systemcmds/tests: split out microbenchmarks and remove obsolete tests

- reorganize Jenkins HIL tests

Tools/HIL/run_nsh_cmd.py

@@ -61,7 +61,7 @@ def do_nsh_cmd(port, baudrate, cmd):
 
     # run command
     timeout_start = time.time()
-    timeout = 2  # 2 seconds
+    timeout = 1  # 1 second
 
     success_cmd = "cmd succeeded!"
 
@@ -84,7 +84,7 @@ def do_nsh_cmd(port, baudrate, cmd):
 
 
     timeout_start = time.time()
-    timeout = 30  # 30 seconds
+    timeout = 180 # 3 minutes
 
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')

Tools/HIL/run_tests.py

@@ -91,7 +91,7 @@ def do_test(port, baudrate, test_name):
 
 
     # print results, wait for final result (PASSED or FAILED)
-    timeout = 180  # 3 minutes
+    timeout = 300  # 5 minutes
     timeout_start = time.time()
     timeout_newline = timeout_start
 
@@ -139,15 +139,30 @@ class TestHardwareMethods(unittest.TestCase):
     def test_bson(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
 
-    # def test_dataman(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    def test_conv(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
 
-    def floattest_float(self):
+    def test_dataman(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+
+    # def test_file(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
+
+    def test_file2(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file2"))
+
+    def test_float(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
 
     def test_hrt(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))
 
+    def test_int(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "int"))
+
+    def test_i2c_spi_cli(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "i2c_spi_cli"))
+
     def test_IntrusiveQueue(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
 
@@ -163,21 +178,6 @@ class TestHardwareMethods(unittest.TestCase):
     def test_matrix(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))
 
-    def test_microbench_atomic(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_atomic"))
-
-    def test_microbench_hrt(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_hrt"))
-
-    def test_microbench_math(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_math"))
-
-    def test_microbench_matrix(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_matrix"))
-
-    def test_microbench_uorb(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
-
     # def test_mixer(self):
     #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
 

boards/cuav/nora/test.cmake

@@ -102,6 +102,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/cuav/x7pro/test.cmake

@@ -103,6 +103,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/cubepilot/cubeorange/test.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/cubepilot/cubeyellow/test.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/holybro/durandal-v1/test.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/holybro/pix32v5/test.cmake

@@ -102,6 +102,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/modalai/fc-v1/test.cmake

@@ -95,6 +95,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/modalai/fc-v2/test.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/nxp/fmuk66-v3/test.cmake

@@ -94,6 +94,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v2/test.cmake

@@ -97,6 +97,7 @@ px4_add_board(
 		#i2cdetect
 		#led_control
 		mft
+		microbench
 		mixer
 		#motor_ramp
 		#motor_test

boards/px4/fmu-v3/test.cmake

@@ -101,6 +101,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v4/test.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v4pro/test.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v5/debug.cmake

@@ -69,7 +69,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		gyro_calibration
+		#gyro_calibration
 		#gyro_fft
 		land_detector
 		#landing_target_estimator

boards/px4/fmu-v5/optimized.cmake

@@ -107,6 +107,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		#motor_ramp
 		motor_test

boards/px4/fmu-v5/stackcheck.cmake

@@ -71,8 +71,8 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
+		#gyro_calibration
+		#gyro_fft
 		land_detector
 		#landing_target_estimator
 		load_mon

boards/px4/fmu-v5/test.cmake

@@ -101,6 +101,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v5x/test.cmake

@@ -103,6 +103,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v6u/test.cmake

@@ -99,6 +99,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v6x/test.cmake

@@ -73,7 +73,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_test
 		mtd

platforms/posix/cmake/sitl_tests.cmake

@@ -19,17 +19,11 @@ set(tests
 	List
 	mathlib
 	matrix
-	microbench_atomic
-	microbench_hrt
-	microbench_math
-	microbench_matrix
-	microbench_uorb
 	mixer
 	param
 	parameters
 	perf
 	search_min
-	servo
 	sleep
 	versioning
 )

