MXT Driver: Make sure that all return values are checked: Fix worker thread -- it must hold the MXT device semaphore to access I2C

2 files changed, 189 insertions, 156 deletions

diff --git a/nuttx/drivers/input/mxt.c b/nuttx/drivers/input/mxt.c
index 13e0e121d..aac6ee613 100644
--- a/nuttx/drivers/input/mxt.c
+++ b/nuttx/drivers/input/mxt.c
@@ -756,6 +756,15 @@ static void mxt_worker(FAR void *arg)
   lower = priv->lower;
   DEBUGASSERT(lower != NULL);
 
+  /* Get exclusive access to the MXT driver data structure */
+
+  do
+    {
+      ret = sem_wait(&priv->devsem);
+      DEBUGASSERT(ret == 0 || errno == EINTR);
+    }
+  while (ret < 0);
+
   /* Loop, processing each message from the maXTouch */
 
   do
@@ -766,7 +775,7 @@ static void mxt_worker(FAR void *arg)
       if (ret < 0)
         {
           idbg("ERROR: mxt_getmessage failed: %d\n", ret);
-          return;
+          goto errout_with_semaphore;
         }
 
       id = msg.id;
@@ -816,6 +825,11 @@ static void mxt_worker(FAR void *arg)
     }
   while (id != 0x00 && id != 0xff);
 
+errout_with_semaphore:
+  /* Release our lock on the MXT device */
+
+  sem_post(&priv->devsem);
+
   /* Acknowledge and re-enable maXTouch interrupts */
 
   MXT_CLEAR(lower);
@@ -894,6 +908,7 @@ static int mxt_open(FAR struct file *filep)
     {
       /* More than 255 opens; uint8_t overflows to zero */
 
+      idbg("ERROR: Too many opens: %d\n", priv->crefs);
       ret = -EMFILE;
       goto errout_with_sem;
     }
@@ -906,7 +921,12 @@ static int mxt_open(FAR struct file *filep)
     {
       /* Touch enable */
 
-      mxt_putobject(priv, MXT_TOUCH_MULTI_T9, MXT_TOUCH_CTRL, 0x83);
+      ret = mxt_putobject(priv, MXT_TOUCH_MULTI_T9, MXT_TOUCH_CTRL, 0x83);
+      if (ret < 0)
+        {
+          idbg("ERROR: Failed to enable touch: %d\n", ret);
+          goto errout_with_sem;
+        }
     }
 
   /* Save the new open count on success */
@@ -924,9 +944,9 @@ errout_with_sem:
 
 static int mxt_close(FAR struct file *filep)
 {
-  FAR struct inode         *inode;
+  FAR struct inode *inode;
   FAR struct mxt_dev_s *priv;
-  int                       ret;
+  int ret;
 
   DEBUGASSERT(filep);
   inode = filep->f_inode;
@@ -956,7 +976,11 @@ static int mxt_close(FAR struct file *filep)
         {
           /* Touch disable */
 
-          mxt_putobject(priv, MXT_TOUCH_MULTI_T9, MXT_TOUCH_CTRL, 0);
+          ret = mxt_putobject(priv, MXT_TOUCH_MULTI_T9, MXT_TOUCH_CTRL, 0);
+          if (ret < 0)
+            {
+              idbg("ERROR: Failed to disable touch: %d\n", ret);
+            }
         }
     }
 
@@ -1393,6 +1417,7 @@ static int mxt_getobjtab(FAR struct mxt_dev_s *priv)
                    tabsize);
   if (ret < 0)
     {
+      idbg("ERROR: Failed to object table size: %d\n", ret);
       return ret;
     }
 
@@ -1532,7 +1557,13 @@ static int mxt_hwinitialize(FAR struct mxt_dev_s *priv)
 
   /* Perform a soft reset */
 
-  mxt_putobject(priv, MXT_GEN_COMMAND_T6, MXT_COMMAND_RESET, 1);
+  ret = mxt_putobject(priv, MXT_GEN_COMMAND_T6, MXT_COMMAND_RESET, 1);
+  if (ret < 0)
+    {
+      idbg("ERROR: Soft reset failed: %d\n", ret);
+      goto errout_with_objtab;
+    }
+
   usleep(MXT_RESET_TIME);
 
