fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 05:51:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Make mixer ioctls load from a memory buffer rather than a file. This is prep for uploading the memory buffer to IO to be processed there.

Browse Source
This commit is contained in:
px4dev
2012-12-29 00:01:04 -08:00
parent f0da789626
commit 35c82ff2fc
10 changed files with 536 additions and 464 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/drv_mixer.h
+5 -2
View File
@@ -100,10 +100,13 @@ struct mixer_simple_s {
*/
#define MIXERIOCADDSIMPLE _MIXERIOC(2)
/* _MIXERIOC(3) was deprecated */
/* _MIXERIOC(4) was deprecated */
/**
* Add mixers(s) from a the file in (const char *)arg
* Add mixer(s) from the buffer in (const char *)arg
*/
#define MIXERIOCLOADFILE _MIXERIOC(4)
#define MIXERIOCLOADBUF _MIXERIOC(5)
/*
* XXX Thoughts for additional operations:
apps/drivers/hil/hil.cpp
+8 -10
View File
@@ -577,21 +577,19 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
case MIXERIOCLOADFILE: {
const char *path = (const char *)arg;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strnlen(buf, 1024);
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
}
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (_mixers == nullptr) {
ret = -ENOMEM;
} else {
debug("loading mixers from %s", path);
ret = _mixers->load_from_file(path);
ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) {
debug("mixer load failed with %d", ret);
@@ -600,10 +598,10 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = -EINVAL;
}
}
break;
}
default:
ret = -ENOTTY;
break;
apps/drivers/px4fmu/fmu.cpp
+6 -11
View File
@@ -544,23 +544,19 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
case MIXERIOCLOADFILE: {
const char *path = (const char *)arg;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strnlen(buf, 1024);
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
}
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (_mixers == nullptr) {
ret = -ENOMEM;
} else {
debug("loading mixers from %s", path);
ret = _mixers->load_from_file(path);
ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) {
debug("mixer load failed with %d", ret);
@@ -569,7 +565,6 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = -EINVAL;
}
}
break;
}
apps/drivers/px4io/px4io.cpp
+19 -17
View File
@@ -609,27 +609,29 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
}
break;
case MIXERIOCLOADFILE: {
MixerGroup *newmixers;
const char *path = (const char *)arg;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strnlen(buf, 1024);
/* allocate a new mixer group and load it from the file */
newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (newmixers->load_from_file(path) != 0) {
delete newmixers;
ret = -EINVAL;
if (_mixers == nullptr) {
ret = -ENOMEM;
} else {
ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) {
debug("mixer load failed with %d", ret);
delete _mixers;
_mixers = nullptr;
ret = -EINVAL;
}
}
/* swap the new mixers in for the old */
if (_mixers != nullptr) {
delete _mixers;
}
_mixers = newmixers;
break;
}
break;
default:
/* not a recognised value */