src/modules/mavlink/mavlink_tests/CMakeLists.txt

@@ -36,7 +36,7 @@ include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
 px4_add_module(
 	MODULE modules__mavlink__mavlink_tests
 	MAIN mavlink_tests
-	STACK_MAIN 5000
+	STACK_MAIN 8192
 	COMPILE_FLAGS
 		-DMAVLINK_FTP_UNIT_TEST
 		#-DMAVLINK_FTP_DEBUG

src/systemcmds/microbench/CMakeLists.txt

@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2015-2021 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE systemcmds__microbench
+	MAIN microbench
+	STACK_MAIN 4096
+	COMPILE_FLAGS
+		-Wno-double-promotion
+		-Wno-unused-but-set-variable
+		-Wno-unused-variable
+		-Wno-write-strings
+	SRCS
+		microbench_main.cpp
+
+		test_microbench_atomic.cpp
+		test_microbench_hrt.cpp
+		test_microbench_math.cpp
+		test_microbench_matrix.cpp
+		test_microbench_uorb.cpp
+
+	DEPENDS
+)

src/systemcmds/microbench/microbench_main.cpp

@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ *  Copyright (C) 2015-2021 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.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+
+#include <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+
+__BEGIN_DECLS
+
+extern int test_microbench_atomic(int argc, char *argv[]);
+extern int test_microbench_hrt(int argc, char *argv[]);
+extern int test_microbench_math(int argc, char *argv[]);
+extern int test_microbench_matrix(int argc, char *argv[]);
+extern int test_microbench_uorb(int argc, char *argv[]);
+
+__END_DECLS
+
+static int microbench_help(int argc, char *argv[]);
+static int microbench_all(int argc, char *argv[]);
+static int microbench_runner(unsigned option);
+
+const struct {
+	const char 	*name;
+	int	(* fn)(int argc, char *argv[]);
+	unsigned	options;
+#define OPT_NOHELP	(1<<0)
+#define OPT_NOALLTEST	(1<<1)
+} microbenchmarks[] = {
+	{"help",		microbench_help,		OPT_NOALLTEST | OPT_NOHELP},
+	{"all",		microbench_all,		OPT_NOALLTEST},
+
+	{"microbench_atomic",	test_microbench_atomic,	0},
+	{"microbench_hrt",	test_microbench_hrt,	0},
+	{"microbench_math",	test_microbench_math,	0},
+	{"microbench_matrix",	test_microbench_matrix,	0},
+	{"microbench_uorb",	test_microbench_uorb,	0},
+
+	{NULL,			NULL, 		0}
+};
+
+#define NMICROBENCHMARKS (sizeof(microbenchmarks) / sizeof(microbenchmarks[0]))
+
+static int microbench_help(int argc, char *argv[])
+{
+	printf("Available tests:\n");
+
+	for (int i = 0; microbenchmarks[i].name; i++) {
+		printf("  %s\n", microbenchmarks[i].name);
+	}
+
+	return 0;
+}
+
+static int microbench_all(int argc, char *argv[])
+{
+	return microbench_runner(OPT_NOALLTEST);
+}
+
+static int microbench_runner(unsigned option)
+{
+	size_t i;
+	char *args[2] = {"all", NULL};
+	unsigned int failcount = 0;
+	unsigned int testcount = 0;
+	unsigned int passed[NMICROBENCHMARKS];
+
+	printf("\nRunning all microbenchmarks...\n\n");
+
+	for (i = 0; microbenchmarks[i].name; i++) {
+		// Only run tests that are not excluded.
+		if (!(microbenchmarks[i].options & option)) {
+			for (int j = 0; j < 80; j++) {
+				printf("-");
+			}
+
+			printf("\n  [%s] \t\tSTARTING TEST\n", microbenchmarks[i].name);
+			fflush(stdout);
+
+			/* Execute test */
+			if (microbenchmarks[i].fn(1, args) != 0) {
+				fprintf(stderr, "  [%s] \t\tFAIL\n", microbenchmarks[i].name);
+				fflush(stderr);
+				failcount++;
+				passed[i] = 0;
+
+			} else {
+				printf("  [%s] \t\tPASS\n", microbenchmarks[i].name);
+				fflush(stdout);
+				passed[i] = 1;
+			}
+
+			for (int j = 0; j < 80; j++) {
+				printf("-");
+			}
+
+			testcount++;
+			printf("\n\n");
+		}
+	}
+
+	for (size_t k = 0; k < i; k++) {
+		if (!passed[k] && !(microbenchmarks[k].options & option)) {
+			printf(" [%s] to obtain details, please re-run with\n\t nsh> microbench %s\n\n", microbenchmarks[k].name,
+			       microbenchmarks[k].name);
+		}
+	}
+
+	return 0;
+}
+
+extern "C" __EXPORT int microbench_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		PX4_WARN("missing test name - 'microbench help' for a list of tests");
+		return 1;
+	}
+
+	for (size_t i = 0; microbenchmarks[i].name; i++) {
+		if (!strcmp(microbenchmarks[i].name, argv[1])) {
+			if (microbenchmarks[i].fn(argc - 1, argv + 1) == 0) {
+				PX4_INFO("%s PASSED", microbenchmarks[i].name);
+				return 0;
+
+			} else {
+				PX4_ERR("%s FAILED", microbenchmarks[i].name);
+				return -1;
+			}
+		}
+	}
+
+	PX4_WARN("no test called '%s' - 'microbench help' for a list of tests", argv[1]);
+	return 1;
+}

