From 20156e34e8abf1df849dfb28c4bba7841dda9733 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Tue, 24 Jan 2017 18:28:44 -0600
Subject: [PATCH] Debugging communication
Fixed issue with printf() hanging. Removed all printfs(). Don't use them!
Fixed issue with mismatched checksums not getting consumed
---
quad/scripts/stress_tests.py | 101 ++++++++++++++++++
quad/scripts/test_uart_comm.py | 7 +-
quad/sw/modular_quad_pid/.cproject | 6 ++
quad/sw/modular_quad_pid/src/callbacks.c | 3 -
quad/sw/modular_quad_pid/src/communication.c | 4 +-
.../modular_quad_pid/src/iic_mpu9150_utils.c | 4 -
quad/sw/modular_quad_pid/src/main.c | 3 -
quad/sw/modular_quad_pid/src/util.c | 9 --
8 files changed, 113 insertions(+), 24 deletions(-)
create mode 100755 quad/scripts/stress_tests.py
diff --git a/quad/scripts/stress_tests.py b/quad/scripts/stress_tests.py
new file mode 100755
index 000000000..06f45fd6d
--- /dev/null
+++ b/quad/scripts/stress_tests.py
@@ -0,0 +1,101 @@
+#!/usr/local/bin/python3.6
+
+import sys
+from time import sleep
+
+import serial
+
+def create_msg(main_type, subtype, msg_id, data):
+ msg = bytes()
+ msg += b'\xBE'
+ msg += main_type.to_bytes(1, 'little')
+ msg += subtype.to_bytes(1, 'little')
+ msg += msg_id.to_bytes(2, 'little')
+ msg += len(data).to_bytes(2, 'little')
+ msg += data
+
+ checksum = 0
+ for b in msg:
+ checksum ^= b
+ msg += checksum.to_bytes(1, 'little')
+ return msg
+
+def create_test_packet(size=8):
+ data = bytes((i % 256 for i in range(size)))
+ return create_msg(0, 1, 0, data)
+
+def read_packet(ser):
+ header = ser.read(7)
+ length = int.from_bytes(header[5:7], byteorder='little')
+ data = ser.read(length)
+ checksum = ser.read()
+ return data
+
+def query_received(ser):
+ # Send request
+ query_msg = create_msg(0, 2, 0, b'')
+ ser.write(query_msg)
+ ser.flush()
+
+ resp = read_packet(ser)
+ received_str = resp[:-1].decode('ascii')
+ if len(received_str) == 0:
+ print("Timed out")
+ return (-1,-1)
+ return tuple(map(int, received_str.split(',')))
+
+def check_test(ser, n_sent, size_sent, old_status):
+ new_n, new_size = query_received(ser)
+ valid = True
+ if old_status[0] + n_sent != new_n:
+ print("Failure: Expected " + str(old_status[0] + n_sent) + " messages, responded with " + str(new_n))
+ valid = False
+ if old_status[1] + size_sent != new_size:
+ print("Failure: Expected " + str(old_status[1] + size_sent) + " data, responded with " + str(new_size))
+ valid = False
+ return valid, (new_n, new_size)
+
+def test_partial_packet(ser, cur_status, size=50):
+ print("Checking partial packet...")
+ to_send = create_test_packet(size)
+ cutpoint = int(len(to_send) / 2)
+ ser.write(to_send[:cutpoint])
+ ser.flush()
+ sleep(0.2)
+ ser.write(to_send[cutpoint:])
+ sleep(0.2)
+ return check_test(ser, 1, size, cur_status)
+
+ return success, (n_received, tot_size_received)
+
+def test_blast(ser, cur_status, N=50, size=32):
+ print("Checking data blast... of size " + str(N) + " with size " + str(size))
+ to_send = create_test_packet(size)
+ for i in range(N):
+ ser.write(to_send)
+ ser.flush()
+ sleep(0.5)
+ return check_test(ser, N, N*size, cur_status)
+
+def test_bad_checksum(ser, cur_status, size=30):
+ print("Checking bad checksum...")
