diff --git a/src/systemcmds/uart8_test/CMakeLists.txt b/src/systemcmds/uart8_test/CMakeLists.txt deleted file mode 100644 index 9bccdefd60..0000000000 --- a/src/systemcmds/uart8_test/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -px4_add_module( - MODULE systemcmds__uart8_test - MAIN uart8_test - SRCS - uart8_test.cpp -) \ No newline at end of file diff --git a/src/systemcmds/uart8_test/Kconfig b/src/systemcmds/uart8_test/Kconfig deleted file mode 100644 index 48575cf300..0000000000 --- a/src/systemcmds/uart8_test/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig SYSTEMCMDS_UART8_TEST - bool "uart8_test" - default n - ---help--- - Enable support for uart8_test command \ No newline at end of file diff --git a/src/systemcmds/uart8_test/uart8_test.cpp b/src/systemcmds/uart8_test/uart8_test.cpp deleted file mode 100644 index 7ad5789fc8..0000000000 --- a/src/systemcmds/uart8_test/uart8_test.cpp +++ /dev/null @@ -1,133 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2025 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 uart8_test.cpp - * - * UART8 test command - debug UART8 transmission issues - * - * @author PX4 Development Team - */ - -#include -#include -#include - -#include -#include -#include -#include - -static void debug_uart8_registers(); - -extern "C" __EXPORT int uart8_test_main(int argc, char *argv[]); - -int uart8_test_main(int argc, char *argv[]) -{ - if (argc < 2) { - PX4_INFO("Usage: uart8_test "); - PX4_INFO(" or: uart8_test debug"); - return 1; - } - - if (strcmp(argv[1], "debug") == 0) { - debug_uart8_registers(); - return 0; - } - - // Test UART8 transmission with provided message - PX4_INFO("=== UART8 Test Command ==="); - - // Check GPIO/clock state before test - debug_uart8_registers(); - - int fd = ::open("/dev/ttyS2", O_WRONLY | O_NOCTTY); - - if (fd < 0) { - PX4_ERR("Failed to open /dev/ttyS2: %s", strerror(errno)); - return 1; - } - - // Prepare message - char message[256]; - snprintf(message, sizeof(message), "UART8_CMD_TEST: %s\n", argv[1]); - - // Check clock before write - const uint32_t RCC_BASE = 0x58024400; - volatile uint32_t *rcc_apb1lenr = (volatile uint32_t *)(RCC_BASE + 0xE8); - uint32_t clock_before = (*rcc_apb1lenr >> 31) & 1; - - ssize_t bytes_written = ::write(fd, message, strlen(message)); - - uint32_t clock_after = (*rcc_apb1lenr >> 31) & 1; - - PX4_INFO("Wrote %d bytes to UART8: '%s'", (int)bytes_written, message); - PX4_INFO("Clock before/after write: %lu/%lu", clock_before, clock_after); - - ::fsync(fd); - ::close(fd); - - // Check GPIO/clock state after test - debug_uart8_registers(); - - return 0; -} - -static void debug_uart8_registers() -{ - // STM32H7 register addresses - const uint32_t UART8_BASE = 0x40007c00; - const uint32_t GPIOE_BASE = 0x58020000; - const uint32_t RCC_BASE = 0x58024400; - - // Read registers - volatile uint32_t *uart8_cr1 = (volatile uint32_t *)(UART8_BASE + 0x00); - volatile uint32_t *uart8_isr = (volatile uint32_t *)(UART8_BASE + 0x1C); - volatile uint32_t *gpioe_afrl = (volatile uint32_t *)(GPIOE_BASE + 0x20); - volatile uint32_t *gpioe_moder = (volatile uint32_t *)(GPIOE_BASE + 0x00); - volatile uint32_t *rcc_apb1lenr = (volatile uint32_t *)(RCC_BASE + 0xE8); - - uint32_t afrl_val = *gpioe_afrl; - uint32_t pe0_af = (afrl_val >> 0) & 0xF; - uint32_t pe1_af = (afrl_val >> 4) & 0xF; - uint32_t moder_val = *gpioe_moder; - uint32_t pe0_mode = (moder_val >> 0) & 3; - uint32_t pe1_mode = (moder_val >> 2) & 3; - uint32_t uart8_clock = (*rcc_apb1lenr >> 31) & 1; - - PX4_INFO("=== UART8 Debug ==="); - PX4_INFO("PE0: mode=%lu, af=%lu %s", pe0_mode, pe0_af, (pe0_af == 8) ? "(UART8_RX)" : ""); - PX4_INFO("PE1: mode=%lu, af=%lu %s", pe1_mode, pe1_af, (pe1_af == 8) ? "(UART8_TX)" : ""); - PX4_INFO("UART8 clock: %lu %s", uart8_clock, uart8_clock ? "(enabled)" : "(disabled)"); - PX4_INFO("UART8 CR1: 0x%08lx, ISR: 0x%08lx", *uart8_cr1, *uart8_isr); -}