// ***************************************************************************
// repeat_mem_test - Repeating Memory Tests
//
static void
repeat_mem_test (MENU_ARG arg)
{
CYG_ADDRWORD start_addr, mem_size, end_addr;
char cache_disable[10];
diag_printf ("Turn off Data Cache? (y/n): ");
while (_rb_gets(cache_disable, sizeof(cache_disable), 0) != _GETS_OK)
;
diag_printf ("\nBase address of memory to test (in hex): ");
start_addr = hexIn();
diag_printf ("\nSize of memory to test (in hex): ");
mem_size = hexIn();
end_addr = start_addr + mem_size - 1;
diag_printf("\nTesting memory from %p to %p", start_addr, end_addr);
while (memTest (start_addr, end_addr))
;
}
// ***************************************************************************
// memory_tests - Basic Memory Tests
//
// Memory tests can be run one of two ways - with the cache turned OFF to test
// physical memory, or with cache turned ON to test the caching
//
static void
memory_tests (MENU_ARG arg)
{
CYG_ADDRWORD start_addr, end_addr;
long mem_size;
diag_printf("Base address of memory to test (in hex): ");
start_addr = hexIn();
diag_printf ("\nSize of memory to test (in hex): ");
mem_size = hexIn();
end_addr = start_addr + mem_size - 1;
diag_printf("\nTesting memory from %p to %p.\n", start_addr, end_addr);
memTest(start_addr, end_addr);
diag_printf ("\nMemory test done.\n");
}
int main(int argc, char *argv[]){
int i, j;
int N;
char name[128];
N = 50000000;
float *Aout, *Ain;
Aout = (float*) malloc(N*sizeof(float));
if (!Aout){
fprintf(stderr,"error in Aout malloc");
}
Ain = (float*) malloc(N*sizeof(float));
if (!Ain){
fprintf(stderr,"error in Ain malloc");
}
printf("total Data: %0.3f Megabytes\n", (float) N*sizeof(float)/1048576);
generateArray(Ain, N);
//starting up opencl
cl_device_id devices[MAXDEVICES];
cl_platform_id platforms[MAXPLATFORMS];
unsigned int num_devices, num_platforms;
clGetPlatformIDs(MAXPLATFORMS, platforms, &num_platforms);
printf("number of platforms found: %d\n", num_platforms);
for (i = 0; i < num_platforms; i++){
clGetPlatformInfo(platforms[i], CL_PLATFORM_NAME, sizeof(name), name, NULL);
clGetDeviceIDs(platforms[i], CL_DEVICE_TYPE_ALL, MAXDEVICES, devices, &num_devices);
//list devices available on platform
printf("platform %s with %d devices\n", name, num_devices);
for (j = 0; j < num_devices; j++){
clGetDeviceInfo(devices[j], CL_DEVICE_NAME, sizeof(name), name, NULL);
printf("\tdevice %d %s\n", j, name);
memTest(platforms[i], devices[j], Ain, Aout, N);
}
}
return 0;
}
void systemTask(void *arg)
{
bool pass = true;
ledInit();
ledSet(CHG_LED, 1);
uartInit();
//Init the high-levels modules
systemInit();
#ifndef USE_RADIOLINK_CRTP
#ifdef UART_OUTPUT_TRACE_DATA
//debugInitTrace();
#endif
#ifdef ENABLE_UART
// uartInit();
#endif
#endif //ndef USE_RADIOLINK_CRTP
commInit();
DEBUG_PRINT("----------------------------\n");
DEBUG_PRINT("Crazyflie is up and running!\n");
DEBUG_PRINT("Build %s:%s (%s) %s\n", V_SLOCAL_REVISION,
V_SREVISION, V_STAG, (V_MODIFIED)?"MODIFIED":"CLEAN");
DEBUG_PRINT("I am 0x%X%X%X and I have %dKB of flash!\n",
*((int*)(MCU_ID_ADDRESS+8)), *((int*)(MCU_ID_ADDRESS+4)),
*((int*)(MCU_ID_ADDRESS+0)), *((short*)(MCU_FLASH_SIZE_ADDRESS)));
commanderInit();
stabilizerInit();
expbrdInit();
memInit();
//Test the modules
pass &= systemTest();
pass &= configblockTest();
pass &= commTest();
pass &= commanderTest();
pass &= stabilizerTest();
pass &= expbrdTest();
pass &= memTest();
