42a0796615
sched/semaphore: Add nxsem_post() which is identical to sem_post() except that it never modifies the errno variable. Changed all references to sem_post in the OS to nxsem_post().
sched/semaphore: Add nxsem_destroy() which is identical to sem_destroy() except that it never modifies the errno variable. Changed all references to sem_destroy() in the OS to nxsem_destroy().
libc/semaphore and sched/semaphore: Add nxsem_getprotocol() and nxsem_setprotocola which are identical to sem_getprotocol() and set_setprotocol() except that they never modifies the errno variable. Changed all references to sem_setprotocol in the OS to nxsem_setprotocol(). sem_getprotocol() was not used in the OS
897 lines
24 KiB
C
897 lines
24 KiB
C
/****************************************************************************
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* drivers/ajoystick.c
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*
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* Copyright (C) 2014 Gregory Nutt. All rights reserved.
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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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/* This file provides a driver for a standard analog joystick device. An
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* analog joystick refers to a joystick that provides X/Y positional data as
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* integer values such as might be provides by Analog-to-Digital Conversion
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* (ADC). The analog positional data may also be accompanied by discrete
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* button data.
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*
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* The analog joystick driver exports a standard character driver
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* interface. By convention, the analog joystick is registered as an input
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* device at /dev/ajoyN where N uniquely identifies the driver instance.
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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 <sys/types.h>
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#include <stdbool.h>
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#include <string.h>
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#include <poll.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/input/ajoystick.h>
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#include <nuttx/random.h>
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#include <nuttx/irq.h>
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/* This structure provides the state of one analog joystick driver */
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struct ajoy_upperhalf_s
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{
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/* Saved binding to the lower half analog joystick driver */
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FAR const struct ajoy_lowerhalf_s *au_lower;
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ajoy_buttonset_t au_enabled; /* Set of currently enabled button interrupts */
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ajoy_buttonset_t au_sample; /* Last sampled button states */
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sem_t au_exclsem; /* Supports exclusive access to the device */
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/* The following is a singly linked list of open references to the
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* joystick device.
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*/
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FAR struct ajoy_open_s *au_open;
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};
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/* This structure describes the state of one open joystick driver instance */
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struct ajoy_open_s
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{
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/* Supports a singly linked list */
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FAR struct ajoy_open_s *ao_flink;
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/* The following will be true if we are closing */
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volatile bool ao_closing;
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#ifndef CONFIG_DISABLE_SIGNALS
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/* Joystick event notification information */
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pid_t ao_pid;
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struct ajoy_notify_s ao_notify;
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#endif
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#ifndef CONFIG_DISABLE_POLL
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/* Poll event information */
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struct ajoy_pollevents_s ao_pollevents;
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/* The following is a list if poll structures of threads waiting for
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* driver events.
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*/
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FAR struct pollfd *ao_fds[CONFIG_AJOYSTICK_NPOLLWAITERS];
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#endif
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/* Semaphore helpers */
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static inline int ajoy_takesem(sem_t *sem);
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#define ajoy_givesem(s) nxsem_post(s);
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/* Sampling and Interrupt handling */
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#if !defined(CONFIG_DISABLE_POLL) || !defined(CONFIG_DISABLE_SIGNALS)
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static void ajoy_enable(FAR struct ajoy_upperhalf_s *priv);
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static void ajoy_interrupt(FAR const struct ajoy_lowerhalf_s *lower,
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FAR void *arg);
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#endif
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/* Sampling */
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static void ajoy_sample(FAR struct ajoy_upperhalf_s *priv);
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/* Character driver methods */
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static int ajoy_open(FAR struct file *filep);
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static int ajoy_close(FAR struct file *filep);
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static ssize_t ajoy_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen);
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static int ajoy_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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#ifndef CONFIG_DISABLE_POLL
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static int ajoy_poll(FAR struct file *filep, FAR struct pollfd *fds,
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bool setup);
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#endif
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations ajoy_fops =
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{
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ajoy_open, /* open */
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ajoy_close, /* close */
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ajoy_read, /* read */
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0, /* write */
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0, /* seek */
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ajoy_ioctl /* ioctl */
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#ifndef CONFIG_DISABLE_POLL
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, ajoy_poll /* poll */
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#endif
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: ajoy_takesem
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****************************************************************************/
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static inline int ajoy_takesem(sem_t *sem)
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{
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/* Take a count from the semaphore, possibly waiting */
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if (sem_wait(sem) < 0)
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{
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/* EINTR is the only error that we expect */
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int errcode = get_errno();
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DEBUGASSERT(errcode == EINTR);
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return -errcode;
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}
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return OK;
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}
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/****************************************************************************
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* Name: ajoy_enable
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****************************************************************************/
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#if !defined(CONFIG_DISABLE_POLL) || !defined(CONFIG_DISABLE_SIGNALS)
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static void ajoy_enable(FAR struct ajoy_upperhalf_s *priv)
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{
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FAR const struct ajoy_lowerhalf_s *lower;
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FAR struct ajoy_open_s *opriv;
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ajoy_buttonset_t press;
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ajoy_buttonset_t release;
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irqstate_t flags;
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#ifndef CONFIG_DISABLE_POLL
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int i;
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#endif
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DEBUGASSERT(priv);
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lower = priv->au_lower;
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DEBUGASSERT(lower);
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/* This routine is called both task level and interrupt level, so
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* interrupts must be disabled.
