diff options
-rw-r--r-- | src/modules/systemlib/mixer/mixer.cpp | 2 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 2 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_load.c | 99 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_load.h | 51 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 4 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/module.mk | 3 | ||||
-rw-r--r-- | src/systemcmds/mixer/mixer.cpp (renamed from src/systemcmds/mixer/mixer.c) | 55 | ||||
-rw-r--r-- | src/systemcmds/mixer/module.mk | 2 |
8 files changed, 167 insertions, 51 deletions
diff --git a/src/modules/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp index b1bb1a66d..b4b82c539 100644 --- a/src/modules/systemlib/mixer/mixer.cpp +++ b/src/modules/systemlib/mixer/mixer.cpp @@ -50,6 +50,8 @@ #include <stdio.h> #include <math.h> #include <unistd.h> +#include <ctype.h> +#include <systemlib/err.h> #include "mixer.h" diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index bbfa130a9..6c322ff92 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -128,7 +128,9 @@ #ifndef _SYSTEMLIB_MIXER_MIXER_H #define _SYSTEMLIB_MIXER_MIXER_H value +#include <nuttx/config.h> #include "drivers/drv_mixer.h" +#include "mixer_load.h" /** * Abstract class defining a mixer mixing zero or more inputs to diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c new file mode 100644 index 000000000..18c4e474a --- /dev/null +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * 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_load.c + * + * Programmable multi-channel mixer library. + */ + +#include <nuttx/config.h> +#include <systemlib/err.h> +#include <string.h> +#include <stdio.h> +#include <ctype.h> + +#include "mixer_load.h" + +int load_mixer_file(const char *fname, char *buf) +{ + FILE *fp; + char line[120]; + + /* 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); + } + + return 0; +} + diff --git a/src/modules/systemlib/mixer/mixer_load.h b/src/modules/systemlib/mixer/mixer_load.h new file mode 100644 index 000000000..b2327a4f7 --- /dev/null +++ b/src/modules/systemlib/mixer/mixer_load.h @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * 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_load.h + * + */ + + +#ifndef _SYSTEMLIB_MIXER_LOAD_H +#define _SYSTEMLIB_MIXER_LOAD_H value + +#include <nuttx/config.h> + +__BEGIN_DECLS + +__EXPORT int load_mixer_file(const char *fname, char *buf); + +__END_DECLS + +#endif diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 2446cc3fb..89afc272c 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -130,7 +130,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = { { 1.000000, 0.000000, -1.00 }, { -1.000000, 0.000000, -1.00 }, }; -const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = { +const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { &_config_quad_x[0], &_config_quad_plus[0], &_config_quad_v[0], @@ -140,7 +140,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME &_config_octa_x[0], &_config_octa_plus[0], }; -const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = { +const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { 4, /* quad_x */ 4, /* quad_plus */ 4, /* quad_v */ diff --git a/src/modules/systemlib/mixer/module.mk b/src/modules/systemlib/mixer/module.mk index 4d45e1c50..fc7485e20 100644 --- a/src/modules/systemlib/mixer/module.mk +++ b/src/modules/systemlib/mixer/module.mk @@ -39,4 +39,5 @@ LIBNAME = mixerlib SRCS = mixer.cpp \ mixer_group.cpp \ mixer_multirotor.cpp \ - mixer_simple.cpp + mixer_simple.cpp \ + mixer_load.c diff --git a/src/systemcmds/mixer/mixer.c b/src/systemcmds/mixer/mixer.cpp index e642ed067..b1ebebbb4 100644 --- a/src/systemcmds/mixer/mixer.c +++ b/src/systemcmds/mixer/mixer.cpp @@ -47,10 +47,15 @@ #include <nuttx/compiler.h> #include <systemlib/err.h> -#include <drivers/drv_mixer.h> +#include <systemlib/mixer/mixer.h> #include <uORB/topics/actuator_controls.h> -__EXPORT int mixer_main(int argc, char *argv[]); +/** + * 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; @@ -87,8 +92,6 @@ static void load(const char *devname, const char *fname) { int dev; - FILE *fp; - char line[120]; char buf[2048]; /* open the device */ @@ -99,49 +102,7 @@ load(const char *devname, const char *fname) 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); - } + load_mixer_file(fname, &buf[0]); /* XXX pass the buffer to the device */ int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf); diff --git a/src/systemcmds/mixer/module.mk b/src/systemcmds/mixer/module.mk index d5a3f9f77..cdbff75f0 100644 --- a/src/systemcmds/mixer/module.mk +++ b/src/systemcmds/mixer/module.mk @@ -36,7 +36,7 @@ # MODULE_COMMAND = mixer -SRCS = mixer.c +SRCS = mixer.cpp MODULE_STACKSIZE = 4096 |