forked from Archive/PX4-Autopilot
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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