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67e0f8b179
Now the mixer is a C++ library that can be fairly easily bolted into an output driver to provide mixing services. Teach the FMU driver how to use it as an example. More testing is still required.
112 lines
3.0 KiB
C
112 lines
3.0 KiB
C
/****************************************************************************
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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 <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);
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static void load(const char *devname, const char *fname);
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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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} else {
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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(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 automatic setups for quad, etc. */
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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 = -1;
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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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/* tell it to load the file */
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ret = ioctl(dev, MIXERIOCLOADFILE, (unsigned long)fname);
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if (ret != 0) {
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fprintf(stderr, "failed loading %s\n", fname);
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}
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result = 0;
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out:
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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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