testing/fftest: add Force feedback driver test

Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>

testing/fftest/CMakeLists.txt

@@ -0,0 +1,33 @@
+# ##############################################################################
+# apps/testing/fftest/CMakeLists.txt
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+if(CONFIG_TESTING_FF)
+  nuttx_add_application(
+    NAME
+    ${CONFIG_TESTING_FF_PROGNAME}
+    PRIORITY
+    ${CONFIG_TESTING_FF_PRIORITY}
+    STACKSIZE
+    ${CONFIG_TESTING_FF_STACKSIZE}
+    MODULE
+    ${CONFIG_TESTING_FF}
+    SRCS
+    fftest.c)
+endif()

testing/fftest/Kconfig

@@ -0,0 +1,24 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config TESTING_FF
+	bool "Force feedback test"
+	default n
+
+if TESTING_FF
+
+config TESTING_FF_PROGNAME
+	string "Program name"
+	default "fftest"
+
+config TESTING_FF_PRIORITY
+	int "FF driver test task priority"
+	default 100
+
+config TESTING_FF_STACKSIZE
+	int "FF driver test stack size"
+	default DEFAULT_TASK_STACKSIZE
+
+endif

testing/fftest/Make.defs

@@ -0,0 +1,23 @@
+############################################################################
+# apps/testing/fftest/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_TESTING_FF),)
+CONFIGURED_APPS += $(APPDIR)/testing/fftest
+endif

testing/fftest/Makefile

@@ -0,0 +1,30 @@
+############################################################################
+# apps/testing/fftest/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+PROGNAME  = $(CONFIG_TESTING_FF_PROGNAME)
+PRIORITY  = $(CONFIG_TESTING_FF_PRIORITY)
+STACKSIZE = $(CONFIG_TESTING_FF_STACKSIZE)
+MODULE    = $(CONFIG_TESTING_FF)
+
+MAINSRC = fftest.c
+
+include $(APPDIR)/Application.mk

