PX4-Autopilot/src/systemcmds/mixer/mixer.cpp

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/**
 * @file mixer.c
 *
 * Mixer utility.
 */

#include <px4_config.h>
#include <px4_module.h>
#include <px4_posix.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <ctype.h>

#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>

/**
 * Mixer utility for loading mixer files to devices
 *
 * @ingroup apps
 */
extern "C" __EXPORT int mixer_main(int argc, char *argv[]);

static void	usage(const char *reason);
static int	load(const char *devname, const char *fname, bool append);

int
mixer_main(int argc, char *argv[])
{
	if (argc < 2) {
		usage("missing command");
		return 1;
	}

	if (!strcmp(argv[1], "load")) {
		if (argc < 4) {
			usage("missing device or filename");
			return 1;
		}

		int ret = load(argv[2], argv[3], false);

		if (ret != 0) {
			PX4_ERR("failed to load mixer");
			return 1;
		}

	} else if (!strcmp(argv[1], "append")) {
		if (argc < 4) {
			usage("missing device or filename");
			return 1;
		}

		int ret = load(argv[2], argv[3], true);

		if (ret != 0) {
			PX4_ERR("failed to append mixer");
			return 1;
		}

	} else {
		usage("Unknown command");
		return 1;
	}

	return 0;
}

static void
usage(const char *reason)
{
	if (reason && *reason) {
		PX4_INFO("%s", reason);
	}

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
Load or append mixer files to the ESC driver.

Note that the driver must support the used ioctl's, which is the case on NuttX, but for example not on RPi.
)DESCR_STR");


	PRINT_MODULE_USAGE_NAME("mixer", "command");

	PRINT_MODULE_USAGE_COMMAND("load");
	PRINT_MODULE_USAGE_ARG("<file:dev> <file>", "Output device (eg. /dev/pwm_output0) and mixer file", false);
	PRINT_MODULE_USAGE_COMMAND("append");
	PRINT_MODULE_USAGE_ARG("<file:dev> <file>", "Output device (eg. /dev/pwm_output0) and mixer file", false);
}

static int
load(const char *devname, const char *fname, bool append)
{
	// sleep a while to ensure device has been set up
	usleep(20000);

	int dev;

	/* open the device */
	if ((dev = px4_open(devname, 0)) < 0) {
		PX4_ERR("can't open %s\n", devname);
		return 1;
	}

	/* reset mixers on the device, but not if appending */
	if (!append) {
		if (px4_ioctl(dev, MIXERIOCRESET, 0)) {
			PX4_ERR("can't reset mixers on %s", devname);
			return 1;
		}
	}

	char buf[2048];

	if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) {
		PX4_ERR("can't load mixer file: %s", fname);
		return 1;
	}

	/* Pass the buffer to the device */
	int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);

	if (ret < 0) {
		PX4_ERR("failed to load mixers from %s", fname);
		return 1;
	}

	return 0;
}