SAMA5D3 Xplained: Add support for the Itead Joystick shield

8 files changed, 698 insertions, 14 deletions

diff --git a/nuttx/arch/arm/src/sama5/sam_adc.c b/nuttx/arch/arm/src/sama5/sam_adc.c
index 24d49e139..1c739d103 100644
--- a/nuttx/arch/arm/src/sama5/sam_adc.c
+++ b/nuttx/arch/arm/src/sama5/sam_adc.c
@@ -2023,7 +2023,7 @@ struct adc_dev_s *sam_adc_initialize(void)
       regval |= PMC_PCR_PID(SAM_PID_ADC) | PMC_PCR_CMD | PMC_PCR_EN;
       sam_adc_putreg(priv, SAM_PMC_PCR, regval);
 
-      /* Enable the ADC peripheral clock*/
+      /* Enable the ADC peripheral clock */
 
       sam_adc_enableclk();
 
diff --git a/nuttx/configs/sama5d3-xplained/README.txt b/nuttx/configs/sama5d3-xplained/README.txt
index 838061f7e..e5417c22c 100644
--- a/nuttx/configs/sama5d3-xplained/README.txt
+++ b/nuttx/configs/sama5d3-xplained/README.txt
@@ -79,6 +79,7 @@ Contents
   - TRNG and /dev/random
   - Tickless OS
   - I2S Audio Support
+  - Shields
   - SAMA5D3-Xplained Configuration Options
   - Configurations
   - To-Do List
@@ -2577,6 +2578,106 @@ I2S Audio Support
     Library Routines
       CONFIG_SCHED_WORKQUEUE=y          : Driver needs work queue support
 
