summaryrefslogtreecommitdiff
path: root/apps/examples/ajoystick/ajoy_main.c
diff options
context:
space:
mode:
Diffstat (limited to 'apps/examples/ajoystick/ajoy_main.c')
-rw-r--r--apps/examples/ajoystick/ajoy_main.c467
1 files changed, 467 insertions, 0 deletions
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;
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-06-07 16:54:09 +0000