ -26,10 +27,51 @@ else 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 ] +if [ -f /fs/microsd/mount_test_cmds.txt ] then tests mount fi diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 3139a0db49..6faef7e0a4 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -6,14 +6,18 @@ # 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 diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c index 798724cf1a..4ca84f276e 100644 --- a/src/systemcmds/tests/test_file.c +++ b/src/systemcmds/tests/test_file.c @@ -103,6 +103,7 @@ test_file(int argc, char *argv[]) if ((0x3 & (uintptr_t)(write_buf + a))) errx(1, "memory is unaligned, align shift: %d", a); + return 1; } fsync(fd); @@ -139,7 +140,8 @@ 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; } } @@ -266,70 +268,3 @@ test_file(int argc, char *argv[]) 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"); - return 1; - } - - uint8_t buf[512]; - hrt_abstime start, end; - perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes"); - - int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - memset(buf, 0, sizeof(buf)); - - start = hrt_absolute_time(); - for (unsigned i = 0; i < iterations; i++) { - perf_begin(wperf); - write(fd, buf, sizeof(buf)); - perf_end(wperf); - } - end = hrt_absolute_time(); - - close(fd); - - unlink("/fs/microsd/testfile"); - - warnx("%dKiB in %llu microseconds", iterations / 2, end - start); - perf_print_counter(wperf); - perf_free(wperf); - - warnx("running unlink test"); - - /* ensure that common commands do not run against file count limits */ - for (unsigned i = 0; i < 64; i++) { - - warnx("unlink iteration #%u", i); - - int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - if (fd < 0) - errx(1, "failed opening test file before unlink()"); - int ret = write(fd, buf, sizeof(buf)); - if (ret < 0) - errx(1, "failed writing test file before unlink()"); - close(fd); - - ret = unlink("/fs/microsd/testfile"); - if (ret != OK) - errx(1, "failed unlinking test file"); - - fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - if (fd < 0) - errx(1, "failed opening test file after unlink()"); - ret = write(fd, buf, sizeof(buf)); - if (ret < 0) - errx(1, "failed writing test file after unlink()"); - close(fd); - } - - return 0; -} -#endif diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c index bef953d112..2f3a0d99e0 100644 --- a/src/systemcmds/tests/test_mount.c +++ b/src/systemcmds/tests/test_mount.c @@ -46,6 +46,7 @@ #include #include #include +#include #include #include @@ -53,11 +54,17 @@ #include "tests.h" +const int fsync_tries = 50; +const int abort_tries = 200; + int test_mount(int argc, char *argv[]) { - const unsigned iterations = 100; - const unsigned alignments = 65; + const unsigned iterations = 10; + const unsigned alignments = 4; + + const char* cmd_filename = "/fs/microsd/mount_test_cmds.txt"; + /* check if microSD card is mounted */ struct stat buffer; @@ -66,56 +73,114 @@ test_mount(int argc, char *argv[]) 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 */ - const char* cmd_filename = "/fs/microsd/mount_test_cmds"; /* initial values */ - int it_left_fsync = 100; - int it_left_abort = 100; + int it_left_fsync = fsync_tries; + int it_left_abort = abort_tries; int cmd_fd; - if (stat(cmd_filename, &buffer)) { + if (stat(cmd_filename, &buffer) == OK) { /* command file exists, read off state */ - cmd_fd = open(cmd_filename, O_RDWR); + cmd_fd = open(cmd_filename, O_RDWR | O_NONBLOCK); char buf[64]; int ret = read(cmd_fd, buf, sizeof(buf)); - if (ret > 0) - ret = sscanf("%d %d", &it_left_fsync, &it_left_abort); - warnx("Iterations left: #%d / #%d\n(%s)", it_left_fsync, it_left_abort, 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) + + if (it_left_fsync == 0 && it_left_abort > 0) { + it_left_abort--; - if (it_left_abort == 0) + /* 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]; - sprintf(buf, "%d %d", it_left_fsync, it_left_abort); - write(cmd_fd, buf, strlen(buf) + 1); + 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[] = {1, 5, 8, 13, 16, 32}; + 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====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]); + printf("\n\n====== FILE TEST: %u bytes chunks (%s) ======\n", chunk_sizes[c], (it_left_fsync > 0) ? "FSYNC" : "NO FSYNC"); + fsync(stdout); + fsync(stderr); + usleep(50000); for (unsigned a = 0; a < alignments; a++) { - printf("\n"); - warnx("----- alignment test: %u bytes -----", a); + // warnx("----- alignment test: %u bytes -----", a); + printf("."); uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64))); @@ -127,15 +192,12 @@ test_mount(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); - warnx("testing unaligned writes - please wait.."); - 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]) { @@ -144,25 +206,23 @@ test_mount(int argc, char *argv[]) if ((0x3 & (uintptr_t)(write_buf + a))) errx(1, "memory is unaligned, align shift: %d", a); + return 1; + } if (it_left_fsync > 0) { fsync(fd); } else { - if (it_left_abort % chunk_sizes[c] == 0) { - systemreset(); + if (it_left_abort % 5 == 0) { + systemreset(false); + } else { + fsync(stdout); + fsync(stderr); } } - //perf_end(wperf); - } 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); @@ -204,28 +264,18 @@ test_mount(int argc, char *argv[]) } } - /* list directory */ - DIR *d; - struct dirent *dir; - d = opendir("/fs/microsd"); - if (d) { + fsync(stdout); + fsync(stderr); + usleep(20000); - 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"); - return 1; - } /* we always reboot for the next test if we get here */ - systemreset(); + warnx("Iteration done, rebooting.."); + fsync(stdout); + fsync(stderr); + usleep(50000); + systemreset(false); /* never going to get here */ return 0; From 366af8da80a31c896b9b6b7254d80fa1b0fa86c7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 5 Jan 2014 01:49:21 +0100 Subject: [PATCH 06/13] Do not require suffixed constants --- makefiles/toolchain_gnu-arm-eabi.mk | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index 9fd2dd516d..bb729e1032 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -138,8 +138,7 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \ -Wold-style-declaration \ -Wmissing-parameter-type \ -Wmissing-prototypes \ - -Wnested-externs \ - -Wunsuffixed-float-constants + -Wnested-externs # C++-specific warnings # From 9886a384ff284722b65f61a6622669f86f1aa68f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 7 Jan 2014 08:02:47 +0100 Subject: [PATCH 07/13] Fixed error handling logic, we want to return, not exit --- src/systemcmds/tests/test_file.c | 42 +++++++++++++++++--------------- 1 file changed, 22 insertions(+), 20 deletions(-) diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c index 4ca84f276e..419e8d5e9a 100644 --- a/src/systemcmds/tests/test_file.c +++ b/src/systemcmds/tests/test_file.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +35,8 @@ * @file test_file.c * * File write test. + * + * @author Lorenz Meier */ #include @@ -86,7 +88,6 @@ 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); @@ -94,29 +95,22 @@ 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); } 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); @@ -125,7 +119,8 @@ 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 */ @@ -161,7 +156,8 @@ test_file(int argc, char *argv[]) int wret = write(fd, write_buf, chunk_sizes[c]); if (wret != chunk_sizes[c]) { - err(1, "WRITE ERROR!"); + warnx("WRITE ERROR!"); + return 1; } } @@ -180,7 +176,8 @@ 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 */ @@ -195,7 +192,8 @@ test_file(int argc, char *argv[]) } if (!align_read_ok) { - errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR"); + warnx("ABORTING FURTHER COMPARISON DUE TO ERROR"); + return 1; } } @@ -217,7 +215,8 @@ 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++) { @@ -233,7 +232,8 @@ test_file(int argc, char *argv[]) } if (!unalign_read_ok) { - errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR"); + warnx("ABORTING FURTHER COMPARISON DUE TO ERROR"); + return 1; } } @@ -241,9 +241,10 @@ 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; + } } } @@ -263,7 +264,8 @@ test_file(int argc, char *argv[]) } else { /* failed opening dir */ - err(1, "FAILED LISTING MICROSD ROOT DIRECTORY"); + warnx("FAILED LISTING MICROSD ROOT DIRECTORY"); + return 1; } return 0; From f35e6efbcaa5f9770ee4f6ef7686752b40c6a9ce Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 7 Jan 2014 08:37:06 +0100 Subject: [PATCH 08/13] Check 30 seconds for USB port --- src/systemcmds/nshterm/nshterm.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index 458bb2259e..7d9484d3eb 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -62,7 +62,9 @@ nshterm_main(int argc, char *argv[]) } uint8_t retries = 0; int fd = -1; - while (retries < 50) { + + /* try the first 30 seconds */ + while (retries < 300) { /* the retries are to cope with the behaviour of /dev/ttyACM0 */ /* which may not be ready immediately. */ fd = open(argv[1], O_RDWR); From 138b2890c4a874a82aff33df8e5ea37bd3a74e35 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 7 Jan 2014 08:37:34 +0100 Subject: [PATCH 09/13] Better mount test, still not reproducing failure very well --- src/systemcmds/tests/test_mount.c | 31 +++++++++++++++++++------------ 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c index 2f3a0d99e0..db4ddeed9e 100644 --- a/src/systemcmds/tests/test_mount.c +++ b/src/systemcmds/tests/test_mount.c @@ -54,14 +54,14 @@ #include "tests.h" -const int fsync_tries = 50; -const int abort_tries = 200; +const int fsync_tries = 1; +const int abort_tries = 10; int test_mount(int argc, char *argv[]) { - const unsigned iterations = 10; - const unsigned alignments = 4; + const