+Shields
+=======
+
+  Support is built in for the following shields:
+
+  Itead Joystick Shield
+  ---------------------
+  See http://imall.iteadstudio.com/im120417014.html for more information
+  about this joystick.
+
+  Itead Joystick Connection:
+
+    --------- ----------------- ---------------------------------
+    ARDUINO   ITEAD             SAMA5D3 XPLAINED
+    PIN NAME  SIGNAL            CONNECTOR  SIGNAL
+    --------- ----------------- ---------- ----------------------
+     D3       Button E Output   J18 pin 4  PC8
+     D4       Button D Output   J18 pin 5  PC28
+     D5       Button C Output   J18 pin 6  PC7
+     D6       Button B Output   J18 pin 7  PC6
+     D7       Button A Output   J18 pin 8  PC5
+     D8       Button F Output   J15 pin 1  PC4
+     D9       Button G Output   J15 pin 2  PC3
+     A0       Joystick Y Output J17 pin 1  PC18  AD0 (function 4)
+     A1       Joystick X Output J17 pin 2  PD21  AD1 (function 1)
+    --------- ----------------- ---------- ----------------------
+
+  Possible conflicts:
+
+    ---- ----- --------------------------------------------------
+    ARDU SAMA5 SAMA5D3 XPLAINED
+    PIN  GPIO  SIGNAL            FUNCTION
+    ---- ----- ----------------- --------------------------------
+     D3  PC8   EMDC              10/100Mbit Ethernet MAC
+     D4  PC28  SPI1_NPCS3/ISI_D9 SPI1/ISI
+     D5  PC7   EREFCK            10/100Mbit Ethernet MAC
+     D6  PC6   ECRSDV            10/100Mbit Ethernet MAC
+     D7  PC5   ECRSDV            10/100Mbit Ethernet MAC
+     D8  PC4   ETXEN             10/100Mbit Ethernet MAC
+     D9  PC3   ERX1              10/100Mbit Ethernet MAC
+     A0  PC18  RK0               SSC/Audio
+     A1  PC21  RD0               SSC/Audio
+    ---- ----- ----------------- --------------------------------
+
+  Itead Joystick Signal interpretation:
+
+    --------- ----------------------- ---------------------------
+    BUTTON     TYPE                    NUTTX ALIAS
+    --------- ----------------------- ---------------------------
+    Button A  Large button A          JUMP/BUTTON 3
+    Button B  Large button B          FIRE/BUTTON 2
+    Button C  Joystick select button  SELECT/BUTTON 1
+    Button D  Tiny Button D           BUTTON 6
+    Button E  Tiny Button E           BUTTON 7
+    Button F  Large Button F          BUTTON 4
+    Button G  Large Button G          BUTTON 5
+    --------- ----------------------- ---------------------------
+
+  Itead Joystick configuration settings:
+
+    System Type -> SAMA5 Peripheral Support
+      CONFIG_SAMA5_ADC=y               : Enable ADC driver support
+      CONFIG_SAMA5_TC0=y               : Enable the Timer/counter library need for periodic sampling
+      CONFIG_SAMA5_EMACA=n             : 10/100Mbit Ethernet MAC conflicts
+      CONFIG_SAMA5_SSC0=n              : SSC0 Audio conflicts
+      CONFIG_SAMA5_SPI1=?              : SPI1 might conflict if PCS3 is used
+      CONFIG_SAMA5_ISI=?               : ISIS conflics if bit 9 is used
+
+    System Type -> PIO Interrupts
+      CONFIG_SAMA5_PIO_IRQ=y           : PIO interrupt support is required
+      CONFIG_SAMA5_PIOC_IRQ=y          : PIOC interrupt support is required
+
+    Drivers
+      CONFIG_ANALOG=y                  : Should be automatically selected
+      CONFIG_ADC=y                     : Should be automatically selected
+      CONFIG_INPUT=y                   : Select input device support
+      CONFIG_AJOYSTICK=y               : Select analog joystick support
+
+    System Type -> ADC Configuration
+      CONFIG_SAMA5_ADC_CHAN0=y         : These settings enable the sequencer to collect
+      CONFIG_SAMA5_ADC_CHAN1=y         : Samples from ADC channels 0-1 on each trigger
+      CONFIG_SAMA5_ADC_SEQUENCER=y
+      CONFIG_SAMA5_ADC_TIOA0TRIG=y     : Trigger on the TC0, channel 0 output A
+      CONFIG_SAMA5_ADC_TIOAFREQ=10     : At a frequency of 10Hz
+      CONFIG_SAMA5_ADC_TIOA_RISING=y   : Trigger on the rising edge
+
+    Default ADC settings (like gain and offset) may also be set if desired.
+
+    System Type -> Timer/counter Configuration
+      CONFIG_SAMA5_TC0_TIOA0=y         : Should be automatically selected
+
+    Library routines
+      CONFIG_SCHED_WORKQUEUE=y         : Work queue support is needed
+
+  This enables the analog joystick example at apps/examples/ajoystick:
+
+    CONFIG_EXAMPLES_AJOYSTICK=y
+    CONFIG_EXAMPLES_AJOYSTICK_DEVNAME="/dev/ajoy0"
+    CONFIG_EXAMPLES_AJOYSTICK_SIGNO=13
+
 SAMA5D3-Xplained Configuration Options
 =================================
 
diff --git a/nuttx/configs/sama5d3-xplained/src/Makefile b/nuttx/configs/sama5d3-xplained/src/Makefile
index 56ad6277a..ac03e09f6 100644
--- a/nuttx/configs/sama5d3-xplained/src/Makefile
+++ b/nuttx/configs/sama5d3-xplained/src/Makefile
@@ -98,6 +98,9 @@ endif
 
 ifeq ($(CONFIG_ADC),y)
 CSRCS += sam_adc.c
+ifeq ($(CONFIG_AJOYSTICK),y)
+CSRCS += sam_ajoystick.c
+endif
 endif
 
 ifeq ($(CONFIG_PWM),y)
diff --git a/nuttx/configs/sama5d3-xplained/src/sam_adc.c b/nuttx/configs/sama5d3-xplained/src/sam_adc.c
index 89203555f..2d091745b 100644
--- a/nuttx/configs/sama5d3-xplained/src/sam_adc.c
+++ b/nuttx/configs/sama5d3-xplained/src/sam_adc.c
@@ -47,12 +47,9 @@
 #include "sam_adc.h"
 #include "sama5d3-xplained.h"
 
