/**************************************************************************** * drivers/input/ajoystick.c * * Licensed to the Apache Software Foundation (ASF) under one or more * contributor license agreements. See the NOTICE file distributed with * this work for additional information regarding copyright ownership. The * ASF licenses this file to you under the Apache License, Version 2.0 (the * "License"); you may not use this file except in compliance with the * License. You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the * License for the specific language governing permissions and limitations * under the License. * ****************************************************************************/ /* This file provides a driver for a standard analog joystick device. An * analog joystick refers to a joystick that provides X/Y positional data as * integer values such as might be provides by Analog-to-Digital Conversion * (ADC). The analog positional data may also be accompanied by discrete * button data. * * The analog joystick driver exports a standard character driver * interface. By convention, the analog joystick is registered as an input * device at /dev/ajoyN where N uniquely identifies the driver instance. */ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include #include #include #include /**************************************************************************** * Private Types ****************************************************************************/ /* This structure provides the state of one analog joystick driver */ struct ajoy_upperhalf_s { /* Saved binding to the lower half analog joystick driver */ FAR const struct ajoy_lowerhalf_s *au_lower; ajoy_buttonset_t au_sample; /* Last sampled button states */ /* The following is a singly linked list of open references to the * joystick device. */ FAR struct ajoy_open_s *au_open; }; /* This structure describes the state of one open joystick driver instance */ struct ajoy_open_s { /* Supports a singly linked list */ FAR struct ajoy_open_s *ao_flink; /* Joystick event notification information */ pid_t ao_pid; struct ajoy_notify_s ao_notify; struct sigwork_s ao_work; /* Poll event information */ struct ajoy_pollevents_s ao_pollevents; /* The following is a list if poll structures of threads waiting for * driver events. */ bool ao_pollpending; FAR struct pollfd *ao_fds[CONFIG_INPUT_AJOYSTICK_NPOLLWAITERS]; }; /**************************************************************************** * Private Function Prototypes ****************************************************************************/ /* Sampling and Interrupt handling */ static void ajoy_enable(FAR struct ajoy_upperhalf_s *priv); static void ajoy_interrupt(FAR const struct ajoy_lowerhalf_s *lower, FAR void *arg); /* Sampling */ static void ajoy_sample(FAR struct ajoy_upperhalf_s *priv); /* Character driver methods */ static int ajoy_open(FAR struct file *filep); static int ajoy_close(FAR struct file *filep); static ssize_t ajoy_read(FAR struct file *filep, FAR char *buffer, size_t buflen); static int ajoy_ioctl(FAR struct file *filep, int cmd, unsigned long arg); static int ajoy_poll(FAR struct file *filep, FAR struct pollfd *fds, bool setup); /**************************************************************************** * Private Data ****************************************************************************/ static const struct file_operations g_ajoy_fops = { ajoy_open, /* open */ ajoy_close, /* close */ ajoy_read, /* read */ NULL, /* write */ NULL, /* seek */ ajoy_ioctl, /* ioctl */ NULL, /* mmap */ NULL, /* truncate */ ajoy_poll /* poll */ }; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: ajoy_enable ****************************************************************************/ static void ajoy_enable(FAR struct ajoy_upperhalf_s *priv) { FAR const struct ajoy_lowerhalf_s *lower; FAR struct ajoy_open_s *opriv; ajoy_buttonset_t press; ajoy_buttonset_t release; DEBUGASSERT(priv); lower = priv->au_lower; DEBUGASSERT(lower); /* Visit each opened reference to the device */ press = 0; release = 0; for (opriv = priv->au_open; opriv; opriv = opriv->ao_flink) { press |= opriv->ao_pollevents.ap_press; release |= opriv->ao_pollevents.ap_release; /* OR in the signal events */ press |= opriv->ao_notify.an_press; release |= opriv->ao_notify.an_release; } /* Enable/disable button interrupts */ DEBUGASSERT(lower->al_enable); if (press != 0 || release != 0) { /* Enable interrupts with the new button set */ lower->al_enable(lower, press, release, (ajoy_handler_t)ajoy_interrupt, priv); } else { /* Disable further interrupts */ lower->al_enable(lower, 0, 0, NULL, NULL); } } /**************************************************************************** * Name: ajoy_interrupt ****************************************************************************/ static void ajoy_interrupt(FAR const struct ajoy_lowerhalf_s *lower, FAR void *arg) { FAR struct ajoy_upperhalf_s *priv = (FAR struct ajoy_upperhalf_s *)arg; DEBUGASSERT(priv); /* Process the next sample */ ajoy_sample(priv); } /**************************************************************************** * Name: ajoy_sample ****************************************************************************/ static void ajoy_sample(FAR struct ajoy_upperhalf_s *priv) { FAR const struct ajoy_lowerhalf_s *lower; FAR struct ajoy_open_s *opriv; ajoy_buttonset_t sample; ajoy_buttonset_t change; ajoy_buttonset_t press; ajoy_buttonset_t release; irqstate_t flags; DEBUGASSERT(priv); lower = priv->au_lower; DEBUGASSERT(lower); /* This routine is called both task level and interrupt level, so * interrupts must be disabled. */ flags = enter_critical_section(); /* Sample the new button state */ DEBUGASSERT(lower->al_buttons); sample = lower->al_buttons(lower); add_ui_randomness(sample); /* Determine which buttons have been newly pressed and which have been * newly released. */ change = sample ^ priv->au_sample; press = change & sample; DEBUGASSERT(lower->al_supported); release = change & (lower->al_supported(lower) & ~sample); /* Visit each opened reference to the device */ for (opriv = priv->au_open; opriv; opriv = opriv->ao_flink) { /* Have any poll events occurred? */ if ((press & opriv->ao_pollevents.ap_press) != 0 || (release & opriv->ao_pollevents.ap_release) != 0) { opriv->ao_pollpending = true; /* Yes.. Notify all waiters */ poll_notify(opriv->ao_fds, CONFIG_INPUT_AJOYSTICK_NPOLLWAITERS, POLLIN); } /* Have any signal events occurred? */ if ((press & opriv->ao_notify.an_press) != 0 || (release & opriv->ao_notify.an_release) != 0) { /* Yes.. Signal the waiter */ opriv->ao_notify.an_event.sigev_value.sival_int = sample; nxsig_notification(opriv->ao_pid, &opriv->ao_notify.an_event, SI_QUEUE, &opriv->ao_work); } } priv->au_sample = sample; leave_critical_section(flags); } /**************************************************************************** * Name: ajoy_open ****************************************************************************/ static int ajoy_open(FAR struct file *filep) { FAR struct inode *inode; FAR struct ajoy_upperhalf_s *priv; FAR struct ajoy_open_s *opriv; FAR const struct ajoy_lowerhalf_s *lower; ajoy_buttonset_t supported; irqstate_t flags; inode = filep->f_inode; DEBUGASSERT(inode->i_private); priv = inode->i_private; /* Allocate a new open structure */ opriv = kmm_zalloc(sizeof(struct ajoy_open_s)); if (!opriv) { ierr("ERROR: Failed to allocate open structure\n"); return -ENOMEM; } /* Initialize the open structure */ lower = priv->au_lower; DEBUGASSERT(lower && lower->al_supported); flags = enter_critical_section(); supported = lower->al_supported(lower); opriv->ao_pollevents.ap_press = supported; opriv->ao_pollevents.ap_release = supported; /* Attach the open structure to the device */ opriv->ao_flink = priv->au_open; priv->au_open = opriv; /* Enable/disable interrupt handling */ ajoy_enable(priv); /* Attach the open structure to the file structure */ filep->f_priv = (FAR void *)opriv; leave_critical_section(flags); return OK; } /**************************************************************************** * Name: ajoy_close ****************************************************************************/ static int ajoy_close(FAR struct file *filep) { FAR struct inode *inode; FAR struct ajoy_upperhalf_s *priv; FAR struct ajoy_open_s *opriv; FAR struct ajoy_open_s *curr; FAR struct ajoy_open_s *prev; irqstate_t flags; DEBUGASSERT(filep->f_priv); opriv = filep->f_priv; inode = filep->f_inode; DEBUGASSERT(inode->i_private); priv = inode->i_private; flags = enter_critical_section(); /* Find the open structure in the list of open structures for the device */ for (prev = NULL, curr = priv->au_open; curr && curr != opriv; prev = curr, curr = curr->ao_flink); DEBUGASSERT(curr); if (!curr) { ierr("ERROR: Failed to find open entry\n"); leave_critical_section(flags); return -ENOENT; } /* Remove the structure from the device */ if (prev) { prev->ao_flink = opriv->ao_flink; } else { priv->au_open = opriv->ao_flink; } /* Enable/disable interrupt handling */ ajoy_enable(priv); leave_critical_section(flags); /* Cancel any pending notification */ nxsig_cancel_notification(&opriv->ao_work); /* And free the open structure */ kmm_free(opriv); return OK; } /**************************************************************************** * Name: ajoy_read ****************************************************************************/ static ssize_t ajoy_read(FAR struct file *filep, FAR char *buffer, size_t len) { FAR struct inode *inode; FAR struct ajoy_open_s *opriv; FAR struct ajoy_upperhalf_s *priv; FAR const struct ajoy_lowerhalf_s *lower; irqstate_t flags; int ret; opriv = filep->f_priv; inode = filep->f_inode; DEBUGASSERT(inode->i_private); priv = 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 */ flags = enter_critical_section(); /* 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) { opriv->ao_pollpending = false; ret = sizeof(struct ajoy_sample_s); } leave_critical_section(flags); 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; irqstate_t flags; int ret; DEBUGASSERT(filep->f_priv); opriv = filep->f_priv; inode = filep->f_inode; DEBUGASSERT(inode->i_private); priv = inode->i_private; /* Get exclusive access to the driver structure */ flags = enter_critical_section(); /* 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; /* 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; /* 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_event = notify->an_event; opriv->ao_pid = nxsched_getpid(); /* Enable/disable interrupt handling */ ajoy_enable(priv); ret = OK; } } break; default: ierr("ERROR: Unrecognized command: %ld\n", cmd); ret = -ENOTTY; break; } leave_critical_section(flags); return ret; } /**************************************************************************** * Name: ajoy_poll ****************************************************************************/ static int ajoy_poll(FAR struct file *filep, FAR struct pollfd *fds, bool setup) { FAR struct inode *inode; FAR struct ajoy_open_s *opriv; irqstate_t flags; int ret = OK; int i; DEBUGASSERT(filep->f_priv); opriv = filep->f_priv; inode = filep->f_inode; DEBUGASSERT(inode->i_private); /* Get exclusive access to the driver structure */ flags = enter_critical_section(); /* 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_INPUT_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]; /* Report if the event is pending */ if (opriv->ao_pollpending) { poll_notify(&fds, 1, POLLIN); } break; } } if (i >= CONFIG_INPUT_AJOYSTICK_NPOLLWAITERS) { ierr("ERROR: Too man poll waiters\n"); fds->priv = NULL; ret = -EBUSY; goto errout; } } 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; } #endif /* Remove all memory of the poll setup */ *slot = NULL; fds->priv = NULL; } errout: leave_critical_section(flags); return ret; } /**************************************************************************** * 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 "/dev/ajoyN" where N is the * minor device number. * lower - An instance of the platform-specific analog joystick lower * half driver. * * Returned Value: * 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; DEBUGASSERT(lower->al_buttons); priv->au_sample = lower->al_buttons(lower); /* And register the ajoystick driver */ ret = register_driver(devname, &g_ajoy_fops, 0666, priv); if (ret < 0) { ierr("ERROR: register_driver failed: %d\n", ret); kmm_free(priv); } return ret; }