Add an analog joystick test/example

8 files changed, 669 insertions, 8 deletions

diff --git a/apps/examples/Kconfig b/apps/examples/Kconfig
index 238cc3a63..73d5890c6 100644
--- a/apps/examples/Kconfig
+++ b/apps/examples/Kconfig
@@ -4,6 +4,7 @@
 #
 
 source "$APPSDIR/examples/adc/Kconfig"
+source "$APPSDIR/examples/ajoystick/Kconfig"
 source "$APPSDIR/examples/bastest/Kconfig"
 source "$APPSDIR/examples/bridge/Kconfig"
 source "$APPSDIR/examples/buttons/Kconfig"
diff --git a/apps/examples/Make.defs b/apps/examples/Make.defs
index 2dda9bf45..cc252c083 100644
--- a/apps/examples/Make.defs
+++ b/apps/examples/Make.defs
@@ -38,6 +38,10 @@ ifeq ($(CONFIG_EXAMPLES_ADC),y)
 CONFIGURED_APPS += examples/adc
 endif
 
+ifeq ($(CONFIG_EXAMPLES_AJOYSTICK),y)
+CONFIGURED_APPS += examples/ajoystick
+endif
+
 ifeq ($(CONFIG_EXAMPLES_BASTEST),y)
 CONFIGURED_APPS += examples/bastest
 endif
diff --git a/apps/examples/Makefile b/apps/examples/Makefile
index 339fbe0cb..bef81f89d 100644
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@@ -37,9 +37,9 @@
 
 # Sub-directories
 
-SUBDIRS  = adc bastest bridge buttons can cc3000 cpuhog cxxtest dhcpd
-SUBDIRS += discover djoystick elf flash_test ftpc ftpd hello helloxx hidkbd
-SUBDIRS += igmp i2schar json keypadtest lcdrw mm modbus mount mtdpart
+SUBDIRS  = adc ajoystick bastest bridge buttons can cc3000 cpuhog cxxtest
+SUBDIRS += dhcpd discover djoystick elf flash_test ftpc ftpd hello helloxx
+SUBDIRS += hidkbd igmp i2schar json keypadtest lcdrw mm modbus mount mtdpart
 SUBDIRS += mtdrwb netpkt nettest nrf24l01_term nsh null nx nxterm nxffs
 SUBDIRS += nxflat nxhello nximage nxlines nxtext ostest pashello pipe poll
 SUBDIRS += posix_spawn pwm qencoder random relays rgmp romfs sendmail
@@ -54,10 +54,10 @@ SUBDIRS += webserver wget wgetjson xmlrpc
 CNTXTDIRS = pwm
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS += adc bridge can cc3000 cpuhog cxxtest dhcpd discover djoystick
-CNTXTDIRS += flash_test ftpd hello helloxx i2schar json keypadtest modbus
-CNTXTDIRS += lcdrw mtdpart mtdrwb netpkt nettest nx nxhello nximage nxlines
-CNTXTDIRS += nxtext nrf24l01_term ostest random relays qencoder
+CNTXTDIRS += adc ajoystick bridge can cc3000 cpuhog cxxtest dhcpd discover
+CNTXTDIRS += djoystick flash_test ftpd hello helloxx i2schar json keypadtest
+CNTXTDIRS += modbus lcdrw mtdpart mtdrwb netpkt nettest nx nxhello nximage
+CNTXTDIRS += nxlines nxtext nrf24l01_term ostest random relays qencoder
 CNTXTDIRS += serialblasters lcd serialrx smart_test tcpecho telnetd tiff
 CNTXTDIRS += touchscreen usbterm watchdog wgetjson
 endif
diff --git a/apps/examples/README.txt b/apps/examples/README.txt
index fa4361609..58470f313 100644
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@@ -48,6 +48,24 @@ examples/adc
     CONFIG_EXAMPLES_ADC_GROUPSIZE - The number of samples to read at once.
       Default: 4
 