   /* Update matrix size in the info structure */
@@ -1540,6 +1571,7 @@ static int mxt_hwinitialize(FAR struct mxt_dev_s *priv)
   ret = mxt_getreg(priv, MXT_MATRIX_X_SIZE, (FAR uint8_t *)&regval, 1);
   if (ret < 0)
     {
+      idbg("ERROR: Failed to get X size: %d\n", ret);
       goto errout_with_objtab;
     }
 
@@ -1548,6 +1580,7 @@ static int mxt_hwinitialize(FAR struct mxt_dev_s *priv)
   ret = mxt_getreg(priv, MXT_MATRIX_Y_SIZE, (FAR uint8_t *)&regval, 1);
   if (ret < 0)
     {
+      idbg("ERROR: Failed to get Y size: %d\n", ret);
       goto errout_with_objtab;
     }
 
diff --git a/nuttx/drivers/input/mxt.h b/nuttx/drivers/input/mxt.h
index cfbcfd82e..da7bf4296 100644
--- a/nuttx/drivers/input/mxt.h
+++ b/nuttx/drivers/input/mxt.h
@@ -60,195 +60,195 @@
 
 /* MXT Register Definitions *************************************************/
 
-#define MXT_INFO                 0x00 /* 7-bit info block */
-#  define MXT_FAMILY_ID          0x00 /* MXT family ID */
-#  define MXT_VARIANT_ID         0x01 /* MXT variant ID */
-#  define MXT_VERSION            0x02 /* MXT version number */
-#  define MXT_BUILD              0x03 /* MXT build number */
-#  define MXT_MATRIX_X_SIZE      0x04 /* Matrix X size */
-#  define MXT_MATRIX_Y_SIZE      0x05 /* Matrix Y size */
-#  define MXT_OBJECT_NUM         0x06 /* Number of objects */
-#define MXT_OBJECT_START         0x07
+#define MXT_INFO                       0x00 /* 7-bit info block */
+#  define MXT_FAMILY_ID                0x00 /* MXT family ID */
+#  define MXT_VARIANT_ID               0x01 /* MXT variant ID */
+#  define MXT_VERSION                  0x02 /* MXT version number */
+#  define MXT_BUILD                    0x03 /* MXT build number */
+#  define MXT_MATRIX_X_SIZE            0x04 /* Matrix X size */
+#  define MXT_MATRIX_Y_SIZE            0x05 /* Matrix Y size */
+#  define MXT_OBJECT_NUM               0x06 /* Number of objects */
+#define MXT_OBJECT_START               0x07
 