-#ifdef CONFIG_ADC
-
 /************************************************************************************
- * Definitions
+ * Pre-processor Definitions
  ************************************************************************************/
-/* Configuration ********************************************************************/
 
 /************************************************************************************
  * Private Data
@@ -67,17 +64,16 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: adc_devinit
+ * Name: board_adc_initialize
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/adc.
+ *   Initialize and register the ADC driver
  *
  ************************************************************************************/
 
-int adc_devinit(void)
-{
 #ifdef CONFIG_SAMA5_ADC
+int board_adc_initialize(void)
+{
   static bool initialized = false;
   struct adc_dev_s *adc;
   int ret;
@@ -110,9 +106,25 @@ int adc_devinit(void)
     }
 
   return OK;
+}
+#endif /* CONFIG_ADC */
+
+/************************************************************************************
+ * Name: adc_devinit
+ *
+ * Description:
+ *   All SAMA5 architectures must provide the following interface to work with
+ *   examples/adc.
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_EXAMPLES_ADC
+int adc_devinit(void)
+{
+#ifdef CONFIG_SAMA5_ADC
+  return board_adc_initialize();
 #else
   return -ENOSYS;
 #endif
 }
-
-#endif /* CONFIG_ADC */
+#endif /* CONFIG_EXAMPLES_ADC */
diff --git a/nuttx/configs/sama5d3-xplained/src/sam_ajoystick.c b/nuttx/configs/sama5d3-xplained/src/sam_ajoystick.c
new file mode 100644
index 000000000..4be9aef0a
--- /dev/null
+++ b/nuttx/configs/sama5d3-xplained/src/sam_ajoystick.c
@@ -0,0 +1,461 @@
+/****************************************************************************
+ * configs/sam10e-eval/src/sam_ajoystick.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 <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/input/ajoystick.h>
+
+#include "sam_pio.h"
+#include "sam_adc.h"
+#include "chip/sam_adc.h"
+#include "sama5d3-xplained.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Check for pre-requisites and pin conflicts */
+
+#ifdef CONFIG_AJOYSTICK
+#  if !defined(CONFIG_ADC)
+#    error CONFIG_ADC is required for the Itead joystick
+#    undef CONFIG_AJOYSTICK
+#  elif !defined(CONFIG_SAMA5_ADC_CHAN0) || !defined(CONFIG_SAMA5_ADC_CHAN1)
+#    error CONFIG_SAMA5_ADC_CHAN0 and 1 are required for Itead joystick
+#  elif !defined(CONFIG_SAMA5_PIOC_IRQ)
+#    error CONFIG_SAMA5_PIOC_IRQ is required for the Itead joystick
+#    undef CONFIG_AJOYSTICK
+#  elif defined(CONFIG_SAMA5_EMACA)
+#    error EMAC conflicts with the Itead PIO usage
+#    undef CONFIG_AJOYSTICK
+#  elif defined(CONFIG_SAMA5_SSC0)
+#    error SSC0 conflicts with the Itead PIO usage
+#    undef CONFIG_AJOYSTICK
+#  elif defined(CONFIG_SAMA5_SPI1)
+#    warning SPI1 may conflict with the Itead PIO usage
+#  elif defined(CONFIG_SAMA5_ISI)
+#    warning ISI may conflict with the Itead PIO usage
+#  endif
+#endif /* CONFIG_AJOYSTICK */
+
+#ifdef CONFIG_AJOYSTICK
+
+/* Number of Joystick buttons */
+
+#define AJOY_NGPIOS  7
+
+/* Bitset of supported Joystick buttons */
+
+#define AJOY_SUPPORTED (AJOY_BUTTON_1_BIT | AJOY_BUTTON_2_BIT | \
