1 files changed, 113 insertions, 0 deletions
diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp
new file mode 100644
index 000000000..6da39d371
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+++ b/src/systemcmds/mixer/mixer.cpp
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   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 mixer.c
+ *
+ * Mixer utility.
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <ctype.h>
+#include <nuttx/compiler.h>
+
+#include <systemlib/err.h>
+#include <systemlib/mixer/mixer.h>
+#include <uORB/topics/actuator_controls.h>
+
+/**
+ * Mixer utility for loading mixer files to devices
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int mixer_main(int argc, char *argv[]);
+
+static void	usage(const char *reason) noreturn_function;
+static void	load(const char *devname, const char *fname) noreturn_function;
+
+int
+mixer_main(int argc, char *argv[])
+{
+	if (argc < 2)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "load")) {
+		if (argc < 4)
+			usage("missing device or filename");
+
+		load(argv[2], argv[3]);
+	}
+
+	usage("unrecognised command");
+}
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage:\n");
+	fprintf(stderr, "  mixer load <device> <filename>\n");
+	/* XXX other useful commands? */
+	exit(1);
+}
+
+static void
+load(const char *devname, const char *fname)
+{
+	int		dev;
+	char		buf[2048];
+
+	/* open the device */
+	if ((dev = open(devname, 0)) < 0)
+		err(1, "can't open %s\n", devname);
+
+	/* reset mixers on the device */
+	if (ioctl(dev, MIXERIOCRESET, 0))
+		err(1, "can't reset mixers on %s", devname);
+
+	load_mixer_file(fname, &buf[0], sizeof(buf));
+
+	/* XXX pass the buffer to the device */
+	int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
+
+	if (ret < 0)
+		err(1, "error loading mixers from %s", fname);
+	exit(0);
+}