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*/
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flags = enter_critical_section();
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/* Visit each opened reference to the device */
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press = 0;
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release = 0;
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for (opriv = priv->au_open; opriv; opriv = opriv->ao_flink)
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{
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#ifndef CONFIG_DISABLE_POLL
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/* Are there any poll waiters? */
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for (i = 0; i < CONFIG_AJOYSTICK_NPOLLWAITERS; i++)
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{
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if (opriv->ao_fds[i])
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{
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/* Yes.. OR in the poll event buttons */
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press |= opriv->ao_pollevents.ap_press;
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release |= opriv->ao_pollevents.ap_release;
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break;
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}
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}
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#endif
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#ifndef CONFIG_DISABLE_SIGNALS
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/* OR in the signal events */
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press |= opriv->ao_notify.an_press;
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release |= opriv->ao_notify.an_release;
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#endif
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}
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/* Enable/disable button interrupts */
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DEBUGASSERT(lower->al_enable);
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if (press != 0 || release != 0)
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{
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/* Enable interrupts with the new button set */
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lower->al_enable(lower, press, release,
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(ajoy_handler_t)ajoy_interrupt, priv);
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}
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else
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{
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/* Disable further interrupts */
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lower->al_enable(lower, 0, 0, NULL, NULL);
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}
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leave_critical_section(flags);
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}
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#endif
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/****************************************************************************
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* Name: ajoy_interrupt
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****************************************************************************/
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#if !defined(CONFIG_DISABLE_POLL) || !defined(CONFIG_DISABLE_SIGNALS)
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static void ajoy_interrupt(FAR const struct ajoy_lowerhalf_s *lower,
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FAR void *arg)
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{
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FAR struct ajoy_upperhalf_s *priv = (FAR struct ajoy_upperhalf_s *)arg;
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DEBUGASSERT(priv);
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/* Process the next sample */
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ajoy_sample(priv);
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}
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#endif
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/****************************************************************************
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* Name: ajoy_sample
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****************************************************************************/
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static void ajoy_sample(FAR struct ajoy_upperhalf_s *priv)
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{
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FAR const struct ajoy_lowerhalf_s *lower;
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FAR struct ajoy_open_s *opriv;
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ajoy_buttonset_t sample;
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#if !defined(CONFIG_DISABLE_POLL) || !defined(CONFIG_DISABLE_SIGNALS)
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ajoy_buttonset_t change;
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ajoy_buttonset_t press;
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ajoy_buttonset_t release;
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#endif
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irqstate_t flags;
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#ifndef CONFIG_DISABLE_POLL
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int i;
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#endif
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DEBUGASSERT(priv);
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lower = priv->au_lower;
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DEBUGASSERT(lower);
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/* This routine is called both task level and interrupt level, so
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* interrupts must be disabled.
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*/
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flags = enter_critical_section();
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/* Sample the new button state */
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DEBUGASSERT(lower->al_buttons);
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sample = lower->al_buttons(lower);
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add_ui_randomness(sample);
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#if !defined(CONFIG_DISABLE_POLL) || !defined(CONFIG_DISABLE_SIGNALS)
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/* Determine which buttons have been newly pressed and which have been
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* newly released.
