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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 11:30:41 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 11:50:10 +0200 |
commit | 574e76532126fea8ab0ac5fd0595f6fb2935f0dd (patch) | |
tree | d6cde0e97036de5e7c1a1b325444d4540e995cd0 /src/systemcmds/mixer | |
parent | 51badab96ddd4273595cf49e494375d7f2235708 (diff) | |
download | px4-firmware-574e76532126fea8ab0ac5fd0595f6fb2935f0dd.tar.gz px4-firmware-574e76532126fea8ab0ac5fd0595f6fb2935f0dd.tar.bz2 px4-firmware-574e76532126fea8ab0ac5fd0595f6fb2935f0dd.zip |
Moved all system commands to the new world
Diffstat (limited to 'src/systemcmds/mixer')
-rw-r--r-- | src/systemcmds/mixer/mixer.c | 152 | ||||
-rw-r--r-- | src/systemcmds/mixer/module.mk | 43 |
2 files changed, 195 insertions, 0 deletions
diff --git a/src/systemcmds/mixer/mixer.c b/src/systemcmds/mixer/mixer.c new file mode 100644 index 000000000..55c4f0836 --- /dev/null +++ b/src/systemcmds/mixer/mixer.c @@ -0,0 +1,152 @@ +/**************************************************************************** + * + * 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 <drivers/drv_mixer.h> +#include <uORB/topics/actuator_controls.h> + +__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; + FILE *fp; + char line[80]; + char buf[512]; + + /* 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); + + /* open the mixer definition file */ + fp = fopen(fname, "r"); + if (fp == NULL) + err(1, "can't open %s", fname); + + /* read valid lines from the file into a buffer */ + buf[0] = '\0'; + for (;;) { + + /* get a line, bail on error/EOF */ + line[0] = '\0'; + if (fgets(line, sizeof(line), fp) == NULL) + break; + + /* if the line doesn't look like a mixer definition line, skip it */ + if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':')) + continue; + + /* compact whitespace in the buffer */ + char *t, *f; + for (f = buf; *f != '\0'; f++) { + /* scan for space characters */ + if (*f == ' ') { + /* look for additional spaces */ + t = f + 1; + while (*t == ' ') + t++; + if (*t == '\0') { + /* strip trailing whitespace */ + *f = '\0'; + } else if (t > (f + 1)) { + memmove(f + 1, t, strlen(t) + 1); + } + } + } + + /* if the line is too long to fit in the buffer, bail */ + if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf)) + break; + + /* add the line to the buffer */ + strcat(buf, line); + } + + /* 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); +} diff --git a/src/systemcmds/mixer/module.mk b/src/systemcmds/mixer/module.mk new file mode 100644 index 000000000..d5a3f9f77 --- /dev/null +++ b/src/systemcmds/mixer/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 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. +# +############################################################################ + +# +# Build the mixer tool. +# + +MODULE_COMMAND = mixer +SRCS = mixer.c + +MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os |