/*
** display_basic()
**
** display the basic terminal definitions
*/
void
display_basic(void)
{
put_str("Name: ");
putln(ttytype);
report_cap("\\r ^M (cr)", carriage_return);
report_cap("\\n ^J (ind)", scroll_forward);
report_cap("\\b ^H (cub1)", cursor_left);
report_cap("\\t ^I (ht)", tab);
/* report_cap("\\f ^L (ff)", form_feed); */
if (newline) {
/* OK if missing */
report_cap(" (nel)", newline);
}
report_cap(" (clear)", clear_screen);
if (!cursor_home && cursor_address) {
report_cap("(cup) (home)", tparm(cursor_address, 0, 0));
} else {
report_cap(" (home)", cursor_home);
}
#ifdef user9
report_cap("ENQ (u9)", user9);
#endif
#ifdef user8
report_cap("ACK (u8)", user8);
#endif
sprintf(temp, "\nTerminal size: %d x %d. Baud rate: %u. Frame size: %d.%d",
columns, lines,
tty_baud_rate,
tty_frame_size >> 1,
(tty_frame_size & 1) * 5);
putln(temp);
}
/*
** probe_enq_ok()
**
** does the terminal do enq/ack handshaking?
*/
static void
probe_enq_ok(void)
{
int tc, len, ulen;
put_str("Testing ENQ/ACK, standby...");
fflush(stdout);
can_test("u8 u9", FLAG_TESTED);
tty_ENQ = user9 ? user9 : "\005";
tc_putp(tty_ENQ);
event_start(TIME_SYNC); /* start the timer */
read_key(tty_ACK, TTY_ACK_SIZE - 1);
if (event_time(TIME_SYNC) > 400000 || tty_ACK[0] == '\0') {
/* These characters came from the user. Sigh. */
tty_can_sync = SYNC_FAILED;
ptext("\nThis program expects the ENQ sequence to be");
ptext(" answered with the ACK character. This will help");
ptext(" the program reestablish synchronization when");
ptextln(" the terminal is overrun with data.");
ptext("\nENQ sequence from (u9): ");
putln(expand(tty_ENQ));
ptext("ACK received: ");
putln(expand(tty_ACK));
len = user8 ? strlen(user8) : 0;
sprintf(temp, "Length of ACK %d. Expected length of ACK %d.",
(int) strlen(tty_ACK), len);
ptextln(temp);
if (len) {
temp[0] = user8[len - 1];
temp[1] = '\0';
ptext("Terminating character found in (u8): ");
putln(expand(temp));
}
return;
}
tty_can_sync = SYNC_TESTED;
if ((len = strlen(tty_ACK)) == 1) {
/* single character acknowledge string */
ACK_terminator = tty_ACK[0];
ACK_length = 4096;
return;
}
tc = tty_ACK[len - 1];
if (user8) {
ulen = strlen(user8);
if (tc == user8[ulen - 1]) {
/* ANSI style acknowledge string */
ACK_terminator = tc;
ACK_length = 4096;
return;
}
}
/* fixed length acknowledge string */
ACK_length = len;
ACK_terminator = -2;
}
/*
** subtest_xt(test_list, status, ch)
**
** (xt) glitch
*/
static void
subtest_xt(
struct test_list *t,
int *state,
int *ch)
{
int tabat; /* the tab spacing we end up with */
int cc;
tabat = set_tab ? 8 : init_tabs;
if (!over_strike && (tabat > 0)) {
ptext("(xt) should not ");
put_cr();
ptext("(xt) should");
cc = char_count;
while (cc < 16) {
putchp('\t');
cc = ((cc / tabat) + 1) * tabat;
}
putln("be set.");
sprintf(temp, "(xt) Destructive-tab is %s in the data base.",
dest_tabs_magic_smso ? "true" : "false");
ptextln(temp);
generic_done_message(t, state, ch);
}
}
static void
report_cap(const char *tag, const char *s)
{ /* expand the cap or print *** missing *** */
int i;
ptext(tag);
for (i = char_count; i < 13; i++) {
putchp(' ');
}
put_str(" = ");
if (s) {
putln(expand(s));
} else {
putln("*** missing ***");
}
}
/**
* Verify that the barometric pressure sensor can be initialised and that it is returning
* data that looks approximately correct.
