1 files changed, 342 insertions, 0 deletions
diff --git a/apps/systemcmds/mixer/mixer.c b/apps/systemcmds/mixer/mixer.c
new file mode 100644
index 000000000..c5adf8dbf
--- /dev/null
+++ b/apps/systemcmds/mixer/mixer.c
@@ -0,0 +1,342 @@
+/****************************************************************************
+ *
+ *   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 utility.
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <getopt.h>
+#include <unistd.h>
+#include <fcntl.h>
+
+#include <systemlib/mixer.h>
+#include <drivers/drv_mixer.h>
+#include <uORB/topics/actuator_controls.h>
+
+__EXPORT int mixer_main(int argc, char *argv[]);
+
+static void	usage(void);
+static void	load(const char *devname, const char *fname);
+static void	save(const char *devname, const char *fname);
+static void	show(const char *devname);
+
+enum Operation {
+	LOAD,
+	SAVE,
+	SHOW,
+	NONE
+};
+
+int
+mixer_main(int argc, char *argv[])
+{
+	const char *devname = NULL;
+	const char *fname = NULL;
+	int ch;
+	enum Operation todo = NONE;
+
+	if (argc < 2)
+		usage();
+	if (!strcmp(argv[1], "load")) {
+		todo = LOAD;
+	} else if (!strcmp(argv[1], "save")) {
+		todo = SAVE;
+	} else if (!strcmp(argv[1], "show")) {
+		todo = SHOW;
+	} else {
+		usage();
+	}
+
+	while ((ch = getopt(argc, argv, "d:f:")) != EOF) {
+		switch (ch) {
+		case 'd':
+			devname = optarg;
+			break;
+		case 'f':
+			fname = optarg;
+			break;
+		default:
+			usage();
+		}
+	}
+
+	switch (todo) {
+	case LOAD:
+		if ((devname == NULL) || (fname == NULL))
+			usage();
+		load(devname, fname);
+		break;
+
+	case SAVE:
+		if ((devname == NULL) || (fname == NULL))
+			usage();
+		save(devname, fname);
+		break;
+
+	case SHOW:
+		if (devname == NULL)
+			usage();
+		show(devname);
+		break;
+	default:
+		exit(1);
+	}
+	return 0;
+}
+
+static void
+usage(void)
+{
+	fprintf(stderr, "usage:\n");
+	fprintf(stderr, "  mixer {load|save|show} -d <device> [-f <filename>]\n");
+	exit(1);
+}
+
+static void
+load(const char *devname, const char *fname)
+{
+	int		defs = -1;
+	int		dev = -1;
+	unsigned	num_mixers = 0;
+	int		ret, result = 1;
+	struct MixMixer	*mixer;
+
+	/* open the device */
+	if ((dev = open(devname, 0)) < 0) {
+		fprintf(stderr, "can't open %s\n", devname);
+		goto out;
+	}
+
+	/* open the definition file */
+	if ((defs = open(fname, O_RDONLY)) < 0) {
+		fprintf(stderr, "can't open %s\n", fname);
+		goto out;
+	}
+
+	/* find out how many mixers the device supports */
+	ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers);
+	if (num_mixers < 1) {
+		fprintf(stderr, "can't get mixer count from %s\n", devname);
+		goto out;
+	}
+
+	/* send mixers to the device */
+	for (unsigned i = 0; i < num_mixers; i++) {
+		ret = mixer_load(defs, &mixer);
+		if (ret < 0)
+			goto out;
+
+		/* end of file? */
+		if (ret == 0)
+			break;
+
+		/* sanity check the mixer */
+		if (mixer_check(mixer, NUM_ACTUATOR_CONTROLS)) {
+			fprintf(stderr, "mixer %u fails sanity check\n", i);
+			goto out;
+		}
+
+		/* send the mixer to the device */
+		ret = ioctl(dev, MIXERIOCSETMIXER(i), (unsigned long)mixer);
+		if (ret < 0)
+			goto out;
+
+		free(mixer);
+		mixer = NULL;
+	}
+
+	printf("mixer: loaded %d mixers to %s\n", num_mixers, devname);
+	result = 0;
+
+out:
+	/* free the mixers array */
+	if (mixer != NULL)
+		free(mixer);
+	if (defs != -1)
+		close(defs);
+	if (dev != -1)
+		close(dev);
+
+	exit(result);
+}
+
+static int
+getmixer(int dev, unsigned mixer_number, struct MixInfo **mip)