src/systemcmds/microbench/test_microbench_atomic.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *  Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *  Copyright (C) 2020-2021 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

src/systemcmds/microbench/test_microbench_hrt.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *  Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
+ *  Copyright (C) 2018-2021 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

src/systemcmds/microbench/test_microbench_math.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *  Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
+ *  Copyright (C) 2018-2021 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

src/systemcmds/microbench/test_microbench_matrix.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *  Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
+ *  Copyright (C) 2018-2021 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

src/systemcmds/microbench/test_microbench_uorb.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *  Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
+ *  Copyright (C) 2018-2021 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
@@ -153,7 +153,6 @@ bool MicroBenchORB::time_px4_uorb()
 
 	int ret = 0;
 	bool updated = false;
-	uint64_t time = 0;
 
 	PERF("orb_check vehicle_status", ret = orb_check(fd_status, &updated), 100);
 	PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status), fd_status, &status), 100);
@@ -198,8 +197,6 @@ bool MicroBenchORB::time_px4_uorb()
 bool MicroBenchORB::time_px4_uorb_direct()
 {
 	bool ret = false;
-	bool updated = false;
-	uint64_t time = 0;
 
 	uORB::Subscription vstatus{ORB_ID(vehicle_status)};
 	PERF("uORB::Subscription orb_check vehicle_status", ret = vstatus.updated(), 100);

src/systemcmds/tests/CMakeLists.txt

@@ -32,7 +32,6 @@
 ############################################################################
 
 set(srcs
-	test_adc.cpp
 	test_atomic_bitset.cpp
 	test_bezierQuad.cpp
 	test_bitset.cpp
@@ -47,17 +46,11 @@ set(srcs
 	test_int.cpp
 	test_i2c_spi_cli.cpp
 	test_IntrusiveQueue.cpp
-	test_jig_voltages.cpp
 	test_led.c
 	test_List.cpp
 	test_IntrusiveSortedList.cpp
 	test_mathlib.cpp
 	test_matrix.cpp
-	test_microbench_atomic.cpp
-	test_microbench_hrt.cpp
-	test_microbench_math.cpp
-	test_microbench_matrix.cpp
-	test_microbench_uorb.cpp
 	test_mixer.cpp
 	test_param.c
 	test_parameters.cpp
@@ -66,7 +59,6 @@ set(srcs
 	test_ppm_loopback.c
 	test_rc.c
 	test_search_min.cpp
-	test_servo.c
 	test_sleep.c
 	test_uart_baudchange.c
 	test_uart_console.c