*/
static void
testBaro(void)
{
int16_t temperature;
int32_t pressure;
puts("BMP085...");
PIOS_BMP085_Init();
puts(" init OK");
PIOS_BMP085_StartADC(TemperatureConv);
PIOS_BMP085_ReadADC();
temperature = PIOS_BMP085_GetTemperature();
puts(" temperature");
if (temperature < 50) {
print(" FAIL: undertemp(%d)", temperature);
} else if (temperature > 500) {
print(" FAIL: overtemp(%d)", temperature);
} else {
puts(" OK");
}
PIOS_BMP085_StartADC(PressureConv);
PIOS_BMP085_ReadADC();
pressure = PIOS_BMP085_GetPressure();
puts(" pressure");
if (pressure < 80000) {
println(" FAIL: underpressure(%d)", pressure);
} else if (pressure > 12000) {
println(" FAIL: overpressure(%d)", pressure);
} else {
putln(" OK");
}
}
/**
* Verify that the magnetometer can be initialised and that it is returning samples
* at approximately the expected rate.
*/
static void
testMag(void)
{
struct pios_hmc5883_data sample;
int samples;
puts("HMC5883...");
PIOS_HMC5883_Init();
puts(" init OK");
#if 0
/* don't do this for now - it makes the I2C bus sad */
if (!PIOS_HMC5883_Test()) {
putln(" FAIL: selftest");
return;
}
puts(" selftest OK");
#endif
samples = 0;
for (int i = 0; i < 100; i++) {
if (PIOS_HMC5883_NewDataAvailable()) {
PIOS_HMC5883_ReadMag(&sample);
samples++;
}
PIOS_DELAY_WaitmS(10);
}
puts(" sampling");
if (samples < 10) {
println(" FAIL: undersample(%d)", samples);
} else if (samples > 20) {
println(" FAIL: oversample(%d)", samples);
} else {
println(" OK", samples);
}
}
int putchar(const char c) {
if (c == '\n') {
putln();
} else if (c == '\t') {
x += TAB_WIDTH;
} else {
char attrib = (backcolor << 4) | (forecolor & 0x0f);
volatile short *pos;
pos = (short *) VGA_TEXT_BUFFER + (y * MAX_COLS + x);
*pos = c | (attrib << 8);
x++;
}
if (x >= MAX_COLS) {
putln();
}
return c;
}
/**
* Module thread, should not return.
*/
static void testTask(void *parameters)
{
// give the system 5s to stabilise
vTaskDelay(5000 * portTICK_RATE_MS);
putln("PX2 HARDWARE TEST");
testPX2IO();
testAccel();
testGyro();
testMag();
testBaro();
testEEPROM();
for (;;) {
}
}
/*
** funkey_prog(test_list, status, ch)
**
** Test program function keys (pfx)
*/
static void
funkey_prog(
TestList * t,
int *state,
int *ch)
{
if (pkey_xmit) {
int i;
int fk = 1;
char mm[256];
/* test program function key */
sprintf(temp,
"(pfx) Set function key %d to transmit abc\\n", fk);
ptextln(temp);
tc_putp(TPARM_2(pkey_xmit, fk, "abc\n"));
sprintf(temp, "Hit function key %d\n", fk);
ptextln(temp);
memset(mm, 0, (size_t) 4);
for (i = 0; i < 4; ++i) {
int cc = getchp(STRIP_PARITY);
if (cc == EOF)
break;
mm[i] = (char) cc;
}
mm[i] = '\0';
put_crlf();
if (mm[0] != 'a' || mm[1] != 'b' || mm[2] != 'c') {
sprintf(temp, "Error string received was: %s", expand(mm));
ptextln(temp);
} else {
putln("Thank you\n");
}
flush_input();
if (key_f1) {
tc_putp(TPARM_2(pkey_xmit, fk, key_f1));
}
} else {
ptextln("Function key transmit (pfx), not present.");
