From 145a6c4c49b1aac9a8b8065ac5e48ba50754ba7f Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 4 Aug 2012 20:05:47 -0700 Subject: Work in progress; standard mixer API and utility --- apps/systemcmds/mixer/Makefile | 42 +++++ apps/systemcmds/mixer/mixer.c | 342 +++++++++++++++++++++++++++++++++++++++++ 2 files changed, 384 insertions(+) create mode 100644 apps/systemcmds/mixer/Makefile create mode 100644 apps/systemcmds/mixer/mixer.c (limited to 'apps/systemcmds') diff --git a/apps/systemcmds/mixer/Makefile b/apps/systemcmds/mixer/Makefile new file mode 100644 index 000000000..a83085bfc --- /dev/null +++ b/apps/systemcmds/mixer/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Build the mixer tool. +# + +APPNAME = mixer +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk 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 +#include +#include +#include +#include +#include + +#include +#include +#include + +__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 [-f ]\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); +} -- cgit v1.2.3