mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 02:43:33 +08:00
Checkpoint: more work in progress on mixer load/save
This commit is contained in:
px4dev
@@ -37,6 +37,6 @@
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APPNAME = mixer
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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STACKSIZE = 4096
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include $(APPDIR)/mk/app.mk
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@@ -38,9 +38,9 @@
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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 <errno.h>
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#include <systemlib/mixer.h>
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#include <drivers/drv_mixer.h>
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@@ -48,80 +48,43 @@
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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 usage(const char *reason);
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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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usage("missing command");
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if (!strcmp(argv[1], "load")) {
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todo = 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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} else if (!strcmp(argv[1], "save")) {
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todo = SAVE;
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if (argc < 4)
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usage("missing device or filename");
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save(argv[2], argv[3]);
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} else if (!strcmp(argv[1], "show")) {
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todo = SHOW;
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if (argc < 3)
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usage("missing device name");
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show(argv[2]);
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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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usage("unrecognised command");
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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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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|save|show} -d <device> [-f <filename>]\n");
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fprintf(stderr, " mixer show <device>\n");
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fprintf(stderr, " mixer {load|save} <device> [<filename>]\n");
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exit(1);
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}
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@@ -132,7 +95,7 @@ load(const char *devname, const char *fname)
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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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struct MixMixer *mixer = NULL;
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/* open the device */
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if ((dev = open(devname, 0)) < 0) {
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@@ -156,29 +119,42 @@ load(const char *devname, const char *fname)
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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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if (ret < 0) {
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fprintf(stderr, "read for mixer %d failed\n", i);
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goto out;
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}
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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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if (mixer != NULL) {
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/* sanity check the mixer */
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ret = mixer_check(mixer, NUM_ACTUATOR_CONTROLS);
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if (ret != 0) {
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fprintf(stderr, "mixer %u fails sanity check %d\n", i, ret);
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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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fprintf(stderr, "mixer %d set failed\n", i);
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goto out;
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}
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free(mixer);
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mixer = NULL;
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} else {
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/* delete the mixer */
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ret = ioctl(dev, MIXERIOCSETMIXER(i), 0);
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if (ret < 0) {
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fprintf(stderr, "mixer %d clear failed\n", i);
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goto out;
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}
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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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@@ -201,18 +177,16 @@ getmixer(int dev, unsigned mixer_number, struct MixInfo **mip)
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/* first-round initialisation */
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if (mi == NULL) {
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mi = (struct MixInfo *)malloc(MIXINFO_SIZE(0));
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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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if (ret < 0)
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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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@@ -262,12 +236,16 @@ save(const char *devname, const char *fname)
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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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struct MixMixer *mm;
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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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mm = &mi->mixer;
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if (ret < 0) {
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if (errno != ENOENT)
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goto out;
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mm = NULL;
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}
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ret = mixer_save(defs, mm);
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if (ret < 0)
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goto out;
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}
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@@ -289,7 +267,7 @@ out:
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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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struct MixInfo *mi = NULL;
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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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@@ -311,19 +289,23 @@ show(const char *devname)
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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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if (ret < 0) {
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if (errno != ENOENT)
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goto out;
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continue;
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}
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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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printf("mixer %d:\n", i);
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printf(" -ve scale +ve scale offset low limit high limit\n");
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printf("output %8.4f %8.4f %8.4f %8.4f %8.4f\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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printf("%d: %8.4f %8.4f %8.4f %8.4f %8.4f\n",
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j,
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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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@@ -333,6 +315,8 @@ show(const char *devname)
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}
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out:
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printf("done\n");
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usleep(100000);
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/* free the mixinfo */
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if (mi != NULL)
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free(mi);
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