}
generic_done_message(t, state, ch);
}
/*
** crum_clear(test_list, status, ch)
**
** (clear) test Clear screen
*/
static void
crum_clear(
struct test_list *t,
int *state,
int *ch)
{
int i;
if (clear_screen) {
for (i = lines; i > 1; i--) {
putln("garbage");
}
put_clear();
ptextln("This line should start in the home position.");
ptext("The rest of the screen should be clear. ");
} else {
ptextln("(clear) Clear screen is not defined. ");
}
generic_done_message(t, state, ch);
}
/*
** dump_test_stats(test_list, status, ch)
**
** Dump the statistics about the last test
*/
void
dump_test_stats(
struct test_list *t,
int *state,
int *ch)
{
int i, j;
char tbuf[32];
int x[32];
put_crlf();
if (tx_source && tx_source->caps_done) {
cap_index(tx_source->caps_done, x);
if (x[0] >= 0) {
sprintf(temp, "Caps summary for (%s)",
tx_source->caps_done);
ptextln(temp);
for (i = 0; x[i] >= 0; i++) {
show_cap_results(x[i]);
}
put_crlf();
}
}
sprintf(tbuf, "%011u", usec_run_time);
sprintf(temp, "Test time: %d.%s, characters per second %d, characters %d",
usec_run_time / 1000000, &tbuf[5], tx_cps, tx_characters);
ptextln(temp);
for (i = 0; i < txp; i++) {
if ((j = get_string_cap_byvalue(tx_cap[i])) >= 0) {
sprintf(tbuf, "(%s)", strnames[j]);
} else {
strcpy(tbuf, "(?)");
}
sprintf(temp, "%8d %3d $<%3d> %8s %s",
tx_count[i], tx_affected[i], tx_delay[i],
tbuf, expand(tx_cap[i]));
putln(temp);
}
generic_done_message(t, state, ch);
}
/*
** subtest_in(test_list, status, ch)
**
** (in) insert null glitch
*/
static void
subtest_in(
struct test_list *t,
int *state,
int *ch)
{
if (enter_insert_mode && exit_insert_mode) {
ptextln("\nTesting (in) with (smir) and (rmir)");
putln("\tIf these two lines line up ...");
put_str("\tIf these two lines line up ...");
put_cr();
tc_putp(enter_insert_mode);
putchp(' ');
tc_putp(exit_insert_mode);
ptext("\nthen (in) should be set. ");
sprintf(temp,
"(in) Insert-null-glitch is %s in the data base.",
insert_null_glitch ? "true" : "false");
ptextln(temp);
generic_done_message(t, state, ch);
}
}
/*
** funkey_prog(test_list, status, ch)
**
** Test program function keys (pfx)
*/
static void
funkey_prog(
struct test_list *t,
int *state,
int *ch)
{
int i, fk;
char mm[256];
fk = 1; /* use function key 1 for now */
if (pkey_xmit) {
/* test program function key */
sprintf(temp,
"(pfx) Set function key %d to transmit abc\\n", fk);
ptextln(temp);
tc_putp(TPARM_2(pkey_xmit, fk, "abc\n"));
sprintf(temp, "Hit function key %d\n", fk);
ptextln(temp);
for (i = 0; i < 4; ++i)
mm[i] = (char) getchp(STRIP_PARITY);
mm[i] = '\0';
put_crlf();
if (mm[0] != 'a' || mm[1] != 'b' || mm[2] != 'c') {
sprintf(temp, "Error string received was: %s", expand(mm));
ptextln(temp);
} else {
putln("Thank you\n");
}
flush_input();
if (key_f1) {
tc_putp(TPARM_2(pkey_xmit, fk, key_f1));
}
} else {
ptextln("Function key transmit (pfx), not present.");
}
generic_done_message(t, state, ch);
