2016-03-10 18:21:35 +01:00
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/****************************************************************************
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* configs/nucleo-f3x1re/src/stm32_ajoystick.c
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*
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2016-05-26 17:41:50 +02:00
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* Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
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2016-03-10 18:21:35 +01:00
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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 NuttX 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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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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2016-05-26 17:41:50 +02:00
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#include <nuttx/fs/fs.h>
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2016-03-10 18:21:35 +01:00
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#include <nuttx/input/ajoystick.h>
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#include "stm32l4_gpio.h"
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#include "stm32l4_adc.h"
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#include "chip/stm32l4_adc.h"
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#include "nucleo-l476rg.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Check for pre-requisites and pin conflicts */
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#ifdef CONFIG_AJOYSTICK
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# if !defined(CONFIG_ADC)
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# error CONFIG_ADC is required for the Itead joystick
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# undef CONFIG_AJOYSTICK
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# elif !defined(CONFIG_STM32_ADC1)
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# error CONFIG_STM32_ADC1 is required for Itead joystick
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# undef CONFIG_AJOYSTICK
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# endif
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#endif /* CONFIG_AJOYSTICK */
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#ifdef CONFIG_AJOYSTICK
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/* A no-ADC, buttons only version can be built for testing */
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#undef NO_JOYSTICK_ADC
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/* Maximum number of ADC channels */
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#define MAX_ADC_CHANNELS 8
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/* Dual channel ADC support requires DMA */
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#ifdef CONFIG_ADC_DMA
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# define NJOYSTICK_CHANNELS 2
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#else
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# define NJOYSTICK_CHANNELS 1
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#endif
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#ifdef CONFIG_NUCLEO_F401RE_AJOY_MINBUTTONS
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/* Number of Joystick buttons */
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# define AJOY_NGPIOS 3
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/* Bitset of supported Joystick buttons */
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# define AJOY_SUPPORTED (AJOY_BUTTON_1_BIT | AJOY_BUTTON_2_BIT | \
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AJOY_BUTTON_3_BIT)
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#else
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/* Number of Joystick buttons */
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# define AJOY_NGPIOS 7
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/* Bitset of supported Joystick buttons */
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# define AJOY_SUPPORTED (AJOY_BUTTON_1_BIT | AJOY_BUTTON_2_BIT | \
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AJOY_BUTTON_3_BIT | AJOY_BUTTON_4_BIT | \
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AJOY_BUTTON_5_BIT | AJOY_BUTTON_6_BIT | \
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AJOY_BUTTON_7_BIT )
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#endif
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static ajoy_buttonset_t ajoy_supported(FAR const struct ajoy_lowerhalf_s *lower);
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static int ajoy_sample(FAR const struct ajoy_lowerhalf_s *lower,
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FAR struct ajoy_sample_s *sample);
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static ajoy_buttonset_t ajoy_buttons(FAR const struct ajoy_lowerhalf_s *lower);
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static void ajoy_enable(FAR const struct ajoy_lowerhalf_s *lower,
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ajoy_buttonset_t press, ajoy_buttonset_t release,
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ajoy_handler_t handler, FAR void *arg);
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static void ajoy_disable(void);
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2017-02-27 13:27:56 +01:00
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static int ajoy_interrupt(int irq, FAR void *context, FAR void *arg);
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2016-03-10 18:21:35 +01:00
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* Pin configuration for each Itead joystick button. Index using AJOY_*
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* button definitions in include/nuttx/input/ajoystick.h.