+examples/adjoystick
+^^^^^^^^^^^^^^^^^^
+
+  This is a simple test of the analog joystick driver.  See details about
+  this driver in nuttx/include/nuttx/input/adjoystick.h.
+
+  Configuration Pre-requisites:
+
+    CONFIG_DISABLE_SIGNALS - Must *NOT* be selected
+    CONFIG_AJOYSTICK - The analog joystick driver
+
+  Example Configuration:
+    CONFIG_EXAMPLES_AJOYSTICK - Enabled the analog joystick example
+    CONFIG_EXAMPLES_AJOYSTICK_DEVNAME - Joystick device name.  Default
+      "/dev/adjoy0"
+    CONFIG_EXAMPLES_AJOYSTICK_SIGNO - Signal used to signal the test
+      application.  Default 13.
+
 examples/bastest
 ^^^^^^^^^^^^^^^^
   This directory contains a small program that will mount a ROMFS file system
@@ -273,7 +291,7 @@ examples/discover
     CONFIG_EXAMPLES_DISCOVER_DRIPADDR - Router IP address
     CONFIG_EXAMPLES_DISCOVER_NETMASK - Network Mask
 
-examples/djoystick
+examples/adjoystick
 ^^^^^^^^^^^^^^^^^^
 
   This is a simple test of the discrete joystick driver.  See details about
diff --git a/apps/examples/ajoystick/.gitignore b/apps/examples/ajoystick/.gitignore
new file mode 100644
index 000000000..105259c49
--- /dev/null
+++ b/apps/examples/ajoystick/.gitignore
@@ -0,0 +1,11 @@
+/Make.dep
+/.context
+/.depend
+/.built
+/*.asm
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src
diff --git a/apps/examples/ajoystick/Kconfig b/apps/examples/ajoystick/Kconfig
new file mode 100644
index 000000000..31c87b6d9
--- /dev/null
+++ b/apps/examples/ajoystick/Kconfig
@@ -0,0 +1,23 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+config EXAMPLES_AJOYSTICK
+	bool "Analog joystick example"
+	default n
+	depends on AJOYSTICK && !DISABLE_SIGNALS
+	---help---
+		Enable the analog joystick example
+
+if EXAMPLES_AJOYSTICK
+
+config EXAMPLES_AJOYSTICK_DEVNAME
+	string "Joystick device name"
+	default "/dev/ajoy0"
+
+config EXAMPLES_AJOYSTICK_SIGNO
+	int "Joystick signal"
+	default 13
+
+endif
diff --git a/apps/examples/ajoystick/Makefile b/apps/examples/ajoystick/Makefile
new file mode 100644
index 000000000..b294c36dd
--- /dev/null
+++ b/apps/examples/ajoystick/Makefile
@@ -0,0 +1,137 @@
+############################################################################
+# apps/examples/ajoystick/Makefile
+#
+#   Copyright (C) 2014 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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.
+#
+############################################################################
+
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+# Hello, World! Example
+
+ASRCS =
+CSRCS =
+MAINSRC = ajoy_main.c
+
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+COBJS = $(CSRCS:.c=$(OBJEXT))
+MAINOBJ = $(MAINSRC:.c=$(OBJEXT))
+
+SRCS = $(ASRCS) $(CSRCS) $(MAINSRC)
+OBJS = $(AOBJS) $(COBJS)
+
+ifneq ($(CONFIG_BUILD_KERNEL),y)
+  OBJS += $(MAINOBJ)
+endif
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN = ..\..\libapps$(LIBEXT)
+else
+ifeq ($(WINTOOL),y)
+  BIN = ..\\..\\libapps$(LIBEXT)
+else
+  BIN = ../../libapps$(LIBEXT)
+endif
+endif
+
+ifeq ($(WINTOOL),y)
+  INSTALL_DIR = "${shell cygpath -w $(BIN_DIR)}"
+else
+  INSTALL_DIR = $(BIN_DIR)
+endif
+
+CONFIG_AJOY_PROGNAME ?= ajoy$(EXEEXT)
+PROGNAME = $(CONFIG_AJOY_PROGNAME)
+
+ROOTDEPPATH = --dep-path .
+
+# Buttons built-in application info
+
+APPNAME = ajoy
+PRIORITY = SCHED_PRIORITY_DEFAULT
+STACKSIZE = 2048
+
+# Common build
+
+VPATH =
+
+all: .built
+.PHONY: context clean depend distclean
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(MAINOBJ): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+.built: $(OBJS)