+ to_send = create_test_packet(size)
+ l_to_send = list(to_send)
+ l_to_send[-1] = (l_to_send[-1] + 1) % 256
+ to_send = bytes(l_to_send)
+ ser.write(to_send)
+ ser.flush()
+ return check_test(ser, 0, 0, cur_status)
+
+if __name__ == '__main__':
+ with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
+ ser.reset_input_buffer()
+ while (ser.in_waiting != 0):
+ ser.read()
+ status = query_received(ser)
+
+ passed, status = test_partial_packet(ser, status)
+ passed, status = test_blast(ser, status)
+ passed, status = test_blast(ser, status, 150, 80)
+ passed, status = test_bad_checksum(ser, status)
+
diff --git a/quad/scripts/test_uart_comm.py b/quad/scripts/test_uart_comm.py
index 061d8303e..bd4f36c0c 100755
--- a/quad/scripts/test_uart_comm.py
+++ b/quad/scripts/test_uart_comm.py
@@ -22,7 +22,7 @@ def create_msg(main_type, subtype, msg_id, data):
def create_test_packet(size=8):
data = bytes((i % 256 for i in range(size)))
- return create_msg(0, 2, 0, data)
+ return create_msg(0, 1, 0, data)
def read_packet(ser):
header = ser.read(7)
@@ -33,12 +33,13 @@ def read_packet(ser):
def query_received(ser):
# Send request
- query_msg = create_msg(0, 3, 0, b'')
+ query_msg = create_msg(0, 2, 0, b'')
ser.write(query_msg)
ser.flush()
resp = read_packet(ser)
- received_str = resp[:-1].decode()
+ print(resp.hex())
+ received_str = resp[:-1].decode('ascii')
return tuple(map(int, received_str.split(',')))
diff --git a/quad/sw/modular_quad_pid/.cproject b/quad/sw/modular_quad_pid/.cproject
index 86d1f2550..c203f31db 100644
--- a/quad/sw/modular_quad_pid/.cproject
+++ b/quad/sw/modular_quad_pid/.cproject
@@ -70,6 +70,9 @@
<tool id="xilinx.gnu.arm.size.debug.923967150" name="ARM Print Size" superClass="xilinx.gnu.arm.size.debug"/>
</toolChain>
</folderInfo>
+ <sourceEntries>
+ <entry excluding="test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+ </sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
@@ -143,6 +146,9 @@
<tool id="xilinx.gnu.arm.size.release.362029751" name="ARM Print Size" superClass="xilinx.gnu.arm.size.release"/>
</toolChain>
</folderInfo>
+ <sourceEntries>
+ <entry excluding="test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+ </sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index 766e3c389..a81f93792 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -5,7 +5,6 @@
int debug(modular_structs_t *structs)
{
- printf("function for debug\n");
return 0;
}
@@ -74,7 +73,6 @@ int cb_log(modular_structs_t *structs)
{
size_t length;
unsigned char *packet = uart_buff_get_raw(&length);
- printf("Logging: %s\n", packet);
return 0;
}
@@ -82,7 +80,6 @@ int cb_response(modular_structs_t *structs)
{
size_t length;
char *packet = uart_buff_get_raw(&length);
- printf("This is the response: %s\n", packet);
return 0;
}
diff --git a/quad/sw/modular_quad_pid/src/communication.c b/quad/sw/modular_quad_pid/src/communication.c
index 46102505d..04a5705b1 100644
--- a/quad/sw/modular_quad_pid/src/communication.c
+++ b/quad/sw/modular_quad_pid/src/communication.c
@@ -14,7 +14,7 @@
#define MAX_PACKET_SIZE 256
#define UART_BUF_SIZE (((BAUD_RATE * (DESIRED_USEC_PER_LOOP / 1000) / 1000) / 10) + MAX_PACKET_SIZE + 128)
-#define INTERRUPT_BENCHMARK
+//#define INTERRUPT_BENCHMARK
// Declaration of interrupt handler
void Handler(void *CallBackRef, u32 Event, unsigned int EventData);
@@ -88,7 +88,7 @@ int process_packet(modular_structs_t *structs) {
}
// Discard if checksum didn't match
