/**************************************************************************** * configs/nucleo-f3x1re/src/stm32_ajoystick.c * * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include "stm32l4_gpio.h" #include "stm32l4_adc.h" #include "chip/stm32l4_adc.h" #include "nucleo-l476rg.h" /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Check for pre-requisites and pin conflicts */ #ifdef CONFIG_AJOYSTICK # if !defined(CONFIG_ADC) # error CONFIG_ADC is required for the Itead joystick # undef CONFIG_AJOYSTICK # elif !defined(CONFIG_STM32_ADC1) # error CONFIG_STM32_ADC1 is required for Itead joystick # undef CONFIG_AJOYSTICK # endif #endif /* CONFIG_AJOYSTICK */ #ifdef CONFIG_AJOYSTICK /* A no-ADC, buttons only version can be built for testing */ #undef NO_JOYSTICK_ADC /* Maximum number of ADC channels */ #define MAX_ADC_CHANNELS 8 /* Dual channel ADC support requires DMA */ #ifdef CONFIG_ADC_DMA # define NJOYSTICK_CHANNELS 2 #else # define NJOYSTICK_CHANNELS 1 #endif #ifdef CONFIG_NUCLEO_F401RE_AJOY_MINBUTTONS /* Number of Joystick buttons */ # define AJOY_NGPIOS 3 /* Bitset of supported Joystick buttons */ # define AJOY_SUPPORTED (AJOY_BUTTON_1_BIT | AJOY_BUTTON_2_BIT | \ AJOY_BUTTON_3_BIT) #else /* Number of Joystick buttons */ # define AJOY_NGPIOS 7 /* Bitset of supported Joystick buttons */ # define AJOY_SUPPORTED (AJOY_BUTTON_1_BIT | AJOY_BUTTON_2_BIT | \ AJOY_BUTTON_3_BIT | AJOY_BUTTON_4_BIT | \ AJOY_BUTTON_5_BIT | AJOY_BUTTON_6_BIT | \ AJOY_BUTTON_7_BIT ) #endif /**************************************************************************** * Private Function Prototypes ****************************************************************************/ static ajoy_buttonset_t ajoy_supported(FAR const struct ajoy_lowerhalf_s *lower); static int ajoy_sample(FAR const struct ajoy_lowerhalf_s *lower, FAR struct ajoy_sample_s *sample); static ajoy_buttonset_t ajoy_buttons(FAR const struct ajoy_lowerhalf_s *lower); static void ajoy_enable(FAR const struct ajoy_lowerhalf_s *lower, ajoy_buttonset_t press, ajoy_buttonset_t release, ajoy_handler_t handler, FAR void *arg); static void ajoy_disable(void); static int ajoy_interrupt(int irq, FAR void *context, FAR void *arg); /**************************************************************************** * Private Data ****************************************************************************/ /* Pin configuration for each Itead joystick button. Index using AJOY_* * button definitions in include/nuttx/input/ajoystick.h. */ #ifdef CONFIG_NUCLEO_F401RE_AJOY_MINBUTTONS static const uint32_t g_joygpio[AJOY_NGPIOS] = { GPIO_BUTTON_1, GPIO_BUTTON_2, GPIO_BUTTON_3 }; #else static const uint32_t g_joygpio[AJOY_NGPIOS] = { GPIO_BUTTON_1, GPIO_BUTTON_2, GPIO_BUTTON_3, GPIO_BUTTON_4, GPIO_BUTTON_5, GPIO_BUTTON_6, GPIO_BUTTON_7 }; #endif /* This is the button joystick lower half driver interface */ static const struct ajoy_lowerhalf_s g_ajoylower = { .al_supported = ajoy_supported, .al_sample = ajoy_sample, .al_buttons = ajoy_buttons, .al_enable = ajoy_enable, }; #ifndef NO_JOYSTICK_ADC /* Thread-independent file structure for the open ADC driver */ static struct file g_adcfile; #endif /* Current interrupt handler and argument */ static ajoy_handler_t g_ajoyhandler; static FAR void *g_ajoyarg; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: ajoy_supported * * Description: * Return the set of buttons supported on the button joystick device * ****************************************************************************/ static ajoy_buttonset_t ajoy_supported(FAR const struct ajoy_lowerhalf_s *lower) { iinfo("Supported: %02x\n", AJOY_SUPPORTED); return (ajoy_buttonset_t)AJOY_SUPPORTED; } /**************************************************************************** * Name: ajoy_sample * * Description: * Return the current state of all button joystick buttons * ****************************************************************************/ static int ajoy_sample(FAR const struct ajoy_lowerhalf_s *lower, FAR struct ajoy_sample_s *sample) { #ifndef NO_JOYSTICK_ADC struct adc_msg_s adcmsg[MAX_ADC_CHANNELS]; FAR struct adc_msg_s *ptr; ssize_t nread; ssize_t offset; int have; int i; /* Read all of the available samples (handling the case where additional * channels are enabled). */ nread = file_read(&g_adcfile, adcmsg, MAX_ADC_CHANNELS * sizeof(struct adc_msg_s)); if (nread < 0) { int errcode = get_errno(); if (errcode != EINTR) { ierr("ERROR: read failed: %d\n", errcode); } return -errcode; } else if (nread < NJOYSTICK_CHANNELS * sizeof(struct adc_msg_s)) { ierr("ERROR: read too small: %ld\n", (long)nread); return -EIO; } /* Sample and the raw analog inputs */ #ifdef CONFIG_ADC_DMA have = 0; #else /* If DMA is not supported, then we will have only a single ADC channel */ have = 2; sample->as_y = 0; #endif for (i = 0, offset = 0; i < MAX_ADC_CHANNELS && offset < nread && have != 3; i++, offset += sizeof(struct adc_msg_s)) { ptr = &adcmsg[i]; /* Is this one of the channels that we need? */ if ((have & 1) == 0 && ptr->am_channel == 0) { int32_t tmp = ptr->am_data; sample->as_x = (int16_t)tmp; have |= 1; iinfo("X sample: %ld -> %d\n", (long)tmp, (int)sample->as_x); } #ifdef CONFIG_ADC_DMA if ((have & 2) == 0 && ptr->am_channel == 1) { int32_t tmp = ptr->am_data; sample->as_y = (int16_t)tmp; have |= 2; iinfo("Y sample: %ld -> %d\n", (long)tmp, (int)sample->as_y); } #endif } if (have != 3) { ierr("ERROR: Could not find joystick channels\n"); return -EIO; } #else /* ADC support is disabled */ sample->as_x = 0; sample->as_y = 0; #endif /* Sample the discrete button inputs */ sample->as_buttons = ajoy_buttons(lower); iinfo("Returning: %02x\n", sample->as_buttons); return OK; } /**************************************************************************** * Name: ajoy_buttons * * Description: * Return the current state of button data (only) * ****************************************************************************/ static ajoy_buttonset_t ajoy_buttons(FAR const struct ajoy_lowerhalf_s *lower) { ajoy_buttonset_t ret = 0; int i; /* Read each joystick GPIO value */ for (i = 0; i < AJOY_NGPIOS; i++) { /* Button outputs are pulled high. So a sensed low level means that the * button is pressed. */ if (!stm32_gpioread(g_joygpio[i])) { ret |= (1 << i); } } iinfo("Returning: %02x\n", ret); return ret; } /**************************************************************************** * Name: ajoy_enable * * Description: * Enable interrupts on the selected set of joystick buttons. And empty * set will disable all interrupts. * ****************************************************************************/ static void ajoy_enable(FAR const struct ajoy_lowerhalf_s *lower, ajoy_buttonset_t press, ajoy_buttonset_t release, ajoy_handler_t handler, FAR void *arg) { irqstate_t flags; ajoy_buttonset_t either = press | release; ajoy_buttonset_t bit; bool rising; bool falling; int i; /* Start with all interrupts disabled */ flags = enter_critical_section(); ajoy_disable(); iinfo("press: %02x release: %02x handler: %p arg: %p\n", press, release, handler, arg); /* If no events are indicated or if no handler is provided, then this * must really be a request to disable interrupts. */ if (either && handler) { /* Save the new the handler and argument */ g_ajoyhandler = handler; g_ajoyarg = arg; /* Check each GPIO. */ for (i = 0; i < AJOY_NGPIOS; i++) { /* Enable interrupts on each pin that has either a press or * release event associated with it. */ bit = (1 << i); if ((either & bit) != 0) { /* Active low so a press corresponds to a falling edge and * a release corresponds to a rising edge. */ falling = ((press & bit) != 0); rising = ((release & bit) != 0); iinfo("GPIO %d: rising: %d falling: %d\n", i, rising, falling); (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 * ****************************************************************************/ static int ajoy_interrupt(int irq, FAR void *context, FAR void *arg) { 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 int fd; iinfo("Initialize ADC driver: /dev/adc0\n"); /* NOTE: The ADC driver was initialized earlier in the bring-up sequence. */ /* Open the ADC driver for reading. */ fd = open("/dev/adc0", O_RDONLY); if (fd < 0) { int errcode = get_errno(); ierr("ERROR: Failed to open /dev/adc0: %d\n", errcode); return -errcode; } /* 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) { ierr("ERROR: Failed to detach from file descriptor: %d\n", ret); (void)close(fd); return ret; } #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 */ iinfo("Initialize joystick driver: /dev/ajoy0\n"); ret = ajoy_register("/dev/ajoy0", &g_ajoylower); if (ret < 0) { ierr("ERROR: ajoy_register failed: %d\n", ret); #ifndef NO_JOYSTICK_ADC file_close_detached(&g_adcfile); #endif } return ret; } #endif /* CONFIG_AJOYSTICK */