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*/
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change = sample ^ priv->au_sample;
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press = change & sample;
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DEBUGASSERT(lower->al_supported);
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release = change & (lower->al_supported(lower) & ~sample);
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/* Visit each opened reference to the device */
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for (opriv = priv->au_open; opriv; opriv = opriv->ao_flink)
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{
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#ifndef CONFIG_DISABLE_POLL
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/* Have any poll events occurred? */
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if ((press & opriv->ao_pollevents.ap_press) != 0 ||
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(release & opriv->ao_pollevents.ap_release) != 0)
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{
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/* Yes.. Notify all waiters */
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for (i = 0; i < CONFIG_AJOYSTICK_NPOLLWAITERS; i++)
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{
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FAR struct pollfd *fds = opriv->ao_fds[i];
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if (fds)
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{
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fds->revents |= (fds->events & POLLIN);
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if (fds->revents != 0)
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{
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iinfo("Report events: %02x\n", fds->revents);
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nxsem_post(fds->sem);
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}
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}
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}
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}
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#endif
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#ifndef CONFIG_DISABLE_SIGNALS
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/* Have any signal events occurred? */
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if ((press & opriv->ao_notify.an_press) != 0 ||
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(release & opriv->ao_notify.an_release) != 0)
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{
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/* Yes.. Signal the waiter */
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#ifdef CONFIG_CAN_PASS_STRUCTS
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union sigval value;
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value.sival_int = (int)sample;
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(void)sigqueue(opriv->ao_pid, opriv->ao_notify.an_signo, value);
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#else
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(void)sigqueue(opriv->ao_pid, opriv->ao_notify.dn.signo,
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(FAR void *)sample);
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#endif
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}
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#endif
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}
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/* Enable/disable interrupt handling */
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ajoy_enable(priv);
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#endif
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priv->au_sample = sample;
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leave_critical_section(flags);
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}
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/****************************************************************************
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* Name: ajoy_open
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****************************************************************************/
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static int ajoy_open(FAR struct file *filep)
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{
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FAR struct inode *inode;
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FAR struct ajoy_upperhalf_s *priv;
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FAR struct ajoy_open_s *opriv;
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#ifndef CONFIG_DISABLE_POLL
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FAR const struct ajoy_lowerhalf_s *lower;
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ajoy_buttonset_t supported;
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#endif
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int ret;
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DEBUGASSERT(filep && filep->f_inode);
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inode = filep->f_inode;
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DEBUGASSERT(inode->i_private);
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priv = (FAR struct ajoy_upperhalf_s *)inode->i_private;
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/* Get exclusive access to the driver structure */
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ret = ajoy_takesem(&priv->au_exclsem);
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if (ret < 0)
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{
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ierr("ERROR: ajoy_takesem failed: %d\n", ret);
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return ret;
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}
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/* Allocate a new open structure */
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opriv = (FAR struct ajoy_open_s *)kmm_zalloc(sizeof(struct ajoy_open_s));
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if (!opriv)
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{
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ierr("ERROR: Failled to allocate open structure\n");
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ret = -ENOMEM;
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goto errout_with_sem;
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}
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/* Initialize the open structure */
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#ifndef CONFIG_DISABLE_POLL
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lower = priv->au_lower;
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DEBUGASSERT(lower && lower->al_supported);
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supported = lower->al_supported(lower);
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opriv->ao_pollevents.ap_press = supported;
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opriv->ao_pollevents.ap_release = supported;
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#endif
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/* Attach the open structure to the device */
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opriv->ao_flink = priv->au_open;
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priv->au_open = opriv;
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/* Attach the open structure to the file structure */
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filep->f_priv = (FAR void *)opriv;
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ret = OK;
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errout_with_sem:
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ajoy_givesem(&priv->au_exclsem);
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return ret;
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}
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/****************************************************************************
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* Name: ajoy_close
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****************************************************************************/
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static int ajoy_close(FAR struct file *filep)
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{
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FAR struct inode *inode;
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FAR struct ajoy_upperhalf_s *priv;
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FAR struct ajoy_open_s *opriv;
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FAR struct ajoy_open_s *curr;
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FAR struct ajoy_open_s *prev;
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irqstate_t flags;
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bool closing;
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int ret;
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DEBUGASSERT(filep && filep->f_priv && filep->f_inode);
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opriv = filep->f_priv;
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inode = filep->f_inode;
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DEBUGASSERT(inode->i_private);
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priv = (FAR struct ajoy_upperhalf_s *)inode->i_private;
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/* Handle an improbable race conditions with the following atomic test
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* and set.