if(packet_checksum != calculated_checksum) {
- printf("Checksums did not match: 0x%02x\t0x%02x\n", packet_checksum, calculated_checksum);
+ uart_buff_consume_packet();
return -1;
}
diff --git a/quad/sw/modular_quad_pid/src/iic_mpu9150_utils.c b/quad/sw/modular_quad_pid/src/iic_mpu9150_utils.c
index a0611197e..d3773f271 100644
--- a/quad/sw/modular_quad_pid/src/iic_mpu9150_utils.c
+++ b/quad/sw/modular_quad_pid/src/iic_mpu9150_utils.c
@@ -45,7 +45,6 @@ int initI2C0(){
// Check if initialization was successful
if(status != XST_SUCCESS){
- printf("ERROR (initI2C0): Initializing I2C0\r\n");
return -1;
}
@@ -86,7 +85,6 @@ int startMPU9150(){
// Do about 20 reads to warm up the device
for(i=0; i < 20; ++i){
if(get_gam_reading(&temp_gam) == -1){
- printf("ERROR (startMPU9150): error occured while getting GAM data\r\n");
return -1;
}
usleep(1000);
@@ -108,7 +106,6 @@ void iic0Write(u8 register_addr, u8 data){
// Check if within register range
if(register_addr < 0 || register_addr > 0x75){
- printf("ERROR (iic0Write) : Cannot write to register address, 0x%x: out of bounds\r\n", register_addr);
return;
}
@@ -127,7 +124,6 @@ void iic0Read(u8* recv_buffer, u8 register_addr, int size){
// Check if within register range
if(register_addr < 0 || register_addr > 0x75){
- printf("ERROR (iic0Read): Cannot read register address, 0x%x: out of bounds\r\n", register_addr);
}
// Set device address to the if 0x00 <= register address <= 0x12
diff --git a/quad/sw/modular_quad_pid/src/main.c b/quad/sw/modular_quad_pid/src/main.c
index d7c232418..3dbd52a20 100644
--- a/quad/sw/modular_quad_pid/src/main.c
+++ b/quad/sw/modular_quad_pid/src/main.c
@@ -33,7 +33,6 @@ int main()
&(structs.user_defined_struct), &(structs.raw_actuator_struct), &(structs.actuator_command_struct));
if (init_error != 0) {
- printf("ERROR (main): Problem initializing...Goodbye\r\n");
return -1;
}
@@ -42,8 +41,6 @@ int main()
protection_loops(&structs);
#endif
- printf("The quad loop is now beginning.\n");
-
// Main control loop
do
{
diff --git a/quad/sw/modular_quad_pid/src/util.c b/quad/sw/modular_quad_pid/src/util.c
index f01c044f1..c7dd33a1c 100644
--- a/quad/sw/modular_quad_pid/src/util.c
+++ b/quad/sw/modular_quad_pid/src/util.c
@@ -17,7 +17,6 @@ int pulseW = pulse_throttle_low;
* Default period length = 2.33 ms
*/
void pwm_init() {
- printf("Period initialization starting\r\n");
int* pwm_0 = (int*) PWM_0_ADDR + PWM_PERIOD;
int* pwm_1 = (int*) PWM_1_ADDR + PWM_PERIOD;
@@ -29,19 +28,12 @@ void pwm_init() {
*pwm_1 = period_width;
*pwm_2 = period_width;
*pwm_3 = period_width;
- printf("Period initialization successful %d\n", period_width);
// Initializes the PWM pulse lengths to be 1 ms
*(int*) (PWM_0_ADDR + PWM_PULSE) = pulse_throttle_low;
*(int*) (PWM_1_ADDR + PWM_PULSE) = pulse_throttle_low;
*(int*) (PWM_2_ADDR + PWM_PULSE) = pulse_throttle_low;
*(int*) (PWM_3_ADDR + PWM_PULSE) = pulse_throttle_low;
- printf("Pulse initialization successful %d\n", pulse_throttle_low);
-#ifdef X_CONFIG
- printf("In x config mode\n");
-#else
- printf("In + config mode\n");
-#endif
usleep(1000000);
}
@@ -297,7 +289,6 @@ void pwm_kill(){
*(int*) (PWM_1_ADDR + PWM_PULSE) = pulse_throttle_low;
*(int*) (PWM_2_ADDR + PWM_PULSE) = pulse_throttle_low;
*(int*) (PWM_3_ADDR + PWM_PULSE) = pulse_throttle_low;
- xil_printf("Kill switch was touched, shutting off the motors and ending the program\n");
}
/**
--
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