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326 lines
7.9 KiB
326 lines
7.9 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file Mixer utility. |
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*/ |
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#include <string.h> |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <errno.h> |
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#include <systemlib/mixer.h> |
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#include <drivers/drv_mixer.h> |
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#include <uORB/topics/actuator_controls.h> |
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__EXPORT int mixer_main(int argc, char *argv[]); |
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static void usage(const char *reason); |
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static void load(const char *devname, const char *fname); |
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static void save(const char *devname, const char *fname); |
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static void show(const char *devname); |
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int |
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mixer_main(int argc, char *argv[]) |
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{ |
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if (argc < 2) |
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usage("missing command"); |
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if (!strcmp(argv[1], "load")) { |
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if (argc < 4) |
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usage("missing device or filename"); |
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load(argv[2], argv[3]); |
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} else if (!strcmp(argv[1], "save")) { |
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if (argc < 4) |
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usage("missing device or filename"); |
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save(argv[2], argv[3]); |
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} else if (!strcmp(argv[1], "show")) { |
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if (argc < 3) |
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usage("missing device name"); |
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show(argv[2]); |
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} else { |
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usage("unrecognised command"); |
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} |
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return 0; |
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} |
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static void |
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usage(const char *reason) |
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{ |
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if (reason) |
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fprintf(stderr, "%s\n", reason); |
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fprintf(stderr, "usage:\n"); |
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fprintf(stderr, " mixer show <device>\n"); |
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fprintf(stderr, " mixer {load|save} <device> [<filename>]\n"); |
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exit(1); |
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} |
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static void |
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load(const char *devname, const char *fname) |
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{ |
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int defs = -1; |
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int dev = -1; |
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unsigned num_mixers = 0; |
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int ret, result = 1; |
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struct MixMixer *mixer = NULL; |
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/* open the device */ |
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if ((dev = open(devname, 0)) < 0) { |
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fprintf(stderr, "can't open %s\n", devname); |
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goto out; |
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} |
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/* open the definition file */ |
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if ((defs = open(fname, O_RDONLY)) < 0) { |
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fprintf(stderr, "can't open %s\n", fname); |
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goto out; |
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} |
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/* find out how many mixers the device supports */ |
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ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers); |
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if (num_mixers < 1) { |
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fprintf(stderr, "can't get mixer count from %s\n", devname); |
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goto out; |
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} |
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/* send mixers to the device */ |
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for (unsigned i = 0; i < num_mixers; i++) { |
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ret = mixer_load(defs, &mixer); |
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if (ret < 0) { |
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fprintf(stderr, "read for mixer %d failed\n", i); |
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goto out; |
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} |
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/* end of file? */ |
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if (ret == 0) |
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break; |
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if (mixer != NULL) { |
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/* sanity check the mixer */ |
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ret = mixer_check(mixer, NUM_ACTUATOR_CONTROLS); |
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if (ret != 0) { |
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fprintf(stderr, "mixer %u fails sanity check %d\n", i, ret); |
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goto out; |
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} |
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/* send the mixer to the device */ |
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ret = ioctl(dev, MIXERIOCSETMIXER(i), (unsigned long)mixer); |
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if (ret < 0) { |
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fprintf(stderr, "mixer %d set failed\n", i); |
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goto out; |
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} |
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free(mixer); |
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mixer = NULL; |
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} else { |
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/* delete the mixer */ |
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ret = ioctl(dev, MIXERIOCSETMIXER(i), 0); |
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if (ret < 0) { |
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fprintf(stderr, "mixer %d clear failed\n", i); |
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goto out; |
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} |
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} |
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} |
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result = 0; |
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out: |
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/* free the mixers array */ |
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if (mixer != NULL) |
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free(mixer); |
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if (defs != -1) |
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close(defs); |
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if (dev != -1) |
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close(dev); |
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exit(result); |
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} |
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static int |
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getmixer(int dev, unsigned mixer_number, struct MixInfo **mip) |
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{ |
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struct MixInfo *mi = *mip; |
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int ret; |
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/* first-round initialisation */ |
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if (mi == NULL) { |
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mi = (struct MixInfo *)malloc(MIXINFO_SIZE(0)); |
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mi->num_controls = 0; |
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} |