testing/fftest/fftest.c

@@ -0,0 +1,447 @@
+/****************************************************************************
+ * apps/testing/fftest/fftest.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <nuttx/bits.h>
+#include <nuttx/fs/ioctl.h>
+#include <nuttx/input/ff.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define N_EFFECTS 6
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+FAR static const char *g_effect_names[] =
+{
+  "Sine vibration",
+  "Constant Force",
+  "Spring Condition",
+  "Damping Condition",
+  "Strong Rumble",
+  "Weak Rumble"
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+int main(int argc, FAR char **argv)
+{
+  unsigned char fffeatures[1 + FF_MAX / 8 / sizeof(unsigned char)];
+  FAR const char *device_file_name = "/dev/input_ff0";
+  struct ff_effect effects[N_EFFECTS];
+  struct ff_event_s play;
+  struct ff_event_s stop;
+  struct ff_event_s gain;
+  int neffects; /* Number of effects the device can play at the same time */
+  int fd;
+  int i;
+
+  printf("Force feedback test program.\n");
+  for (i = 1; i < argc; i++)
+    {
+      if (strncmp(argv[i], "--help", 8) == 0)
+        {
+          printf("Usage: %s /dev/input_ffX\n", argv[0]);
+          printf("Tests the force feedback driver\n");
+          return -EINVAL;
+        }
+      else
+        {
+          device_file_name = argv[i];
+        }
+    }
+
+  fd = open(device_file_name, O_WRONLY);
+  if (fd < 0)
+    {
+      perror("Open device file");
+      return -errno;
+    }
+
+  printf("Device %s opened\n", device_file_name);
+
+  /* Query device */
+
+  printf("features:\n");
+
+  /* Force feedback effects */
+
+  memset(fffeatures, 0, sizeof(fffeatures));
+  if (ioctl(fd, EVIOCGBIT, fffeatures) < 0)
+    {
+      perror("Ioctl force feedback features query");
+      goto out;
+    }
+
+  printf("  * Force feedback effects types: ");
+  if (test_bit(FF_CONSTANT, fffeatures))
+    {
+      printf("Constant, ");
+    }
+
+  if (test_bit(FF_PERIODIC, fffeatures))
+    {
+      printf("Periodic, ");
+    }
+
+  if (test_bit(FF_RAMP, fffeatures))
+    {
+      printf("Ramp, ");
+    }
+
+  if (test_bit(FF_SPRING, fffeatures))
+    {
+      printf("Spring, ");
+    }
+
+  if (test_bit(FF_FRICTION, fffeatures))
+    {
+      printf("Friction, ");
+    }
+
+  if (test_bit(FF_DAMPER, fffeatures))
+    {
+      printf("Damper, ");
+    }
+
+  if (test_bit(FF_RUMBLE, fffeatures))
+    {
+      printf("Rumble, ");
+    }
+
+  if (test_bit(FF_INERTIA, fffeatures))
+    {
+      printf("Inertia, ");
+    }
+
+  if (test_bit(FF_GAIN, fffeatures))
+    {
+      printf("Gain, ");
+    }
+
+  if (test_bit(FF_AUTOCENTER, fffeatures))
+    {
+      printf("Autocenter, ");
+    }
+
+  printf("\n    Force feedback periodic effects: ");
+  if (test_bit(FF_SQUARE, fffeatures))
+    {
+      printf("Square, ");
+    }
+
+  if (test_bit(FF_TRIANGLE, fffeatures))
+    {
+      printf("Triangle, ");
+    }
+
+  if (test_bit(FF_SINE, fffeatures))
+    {
+      printf("Sine, ");
+    }
+
+  if (test_bit(FF_SAW_UP, fffeatures))
+    {
+      printf("Saw up, ");
+    }
+
+  if (test_bit(FF_SAW_DOWN, fffeatures))
+    {
+      printf("Saw down, ");
+    }
+
+  if (test_bit(FF_CUSTOM, fffeatures))
+    {
+      printf("Custom, ");
+    }
+
+  printf("\n    [");
+  for (i = 0; i < sizeof(fffeatures) / sizeof(unsigned char); i++)
+    {
+      printf("%02X ", fffeatures[i]);
+    }
+
+  printf("]\n");
+  printf("  * Number of simultaneous effects: ");
+  if (ioctl(fd, EVIOCGEFFECTS, &neffects) < 0)
+    {
+      perror("Ioctl number of effects");
+      goto out;
+    }
+
+  printf("%d\n\n", neffects);
+
+  /* Set master gain to 75% if supported */
+
+  if (test_bit(FF_GAIN, fffeatures))
+    {
+      memset(&gain, 0, sizeof(gain));
+      gain.code = FF_GAIN;
+      gain.value = 0xc000; /* [0, 0xFFFF] */
+
+      printf("Setting master gain to 75%% ... ");
+      fflush(stdout);
+
+      if (write(fd, &gain, sizeof(gain)) != sizeof(gain))
+        {
+          perror("Error: write fd failed");
+          goto out;
+        }
+      else
+        {
+          printf("OK\n");
+        }
+    }
+
+  /* Download a periodic sinusoidal effect */
+
+  memset(&effects[0], 0, sizeof(effects[0]));
+  effects[0].type = FF_PERIODIC;
+  effects[0].id = -1;
+  effects[0].u.periodic.waveform = FF_SINE;
+  effects[0].u.periodic.period = 100; /* 0.1 second */
+  effects[0].u.periodic.magnitude = 0x7fff;
+  effects[0].u.periodic.offset = 0;
+  effects[0].u.periodic.phase = 0;
+  effects[0].direction = 0x4000; /* Along X axis */
+  effects[0].u.periodic.envelope.attack_length = 1000;
+  effects[0].u.periodic.envelope.attack_level = 0x7fff;
+  effects[0].u.periodic.envelope.fade_length = 1000;
+  effects[0].u.periodic.envelope.fade_level = 0x7fff;
+  effects[0].trigger.button = 0;
+  effects[0].trigger.interval = 0;
+  effects[0].replay.length = 20000; /* 20 seconds */
+  effects[0].replay.delay = 1000;
+
+  printf("Uploading effect #0 (Periodic sinusoidal) ... ");
+  fflush(stdout);
+