 /* Object types */
 
-#define MXT_DEBUG_DIAGNOSTIC_T37 37
-#define MXT_GEN_MESSAGE_T5       5
-#define MXT_GEN_COMMAND_T6       6
-#define MXT_GEN_POWER_T7         7
-#define MXT_GEN_ACQUIRE_T8       8
-#define MXT_GEN_DATASOURCE_T53   53
-#define MXT_TOUCH_MULTI_T9       9
-#define MXT_TOUCH_KEYARRAY_T15   15
-#define MXT_TOUCH_PROXIMITY_T23  23
-#define MXT_TOUCH_PROXKEY_T52    52
-#define MXT_PROCI_GRIPFACE_T20   20
-#define MXT_PROCG_NOISE_T22      22
-#define MXT_PROCI_ONETOUCH_T24   24
-#define MXT_PROCI_TWOTOUCH_T27   27
-#define MXT_PROCI_GRIP_T40       40
-#define MXT_PROCI_PALM_T41       41
-#define MXT_PROCI_TOUCHSUPPRESSION_T42  42
-#define MXT_PROCI_STYLUS_T47     47
-#define MXT_PROCG_NOISESUPPRESSION_T48  48
-#define MXT_SPT_COMMSCONFIG_T18  18
-#define MXT_SPT_GPIOPWM_T19      19
-#define MXT_SPT_SELFTEST_T25     25
-#define MXT_SPT_CTECONFIG_T28    28
-#define MXT_SPT_USERDATA_T38     38
-#define MXT_SPT_DIGITIZER_T43    43
-#define MXT_SPT_MESSAGECOUNT_T44 44
-#define MXT_SPT_CTECONFIG_T46    46
+#define MXT_GEN_MESSAGE_T5             5
+#define MXT_GEN_COMMAND_T6             6
+#define MXT_GEN_POWER_T7               7
+#define MXT_GEN_ACQUIRE_T8             8
+#define MXT_TOUCH_MULTI_T9             9
+#define MXT_TOUCH_KEYARRAY_T15         15
+#define MXT_SPT_COMMSCONFIG_T18        18
+#define MXT_SPT_GPIOPWM_T19            19
+#define MXT_PROCI_GRIPFACE_T20         20
+#define MXT_PROCG_NOISE_T22            22
+#define MXT_TOUCH_PROXIMITY_T23        23
+#define MXT_PROCI_ONETOUCH_T24         24
+#define MXT_SPT_SELFTEST_T25           25
+#define MXT_PROCI_TWOTOUCH_T27         27
+#define MXT_SPT_CTECONFIG_T28          28
+#define MXT_DEBUG_DIAGNOSTIC_T37       37
+#define MXT_SPT_USERDATA_T38           38
+#define MXT_PROCI_GRIP_T40             40
+#define MXT_PROCI_PALM_T41             41
+#define MXT_PROCI_TOUCHSUPPRESSION_T42 42
+#define MXT_SPT_DIGITIZER_T43          43
+#define MXT_SPT_MESSAGECOUNT_T44       44
+#define MXT_SPT_CTECONFIG_T46          46
+#define MXT_PROCI_STYLUS_T47           47
+#define MXT_PROCG_NOISESUPPRESSION_T48 48
+#define MXT_TOUCH_PROXKEY_T52          52
+#define MXT_GEN_DATASOURCE_T53         53
 
 /* MXT_GEN_COMMAND_T6 field */
 
-#define MXT_COMMAND_RESET        0
-#define MXT_COMMAND_BACKUPNV     1
-#define MXT_COMMAND_CALIBRATE    2
-#define MXT_COMMAND_REPORTALL    3
-#define MXT_COMMAND_DIAGNOSTIC   5
+#define MXT_COMMAND_RESET              0
+#define MXT_COMMAND_BACKUPNV           1
+#define MXT_COMMAND_CALIBRATE          2
+#define MXT_COMMAND_REPORTALL          3
+#define MXT_COMMAND_DIAGNOSTIC         5
 
 /* MXT_GEN_POWER_T7 field */
 
-#define MXT_POWER_IDLEACQINT     0
-#define MXT_POWER_ACTVACQINT     1
-#define MXT_POWER_ACTV2IDLETO    2
+#define MXT_POWER_IDLEACQINT           0
+#define MXT_POWER_ACTVACQINT           1
+#define MXT_POWER_ACTV2IDLETO          2
 
 /* MXT_GEN_ACQUIRE_T8 field */
 
-#define MXT_ACQUIRE_CHRGTIME     0
-#define MXT_ACQUIRE_TCHDRIFT     2
-#define MXT_ACQUIRE_DRIFTST      3
-#define MXT_ACQUIRE_TCHAUTOCAL   4
-#define MXT_ACQUIRE_SYNC         5
-#define MXT_ACQUIRE_ATCHCALST    6
-#define MXT_ACQUIRE_ATCHCALSTHR  7
+#define MXT_ACQUIRE_CHRGTIME           0
+#define MXT_ACQUIRE_TCHDRIFT           2
+#define MXT_ACQUIRE_DRIFTST            3
+#define MXT_ACQUIRE_TCHAUTOCAL         4
+#define MXT_ACQUIRE_SYNC               5
+#define MXT_ACQUIRE_ATCHCALST          6
+#define MXT_ACQUIRE_ATCHCALSTHR        7
 