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/* loop trying to get the next mixer until the buffer is big enough */ |
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do { |
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/* try to get the mixer into the buffer as it stands */ |
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ret = ioctl(dev, MIXERIOCGETMIXER(mixer_number), (unsigned long)mi); |
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if (ret < 0) |
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return -1; |
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/* did the mixer fit? */ |
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if (mi->mixer.control_count <= mi->num_controls) |
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break; |
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/* re-allocate to suit */ |
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mi->num_controls = mi->mixer.control_count; |
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mi = (struct MixInfo *)realloc(mi, MIXINFO_SIZE(mi->num_controls)); |
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/* oops, blew up the heap */ |
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if (mi == NULL) |
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return -1; |
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} while(true); |
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*mip = mi; |
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return 0; |
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} |
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static void |
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save(const char *devname, const char *fname) |
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{ |
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struct MixInfo *mi = NULL; |
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int defs = -1; |
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int dev = -1; |
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unsigned num_mixers = 0; |
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int ret, result = 1; |
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/* open the device */ |
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if ((dev = open(devname, 0)) < 0) { |
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fprintf(stderr, "can't open %s\n", devname); |
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goto out; |
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} |
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/* find out how many mixers the device supports */ |
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ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers); |
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if (num_mixers < 1) { |
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fprintf(stderr, "can't get mixer count from %s\n", devname); |
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goto out; |
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} |
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/* open the definition file */ |
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if ((defs = open(fname, O_WRONLY | O_CREAT)) < 0) { |
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fprintf(stderr, "can't open %s\n", fname); |
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goto out; |
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} |
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/* get mixers from the device and save them */ |
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for (unsigned i = 0; i < num_mixers; i++) { |
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struct MixMixer *mm; |
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ret = getmixer(dev, i, &mi); |
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mm = &mi->mixer; |
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if (ret < 0) { |
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if (errno != ENOENT) |
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goto out; |
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mm = NULL; |
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} |
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ret = mixer_save(defs, mm); |
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if (ret < 0) |
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goto out; |
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} |
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result = 0; |
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out: |
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/* free the mixinfo */ |
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if (mi != NULL) |
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free(mi); |
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if (defs != -1) |
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close(defs); |
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if (dev != -1) |
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close(dev); |
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exit(result); |
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} |
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static void |
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show(const char *devname) |
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{ |
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struct MixInfo *mi = NULL; |
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int dev = -1; |
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unsigned num_mixers = 0; |
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int ret; |
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/* open the device */ |
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if ((dev = open(devname, 0)) < 0) { |
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fprintf(stderr, "can't open %s\n", devname); |
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goto out; |
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} |
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/* find out how many mixers the device supports */ |
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ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers); |
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if (num_mixers < 1) { |
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fprintf(stderr, "can't get mixer count from %s\n", devname); |
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goto out; |
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} |
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/* get mixers from the device and print them */ |
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for (unsigned i = 0; i < num_mixers; i++) { |
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ret = getmixer(dev, i, &mi); |
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if (ret < 0) { |
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if (errno != ENOENT) |
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goto out; |
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continue; |
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} |
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printf("mixer %d:\n", i); |
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printf(" -ve scale +ve scale offset low limit high limit\n"); |
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printf("output %8.4f %8.4f %8.4f %8.4f %8.4f\n", |
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mi->mixer.output_scaler.negative_scale, |
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mi->mixer.output_scaler.positive_scale, |
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mi->mixer.output_scaler.offset, |
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mi->mixer.output_scaler.lower_limit, |
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mi->mixer.output_scaler.upper_limit); |
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for (unsigned j = 0; j < mi->mixer.control_count; j++) { |
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printf("%d: %8.4f %8.4f %8.4f %8.4f %8.4f\n", |
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j, |
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mi->mixer.control_scaler[j].negative_scale, |
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mi->mixer.control_scaler[j].positive_scale, |
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mi->mixer.control_scaler[j].offset, |
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mi->mixer.control_scaler[j].lower_limit, |
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mi->mixer.control_scaler[j].upper_limit); |
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} |
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} |
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out: |
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printf("done\n"); |
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usleep(100000); |
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/* free the mixinfo */ |
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if (mi != NULL) |
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free(mi); |
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if (dev != -1) |
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close(dev); |
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exit(0); |
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}
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