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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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161 lines
4.0 KiB
C++
161 lines
4.0 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 <px4_config.h>
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#include <px4_posix.h>
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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 <systemlib/err.h>
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#include <systemlib/mixer/mixer.h>
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#include <uORB/topics/actuator_controls.h>
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/**
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* Mixer utility for loading mixer files to devices
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*
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* @ingroup apps
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*/
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extern "C" __EXPORT int mixer_main(int argc, char *argv[]);
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static void usage(const char *reason);
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static int 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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return 1;
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}
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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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return 1;
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}
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int ret = load(argv[2], argv[3]);
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if (ret != 0) {
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warnx("failed to load mixer");
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return 1;
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}
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} else {
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usage("Unknown command");
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return 1;
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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 && *reason) {
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PX4_INFO("%s", reason);
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}
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PX4_INFO("usage:");
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PX4_INFO(" mixer load <device> <filename>");
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}
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static int
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load(const char *devname, const char *fname)
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{
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// sleep a while to ensure device has been set up
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usleep(20000);
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int dev;
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/* open the device */
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if ((dev = px4_open(devname, 0)) < 0) {
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warnx("can't open %s\n", devname);
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return 1;
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}
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/* reset mixers on the device */
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if (px4_ioctl(dev, MIXERIOCRESET, 0)) {
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warnx("can't reset mixers on %s", devname);
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return 1;
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}
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#ifndef __PX4_QURT
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char buf[2048];
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if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) {
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warnx("can't load mixer: %s", fname);
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return 1;
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}
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/* XXX pass the buffer to the device */
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int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
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#else
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char newbuf[] =
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"R: 4x 10000 10000 10000 0\n"
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"M: 1\n"
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"O: 10000 10000 0 -10000 10000\n"
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"S: 0 4 10000 10000 0 -10000 10000\n"
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"M: 1\n"
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"O: 10000 10000 0 -10000 10000\n"
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"S: 0 5 10000 10000 0 -10000 10000\n"
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"M: 1\n"
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"O: 10000 10000 0 -10000 10000\n"
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"S: 0 6 10000 10000 0 -10000 10000\n"
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"M: 1\n"
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"O: 10000 10000 0 -10000 10000\n"
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"S: 0 7 10000 10000 0 -10000 10000\n";
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/* XXX pass the buffer to the device */
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int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)newbuf);
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#endif
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if (ret < 0) {
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warnx("error loading mixers from %s", fname);
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return 1;
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}
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return 0;
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}
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