src/systemcmds/tests/test_adc.cpp

@@ -1,72 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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_adc.c
- * Test for the analog to digital converter.
- */
-
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/log.h>
-#include "tests_main.h"
-#include <drivers/drv_adc.h>
-
-#include <uORB/Subscription.hpp>
-#include <uORB/topics/adc_report.h>
-
-int test_adc(int argc, char *argv[])
-{
-	uORB::Subscription	_adc_sub{ORB_ID(adc_report)};
-	adc_report_s adc;
-
-	px4_usleep(50000);	// sleep 50ms and wait for adc report
-
-	if (_adc_sub.update(&adc)) {
-		PX4_INFO_RAW("DeviceID: %" PRIu32 "\n", adc.device_id);
-		PX4_INFO_RAW("Resolution: %" PRIu32 "\n", adc.resolution);
-		PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref);
-
-		for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
-			PX4_INFO_RAW("%" PRIu16 ": %" PRIi32 "  ", adc.channel_id[i], adc.raw_data[i]);
-		}
-
-		PX4_INFO_RAW("\n");
-
-		PX4_INFO_RAW("\t ADC test successful.\n");
-
-		return OK;
-
-	} else {
-		return 1;
-	}
-}

src/systemcmds/tests/test_file.c

@@ -75,7 +75,7 @@ int check_user_abort(int fd)
 		case 0x1b: // esc
 		case 'c':
 		case 'q': {
-				warnx("Test aborted.");
+				printf("Test aborted.\n");
 				fsync(fd);
 				close(fd);
 				return OK;
@@ -90,14 +90,14 @@ int check_user_abort(int fd)
 int
 test_file(int argc, char *argv[])
 {
-	const unsigned iterations = 100;
-	const unsigned alignments = 65;
+	const unsigned iterations = 2;
+	const unsigned alignments = 33;
 
 	/* check if microSD card is mounted */
 	struct stat buffer;
 
 	if (stat(PX4_STORAGEDIR "/", &buffer)) {
-		warnx("no microSD card mounted, aborting file test");
+		printf("no microSD card mounted, aborting file test\n");
 		return 1;
 	}
 
@@ -111,7 +111,7 @@ test_file(int argc, char *argv[])
 		for (unsigned a = 0; a < alignments; a++) {
 
 			printf("\n");
-			warnx("----- alignment test: %u bytes -----", a);
+			printf("----- alignment test: %u bytes -----\n", a);
 
 			uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 
@@ -124,9 +124,9 @@ test_file(int argc, char *argv[])
 			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 			hrt_abstime start, end;
 
-			int fd = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+			int fd = open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT, 0600);
 
-			warnx("testing unaligned writes - please wait..");
+			printf("testing unaligned writes - please wait..\n");
 
 			start = hrt_absolute_time();
 
@@ -134,10 +134,10 @@ test_file(int argc, char *argv[])
 				int wret = write(fd, write_buf + a, chunk_sizes[c]);
 
 				if (wret != chunk_sizes[c]) {
-					warn("WRITE ERROR!");
+					PX4_ERR("WRITE ERROR!");
 
 					if ((0x3 & (uintptr_t)(write_buf + a))) {
-						warnx("memory is unaligned, align shift: %d", a);
+						printf("memory is unaligned, align shift: %d\n", a);
 					}
 
 					return 1;
@@ -153,9 +153,9 @@ test_file(int argc, char *argv[])
 
 			end = hrt_absolute_time();
 
-			warnx("write took %" PRIu64 " us", (end - start));
+			printf("write took %" PRIu64 " us\n", (end - start));
 
-			px4_close(fd);
+			close(fd);
 			fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
 
 			/* read back data for validation */
@@ -163,7 +163,7 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					warnx("READ ERROR!");
+					PX4_ERR("READ ERROR!");
 					return 1;
 				}
 
@@ -172,14 +172,14 @@ test_file(int argc, char *argv[])
 
 				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);
+						PX4_ERR("COMPARISON ERROR: byte %d, align shift: %d", j, a);
 						compare_ok = false;
 						break;
 					}
 				}
 
 				if (!compare_ok) {
-					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					PX4_ERR("ABORTING FURTHER COMPARISON DUE TO ERROR");
 					return 1;
 				}
 
@@ -195,15 +195,15 @@ test_file(int argc, char *argv[])
 
 			close(fd);
 			int ret = unlink(PX4_STORAGEDIR "/testfile");
-			fd = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+			fd = open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT, 0600);
 
-			warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
+			printf("testing aligned writes - please wait.. (CTRL^C to abort)\n");
 
 			for (unsigned i = 0; i < iterations; i++) {
 				int wret = write(fd, write_buf, chunk_sizes[c]);
 
 				if (wret != chunk_sizes[c]) {
-					warnx("WRITE ERROR!");
+					PX4_ERR("WRITE ERROR!");
 					return 1;
 				}
 