//Start the firmware
if(pass)
{
selftestPassed = 1;
systemStart();
ledseqRun(SYS_LED, seq_alive);
ledseqRun(LINK_LED, seq_testPassed);
}
else
{
selftestPassed = 0;
if (systemTest())
{
while(1)
{
ledseqRun(SYS_LED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
// System can be forced to start by setting the param to 1 from the cfclient
if (selftestPassed)
{
DEBUG_PRINT("Start forced.\n");
systemStart();
break;
}
}
}
else
{
ledInit();
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
workerLoop();
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
void systemTask(void *arg)
{
bool pass = true;
ledInit();
ledSet(CHG_LED, 1);
#ifdef DEBUG_QUEUE_MONITOR
queueMonitorInit();
#endif
#ifdef ENABLE_UART1
uart1Init();
#endif
#ifdef ENABLE_UART2
uart2Init();
#endif
//Init the high-levels modules
systemInit();
commInit();
commanderInit();
StateEstimatorType estimator = anyEstimator;
deckInit();
estimator = deckGetRequiredEstimator();
stabilizerInit(estimator);
if (deckGetRequiredLowInterferenceRadioMode())
{
platformSetLowInterferenceRadioMode();
}
soundInit();
memInit();
#ifdef PROXIMITY_ENABLED
proximityInit();
#endif
//Test the modules
pass &= systemTest();
pass &= configblockTest();
pass &= commTest();
pass &= commanderTest();
pass &= stabilizerTest();
pass &= deckTest();
pass &= soundTest();
pass &= memTest();
pass &= watchdogNormalStartTest();
//Start the firmware
if(pass)
{
selftestPassed = 1;
systemStart();
soundSetEffect(SND_STARTUP);
ledseqRun(SYS_LED, seq_alive);
ledseqRun(LINK_LED, seq_testPassed);
}
else
{
selftestPassed = 0;
if (systemTest())
{
while(1)
{
ledseqRun(SYS_LED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
// System can be forced to start by setting the param to 1 from the cfclient
if (selftestPassed)
{
DEBUG_PRINT("Start forced.\n");
systemStart();
break;
}
}
}
else
{
ledInit();
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
workerLoop();
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
void systemTask(void *arg)
{
bool pass = true;
ledInit();
ledSet(CHG_LED, 1);
#ifdef DEBUG_QUEUE_MONITOR
queueMonitorInit();
#endif
uartInit();
#ifdef ENABLE_UART1
uart1Init();
#endif
#ifdef ENABLE_UART2
uart2Init();
#endif
//Init the high-levels modules
systemInit();
#ifndef USE_RADIOLINK_CRTP
#ifdef UART_OUTPUT_TRACE_DATA
//debugInitTrace();
#endif
#ifdef ENABLE_UART
// uartInit();
#endif
#endif //ndef USE_RADIOLINK_CRTP
commInit();
commanderAdvancedInit();
stabilizerInit();
#ifdef PLATFORM_CF2
deckInit();
#endif
soundInit();
memInit();
#ifdef PROXIMITY_ENABLED
proximityInit();
#endif
//Test the modules
pass &= systemTest();
pass &= configblockTest();
pass &= commTest();
pass &= commanderAdvancedTest();
pass &= stabilizerTest();
#ifdef PLATFORM_CF2
pass &= deckTest();
#endif
pass &= soundTest();
pass &= memTest();
pass &= watchdogNormalStartTest();
//Start the firmware
if(pass)
{
selftestPassed = 1;
systemStart();
soundSetEffect(SND_STARTUP);
ledseqRun(SYS_LED, seq_alive);
ledseqRun(LINK_LED, seq_testPassed);
}
else
{
selftestPassed = 0;
if (systemTest())
{
while(1)
{
ledseqRun(SYS_LED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
// System can be forced to start by setting the param to 1 from the cfclient
if (selftestPassed)
{
DEBUG_PRINT("Start forced.\n");
systemStart();
break;
}
}
}
else
{
ledInit();
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
workerLoop();
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
