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Diffstat (limited to 'src/systemcmds/mixer/mixer.cpp')
-rw-r--r-- | src/systemcmds/mixer/mixer.cpp | 113 |
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 --- /dev/null +++ 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); +} |