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Work in progress; standard mixer API and utility
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px4dev
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############################################################################
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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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# Build the mixer tool.
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#
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APPNAME = mixer
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,342 @@
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/****************************************************************************
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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 <getopt.h>
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#include <unistd.h>
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#include <fcntl.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(void);
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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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enum Operation {
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LOAD,
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SAVE,
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SHOW,
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NONE
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};
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int
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mixer_main(int argc, char *argv[])
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{
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const char *devname = NULL;
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const char *fname = NULL;
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int ch;
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enum Operation todo = NONE;
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if (argc < 2)
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usage();
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if (!strcmp(argv[1], "load")) {
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todo = LOAD;
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} else if (!strcmp(argv[1], "save")) {
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todo = SAVE;
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} else if (!strcmp(argv[1], "show")) {
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todo = SHOW;
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} else {
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usage();
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}
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while ((ch = getopt(argc, argv, "d:f:")) != EOF) {
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switch (ch) {
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case 'd':
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devname = optarg;
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break;
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case 'f':
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fname = optarg;
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break;
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default:
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usage();
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}
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}
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switch (todo) {
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case LOAD:
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if ((devname == NULL) || (fname == NULL))
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usage();
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load(devname, fname);
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break;
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case SAVE:
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if ((devname == NULL) || (fname == NULL))
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usage();
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save(devname, fname);
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break;
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case SHOW:
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if (devname == NULL)
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usage();
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show(devname);
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break;
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default:
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exit(1);
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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(void)
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{
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fprintf(stderr, "usage:\n");
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fprintf(stderr, " mixer {load|save|show} -d <device> [-f <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;
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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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goto out;
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/* end of file? */
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if (ret == 0)
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break;
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/* sanity check the mixer */
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if (mixer_check(mixer, NUM_ACTUATOR_CONTROLS)) {
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fprintf(stderr, "mixer %u fails sanity check\n", i);
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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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goto out;
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free(mixer);
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mixer = NULL;
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}
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printf("mixer: loaded %d mixers to %s\n", num_mixers, devname);
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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->num_controls = 0;
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mi = (struct MixInfo *)malloc(MIXINFO_SIZE(mi->num_controls));
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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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fprintf(stderr, "MIXERIOCGETMIXER error\n");
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return -1;
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}
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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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ret = getmixer(dev, i, &mi);
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if (ret < 0)
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goto out;
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ret = mixer_save(defs, &mi->mixer);
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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;
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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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goto out;
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printf("mixer %d : %d controls\n", i, mi->mixer.control_count);
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printf(" -ve scale +ve scale offset low limit high limit");
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printf("output %f %f %f %f %f\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: %f %f %f %f %f\n",
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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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/* 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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