+                        AJOY_BUTTON_3_BIT | AJOY_BUTTON_4_BIT | \
+                        AJOY_BUTTON_5_BIT | AJOY_BUTTON_6_BIT | \
+                        AJOY_BUTTON_7_BIT )
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static ajoy_buttonset_t ajoy_supported(FAR const struct ajoy_lowerhalf_s *lower);
+static int ajoy_sample(FAR const struct ajoy_lowerhalf_s *lower,
+                       FAR struct ajoy_sample_s *sample);
+static ajoy_buttonset_t ajoy_buttons(FAR const struct ajoy_lowerhalf_s *lower);
+static void ajoy_enable(FAR const struct ajoy_lowerhalf_s *lower,
+                         ajoy_buttonset_t press, ajoy_buttonset_t release,
+                         ajoy_handler_t handler, FAR void *arg);
+
+static void ajoy_disable(void);
+static int ajoy_interrupt(int irq, FAR void *context);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+/* Pin configuration for each Itead joystick button.  Index using AJOY_*
+ * button definitions in include/nuttx/input/ajoystick.h.
+ */
+
+static const pio_pinset_t g_joypio[AJOY_NGPIOS] =
+{
+  PIO_BUTTON_1, PIO_BUTTON_2, PIO_BUTTON_3, PIO_BUTTON_4,
+  PIO_BUTTON_5, PIO_BUTTON_6, PIO_BUTTON_6
+};
+
+static const uint8_t g_joyirq[AJOY_NGPIOS] =
+{
+  IRQ_BUTTON_1, IRQ_BUTTON_2, IRQ_BUTTON_3, IRQ_BUTTON_4,
+  IRQ_BUTTON_5, IRQ_BUTTON_6, IRQ_BUTTON_6
+};
+
+/* This is the button joystick lower half driver interface */
+
+static const struct ajoy_lowerhalf_s g_ajoylower =
+{
+  .al_supported  = ajoy_supported,
+  .al_sample     = ajoy_sample,
+  .al_buttons    = ajoy_buttons,
+  .al_enable     = ajoy_enable,
+};
+
+/* Descriptor for the open ADC driver */
+
+static int g_adcfd = -1;
+
+/* Current interrupt handler and argument */
+
+static ajoy_handler_t g_ajoyhandler;
+static FAR void *g_ajoyarg;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ajoy_supported
+ *
+ * Description:
+ *   Return the set of buttons supported on the button joystick device 
+ *
+ ****************************************************************************/
+
+static ajoy_buttonset_t ajoy_supported(FAR const struct ajoy_lowerhalf_s *lower)
+{
+  ivdbg("Supported: %02x\n", AJOY_SUPPORTED);
+  return (ajoy_buttonset_t)AJOY_SUPPORTED;
+}
+
+/****************************************************************************
+ * Name: ajoy_sample
+ *
+ * Description:
+ *   Return the current state of all button joystick buttons
+ *
+ ****************************************************************************/
+
+static int ajoy_sample(FAR const struct ajoy_lowerhalf_s *lower,
+                       FAR struct ajoy_sample_s *sample)
+{
+  struct adc_msg_s adcmsg[SAM_ADC_NCHANNELS];
+  FAR struct adc_msg_s *ptr;
+  ssize_t nread;
+  ssize_t offset;
+  int have;
+  int i;
+
+  /* Read all of the available samples (handling the case where additional
+   * channels are enabled).
+   */
+
+  nread = read(g_adcfd, adcmsg, SAM_ADC_NCHANNELS * sizeof(struct adc_msg_s));
+  if (nread < 0)
+    {
+      int errcode = get_errno();
+      if (errcode != EINTR)
+        {
+          idbg("ERROR: read failed: %d\n", errcode);
+        }
+
+      return -errcode;
+    }
+  else if (nread < 2 * sizeof(struct adc_msg_s))
+    {
+      idbg("ERROR: read too small: %ld\n", (long)nread);
