Merge branch 'master' of git://github.com/PX4/Firmware into fault_detection

apps/systemcmds/eeprom/24xxxx_mtd.c

@@ -163,6 +163,8 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
 			    size_t nblocks, FAR const uint8_t *buf);
 static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
 
+void at24c_test(void);
+
 /************************************************************************************
  * Private Data
  ************************************************************************************/
@@ -218,6 +220,31 @@ static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nbloc
 	return (int)nblocks;
 }
 
+/************************************************************************************
+ * Name: at24c_test
+ ************************************************************************************/
+
+void at24c_test(void)
+{
+	uint8_t buf[CONFIG_AT24XX_MTD_BLOCKSIZE];
+	unsigned count = 0;
+	unsigned errors = 0;
+
+	for (count = 0; count < 10000; count++) {
+		ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf);
+		if (result == ERROR) {
+			if (errors++ > 2) {
+				vdbg("too many errors\n");
+				return;
+			}
+		} else if (result != 1) {
+			vdbg("unexpected %u\n", result);
+		}
+		if ((count % 100) == 0)
+			vdbg("test %u errors %u\n", count, errors);
+	}
+}
+
 /************************************************************************************
  * Name: at24c_bread
  ************************************************************************************/

apps/systemcmds/eeprom/eeprom.c

@@ -73,6 +73,7 @@ static void	eeprom_erase(void);
 static void	eeprom_ioctl(unsigned operation);
 static void	eeprom_save(const char *name);
 static void	eeprom_load(const char *name);
+static void	eeprom_test(void);
 
 static bool attached = false;
 static bool started = false;
@@ -93,6 +94,9 @@ int eeprom_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "erase"))
 			eeprom_erase();
 
+		if (!strcmp(argv[1], "test"))
+			eeprom_test();
+
 		if (0) {	/* these actually require a file on the filesystem... */
 
 			if (!strcmp(argv[1], "reformat"))
@@ -250,3 +254,12 @@ eeprom_load(const char *name)
 
 	exit(0);
 }
+
+extern void at24c_test(void);
+
+static void
+eeprom_test(void)
+{
+	at24c_test();
+	exit(0);
+}

nuttx/configs/px4fmu/nsh/defconfig

@@ -348,14 +348,8 @@ CONFIG_CAN_LOOPBACK=n
 CONFIG_CAN1_BAUD=700000
 CONFIG_CAN2_BAUD=700000
 
-#
+
-# I2C configuration
+# XXX remove after integration testing
-#
-CONFIG_I2C=y
-#CONFIG_I2C_POLLED=y
-CONFIG_I2C_TRANSFER=y
-CONFIG_I2C_TRACE=n
-CONFIG_I2C_RESET=y
 # Allow 180 us per byte, a wide margin for the 400 KHz clock we're using
 # e.g. 9.6 ms for an EEPROM page write, 0.9 ms for a MAG update
 CONFIG_STM32_I2CTIMEOUS_PER_BYTE=200
@@ -364,6 +358,42 @@ CONFIG_STM32_I2CTIMEOUS_START_STOP=700
 # XXX this is bad and we want it gone
 CONFIG_I2C_WRITEREAD=y
 
+#
+# I2C configuration
+#
+CONFIG_I2C=y
+CONFIG_I2C_POLLED=y
+CONFIG_I2C_TRANSFER=y
+CONFIG_I2C_TRACE=n
+CONFIG_I2C_RESET=y
+
+
+
+# XXX re-enable after integration testing
+
+#
+# I2C configuration
+#
+#CONFIG_I2C=y
+#CONFIG_I2C_POLLED=y
+#CONFIG_I2C_TRANSFER=y
+#CONFIG_I2C_TRACE=n
+#CONFIG_I2C_RESET=y
+
+# Dynamic timeout
+#CONFIG_STM32_I2C_DYNTIMEO=y
+#CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP=500
+#CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE=200
+
+# Fixed per-transaction timeout
+#CONFIG_STM32_I2CTIMEOSEC=0
+#CONFIG_STM32_I2CTIMEOMS=10
+
+
+
+
+
+
 #
 # General build options
 #