@@ -215,9 +215,9 @@ test_file(int argc, char *argv[])
 
 			fsync(fd);
 
-			warnx("reading data aligned..");
+			printf("reading data aligned..\n");
 
-			px4_close(fd);
+			close(fd);
 			fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
 
 			bool align_read_ok = true;
@@ -227,13 +227,13 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					warnx("READ ERROR!");
+					PX4_ERR("READ ERROR!");
 					return 1;
 				}
 
 				for (int j = 0; j < chunk_sizes[c]; j++) {
 					if (read_buf[j] != write_buf[j]) {
-						warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
+						PX4_ERR("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
 						align_read_ok = false;
 						break;
 					}
@@ -244,15 +244,15 @@ test_file(int argc, char *argv[])
 				}
 
 				if (!align_read_ok) {
-					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					PX4_ERR("ABORTING FURTHER COMPARISON DUE TO ERROR");
 					return 1;
 				}
 
 			}
 
-			warnx("align read result: %s\n", (align_read_ok) ? "OK" : "ERROR");
+			printf("align read result: %s\n", (align_read_ok) ? "OK" : "ERROR");
 
-			warnx("reading data unaligned..");
+			printf("reading data unaligned..\n");
 
 			close(fd);
 			fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
@@ -267,15 +267,15 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf + a, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					warnx("READ ERROR!");
+					PX4_ERR("READ ERROR!");
 					return 1;
 				}
 
 				for (int j = 0; j < chunk_sizes[c]; j++) {
 
 					if ((read_buf + a)[j] != write_buf[j]) {
-						warnx("COMPARISON ERROR: byte %d, align shift: %d: %u != %u", j, a, (unsigned int)read_buf[j + a],
-						      (unsigned int)write_buf[j]);
+						PX4_ERR("COMPARISON ERROR: byte %d, align shift: %d: %u != %u", j, a, (unsigned int)read_buf[j + a],
+							(unsigned int)write_buf[j]);
 						unalign_read_ok = false;
 						unalign_read_err_count++;
 
@@ -290,7 +290,7 @@ test_file(int argc, char *argv[])
 				}
 
 				if (!unalign_read_ok) {
-					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					PX4_ERR("ABORTING FURTHER COMPARISON DUE TO ERROR");
 					return 1;
 				}
 
@@ -300,7 +300,7 @@ test_file(int argc, char *argv[])
 			close(fd);
 
 			if (ret) {
-				warnx("UNLINKING FILE FAILED");
+				PX4_ERR("UNLINKING FILE FAILED");
 				return 1;
 			}
 		}
@@ -314,16 +314,16 @@ test_file(int argc, char *argv[])
 	if (d) {
 
 		while ((dir = readdir(d)) != NULL) {
-			//printf("%s\n", dir->d_name);
+			printf("%s\n", dir->d_name);
 		}
 
 		closedir(d);
 
-		warnx("directory listing ok (FS mounted and readable)");
+		printf("directory listing ok (FS mounted and readable)\n");
 
 	} else {
 		/* failed opening dir */
-		warnx("FAILED LISTING MICROSD ROOT DIRECTORY");
+		PX4_ERR("FAILED LISTING MICROSD ROOT DIRECTORY");
 		return 1;
 	}
 

