You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
111 lines
3.0 KiB
111 lines
3.0 KiB
/**************************************************************************** |
|
* |
|
* 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 <drivers/drv_mixer.h> |
|
#include <uORB/topics/actuator_controls.h> |
|
|
|
__EXPORT int mixer_main(int argc, char *argv[]); |
|
|
|
static void usage(const char *reason); |
|
static void load(const char *devname, const char *fname); |
|
|
|
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]); |
|
|
|
} else { |
|
usage("unrecognised command"); |
|
} |
|
|
|
return 0; |
|
} |
|
|
|
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 automatic setups for quad, etc. */ |
|
exit(1); |
|
} |
|
|
|
static void |
|
load(const char *devname, const char *fname) |
|
{ |
|
int dev = -1; |
|
int ret, result = 1; |
|
|
|
/* open the device */ |
|
if ((dev = open(devname, 0)) < 0) { |
|
fprintf(stderr, "can't open %s\n", devname); |
|
goto out; |
|
} |
|
|
|
/* tell it to load the file */ |
|
ret = ioctl(dev, MIXERIOCLOADFILE, (unsigned long)fname); |
|
if (ret != 0) { |
|
fprintf(stderr, "failed loading %s\n", fname); |
|
} |
|
|
|
result = 0; |
|
out: |
|
|
|
if (dev != -1) |
|
close(dev); |
|
|
|
exit(result); |
|
}
|
|
|