}
/*
** keys_tested(first-time, show-help, hex-output)
**
** Display a list of the keys not tested.
*/
static void
keys_tested(
int first_time,
int show_help,
int hex_output)
{
int i, l;
char outbuf[256];
alloc_strings();
put_clear();
tty_set();
flush_input();
if (got_labels) {
putln("Function key labels:");
for (i = 0; i < key_count; ++i) {
if (fk_label[i]) {
sprintf(outbuf, "%s %s",
fk_name[i] ? fk_name[i] : "??", fk_label[i]);
put_columns(outbuf, (int) strlen(outbuf), 16);
}
}
put_newlines(2);
}
if (funk) {
putln("The following keys are not defined:");
for (i = 0; i < funk; ++i) {
put_columns(fk_unknown[i], fk_length[i], 16);
}
put_mode(exit_attribute_mode);
put_newlines(2);
}
if (first_time) {
putln("The following keys are defined:");
} else {
putln("The following keys have not been tested:");
}
if (scan_mode) {
for (i = 0; scan_down[i]; i++) {
if (!scan_tested[i]) {
if (hex_output) {
strcpy(outbuf, hex_expand_to(scan_down[i], 3));
} else {
strcpy(outbuf, expand(scan_down[i]));
}
l = expand_chars;
if (hex_output) {
strcat(outbuf, hex_expand_to(scan_up[i], 3));
} else {
strcat(outbuf, expand(scan_up[i]));
}
expand_chars += l;
l = (int) strlen(scan_name[i]);
if (((char_count + 16) & ~15) +
((expand_chars + 7) & ~7) + l >= columns) {
put_crlf();
} else if (char_count + 24 > columns) {
put_crlf();
} else if (char_count) {
putchp(' ');
}
put_columns(outbuf, expand_chars, 16);
put_columns(scan_name[i], l, 8);
}
}
} else {
for (i = 0; i < key_count; i++) {
if (!fk_tested[i] && fk_name[i] != 0) {
if (hex_output) {
strcpy(outbuf, hex_expand_to(fkval[i], 3));
} else {
strcpy(outbuf, expand(fkval[i]));
}
l = (int) strlen(fk_name[i]);
if (((char_count + 16) & ~15) +
((expand_chars + 7) & ~7) + l >= columns) {
put_crlf();
} else if (char_count + 24 > columns) {
put_crlf();
} else if (char_count) {
putchp(' ');
}
put_columns(outbuf, expand_chars, 16);
put_columns(fk_name[i], l, 8);
}
}
}
put_newlines(2);
if (show_help) {
ptextln("Hit any function key. Type 'end' to quit. Type ? to update the display.");
put_crlf();
}
}
/**
* Verify that the EEPROM can be read and written.
*/
static void
testEEPROM(void)
{
puts("EEPROM...");
PIOS_EEPROM_Init();
putln(" init done");
// UAVObjHandle handle = ActuatorSettingsHandle();
// ObjectList *objEntry = (ObjectList *) obj;
//
// if (objEntry == NULL)
// return -1;
//
// ObjectInstList *instEntry = getInstance(objEntry, instId);
//
// if (instEntry == NULL)
// return -1;
//
// if (instEntry->data == NULL)
// return -1;
//
// if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
// return -1;
//
// uint8_t saved[4];
// uint8_t buf[4];
// uint32_t addr;
//
// addr = PIOS_I2C_EEPROM_SIZE - 4;
//
// if (!PIOS_EEPROM_Read(addr, saved, 4)) {
// putln("FAIL: backup");
// return;
// }
// puts(" backup OK");
// buf[0] = ~saved[0];
// buf[1] = ~saved[1];
// buf[2] = ~saved[2];
// buf[3] = ~saved[3];
// if (!PIOS_EEPROM_Write(addr, buf, 4)) {
// putln(" FAIL: write");
// return;
// }
// puts(" write OK");
// buf[0] = buf[1] = buf[2] = buf[3] = 0x5a;
// if (!PIOS_EEPROM_Read(addr, buf, 4)) {
// putln("FAIL: readback");
// return;
// }
// if ((buf[0] != (uint8_t)~saved[0]) ||
// (buf[1] != (uint8_t)~saved[1]) ||
// (buf[2] != (uint8_t)~saved[2]) ||
// (buf[3] != (uint8_t)~saved[3])) {
// println(" FAIL: miscompare (read:expect) %02x:%02x %02x:%02x %02x:%02x %02x:%02x",
// buf[0], (uint8_t)~saved[0],
// buf[1], (uint8_t)~saved[1],
// buf[2], (uint8_t)~saved[2],
// buf[3], (uint8_t)~saved[3]);
// return;
// }
// puts(" compare OK");
// if (!PIOS_EEPROM_Write(addr, saved, 4)) {
// putln(" FAIL: restore");
// return;
// }
// putln(" restore OK");
}