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*
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* This is actually a pretty feeble attempt to handle this. The
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* improbable race condition occurs if two different threads try to
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* close the joystick driver at the same time. The rule: don't do
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* that! It is feeble because we do not really enforce stale pointer
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* detection anyway.
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*/
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flags = enter_critical_section();
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closing = opriv->ao_closing;
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opriv->ao_closing = true;
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leave_critical_section(flags);
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if (closing)
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{
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/* Another thread is doing the close */
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return OK;
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}
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/* Get exclusive access to the driver structure */
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ret = ajoy_takesem(&priv->au_exclsem);
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if (ret < 0)
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{
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ierr("ERROR: ajoy_takesem failed: %d\n", ret);
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return ret;
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}
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/* Find the open structure in the list of open structures for the device */
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for (prev = NULL, curr = priv->au_open;
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curr && curr != opriv;
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prev = curr, curr = curr->ao_flink);
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DEBUGASSERT(curr);
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if (!curr)
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{
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ierr("ERROR: Failed to find open entry\n");
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ret = -ENOENT;
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goto errout_with_exclsem;
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}
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/* Remove the structure from the device */
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if (prev)
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{
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prev->ao_flink = opriv->ao_flink;
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}
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else
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{
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priv->au_open = opriv->ao_flink;
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}
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/* And free the open structure */
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kmm_free(opriv);
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/* Enable/disable interrupt handling */
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ajoy_enable(priv);
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ret = OK;
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errout_with_exclsem:
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ajoy_givesem(&priv->au_exclsem);
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return ret;
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}
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/****************************************************************************
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* Name: ajoy_read
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****************************************************************************/
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static ssize_t ajoy_read(FAR struct file *filep, FAR char *buffer,
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size_t len)
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{
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FAR struct inode *inode;
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FAR struct ajoy_upperhalf_s *priv;
|
|
FAR const struct ajoy_lowerhalf_s *lower;
|
|
int ret;
|
|
|
|
DEBUGASSERT(filep && filep->f_inode);
|
|
inode = filep->f_inode;
|
|
DEBUGASSERT(inode->i_private);
|
|
priv = (FAR struct ajoy_upperhalf_s *)inode->i_private;
|
|
|
|
/* Make sure that the buffer is sufficiently large to hold at least one
|
|
* complete sample.
|
|
*
|
|
* REVISIT: Should also check buffer alignment.
|
|
*/
|
|
|
|
if (len < sizeof(struct ajoy_sample_s))
|
|
{
|
|
ierr("ERROR: buffer too small: %lu\n", (unsigned long)len);
|
|
return -EINVAL;
|
|
}
|
|
|
|
/* Get exclusive access to the driver structure */
|
|
|
|
ret = ajoy_takesem(&priv->au_exclsem);
|
|
if (ret < 0)
|
|
{
|
|
ierr("ERROR: ajoy_takesem failed: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
/* Read and return the current state of the joystick buttons */
|
|
|
|
lower = priv->au_lower;
|
|
DEBUGASSERT(lower && lower->al_sample);
|
|
ret = lower->al_sample(lower, (FAR struct ajoy_sample_s *)buffer);
|
|
if (ret >= 0)
|
|
{
|
|
ret = sizeof(struct ajoy_sample_s);
|
|
}
|
|
|
|
ajoy_givesem(&priv->au_exclsem);
|
|
return (ssize_t)ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: ajoy_ioctl
|
|
****************************************************************************/
|
|
|
|
static int ajoy_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
|
{
|
|
FAR struct inode *inode;
|
|
FAR struct ajoy_upperhalf_s *priv;
|
|
FAR struct ajoy_open_s *opriv;
|
|
FAR const struct ajoy_lowerhalf_s *lower;
|
|
int ret;
|
|
|
|
DEBUGASSERT(filep && filep->f_priv && filep->f_inode);
|
|
opriv = filep->f_priv;
|
|
inode = filep->f_inode;
|
|
DEBUGASSERT(inode->i_private);
|
|
priv = (FAR struct ajoy_upperhalf_s *)inode->i_private;
|
|
|
|
/* Get exclusive access to the driver structure */
|
|
|
|
ret = ajoy_takesem(&priv->au_exclsem);
|
|
if (ret < 0)
|
|
{
|
|
ierr("ERROR: ajoy_takesem failed: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
/* Handle the ioctl command */
|
|
|
|
ret = -EINVAL;
|
|
switch (cmd)
|
|
{
|
|
/* Command: AJOYIOC_SUPPORTED
|
|
* Description: Report the set of button events supported by the hardware;
|
|
* Argument: A pointer to writeable integer value in which to return the
|
|
* set of supported buttons.