 /* MXT_TOUCH_MULTI_T9 field */
 
-#define MXT_TOUCH_CTRL           0
-#define MXT_TOUCH_XORIGIN        1
-#define MXT_TOUCH_YORIGIN        2
-#define MXT_TOUCH_XSIZE          3
-#define MXT_TOUCH_YSIZE          4
-#define MXT_TOUCH_BLEN           6
-#define MXT_TOUCH_TCHTHR         7
-#define MXT_TOUCH_TCHDI          8
-#define MXT_TOUCH_ORIENT         9
-#define MXT_TOUCH_MOVHYSTI       11
-#define MXT_TOUCH_MOVHYSTN       12
-#define MXT_TOUCH_NUMTOUCH       14
-#define MXT_TOUCH_MRGHYST        15
-#define MXT_TOUCH_MRGTHR         16
-#define MXT_TOUCH_AMPHYST        17
-#define MXT_TOUCH_XRANGE_LSB     18
-#define MXT_TOUCH_XRANGE_MSB     19
-#define MXT_TOUCH_YRANGE_LSB     20
-#define MXT_TOUCH_YRANGE_MSB     21
-#define MXT_TOUCH_XLOCLIP        22
-#define MXT_TOUCH_XHICLIP        23
-#define MXT_TOUCH_YLOCLIP        24
-#define MXT_TOUCH_YHICLIP        25
-#define MXT_TOUCH_XEDGECTRL      26
-#define MXT_TOUCH_XEDGEDIST      27
-#define MXT_TOUCH_YEDGECTRL      28
-#define MXT_TOUCH_YEDGEDIST      29
-#define MXT_TOUCH_JUMPLIMIT      30
+#define MXT_TOUCH_CTRL                 0
+#define MXT_TOUCH_XORIGIN              1
+#define MXT_TOUCH_YORIGIN              2
+#define MXT_TOUCH_XSIZE                3
+#define MXT_TOUCH_YSIZE                4
+#define MXT_TOUCH_BLEN                 6
+#define MXT_TOUCH_TCHTHR               7
+#define MXT_TOUCH_TCHDI                8
+#define MXT_TOUCH_ORIENT               9
+#define MXT_TOUCH_MOVHYSTI             11
+#define MXT_TOUCH_MOVHYSTN             12
+#define MXT_TOUCH_NUMTOUCH             14
+#define MXT_TOUCH_MRGHYST              15
+#define MXT_TOUCH_MRGTHR               16
+#define MXT_TOUCH_AMPHYST              17
+#define MXT_TOUCH_XRANGE_LSB           18
+#define MXT_TOUCH_XRANGE_MSB           19
+#define MXT_TOUCH_YRANGE_LSB           20
+#define MXT_TOUCH_YRANGE_MSB           21
+#define MXT_TOUCH_XLOCLIP              22
+#define MXT_TOUCH_XHICLIP              23
+#define MXT_TOUCH_YLOCLIP              24
+#define MXT_TOUCH_YHICLIP              25
+#define MXT_TOUCH_XEDGECTRL            26
+#define MXT_TOUCH_XEDGEDIST            27
+#define MXT_TOUCH_YEDGECTRL            28
+#define MXT_TOUCH_YEDGEDIST            29
+#define MXT_TOUCH_JUMPLIMIT            30
 
 /* MXT_PROCI_GRIPFACE_T20 field */
 
-#define MXT_GRIPFACE_CTRL        0
-#define MXT_GRIPFACE_XLOGRIP     1
-#define MXT_GRIPFACE_XHIGRIP     2
-#define MXT_GRIPFACE_YLOGRIP     3
-#define MXT_GRIPFACE_YHIGRIP     4
-#define MXT_GRIPFACE_MAXTCHS     5
-#define MXT_GRIPFACE_SZTHR1      7
-#define MXT_GRIPFACE_SZTHR2      8
-#define MXT_GRIPFACE_SHPTHR1     9
-#define MXT_GRIPFACE_SHPTHR2     10
-#define MXT_GRIPFACE_SUPEXTTO    11
+#define MXT_GRIPFACE_CTRL              0
+#define MXT_GRIPFACE_XLOGRIP           1
+#define MXT_GRIPFACE_XHIGRIP           2
+#define MXT_GRIPFACE_YLOGRIP           3
+#define MXT_GRIPFACE_YHIGRIP           4
+#define MXT_GRIPFACE_MAXTCHS           5
+#define MXT_GRIPFACE_SZTHR1            7
+#define MXT_GRIPFACE_SZTHR2            8
+#define MXT_GRIPFACE_SHPTHR1           9
+#define MXT_GRIPFACE_SHPTHR2           10
+#define MXT_GRIPFACE_SUPEXTTO          11
 