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	@touch .built
+
+ifeq ($(CONFIG_BUILD_KERNEL),y)
+$(BIN_DIR)$(DELIM)$(PROGNAME): $(OBJS) $(MAINOBJ)
+	@echo "LD: $(PROGNAME)"
+	$(Q) $(LD) $(LDELFFLAGS) $(LDLIBPATH) -o $(INSTALL_DIR)$(DELIM)$(PROGNAME) $(ARCHCRT0OBJ) $(MAINOBJ) $(LDLIBS)
+	$(Q) $(NM) -u  $(INSTALL_DIR)$(DELIM)$(PROGNAME)
+
+install: $(BIN_DIR)$(DELIM)$(PROGNAME)
+
+else
+install:
+
+endif
+
+ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
+$(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat: $(DEPCONFIG) Makefile
+	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
+
+context: $(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat
+else
+context:
+endif
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, .built)
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
diff --git a/apps/examples/ajoystick/ajoy_main.c b/apps/examples/ajoystick/ajoy_main.c
new file mode 100644
index 000000000..85eec977c
--- /dev/null
+++ b/apps/examples/ajoystick/ajoy_main.c
@@ -0,0 +1,467 @@
+/****************************************************************************
+ * examplex/ajoystick/ajoy_main.c
+ *
+ *   Copyright (C) 2014 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 <nuttx/config.h>
+
+#include <sys/ioctl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <fixedmath.h>
+#include <debug.h>
+
+#include <nuttx/input/ajoystick.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_AJOYSTICK
+#  error "CONFIG_AJOYSTICK is not defined in the configuration"
+#endif
+
+#ifndef CONFIG_EXAMPLES_AJOYSTICK_DEVNAME
+#  define CONFIG_EXAMPLES_AJOYSTICK_DEVNAME "/dev/ajoy0"
+#endif
+
+#ifndef CONFIG_EXAMPLES_AJOYSTICK_SIGNO
+#  define CONFIG_EXAMPLES_AJOYSTICK_SIGNO 13
+#endif
+
+#define FULL_RANGE 16
+
+/* Helpers ******************************************************************/
+
+#ifndef MIN
+#  define MIN(a,b) (a < b ? a : b)
+#endif
+#ifndef MAX
+#  define MAX(a,b) (a > b ? a : b)
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static void show_buttons(ajoy_buttonset_t oldset, ajoy_buttonset_t newset);
+static void show_joystick(FAR const struct ajoy_sample_s *sample);
+static int ajoy_wait(int fd, FAR const struct timespec *timeout);
+static int ajoy_read(int fd, FAR struct ajoy_sample_s *sample);
+static int ajoy_calibrate(int fd);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+/* The set of supported joystick buttons */
+
+static ajoy_buttonset_t g_ajoysupported;
+
+/* Last sampled button set */
+
+static ajoy_buttonset_t g_ajoylast;
+
+/* Calibration data */
+
+static bool    g_calibrated;
+static bool    g_lispositive;
+static bool    g_fispositive;
+static int16_t g_xcenter;
+static int16_t g_ycenter;
+static b16_t   g_xlslope;
+static b16_t   g_xrslope;
+static b16_t   g_yfslope;
+static b16_t   g_ybslope;
+
+/* Joystick button names */
+
+static const char *g_ajoynames[AJOY_NBUTTONS] = 
+{
+ "SELECT",   "FIRE",     "JUMP",     "BUTTON 3",
+ "BUTTON 4", "BUTTON 5", "BUTTON 6", "BUTTON 7", 
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void show_buttons(ajoy_buttonset_t oldset, ajoy_buttonset_t newset)
+{
+  ajoy_buttonset_t chgset = oldset ^ newset;
+  int i;
+
+  if (chgset != 0)
+    {
+      /* Show each button state change */
+
+      for (i = 0; i <= AJOY_NBUTTONS; i++)
+        {
+          ajoy_buttonset_t mask = (1 << i);
+          if ((chgset & mask) != 0)
+            {
+             FAR const char *state;
+
+              /* Get the button state */
+
+              if ((newset & mask) != 0)
+                {
+                  state = "selected";
+                }