+      return -EIO;
+    }
+
+  /* Sample and the raw analog inputs */
+
+  for (i = 0, offset = 0, have = 0;
+       i < SAM_ADC_NCHANNELS && offset < nread && have != 3;
+       i++, offset += sizeof(struct adc_msg_s))
+    {
+      ptr = &adcmsg[i];
+
+      /* Is this one of the channels that we need? */
+
+      if ((have & 1) == 0 && ptr->am_channel == 0)
+        {
+          int32_t tmp = ptr->am_data;
+          sample->as_x = (int16_t)tmp;
+          have |= 1;
+
+          ivdbg("X sample: %ld -> %d\n", (long)tmp, (int)sample->as_x);
+        }
+
+      if ((have & 2) == 0 && ptr->am_channel == 1)
+        {
+          int32_t tmp = ptr->am_data;
+          sample->as_y = (int16_t)tmp;
+          have |= 2;
+
+          ivdbg("Y sample: %ld -> %d\n", (long)tmp, (int)sample->as_y);
+        }
+    }
+
+  if (have != 3)
+    {
+      idbg("ERROR: Could not find joystack channels\n");
+      return -EIO;
+    }
+
+
+  /* Sample the discrete button inputs */
+
+  sample->as_buttons = ajoy_buttons(lower);
+  ivdbg("Returning: %02x\n", AJOY_SUPPORTED);
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ajoy_buttons
+ *
+ * Description:
+ *   Return the current state of button data (only)
+ *
+ ****************************************************************************/
+
+static ajoy_buttonset_t ajoy_buttons(FAR const struct ajoy_lowerhalf_s *lower)
+{
+  ajoy_buttonset_t ret = 0;
+  ajoy_buttonset_t bit;
+  bool released;
+  int i;
+
+  /* Read each joystick GPIO value */
+
+  for (i = 0; i < AJOY_NGPIOS; i++)
+    {
+      bit = (1 << i);
+      if ((bit & AJOY_SUPPORTED) != 0)
+        {
+           released = sam_pioread(g_joypio[i]);
+           if (!released)
+             {
+                ret |= bit;
+             }
+        }
+    }
+
+  ivdbg("Returning: %02x\n", ret);
+  return ret;
+}
+
+/****************************************************************************
+ * Name: ajoy_enable
+ *
+ * Description:
+ *   Enable interrupts on the selected set of joystick buttons.  And empty
+ *   set will disable all interrupts.
+ *
+ ****************************************************************************/
+
+static void ajoy_enable(FAR const struct ajoy_lowerhalf_s *lower,
+                         ajoy_buttonset_t press, ajoy_buttonset_t release,
+                         ajoy_handler_t handler, FAR void *arg)
+{
+  irqstate_t flags;
+  ajoy_buttonset_t either = press | release;
+  ajoy_buttonset_t bit;
+  int i;
+
+  /* Start with all interrupts disabled */
+
+  flags = irqsave();
+  ajoy_disable();
+
+  illvdbg("press: %02x release: %02x handler: %p arg: %p\n",
+          press, release, handler, arg);
+
+  /* If no events are indicated or if no handler is provided, then this
+   * must really be a request to disable interrupts.
+   */
+
+  if (either && handler)
+    {
+      /* Save the new the handler and argument */
+
+      g_ajoyhandler = handler;
+      g_ajoyarg     = arg;
+
+      /* Check each GPIO. */
+
+      for (i = 0; i < AJOY_NGPIOS; i++)
+        {
+           /* Enable interrupts on each pin that has either a press or
+            * release event associated with it.
+            */
+
+           bit = (1 << i);
+           if ((either & bit) != 0)