 /* MXT_PROCI_NOISE field */
 
-#define MXT_NOISE_CTRL           0
-#define MXT_NOISE_OUTFLEN        1
-#define MXT_NOISE_GCAFUL_LSB     3
-#define MXT_NOISE_GCAFUL_MSB     4
-#define MXT_NOISE_GCAFLL_LSB     5
-#define MXT_NOISE_GCAFLL_MSB     6
-#define MXT_NOISE_ACTVGCAFVALID  7
-#define MXT_NOISE_NOISETHR       8
-#define MXT_NOISE_FREQHOPSCALE   10
-#define MXT_NOISE_FREQ0          11
-#define MXT_NOISE_FREQ1          12
-#define MXT_NOISE_FREQ2          13
-#define MXT_NOISE_FREQ3          14
-#define MXT_NOISE_FREQ4          15
-#define MXT_NOISE_IDLEGCAFVALID  16
+#define MXT_NOISE_CTRL                 0
+#define MXT_NOISE_OUTFLEN              1
+#define MXT_NOISE_GCAFUL_LSB           3
+#define MXT_NOISE_GCAFUL_MSB           4
+#define MXT_NOISE_GCAFLL_LSB           5
+#define MXT_NOISE_GCAFLL_MSB           6
+#define MXT_NOISE_ACTVGCAFVALID        7
+#define MXT_NOISE_NOISETHR             8
+#define MXT_NOISE_FREQHOPSCALE         10
+#define MXT_NOISE_FREQ0                11
+#define MXT_NOISE_FREQ1                12
+#define MXT_NOISE_FREQ2                13
+#define MXT_NOISE_FREQ3                14
+#define MXT_NOISE_FREQ4                15
+#define MXT_NOISE_IDLEGCAFVALID        16
 
 /* MXT_SPT_COMMSCONFIG_T18 */
 
-#define MXT_COMMS_CTRL           0
-#define MXT_COMMS_CMD            1
+#define MXT_COMMS_CTRL                 0
+#define MXT_COMMS_CMD                  1
 
 /* MXT_SPT_CTECONFIG_T28 field */
 
-#define MXT_CTE_CTRL             0
-#define MXT_CTE_CMD              1
-#define MXT_CTE_MODE             2
-#define MXT_CTE_IDLEGCAFDEPTH    3
-#define MXT_CTE_ACTVGCAFDEPTH    4
-#define MXT_CTE_VOLTAGE          5
+#define MXT_CTE_CTRL                   0
+#define MXT_CTE_CMD                    1
+#define MXT_CTE_MODE                   2
+#define MXT_CTE_IDLEGCAFDEPTH          3
+#define MXT_CTE_ACTVGCAFDEPTH          4
+#define MXT_CTE_VOLTAGE                5
 
-#define MXT_VOLTAGE_DEFAULT      2700000
-#define MXT_VOLTAGE_STEP         10000
+#define MXT_VOLTAGE_DEFAULT            2700000
+#define MXT_VOLTAGE_STEP               10000
 
 /* Definitions for MXT_GEN_COMMAND_T6 */
 
-#define MXT_BOOT_VALUE           0xa5
-#define MXT_BACKUP_VALUE         0x55
-#define MXT_BACKUP_TIME          50000   /* microseconds */
-#define MXT_RESET_TIME           500000  /* microseconds */
+#define MXT_BOOT_VALUE                 0xa5
+#define MXT_BACKUP_VALUE               0x55
+#define MXT_BACKUP_TIME                50000   /* microseconds */
+#define MXT_RESET_TIME                 500000  /* microseconds */
 