|
|
* Return: Zero (OK) on success. Minus one will be returned on failure
|
|
* with the errno value set appropriately.
|
|
*/
|
|
|
|
case AJOYIOC_SUPPORTED:
|
|
{
|
|
FAR int *supported = (FAR int *)((uintptr_t)arg);
|
|
|
|
if (supported)
|
|
{
|
|
lower = priv->au_lower;
|
|
DEBUGASSERT(lower && lower->al_supported);
|
|
|
|
*supported = (int)lower->al_supported(lower);
|
|
ret = OK;
|
|
}
|
|
}
|
|
break;
|
|
|
|
#ifndef CONFIG_DISABLE_POLL
|
|
/* Command: AJOYIOC_POLLEVENTS
|
|
* Description: Specify the set of button events that can cause a poll()
|
|
* to awaken. The default is all button depressions and
|
|
* all button releases (all supported buttons);
|
|
* Argument: A read-only pointer to an instance of struct
|
|
* ajoy_pollevents_s
|
|
* Return: Zero (OK) on success. Minus one will be returned on
|
|
* failure with the errno value set appropriately.
|
|
*/
|
|
|
|
case AJOYIOC_POLLEVENTS:
|
|
{
|
|
FAR struct ajoy_pollevents_s *pollevents =
|
|
(FAR struct ajoy_pollevents_s *)((uintptr_t)arg);
|
|
|
|
if (pollevents)
|
|
{
|
|
/* Save the poll events */
|
|
|
|
opriv->ao_pollevents.ap_press = pollevents->ap_press;
|
|
opriv->ao_pollevents.ap_release = pollevents->ap_release;
|
|
|
|
/* Enable/disable interrupt handling */
|
|
|
|
ajoy_enable(priv);
|
|
ret = OK;
|
|
}
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
#ifndef CONFIG_DISABLE_SIGNALS
|
|
/* Command: AJOYIOC_REGISTER
|
|
* Description: Register to receive a signal whenever there is a change
|
|
* in any of the joystick discrete inputs. This feature,
|
|
* of course, depends upon interrupt GPIO support from the
|
|
* platform.
|
|
* Argument: A read-only pointer to an instance of struct
|
|
* ajoy_notify_s
|
|
* Return: Zero (OK) on success. Minus one will be returned on
|
|
* failure with the errno value set appropriately.
|
|
*/
|
|
|
|
case AJOYIOC_REGISTER:
|
|
{
|
|
FAR struct ajoy_notify_s *notify =
|
|
(FAR struct ajoy_notify_s *)((uintptr_t)arg);
|
|
|
|
if (notify)
|
|
{
|
|
/* Save the notification events */
|
|
|
|
opriv->ao_notify.an_press = notify->an_press;
|
|
opriv->ao_notify.an_release = notify->an_release;
|
|
opriv->ao_notify.an_signo = notify->an_signo;
|
|
opriv->ao_pid = getpid();
|
|
|
|
/* Enable/disable interrupt handling */
|
|
|
|
ajoy_enable(priv);
|
|
ret = OK;
|
|
}
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
default:
|
|
ierr("ERROR: Unrecognized command: %ld\n", cmd);
|
|
ret = -ENOTTY;
|
|
break;
|
|
}
|
|
|
|
ajoy_givesem(&priv->au_exclsem);
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: ajoy_poll
|
|
****************************************************************************/
|
|
|
|
#ifndef CONFIG_DISABLE_POLL
|
|
static int ajoy_poll(FAR struct file *filep, FAR struct pollfd *fds,
|
|
bool setup)
|
|
{
|
|
FAR struct inode *inode;
|
|
FAR struct ajoy_upperhalf_s *priv;
|
|
FAR struct ajoy_open_s *opriv;
|
|
int ret;
|
|
int i;
|
|
|
|
DEBUGASSERT(filep && filep->f_priv && filep->f_inode);
|
|
opriv = filep->f_priv;
|
|
inode = filep->f_inode;
|
|
DEBUGASSERT(inode->i_private);
|
|
priv = (FAR struct ajoy_upperhalf_s *)inode->i_private;
|
|
|
|
/* Get exclusive access to the driver structure */
|
|
|
|
ret = ajoy_takesem(&priv->au_exclsem);