src/systemcmds/tests/test_jig_voltages.cpp

@@ -1,120 +0,0 @@
-/****************************************************************************
- *
- *  Copyright (C) 2012-2019 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_jig_voltages.c
- * Tests for jig voltages.
- */
-
-#include <px4_platform_common/defines.h>
-#include <unistd.h>
-#include "tests_main.h"
-#include <drivers/drv_adc.h>
-
-#include <uORB/Subscription.hpp>
-#include <uORB/topics/adc_report.h>
-
-int test_jig_voltages(int argc, char *argv[])
-{
-	uORB::Subscription	_adc_sub{ORB_ID(adc_report)};
-	adc_report_s adc;
-
-	px4_usleep(50000);	// sleep 50ms and wait for adc report
-
-	if (_adc_sub.update(&adc)) {
-		PX4_INFO_RAW("DeviceID: %" PRIu32 "\n", adc.device_id);
-		PX4_INFO_RAW("Resolution: %" PRIu32 "\n", adc.resolution);
-		PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref);
-
-		unsigned channels = 0;
-
-		for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
-			PX4_INFO_RAW("%" PRIu16 ": %" PRIi32 "  ", adc.channel_id[i], adc.raw_data[i]);
-
-			if (adc.channel_id[i] != -1) {
-				++channels;
-			}
-		}
-
-		PX4_INFO_RAW("\n");
-
-		PX4_INFO("\t ADC operational.\n");
-
-		/* Expected values */
-		int16_t expected_min[] = {2800, 2800, 1800,  800};
-		int16_t expected_max[] = {3100, 3100, 2100, 1100};
-		const char *check_res[channels];
-
-		if (channels < 4) {
-			PX4_ERR("not all four test channels available, aborting.");
-			return 1;
-
-		} else {
-			int ret = OK;
-
-			/* Check values */
-			check_res[0] = (expected_min[0] < adc.raw_data[0] && expected_max[0] > adc.raw_data[0]) ? "OK" : "FAIL";
-			check_res[1] = (expected_min[1] < adc.raw_data[1] && expected_max[1] > adc.raw_data[1]) ? "OK" : "FAIL";
-			check_res[2] = (expected_min[2] < adc.raw_data[2] && expected_max[2] > adc.raw_data[2]) ? "OK" : "FAIL";
-			check_res[3] = (expected_min[3] < adc.raw_data[3] && expected_max[3] > adc.raw_data[3]) ? "OK" : "FAIL";
-
-			/* Accumulate result */
-			ret += (expected_min[0] > adc.raw_data[0] || expected_max[0] < adc.raw_data[0]) ? 1 : 0;
-			ret += (expected_min[1] > adc.raw_data[1] || expected_max[1] < adc.raw_data[1]) ? 1 : 0;
-			ret += (expected_min[2] > adc.raw_data[2] || expected_max[2] < adc.raw_data[2]) ? 1 : 0;
-			ret += (expected_min[3] > adc.raw_data[3] || expected_max[3] < adc.raw_data[3]) ? 1 : 0;
-
-			PX4_INFO("Sample:");
-			PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
-				 adc.channel_id[0], (int)(adc.raw_data[0]), expected_min[0], expected_max[0], check_res[0]);
-			PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
-				 adc.channel_id[1], (int)(adc.raw_data[1]), expected_min[1], expected_max[1], check_res[1]);
-			PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
-				 adc.channel_id[2], (int)(adc.raw_data[2]), expected_min[2], expected_max[2], check_res[2]);
-			PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
-				 adc.channel_id[3], (int)(adc.raw_data[3]), expected_min[3], expected_max[3], check_res[3]);
-
-			if (ret != OK) {
-				PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.");
-				return ret;
-			}
-		}
-
-		PX4_INFO("JIG voltages test successful.");
-
-		return OK;
-
-	} else {
-		return 1;
-	}
-}

src/systemcmds/tests/test_servo.c

@@ -1,127 +0,0 @@
-/****************************************************************************
- *
- *  Copyright (C) 2012-2019 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_servo.c
- * Tests the servo outputs
- */
-
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <time.h>
-
-#include <drivers/drv_pwm_output.h>
-#include <systemlib/err.h>
-
-#include "tests_main.h"
-
-int test_servo(int argc, char *argv[])
-{
-	int fd;
-	int result = 0;
-	servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
-	servo_position_t pos;
-
-	fd = open(PWM_OUTPUT0_DEVICE_PATH, O_RDWR);
-
-	if (fd < 0) {
-		printf("failed opening /dev/pwm_servo\n");
-		goto out;
-	}
-
-	result = read(fd, &data, sizeof(data));
-
-	if (result != sizeof(data)) {
-		printf("failed bulk-reading channel values\n");
-		goto out;
-	}
-
-	printf("Servo readback, pairs of values should match defaults\n");
-
-	unsigned servo_count;
-	result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
-
-	if (result != OK) {
-		warnx("PWM_SERVO_GET_COUNT");
-		goto out;
-	}
-
-	for (unsigned i = 0; i < servo_count; i++) {
-		result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
-
-		if (result < 0) {
-			printf("failed reading channel %u\n", i);
-			goto out;
-		}
-
-		printf("%u: %u %u\n", i, pos, data[i]);
-
-	}
-
-	/* tell safety that its ok to disable it with the switch */
-	result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
-
-	if (result != OK) {
-		warnx("FAIL: PWM_SERVO_SET_ARM_OK");
-		goto out;
-	}
-
-	/* tell output device that the system is armed (it will output values if safety is off) */
-	result = ioctl(fd, PWM_SERVO_ARM, 0);
-
-	if (result != OK) {
-		warnx("FAIL: PWM_SERVO_ARM");
-		goto out;
-	}
-
-	px4_usleep(5000000);
-	printf("Advancing channel 0 to 1500\n");
-	result = ioctl(fd, PWM_SERVO_SET(0), 1500);
-	printf("Advancing channel 1 to 1800\n");
-	result = ioctl(fd, PWM_SERVO_SET(1), 1800);
-out:
-
-	if (fd >= 0) {
-		close(fd);
-	}
-
-	return result;
-}