+  if (ioctl(fd, EVIOCSFF, &effects[0]) < 0)
+    {
+      perror("Error: ioctl failed");
+      goto out;
+    }
+  else
+    {
+      printf("OK (id %d)\n", effects[0].id);
+    }
+
+  /* Download a constant effect */
+
+  effects[1].type = FF_CONSTANT;
+  effects[1].id = -1;
+  effects[1].u.constant.level = 0x2000; /* Strength : 25 % */
+  effects[1].direction = 0x6000;
+  effects[1].u.constant.envelope.attack_length = 1000;
+  effects[1].u.constant.envelope.attack_level = 0x1000;
+  effects[1].u.constant.envelope.fade_length = 1000;
+  effects[1].u.constant.envelope.fade_level = 0x1000;
+  effects[1].trigger.button = 0;
+  effects[1].trigger.interval = 0;
+  effects[1].replay.length = 20000; /* 20 seconds */
+  effects[1].replay.delay = 0;
+
+  printf("Uploading effect #1 (Constant) ... ");
+  fflush(stdout);
+
+  if (ioctl(fd, EVIOCSFF, &effects[1]) < 0)
+    {
+      perror("Error: ioctl failed");
+      goto out;
+    }
+  else
+    {
+      printf("OK (id %d)\n", effects[1].id);
+    }
+
+  /* Download a condition spring effect */
+
+  effects[2].type = FF_SPRING;
+  effects[2].id = -1;
+  effects[2].u.condition[0].right_saturation = 0x7fff;
+  effects[2].u.condition[0].left_saturation = 0x7fff;
+  effects[2].u.condition[0].right_coeff = 0x2000;
+  effects[2].u.condition[0].left_coeff = 0x2000;
+  effects[2].u.condition[0].deadband = 0x0;
+  effects[2].u.condition[0].center = 0x0;
+  effects[2].u.condition[1] = effects[2].u.condition[0];
+  effects[2].trigger.button = 0;
+  effects[2].trigger.interval = 0;
+  effects[2].replay.length = 20000; /* 20 seconds */
+  effects[2].replay.delay = 0;
+
+  printf("Uploading effect #2 (Spring) ... ");
+  fflush(stdout);
+
+  if (ioctl(fd, EVIOCSFF, &effects[2]) < 0)
+    {
+      perror("Error: ioctl failed");
+      goto out;
+    }
+  else
+    {
+      printf("OK (id %d)\n", effects[2].id);
+    }
+
+  /* Download a condition damper effect */
+
+  effects[3].type = FF_DAMPER;
+  effects[3].id = -1;
+  effects[3].u.condition[0].right_saturation = 0x7fff;
+  effects[3].u.condition[0].left_saturation = 0x7fff;
+  effects[3].u.condition[0].right_coeff = 0x2000;
+  effects[3].u.condition[0].left_coeff = 0x2000;
+  effects[3].u.condition[0].deadband = 0x0;
+  effects[3].u.condition[0].center = 0x0;
+  effects[3].u.condition[1] = effects[3].u.condition[0];
+  effects[3].trigger.button = 0;
+  effects[3].trigger.interval = 0;
+  effects[3].replay.length = 20000; /* 20 seconds */
+  effects[3].replay.delay = 0;
+
+  printf("Uploading effect #3 (Damper) ... ");
+  fflush(stdout);
+
+  if (ioctl(fd, EVIOCSFF, &effects[3]) < 0)
+    {
+      perror("Error: ioctl failed");
+      goto out;
+    }
+  else
+    {
+      printf("OK (id %d)\n", effects[3].id);
+    }
+
+  /* A strong rumbling effect */
+
+  effects[4].type = FF_RUMBLE;
+  effects[4].id = -1;
+  effects[4].u.rumble.strong_magnitude = 0x8000;
+  effects[4].u.rumble.weak_magnitude = 0;
+  effects[4].replay.length = 5000;
+  effects[4].replay.delay = 1000;
+
+  printf("Uploading effect #4 (Strong rumble, with heavy motor) ... ");
+  fflush(stdout);
+
+  if (ioctl(fd, EVIOCSFF, &effects[4]) < 0)
+    {
+      perror("Error: ioctl failed");
+      goto out;
+    }
+  else
+    {
+      printf("OK (id %d)\n", effects[4].id);
+    }
+
+  /* A weak rumbling effect */
+
+  effects[5].type = FF_RUMBLE;
+  effects[5].id = -1;
+  effects[5].u.rumble.strong_magnitude = 0;
+  effects[5].u.rumble.weak_magnitude = 0xc000;
+  effects[5].replay.length = 5000;
+  effects[5].replay.delay = 0;
+
+  printf("Uploading effect #5 (Weak rumble, with light motor) ... ");
+  fflush(stdout);
+
+  if (ioctl(fd, EVIOCSFF, &effects[5]) < 0)
+    {
+      perror("Error: ioctl failed");
+      goto out;
+    }
+  else
+    {
+      printf("OK (id %d)\n", effects[5].id);
+    }
+
+  /* Ask user what effects to play */
+
+  do
+    {
+      printf("Enter effect number, -1 to exit\n");
+      i = -1;
+      if (scanf("%d", &i) == EOF)
+        {
+          printf("Read error\n");
+        }
+      else if (i >= 0 && i < N_EFFECTS)
+        {
+          memset(&play, 0, sizeof(play));
+          play.code = effects[i].id;
+          play.value = 1;
+          if (write(fd, &play, sizeof(play)) < 0)
+            {
+              perror("Play effect failed");
+              goto out;
+            }
+
+          printf("Now Playing: %s\n", g_effect_names[i]);
+        }
+      else if (i == -2)
+        {
+          /* Crash test */
+
+          i = *((FAR int *)0);
+          printf("Crash test: %d\n", i);
+        }
+      else if (i != -1)
+        {
+          printf("No such effect\n");
+        }
+    }
+  while (i >= 0);
+
+  /* Stop the effects */
+
+  printf("Stopping effects\n");
+  for (i = 0; i < N_EFFECTS; i++)
+    {
+      memset(&stop, 0, sizeof(stop));
+      stop.code = effects[i].id;
+      stop.value = 0;
+
+      if (write(fd, &stop, sizeof(stop)) < 0)
+        {
+          perror("Error write fd failed");
+          goto out;
+        }
+    }
+
+out:
+  close(fd);
+  return errno > 0 ? -errno : 0;
+}