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*/
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#ifdef CONFIG_NUCLEO_F401RE_AJOY_MINBUTTONS
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static const uint32_t g_joygpio[AJOY_NGPIOS] =
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{
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GPIO_BUTTON_1, GPIO_BUTTON_2, GPIO_BUTTON_3
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};
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#else
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static const uint32_t g_joygpio[AJOY_NGPIOS] =
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{
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GPIO_BUTTON_1, GPIO_BUTTON_2, GPIO_BUTTON_3, GPIO_BUTTON_4,
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GPIO_BUTTON_5, GPIO_BUTTON_6, GPIO_BUTTON_7
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};
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#endif
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/* This is the button joystick lower half driver interface */
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static const struct ajoy_lowerhalf_s g_ajoylower =
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{
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.al_supported = ajoy_supported,
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.al_sample = ajoy_sample,
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.al_buttons = ajoy_buttons,
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.al_enable = ajoy_enable,
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};
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#ifndef NO_JOYSTICK_ADC
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2016-05-26 17:41:50 +02:00
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/* Thread-independent file structure for the open ADC driver */
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2016-03-10 18:21:35 +01:00
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2016-05-26 17:41:50 +02:00
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static struct file g_adcfile;
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2016-03-10 18:21:35 +01:00
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#endif
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/* Current interrupt handler and argument */
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static ajoy_handler_t g_ajoyhandler;
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static FAR void *g_ajoyarg;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: ajoy_supported
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*
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* Description:
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* Return the set of buttons supported on the button joystick device
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*
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****************************************************************************/
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static ajoy_buttonset_t ajoy_supported(FAR const struct ajoy_lowerhalf_s *lower)
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{
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2016-06-11 19:59:51 +02:00
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iinfo("Supported: %02x\n", AJOY_SUPPORTED);
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2016-03-10 18:21:35 +01:00
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return (ajoy_buttonset_t)AJOY_SUPPORTED;
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}
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/****************************************************************************
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* Name: ajoy_sample
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*
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* Description:
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* Return the current state of all button joystick buttons
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*
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****************************************************************************/
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static int ajoy_sample(FAR const struct ajoy_lowerhalf_s *lower,
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FAR struct ajoy_sample_s *sample)
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{
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#ifndef NO_JOYSTICK_ADC
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struct adc_msg_s adcmsg[MAX_ADC_CHANNELS];
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FAR struct adc_msg_s *ptr;
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ssize_t nread;
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ssize_t offset;
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int have;
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int i;
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/* Read all of the available samples (handling the case where additional
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* channels are enabled).
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*/
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2016-07-05 20:12:44 +02:00
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nread = file_read(&g_adcfile, adcmsg,
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MAX_ADC_CHANNELS * sizeof(struct adc_msg_s));
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2016-03-10 18:21:35 +01:00
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if (nread < 0)
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{
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int errcode = get_errno();
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if (errcode != EINTR)
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{
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2016-06-11 23:50:49 +02:00
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ierr("ERROR: read failed: %d\n", errcode);
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2016-03-10 18:21:35 +01:00
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}
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return -errcode;
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}
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else if (nread < NJOYSTICK_CHANNELS * sizeof(struct adc_msg_s))
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{
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2016-06-11 23:50:49 +02:00
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ierr("ERROR: read too small: %ld\n", (long)nread);
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2016-03-10 18:21:35 +01:00
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return -EIO;
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}
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/* Sample and the raw analog inputs */
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#ifdef CONFIG_ADC_DMA
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have = 0;
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#else
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/* If DMA is not supported, then we will have only a single ADC channel */
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have = 2;
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sample->as_y = 0;
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#endif
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for (i = 0, offset = 0;
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i < MAX_ADC_CHANNELS && offset < nread && have != 3;
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i++, offset += sizeof(struct adc_msg_s))
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{
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ptr = &adcmsg[i];
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/* Is this one of the channels that we need? */
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if ((have & 1) == 0 && ptr->am_channel == 0)
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{
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int32_t tmp = ptr->am_data;
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sample->as_x = (int16_t)tmp;
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have |= 1;
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2016-06-11 19:59:51 +02:00
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iinfo("X sample: %ld -> %d\n", (long)tmp, (int)sample->as_x);
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2016-03-10 18:21:35 +01:00
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}
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#ifdef CONFIG_ADC_DMA
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if ((have & 2) == 0 && ptr->am_channel == 1)
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{
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int32_t tmp = ptr->am_data;
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sample->as_y = (int16_t)tmp;
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have |= 2;
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2016-06-11 19:59:51 +02:00
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iinfo("Y sample: %ld -> %d\n", (long)tmp, (int)sample->as_y);
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2016-03-10 18:21:35 +01:00
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}
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#endif
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}
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if (have != 3)
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{
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2016-06-11 23:50:49 +02:00
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ierr("ERROR: Could not find joystick channels\n");
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2016-03-10 18:21:35 +01:00
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return -EIO;
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}
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#else
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/* ADC support is disabled */
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sample->as_x = 0;
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sample->as_y = 0;
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#endif
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/* Sample the discrete button inputs */
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sample->as_buttons = ajoy_buttons(lower);
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2016-06-11 19:59:51 +02:00
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iinfo("Returning: %02x\n", sample->as_buttons);
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2016-03-10 18:21:35 +01:00
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return OK;
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}
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/****************************************************************************
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* Name: ajoy_buttons
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*
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* Description:
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* Return the current state of button data (only)
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*
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****************************************************************************/
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static ajoy_buttonset_t ajoy_buttons(FAR const struct ajoy_lowerhalf_s *lower)
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{
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ajoy_buttonset_t ret = 0;
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int i;
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/* Read each joystick GPIO value */
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for (i = 0; i < AJOY_NGPIOS; i++)
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{
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/* Button outputs are pulled high. So a sensed low level means that the
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* button is pressed.