 /* MXT_SPT_GPIOPWM_T19 field */
 
-#define MXT_MAX_BUTTONS          4       /* Up to four buttons */
-#define MXT_GPIO0_MASK           0x04
-#define MXT_GPIO1_MASK           0x08
-#define MXT_GPIO2_MASK           0x10
-#define MXT_GPIO3_MASK           0x20
+#define MXT_MAX_BUTTONS                4       /* Up to four buttons */
+#define MXT_GPIO0_MASK                 0x04
+#define MXT_GPIO1_MASK                 0x08
+#define MXT_GPIO2_MASK                 0x10
+#define MXT_GPIO3_MASK                 0x20
 
 /* Command to unlock bootloader */
 
-#define MXT_UNLOCK_CMD_MSB       0xaa
-#define MXT_UNLOCK_CMD_LSB       0xdc
+#define MXT_UNLOCK_CMD_MSB             0xaa
+#define MXT_UNLOCK_CMD_LSB             0xdc
 
 /* Bootloader mode status */
 
-#define MXT_WAITING_BOOTLOAD_CMD 0xc0  /* Valid 7 6 bit only */
-#define MXT_WAITING_FRAME_DATA   0x80  /* Valid 7 6 bit only */
-#define MXT_FRAME_CRC_CHECK      0x02
-#define MXT_FRAME_CRC_FAIL       0x03
-#define MXT_FRAME_CRC_PASS       0x04
-#define MXT_APP_CRC_FAIL         0x40  /* Valid 7 8 bit only */
-#define MXT_BOOT_STATUS_MASK     0x3f
+#define MXT_WAITING_BOOTLOAD_CMD       0xc0  /* Valid 7 6 bit only */
+#define MXT_WAITING_FRAME_DATA         0x80  /* Valid 7 6 bit only */
+#define MXT_FRAME_CRC_CHECK            0x02
+#define MXT_FRAME_CRC_FAIL             0x03
+#define MXT_FRAME_CRC_PASS             0x04
+#define MXT_APP_CRC_FAIL               0x40  /* Valid 7 8 bit only */
+#define MXT_BOOT_STATUS_MASK           0x3f
 
 /* Touch status */
 
-#define MXT_UNGRIP               (1 << 0)
-#define MXT_SUPPRESS             (1 << 1)
-#define MXT_AMP                  (1 << 2)
-#define MXT_VECTOR               (1 << 3)
-#define MXT_MOVE                 (1 << 4)
-#define MXT_RELEASE              (1 << 5)
-#define MXT_PRESS                (1 << 6)
-#define MXT_DETECT               (1 << 7)
+#define MXT_UNGRIP                     (1 << 0)
+#define MXT_SUPPRESS                   (1 << 1)
+#define MXT_AMP                        (1 << 2)
+#define MXT_VECTOR                     (1 << 3)
+#define MXT_MOVE                       (1 << 4)
+#define MXT_RELEASE                    (1 << 5)
+#define MXT_PRESS                      (1 << 6)
+#define MXT_DETECT                     (1 << 7)
 
 /* Touchscreen absolute values */
 
-#define MXT_MAX_AREA             0xff
-#define MXT_PIXELS_PER_MM        20
+#define MXT_MAX_AREA                   0xff
+#define MXT_PIXELS_PER_MM              20
 
 /****************************************************************************
  * Public Types
@@ -257,11 +257,11 @@
 
 struct mxt_object_s
 {
-  uint8_t type;                    /* Object type */
-  uint8_t addr[2];                 /* Start address */
-  uint8_t size;                    /* Size of each instance - 1 */
-  uint8_t ninstances;              /* Number of instances - 1 */
-  uint8_t nids;                    /* Number of report IDs */
+  uint8_t type;                        /* Object type */
+  uint8_t addr[2];                     /* Start address */
+  uint8_t size;                        /* Size of each instance - 1 */
+  uint8_t ninstances;                  /* Number of instances - 1 */
+  uint8_t nids;                        /* Number of report IDs */
 };
 #define MXT_OBJECT_SIZE 6
 
@@ -269,8 +269,8 @@ struct mxt_object_s
 
 struct mxt_msg_s
 {
-  uint8_t id;                      /* Report ID */
-  uint8_t body[7];                 /* Message body */
+  uint8_t id;                          /* Report ID */
+  uint8_t body[7];                     /* Message body */
 };
 
 /****************************************************************************