+              else
+                {
+                  state = "released";
+                }
+
+              printf("  %-6s: %s\n", g_ajoynames[i], state);
+            }
+        }
+    }
+}
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void show_joystick(FAR const struct ajoy_sample_s *sample)
+{
+  printf("  RAW: X=%d Y=%d\n", sample->as_x, sample->as_y);
+  if (g_calibrated)
+    {
+      int tmp;
+      int x;
+      int y;
+
+      tmp = sample->as_x - g_xcenter;
+      if ((g_lispositive && tmp >= 0) ||
+          (!g_lispositive && tmp < 0))
+        {
+           x = tmp * g_xlslope;
+        }
+      else
+        {
+           x = tmp * g_xrslope;
+        }
+          
+      tmp = sample->as_y - g_ycenter;
+      if ((g_fispositive && tmp >= 0) ||
+          (!g_fispositive && tmp < 0))
+        {
+           y = tmp * g_yfslope;
+        }
+      else
+        {
+           y = tmp * g_ybslope;
+        }
+
+      printf("  Calibrated: X=%d Y=%d\n", x, y);
+    }
+}
+
+static int ajoy_wait(int fd, FAR const struct timespec *timeout)
+{
+  sigset_t sigset;
+  struct siginfo value;
+  ajoy_buttonset_t newset;
+  int ret;
+
+  /* Wait for a signal */
+
+  (void)sigemptyset(&sigset);
+  (void)sigaddset(&sigset, CONFIG_EXAMPLES_AJOYSTICK_SIGNO);
+  ret = sigwaitinfo(&sigset, &value);
+  if (ret < 0)
+    {
+      int errcode = errno;
+
+      if (!timeout || errcode != EAGAIN)
+        {
+          fprintf(stderr, "ERROR: sigwaitinfo() failed: %d\n", errcode);
+          return -errcode;
+        }
+
+      /* Timeout is not an error */
+
+      printf("Timeout!\n");
+      return OK;
+    }
+
+  /* Show the set of joystick buttons accompanying the signal */
+
+  printf("Signalled button set\n");
+  newset = (ajoy_buttonset_t)value.si_value.sival_int;
+  show_buttons(g_ajoylast, newset);
+  g_ajoylast = newset;
+  return OK;
+}
+
+static int ajoy_read(int fd, FAR struct ajoy_sample_s *sample)
+{
+  ssize_t nread;
+
+  /* Read the joystack sample */
+
+  nread = read(fd, sample, sizeof(struct ajoy_sample_s));
+  if (nread < 0)
+    {
+      int errcode = errno;
+      fprintf(stderr, "ERROR: read() failed: %d\n", errcode);
+      return -errcode;
+    }
+  else if (nread != sizeof(struct ajoy_sample_s))
+    {
+      fprintf(stderr, "ERROR: read() unexpected size: %ld vs %d\n",
+              (long)nread, sizeof(struct ajoy_sample_s));
+      return -EIO;
+    }
+      
+  /* Show the joystick position and set buttons accompanying the signal */
+  /* Show the set of joystick buttons that we just read */
+
+  printf("Read position and button set\n");
+  show_joystick(sample);
+  show_buttons(g_ajoylast, sample->as_buttons);
+  g_ajoylast =  sample->as_buttons;
+  return OK;
+}
+
+static int ajoy_waitread(int fd, FAR const struct timespec *timeout,
+                         FAR struct ajoy_sample_s *sample)
+{
+  int ret;
+
+  /* Wait for a signal */
+
+  ret = ajoy_wait(fd, timeout);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_wait() failed: %d\n", errno);
+      return ret;
+    }
+
+  /* Read the joystick sample */
+
+  ret = ajoy_read(fd, sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_read() failed: %d\n", errno);
+      return ret;
+    }
+
+  return OK;
+}
+
+static b16_t ajoy_slope(int16_t value, int32_t full_range)
+{
+  return itob16(full_range) / (int32_t)value;
+}
+
+static int ajoy_calibrate(int fd)
+{
+  struct ajoy_sample_s sample;
+  int ret;
+
+  printf("Calibrating the joystick...\n");
+
+  /* Get the center position */
+
