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Moved all system commands to the new world
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,152 @@
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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.c
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*
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* 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 <ctype.h>
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#include <nuttx/compiler.h>
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#include <systemlib/err.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) noreturn_function;
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static void load(const char *devname, const char *fname) noreturn_function;
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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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}
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usage("unrecognised command");
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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 load <device> <filename>\n");
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/* XXX other useful commands? */
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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 dev;
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FILE *fp;
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char line[80];
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char buf[512];
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/* open the device */
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if ((dev = open(devname, 0)) < 0)
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err(1, "can't open %s\n", devname);
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/* reset mixers on the device */
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if (ioctl(dev, MIXERIOCRESET, 0))
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err(1, "can't reset mixers on %s", devname);
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/* open the mixer definition file */
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fp = fopen(fname, "r");
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if (fp == NULL)
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err(1, "can't open %s", fname);
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/* read valid lines from the file into a buffer */
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buf[0] = '\0';
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for (;;) {
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/* get a line, bail on error/EOF */
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line[0] = '\0';
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if (fgets(line, sizeof(line), fp) == NULL)
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break;
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/* if the line doesn't look like a mixer definition line, skip it */
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if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
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continue;
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/* compact whitespace in the buffer */
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char *t, *f;
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for (f = buf; *f != '\0'; f++) {
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/* scan for space characters */
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if (*f == ' ') {
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/* look for additional spaces */
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t = f + 1;
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while (*t == ' ')
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t++;
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if (*t == '\0') {
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/* strip trailing whitespace */
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*f = '\0';
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} else if (t > (f + 1)) {
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memmove(f + 1, t, strlen(t) + 1);
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}
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}
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}
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/* if the line is too long to fit in the buffer, bail */
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if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
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break;
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/* add the line to the buffer */
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strcat(buf, line);
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}
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/* XXX pass the buffer to the device */
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int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
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if (ret < 0)
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err(1, "error loading mixers from %s", fname);
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exit(0);
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}
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@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (c) 2012, 2013 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
|
||||
# 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,
|
||||
# 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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MODULE_COMMAND = mixer
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SRCS = mixer.c
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MODULE_STACKSIZE = 4096
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MAXOPTIMIZATION = -Os
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