|
|
if (ret < 0)
|
|
{
|
|
ierr("ERROR: ajoy_takesem failed: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
/* Are we setting up the poll? Or tearing it down? */
|
|
|
|
if (setup)
|
|
{
|
|
/* This is a request to set up the poll. Find an available
|
|
* slot for the poll structure reference
|
|
*/
|
|
|
|
for (i = 0; i < CONFIG_AJOYSTICK_NPOLLWAITERS; i++)
|
|
{
|
|
/* Find an available slot */
|
|
|
|
if (!opriv->ao_fds[i])
|
|
{
|
|
/* Bind the poll structure and this slot */
|
|
|
|
opriv->ao_fds[i] = fds;
|
|
fds->priv = &opriv->ao_fds[i];
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (i >= CONFIG_AJOYSTICK_NPOLLWAITERS)
|
|
{
|
|
ierr("ERROR: Too man poll waiters\n");
|
|
fds->priv = NULL;
|
|
ret = -EBUSY;
|
|
goto errout_with_dusem;
|
|
}
|
|
}
|
|
else if (fds->priv)
|
|
{
|
|
/* This is a request to tear down the poll. */
|
|
|
|
FAR struct pollfd **slot = (FAR struct pollfd **)fds->priv;
|
|
|
|
#ifdef CONFIG_DEBUG_FEATURES
|
|
if (!slot)
|
|
{
|
|
ierr("ERROR: Poll slot not found\n");
|
|
ret = -EIO;
|
|
goto errout_with_dusem;
|
|
}
|
|
#endif
|
|
|
|
/* Remove all memory of the poll setup */
|
|
|
|
*slot = NULL;
|
|
fds->priv = NULL;
|
|
}
|
|
|
|
errout_with_dusem:
|
|
ajoy_givesem(&priv->au_exclsem);
|
|
return ret;
|
|
}
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: ajoy_register
|
|
*
|
|
* Description:
|
|
* Bind the lower half analog joystick driver to an instance of the
|
|
* upper half analog joystick driver and register the composite character
|
|
* driver as the specific device.
|
|
*
|
|
* Input Parameters:
|
|
* devname - The name of the analog joystick device to be registers.
|
|
* This should be a string of the form "/priv/ajoyN" where N is the
|
|
* minor device number.
|
|
* lower - An instance of the platform-specific analog joystick lower
|
|
* half driver.
|
|
*
|
|
* Returned Values:
|
|
* Zero (OK) is returned on success. Otherwise a negated errno value is
|
|
* returned to indicate the nature of the failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int ajoy_register(FAR const char *devname,
|
|
FAR const struct ajoy_lowerhalf_s *lower)
|
|
|
|
{
|
|
FAR struct ajoy_upperhalf_s *priv;
|
|
int ret;
|
|
|
|
DEBUGASSERT(devname && lower);
|
|
|
|
/* Allocate a new ajoystick driver instance */
|
|
|
|
priv = (FAR struct ajoy_upperhalf_s *)
|
|
kmm_zalloc(sizeof(struct ajoy_upperhalf_s));
|
|
|
|
if (!priv)
|
|
{
|
|
ierr("ERROR: Failed to allocate device structure\n");
|
|
return -ENOMEM;
|
|
}
|
|
|
|
/* Make sure that all ajoystick interrupts are disabled */
|
|
|
|
DEBUGASSERT(lower->al_enable);
|
|
lower->al_enable(lower, 0, 0, NULL, NULL);
|
|
|
|
/* Initialize the new ajoystick driver instance */
|
|
|
|
priv->au_lower = lower;
|
|
nxsem_init(&priv->au_exclsem, 0, 1);
|
|
|
|
DEBUGASSERT(lower->al_buttons);
|
|
priv->au_sample = lower->al_buttons(lower);
|
|
|
|
/* And register the ajoystick driver */
|
|
|
|
ret = register_driver(devname, &ajoy_fops, 0666, priv);
|
|
if (ret < 0)
|
|
{
|
|
ierr("ERROR: register_driver failed: %d\n", ret);
|
|
goto errout_with_priv;
|
|
}
|
|
|
|
return OK;
|
|
|
|
errout_with_priv:
|
|
nxsem_destroy(&priv->au_exclsem);
|
|
kmm_free(priv);
|
|
return ret;
|
|
}
|