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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.

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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
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apps/systemcmds/mixer/mixer.c
+47 -25
View File
@@ -43,14 +43,17 @@
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <ctype.h>
#include <nuttx/compiler.h>
#include <systemlib/err.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);
static void usage(const char *reason) noreturn_function;
static void load(const char *devname, const char *fname) noreturn_function;
int
mixer_main(int argc, char *argv[])
@@ -63,12 +66,9 @@ mixer_main(int argc, char *argv[])
usage("missing device or filename");
load(argv[2], argv[3]);
} else {
usage("unrecognised command");
}
return 0;
usage("unrecognised command");
}
static void
@@ -79,34 +79,56 @@ usage(const char *reason)
fprintf(stderr, "usage:\n");
fprintf(stderr, " mixer load <device> <filename>\n");
/* XXX automatic setups for quad, etc. */
/* XXX other useful commands? */
exit(1);
}
static void
load(const char *devname, const char *fname)
{
int dev = -1;
int ret, result = 1;
int dev;
FILE *fp;
char line[80];
char buf[512];
/* open the device */
if ((dev = open(devname, 0)) < 0) {
fprintf(stderr, "can't open %s\n", devname);
goto out;
if ((dev = open(devname, 0)) < 0)
err(1, "can't open %s\n", devname);
/* reset mixers on the device */
if (ioctl(dev, MIXERIOCRESET, 0))
err(1, "can't reset mixers on %s", devname);
/* open the mixer definition file */
fp = fopen(fname, "r");
if (fp == NULL)
err(1, "can't open %s", fname);
/* read valid lines from the file into a buffer */
buf[0] = '\0';
for (;;) {
/* get a line, bail on error/EOF */
line[0] = '\0';
if (fgets(line, sizeof(line), fp) == NULL)
break;
/* if the line doesn't look like a mixer definition line, skip it */
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
break;
/* add the line to the buffer */
strcat(buf, line);
}
/* tell it to load the file */
ret = ioctl(dev, MIXERIOCLOADFILE, (unsigned long)fname);
/* XXX pass the buffer to the device */
int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
if (ret != 0) {
fprintf(stderr, "failed loading %s\n", fname);
}
result = 0;
out:
if (dev != -1)
close(dev);
exit(result);
if (ret < 0)
err(1, "error loading mixers from %s", fname);
exit(0);
}