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*/
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if (!stm32_gpioread(g_joygpio[i]))
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{
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ret |= (1 << i);
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}
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}
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2016-06-11 19:59:51 +02:00
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iinfo("Returning: %02x\n", ret);
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2016-03-10 18:21:35 +01:00
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return ret;
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}
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/****************************************************************************
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* Name: ajoy_enable
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*
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* Description:
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* Enable interrupts on the selected set of joystick buttons. And empty
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* set will disable all interrupts.
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*
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****************************************************************************/
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static void ajoy_enable(FAR const struct ajoy_lowerhalf_s *lower,
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ajoy_buttonset_t press, ajoy_buttonset_t release,
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ajoy_handler_t handler, FAR void *arg)
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{
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irqstate_t flags;
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ajoy_buttonset_t either = press | release;
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ajoy_buttonset_t bit;
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bool rising;
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bool falling;
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int i;
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/* Start with all interrupts disabled */
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flags = enter_critical_section();
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ajoy_disable();
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2016-06-20 19:59:15 +02:00
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iinfo("press: %02x release: %02x handler: %p arg: %p\n",
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press, release, handler, arg);
|
2016-03-10 18:21:35 +01:00
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/* If no events are indicated or if no handler is provided, then this
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* must really be a request to disable interrupts.
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*/
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if (either && handler)
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{
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/* Save the new the handler and argument */
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g_ajoyhandler = handler;
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g_ajoyarg = arg;
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/* Check each GPIO. */
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for (i = 0; i < AJOY_NGPIOS; i++)
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{
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/* Enable interrupts on each pin that has either a press or
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* release event associated with it.
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*/
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bit = (1 << i);
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if ((either & bit) != 0)
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{
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/* Active low so a press corresponds to a falling edge and
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* a release corresponds to a rising edge.
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*/