src/systemcmds/tests/test_sleep.c

@@ -57,7 +57,16 @@ int test_sleep(int argc, char *argv[])
 	fflush(stdout);
 
 	for (unsigned int i = 0; i < nsleeps; i++) {
+		const hrt_abstime time_start = hrt_absolute_time();
 		px4_usleep(100000);
+		const hrt_abstime time_stop = hrt_absolute_time();
+
+		int elapsed = time_stop - time_start;
+
+		if (elapsed < 100000) {
+			PX4_ERR("\t Sleep test failed, only %d us elapsed\n", elapsed);
+			return PX4_ERROR;
+		}
 	}
 
 	printf("\t Sleep test successful.\n");

src/systemcmds/tests/test_time.c

@@ -75,29 +75,25 @@ cycletime(void)
 
 int test_time(int argc, char *argv[])
 {
-	hrt_abstime h, c;
-	int lowdelta, maxdelta = 0;
-	int delta, deltadelta;
+	int maxdelta = 0;
 
 	/* enable the cycle counter */
 	(*(unsigned long *)0xe000edfc) |= (1 << 24);    /* DEMCR |= DEMCR_TRCENA */
 	(*(unsigned long *)0xe0001000) |= 1;    	/* DWT_CTRL |= DWT_CYCCNT_ENA */
 
 	/* get an average delta between the two clocks - this should stay roughly the same */
-	delta = 0;
+	int delta = 0;
 
 	for (unsigned i = 0; i < 100; i++) {
-		uint32_t flags = px4_enter_critical_section();
-
-		h = hrt_absolute_time();
-		c = cycletime();
-
+		irqstate_t flags = px4_enter_critical_section();
+		hrt_abstime h = hrt_absolute_time();
+		hrt_abstime c = cycletime();
 		px4_leave_critical_section(flags);
 
 		delta += h - c;
 	}
 
-	lowdelta = abs(delta / 100);
+	int lowdelta = abs(delta / 100);
 
 	/* loop checking the time */
 	for (unsigned i = 0; i < 100; i++) {
@@ -106,13 +102,13 @@ int test_time(int argc, char *argv[])
 
 		uint32_t flags = px4_enter_critical_section();
 
-		c = cycletime();
-		h = hrt_absolute_time();
+		hrt_abstime c = cycletime();
+		hrt_abstime h = hrt_absolute_time();
 
 		px4_leave_critical_section(flags);
 
 		delta = h - c;
-		deltadelta = abs(delta - lowdelta);
+		int deltadelta = abs(delta - lowdelta);
 
 		if (deltadelta > maxdelta) {
 			maxdelta = deltadelta;

src/systemcmds/tests/tests_main.c

@@ -77,7 +77,6 @@ const struct {
 	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST},
 #endif /* __PX4_NUTTX */
 