+  printf("Center the joystick and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_xcenter = sample.as_x;
+  g_ycenter = sample.as_y;
+
+  /* Get the left/right calibration data */
+
+  printf("Move the joystick to the far RIGHT and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_lispositive = (sample.as_x > g_xcenter);
+  g_xlslope = ajoy_slope(sample.as_x - g_xcenter, FULL_RANGE);
+  
+  printf("Move the joystick to the far LEFT and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_xrslope = ajoy_slope(sample.as_x - g_xcenter, -FULL_RANGE);
+
+  /* Get the forward/backward calibration data */
+
+  printf("Move the joystick to the far FORWARD and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_fispositive = (sample.as_y > g_ycenter);
+  g_yfslope = ajoy_slope(sample.as_y - g_ycenter, FULL_RANGE);
+  
+  printf("Move the joystick to the far BACKWARD and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_ybslope = ajoy_slope(sample.as_y - g_ycenter, -FULL_RANGE);
+  
+  printf("Calibrated:\n");
+  g_calibrated = true;
+
+  printf("  X: center=%d, R-slope=%08lx L-slope=%08lx\n",
+         g_xcenter, g_xrslope, g_xlslope);
+  printf("  Y: center=%d, F-slope=%08lx B-slope=%08lx\n",
+         g_ycenter, g_yfslope, g_ybslope);
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * ajoy_main
+ ****************************************************************************/
+
+#ifdef CONFIG_BUILD_KERNEL
+int main(int argc, FAR char *argv[])
+#else
+int ajoy_main(int argc, char *argv[])
+#endif
+{
+  struct timespec timeout;
+  struct ajoy_notify_s notify;
+  int fd;
+  int tmp;
+  int ret;
+  int err = EXIT_FAILURE;
+
+  /* Reset some globals that might been been left in a bad state */
+
+  g_ajoylast = 0;
+
+  /* Open the ajoystick device */
+
+  fd = open(CONFIG_EXAMPLES_AJOYSTICK_DEVNAME, O_RDONLY);
+  if (fd < 0)
+    {
+      fprintf(stderr, "ERROR: Failed to open %s: %d\n",
+              CONFIG_EXAMPLES_AJOYSTICK_DEVNAME, errno);
+      return EXIT_FAILURE;
+    }
+
+  /* Get the set of supported buttons */
+
+  ret = ioctl(fd, AJOYIOC_SUPPORTED,  (unsigned long)((uintptr_t)&tmp));
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ioctl(AJOYIOC_SUPPORTED) failed: %d\n", errno);
+      goto errout_with_fd;
+    }
+
+  g_ajoysupported = (ajoy_buttonset_t)tmp;
+  printf("Supported joystick buttons:\n");
+  show_buttons(0, g_ajoysupported);
+
+  /* Register to receive a signal on any change in the joystick buttons. */
+
+  notify.an_press   = g_ajoysupported;
+  notify.an_release = g_ajoysupported;
+  notify.an_signo   = CONFIG_EXAMPLES_AJOYSTICK_SIGNO;
+
+  ret = ioctl(fd, AJOYIOC_REGISTER, (unsigned long)((uintptr_t)&notify));
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ioctl(AJOYIOC_REGISTER) failed: %d\n", errno);
+      goto errout_with_fd;
+    }
+
+  /* Calibrate the joystick */
+
+  ajoy_calibrate(fd);
+
+  /* Then loop, receiving signals indicating joystick events.  If this is an
+   * NSH builtin application, we will turn as soon as the SELECT button is
+   * depressed.
+   */
+
+  timeout.tv_sec  = 0;
+  timeout.tv_nsec = 600*1000*1000;
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+  while ((g_ajoylast & AJOY_BUTTON_SELECT_BIT) == 0)
+#else
+  for (;;)
+#endif
+    {
+      struct ajoy_sample_s sample;
+
+      /* Wait for a signal and read the sample */
+
+      ret = ajoy_waitread(fd, &timeout, &sample);
+      if (ret < 0)
+        {
+          fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+          goto errout_with_fd;
+        }
+    }
+
+  err = EXIT_SUCCESS;
+
+errout_with_fd:
+  close(fd);
+  return err;
+}