+{
+	struct MixInfo	*mi = *mip;
+	int		ret;
+
+	/* first-round initialisation */
+	if (mi == NULL) {
+		mi->num_controls = 0;
+		mi = (struct MixInfo *)malloc(MIXINFO_SIZE(mi->num_controls));
+	}
+
+	/* loop trying to get the next mixer until the buffer is big enough */
+	do {
+		/* try to get the mixer into the buffer as it stands */
+		ret = ioctl(dev, MIXERIOCGETMIXER(mixer_number), (unsigned long)mi);
+		if (ret < 0) {
+			fprintf(stderr, "MIXERIOCGETMIXER error\n");
+			return -1;
+		}
+
+		/* did the mixer fit? */
+		if (mi->mixer.control_count <= mi->num_controls)
+			break;
+
+		/* re-allocate to suit */
+		mi->num_controls = mi->mixer.control_count;
+		mi = (struct MixInfo *)realloc(mi, MIXINFO_SIZE(mi->num_controls));
+
+		/* oops, blew up the heap */
+		if (mi == NULL)
+			return -1;
+
+	} while(true);
+
+	*mip = mi;
+	return 0;
+}
+
+static void
+save(const char *devname, const char *fname)
+{
+	struct MixInfo	*mi = NULL;
+	int		defs = -1;
+	int		dev = -1;
+	unsigned	num_mixers = 0;
+	int		ret, result = 1;
+
+	/* open the device */
+	if ((dev = open(devname, 0)) < 0) {
+		fprintf(stderr, "can't open %s\n", devname);
+		goto out;
+	}
+
+	/* find out how many mixers the device supports */
+	ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers);
+	if (num_mixers < 1) {
+		fprintf(stderr, "can't get mixer count from %s\n", devname);
+		goto out;
+	}
+
+	/* open the definition file */
+	if ((defs = open(fname, O_WRONLY | O_CREAT)) < 0) {
+		fprintf(stderr, "can't open %s\n", fname);
+		goto out;
+	}
+
+	/* get mixers from the device and save them */
+	for (unsigned i = 0; i < num_mixers; i++) {
+
+		ret = getmixer(dev, i, &mi);
+		if (ret < 0)
+			goto out;
+
+		ret = mixer_save(defs, &mi->mixer);
+		if (ret < 0)
+			goto out;
+	}
+
+	result = 0;
+
+out:
+	/* free the mixinfo */
+	if (mi != NULL)
+		free(mi);
+	if (defs != -1)
+		close(defs);
+	if (dev != -1)
+		close(dev);
+
+	exit(result);
+}
+
+static void
+show(const char *devname)
+{
+	struct MixInfo	*mi;
+	int		dev = -1;
+	unsigned	num_mixers = 0;
+	int		ret;
+
+	/* open the device */
+	if ((dev = open(devname, 0)) < 0) {
+		fprintf(stderr, "can't open %s\n", devname);
+		goto out;
+	}
+
+	/* find out how many mixers the device supports */
+	ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers);
+	if (num_mixers < 1) {
+		fprintf(stderr, "can't get mixer count from %s\n", devname);
+		goto out;
+	}
+
+	/* get mixers from the device and print them */
+	for (unsigned i = 0; i < num_mixers; i++) {
+
+		ret = getmixer(dev, i, &mi);
+		if (ret < 0)
+			goto out;
+
+		printf("mixer %d : %d controls\n", i, mi->mixer.control_count);
+		printf("        -ve scale  +ve scale  offset  low limit  high limit");
+		printf("output  %f   %f   %f   %f   %f\n", 
+			mi->mixer.output_scaler.negative_scale,
+			mi->mixer.output_scaler.positive_scale,
+			mi->mixer.output_scaler.offset,
+			mi->mixer.output_scaler.lower_limit,
+			mi->mixer.output_scaler.upper_limit);
+		for (unsigned j = 0; j < mi->mixer.control_count; j++) {
+			printf("%d:     %f   %f   %f   %f   %f\n", 
+				mi->mixer.control_scaler[j].negative_scale,
+				mi->mixer.control_scaler[j].positive_scale,
+				mi->mixer.control_scaler[j].offset,
+				mi->mixer.control_scaler[j].lower_limit,
+				mi->mixer.control_scaler[j].upper_limit);
+		}
+	}
+
+out:
+	/* free the mixinfo */
+	if (mi != NULL)
+		free(mi);
+	if (dev != -1)
+		close(dev);
+	exit(0);
+}