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falling = ((press & bit) != 0);
|
|
|
|
rising = ((release & bit) != 0);
|
|
|
|
|
2016-06-20 19:59:15 +02:00
|
|
|
iinfo("GPIO %d: rising: %d falling: %d\n",
|
|
|
|
i, rising, falling);
|
2016-03-10 18:21:35 +01:00
|
|
|
|
|
|
|
(void)stm32_gpiosetevent(g_joygpio[i], rising, falling,
|
|
|
|
true, ajoy_interrupt);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
leave_critical_section(flags);
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: ajoy_disable
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* Disable all joystick interrupts
|
|
|
|
*
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
static void ajoy_disable(void)
|
|
|
|
{
|
|
|
|
irqstate_t flags;
|
|
|
|
int i;
|
|
|
|
|
|
|
|
/* Disable each joystick interrupt */
|
|
|
|
|
|
|
|
flags = up_irq_save();
|
|
|
|
for (i = 0; i < AJOY_NGPIOS; i++)
|
|
|
|
{
|
|
|
|
(void)stm32_gpiosetevent(g_joygpio[i], false, false, false, NULL);
|
|
|
|
}
|
|
|
|
|
|
|
|
up_irq_restore(flags);
|
|
|
|
|
|
|
|
/* Nullify the handler and argument */
|
|
|
|
|
|
|
|
g_ajoyhandler = NULL;
|
|
|
|
g_ajoyarg = NULL;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: ajoy_interrupt
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* Discrete joystick interrupt handler
|
|
|
|
*
|
|
|
|
****************************************************************************/
|
|
|
|
|
2017-02-27 13:27:56 +01:00
|
|
|
static int ajoy_interrupt(int irq, FAR void *context, FAR void *arg)
|
2016-03-10 18:21:35 +01:00
|
|
|
{
|
|
|
|
DEBUGASSERT(g_ajoyhandler);
|
|
|
|
|
|
|
|
if (g_ajoyhandler)
|
|
|
|
{
|
|
|
|
g_ajoyhandler(&g_ajoylower, g_ajoyarg);
|
|
|
|
}
|
|
|
|
|
|
|
|
return OK;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Public Functions
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: board_ajoy_initialize
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* Initialize and register the button joystick driver
|
|
|
|
*
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
int board_ajoy_initialize(void)
|
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
int i;
|
|
|
|
|
|
|
|
#ifndef NO_JOYSTICK_ADC
|
2016-05-26 17:41:50 +02:00
|
|
|
int fd;
|
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
iinfo("Initialize ADC driver: /dev/adc0\n");
|
2016-03-10 18:21:35 +01:00
|
|
|
|
2016-12-06 00:06:08 +01:00
|
|
|
/* NOTE: The ADC driver was initialized earlier in the bring-up sequence. */
|
2016-05-26 17:41:50 +02:00
|
|
|
/* Open the ADC driver for reading. */
|
2016-03-10 18:21:35 +01:00
|
|
|
|
2016-05-26 17:41:50 +02:00
|
|
|
fd = open("/dev/adc0", O_RDONLY);
|
|
|
|
if (fd < 0)
|
2016-03-10 18:21:35 +01:00
|
|
|
{
|
|
|
|
int errcode = get_errno();
|
2016-06-11 23:50:49 +02:00
|
|
|
ierr("ERROR: Failed to open /dev/adc0: %d\n", errcode);
|
2016-03-10 18:21:35 +01:00
|
|
|
return -errcode;
|
|
|
|
}
|
2016-05-26 17:41:50 +02:00
|
|
|
|
|
|
|
/* Detach the file structure from the file descriptor so that it can be
|
|
|
|
* used on any thread.
|
|
|
|
*/
|
|
|
|
|
|
|
|
ret = file_detach(fd, &g_adcfile);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
2016-06-11 23:50:49 +02:00
|
|
|
ierr("ERROR: Failed to detach from file descriptor: %d\n", ret);
|
2016-05-26 17:41:50 +02:00
|
|
|
(void)close(fd);
|
|
|
|
return ret;
|
|
|
|
}
|
2016-03-10 18:21:35 +01:00
|
|
|
#endif
|
|
|
|
|
|
|
|
/* Configure the GPIO pins as interrupting inputs. NOTE: This is
|
|
|
|
* unnecessary for interrupting pins since it will also be done by
|
|
|
|
* stm32_gpiosetevent().
|
|
|
|
*/
|
|
|
|
|
|
|
|
for (i = 0; i < AJOY_NGPIOS; i++)
|
|
|
|
{
|
|
|
|
/* Configure the PIO as an input */
|
|
|
|
|
|
|
|
stm32_configgpio(g_joygpio[i]);
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Register the joystick device as /dev/ajoy0 */
|
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
iinfo("Initialize joystick driver: /dev/ajoy0\n");
|
2016-03-10 18:21:35 +01:00
|
|
|
|
|
|
|
ret = ajoy_register("/dev/ajoy0", &g_ajoylower);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
2016-06-11 23:50:49 +02:00
|
|
|
ierr("ERROR: ajoy_register failed: %d\n", ret);
|
2016-03-10 18:21:35 +01:00
|
|
|
#ifndef NO_JOYSTICK_ADC
|
2016-05-26 17:41:50 +02:00
|
|
|
file_close_detached(&g_adcfile);
|
2016-03-10 18:21:35 +01:00
|
|
|
#endif
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif /* CONFIG_AJOYSTICK */
|