unsigned iterations = 2000; + const unsigned alignments = 10; const char* cmd_filename = "/fs/microsd/mount_test_cmds.txt"; @@ -173,13 +173,13 @@ test_mount(int argc, char *argv[]) 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++) { - // warnx("----- alignment test: %u bytes -----", a); printf("."); uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64))); @@ -204,7 +204,7 @@ test_mount(int argc, char *argv[]) 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; @@ -213,14 +213,21 @@ test_mount(int argc, char *argv[]) if (it_left_fsync > 0) { fsync(fd); } else { - if (it_left_abort % 5 == 0) { - systemreset(false); - } else { - fsync(stdout); - fsync(stderr); - } + printf("#"); + fsync(stdout); + fsync(stderr); } } + + if (it_left_fsync > 0) { + printf("#"); + } + + printf("\n"); + fsync(stdout); + fsync(stderr); + usleep(1000000); + end = hrt_absolute_time(); close(fd); From fed5a2daae3298ba097b4e7b406168928fc7816b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 8 Jan 2014 08:41:50 +0100 Subject: [PATCH 10/13] Better settings for the mount test --- src/systemcmds/tests/test_mount.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c index db4ddeed9e..44e34d9ef3 100644 --- a/src/systemcmds/tests/test_mount.c +++ b/src/systemcmds/tests/test_mount.c @@ -223,10 +223,10 @@ test_mount(int argc, char *argv[]) printf("#"); } - printf("\n"); + printf("."); fsync(stdout); fsync(stderr); - usleep(1000000); + usleep(200000); end = hrt_absolute_time(); From 4fcbe806cef61aa3b8a749602b65da0e5c8d48a4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 9 Jan 2014 18:05:17 +0100 Subject: [PATCH 11/13] Cleaned up init config and picked a safe bet on FRAM clock speed --- src/drivers/boards/px4fmu-v2/px4fmu2_init.c | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c index 269ec238eb..71414d62c7 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c @@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void) SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); up_udelay(20); - message("[boot] Successfully initialized SPI port 1\n"); + message("[boot] Initialized SPI port 1 (SENSORS)\n"); /* Get the SPI port for the FRAM */ @@ -294,20 +294,23 @@ __EXPORT int nsh_archinitialize(void) return -ENODEV; } - /* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */ - SPI_SETFREQUENCY(spi2, 375000000); + /* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max) + * and de-assert the known chip selects. */ + + // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated + SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000); SPI_SETBITS(spi2, 8); SPI_SETMODE(spi2, SPIDEV_MODE3); SPI_SELECT(spi2, SPIDEV_FLASH, false); - message("[boot] Successfully initialized SPI port 2\n"); + message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n"); #ifdef CONFIG_MMCSD /* First, get an instance of the SDIO interface */ sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO); if (!sdio) { - message("nsh_archinitialize: Failed to initialize SDIO slot %d\n", + message("[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO); return -ENODEV; } @@ -315,7 +318,7 @@ __EXPORT int nsh_archinitialize(void) /* Now bind the SDIO interface to the MMC/SD driver */ int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio); if (ret != OK) { - message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); return ret; } From a303175c4c24f33b15b787b99be47be5ddafae3b Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Fri, 10 Jan 2014 07:51:47 +0100 Subject: [PATCH 12/13] Reduce the scheduler priority to a more acceptable value --- src/drivers/hott/hott_telemetry/hott_telemetry.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp index 042d9f8162..d293f9954e 100644 --- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp +++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp @@ -237,7 +237,7 @@ hott_telemetry_main(int argc, char *argv[]) thread_should_exit = false; deamon_task = task_spawn_cmd(daemon_name, SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 40, + SCHED_PRIORITY_DEFAULT, 2048, hott_telemetry_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); From 7265006f3f6d3da7d5fd7010dc9da92a22cae6d8 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Fri, 10 Jan 2014 08:03:54 +0100 Subject: [PATCH 13/13] Adjust the HoTT sensor scheduler priority as well --- src/drivers/hott/hott_sensors/hott_sensors.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp index e322c6349e..a3d3a39333 100644 --- a/src/drivers/hott/hott_sensors/hott_sensors.cpp +++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp @@ -211,7 +211,7 @@ hott_sensors_main(int argc, char *argv[]) thread_should_exit = false; deamon_task = task_spawn_cmd(daemon_name, SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 40, + SCHED_PRIORITY_DEFAULT, 1024, hott_sensors_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);