-	{"adc",			test_adc,		OPT_NOJIGTEST},
 	{"atomic_bitset",	test_atomic_bitset,	0},
 	{"bezier",		test_bezierQuad,	0},
 	{"bitset",		test_bitset,		0},
@@ -91,17 +90,10 @@ const struct {
 	{"int",			test_int,		0},
 	{"i2c_spi_cli",		test_i2c_spi_cli,		0},
 	{"IntrusiveQueue",	test_IntrusiveQueue,	0},
-	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
 	{"IntrusiveSortedList",	test_IntrusiveSortedList, 0},
 	{"List",		test_List,		0},
 	{"mathlib",		test_mathlib,		0},
 	{"matrix",		test_matrix,		0},
-	{"microbench_atomic",	test_microbench_atomic,	0},
-	{"microbench_hrt",	test_microbench_hrt,	0},
-	{"microbench_math",	test_microbench_math,	0},
-	{"microbench_matrix",	test_microbench_matrix,	0},
-	{"microbench_uorb",	test_microbench_uorb,	0},
-	{"mixer",		test_mixer,		OPT_NOJIGTEST},
 	{"mixer",		test_mixer,		OPT_NOJIGTEST},
 	{"param",		test_param,		0},
 	{"parameters",		test_parameters,	0},
@@ -110,20 +102,17 @@ const struct {
 	{"ppm_loopback",	test_ppm_loopback,	OPT_NOALLTEST},
 	{"rc",			test_rc,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"search_min",		test_search_min,	0},
-	{"servo",		test_servo,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"sleep",		test_sleep,		OPT_NOJIGTEST},
 	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"uart_send",		test_uart_send,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"versioning",		test_versioning,	0},
-	{"cli",			test_cli,		0},
 
 	{NULL,			NULL, 		0}
 };
 
 #define NTESTS (sizeof(tests) / sizeof(tests[0]))
 
-static int
-test_help(int argc, char *argv[])
+static int test_help(int argc, char *argv[])
 {
 	unsigned	i;
 
@@ -136,20 +125,17 @@ test_help(int argc, char *argv[])
 	return 0;
 }
 
-static int
-test_all(int argc, char *argv[])
+static int test_all(int argc, char *argv[])
 {
 	return test_runner(OPT_NOALLTEST);
 }
 
-static int
-test_jig(int argc, char *argv[])
+static int test_jig(int argc, char *argv[])
 {
 	return test_runner(OPT_NOJIGTEST);
 }
 
-static int
-test_runner(unsigned option)
+static int test_runner(unsigned option)
 {
 	size_t i;
 	char *args[2] = {"all", NULL};

src/systemcmds/tests/tests_main.h

@@ -43,7 +43,6 @@
 
 __BEGIN_DECLS
 
-extern int test_adc(int argc, char *argv[]);
 extern int test_atomic_bitset(int argc, char *argv[]);
 extern int test_bezierQuad(int argc, char *argv[]);
 extern int test_bitset(int argc, char *argv[]);
@@ -58,17 +57,11 @@ extern int test_hrt(int argc, char *argv[]);
 extern int test_int(int argc, char *argv[]);
 extern int test_i2c_spi_cli(int argc, char *argv[]);
 extern int test_IntrusiveQueue(int argc, char *argv[]);
-extern int test_jig_voltages(int argc, char *argv[]);
 extern int test_led(int argc, char *argv[]);
 extern int test_IntrusiveSortedList(int argc, char *argv[]);
 extern int test_List(int argc, char *argv[]);
 extern int test_mathlib(int argc, char *argv[]);
 extern int test_matrix(int argc, char *argv[]);
-extern int test_microbench_atomic(int argc, char *argv[]);
-extern int test_microbench_hrt(int argc, char *argv[]);
-extern int test_microbench_math(int argc, char *argv[]);
-extern int test_microbench_matrix(int argc, char *argv[]);
-extern int test_microbench_uorb(int argc, char *argv[]);
 extern int test_mixer(int argc, char *argv[]);
 extern int test_mount(int argc, char *argv[]);
 extern int test_param(int argc, char *argv[]);
@@ -78,7 +71,6 @@ extern int test_ppm(int argc, char *argv[]);
 extern int test_ppm_loopback(int argc, char *argv[]);
 extern int test_rc(int argc, char *argv[]);
 extern int test_search_min(int argc, char *argv[]);
-extern int test_servo(int argc, char *argv[]);
 extern int test_sleep(int argc, char *argv[]);
 extern int test_time(int argc, char *argv[]);
 extern int test_uart_baudchange(int argc, char *argv[]);