+             {
+               /* REVISIT:  It would be better if we reconfigured for
+                * the edges of interest so that we do not get spurious
+                * interrupts.
+                */
+
+               sam_pioirqenable(g_joypio[i]);
+             }
+        }
+    }
+
+  irqrestore(flags);
+}
+
+/****************************************************************************
+ * Name: ajoy_disable
+ *
+ * Description:
+ *   Disable all joystick interrupts
+ *
+ ****************************************************************************/
+
+static void ajoy_disable(void)
+{
+  irqstate_t flags;
+  int i;
+
+  /* Disable each joystick interrupt */
+
+  flags = irqsave();
+  for (i = 0; i < AJOY_NGPIOS; i++)
+    {
+      sam_pioirqdisable(g_joyirq[i]);
+    }
+
+  irqrestore(flags);
+
+  /* Nullify the handler and argument */
+
+  g_ajoyhandler = NULL;
+  g_ajoyarg     = NULL;
+}
+
+/****************************************************************************
+ * Name: ajoy_interrupt
+ *
+ * Description:
+ *   Discrete joystick interrupt handler
+ *
+ ****************************************************************************/
+
+static int ajoy_interrupt(int irq, FAR void *context)
+{
+  DEBUGASSERT(g_ajoyhandler);
+  if (g_ajoyhandler)
+    {
+      g_ajoyhandler(&g_ajoylower, g_ajoyarg);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: sam_ajoy_initialization
+ *
+ * Description:
+ *   Initialize and register the button joystick driver
+ *
+ ****************************************************************************/
+
+int sam_ajoy_initialization(void)
+{
+  int ret;
+  int i;
+
+  /* Initialize ADC.  We will need this to read the ADC inputs */
+
+  ret = board_adc_initialize();
+  if (ret < 0)
+    {
+      idbg("ERROR: board_adc_initialize() failed: %d\n", ret);
+      return ret;
+    }
+
+  /* Open the ADC driver for reading */
+
+  g_adcfd = open("/dev/adc0", O_RDONLY);
+  if (g_adcfd < 0)
+    {
+      int errcode = get_errno();
+      idbg("ERROR: Failed to open /dev/adc0: %d\n", errcode);
+      return -errcode;
+    }
+
+  /* Configure the GPIO pins as interrupting inputs. */
+
+  for (i = 0; i < AJOY_NGPIOS; i++)
+    {
+      /* Configure the PIO as an input */
+
+      sam_configpio(g_joypio[i]);
+
+      /* Configure PIO interrupts, attach the interrupt handler, but leave
+       * the interrupt disabled.
+       */
+
+      sam_pioirq(g_joypio[i]);
+      (void)irq_attach(g_joyirq[i], ajoy_interrupt);
+      sam_pioirqdisable(g_joyirq[i]);
+    }
+
+  /* Register the joystick device as /dev/ajoy0 */
+
+  ret = ajoy_register("/dev/ajoy0", &g_ajoylower);
+  if (ret < 0)
+    {
+      idbg("ERROR: ajoy_register failed: %d\n", ret);
+      close(g_adcfd);
+      g_adcfd = -1;
+    }
+
+  return ret;
+}
+
+#endif /* CONFIG_AJOYSTICK */
diff --git a/nuttx/configs/sama5d3-xplained/src/sam_nsh.c b/nuttx/configs/sama5d3-xplained/src/sam_nsh.c
index 842d807ae..aad5b8ad2 100644
--- a/nuttx/configs/sama5d3-xplained/src/sam_nsh.c
+++ b/nuttx/configs/sama5d3-xplained/src/sam_nsh.c
@@ -71,7 +71,7 @@
 int nsh_archinitialize(void)
 {
 #if defined(HAVE_NAND) || defined(HAVE_AT25) || defined(HAVE_HSMCI) || \
-    defined(HAVE_USBHOST) || defined(HAVE_USBMONITOR)
+    defined(HAVE_USBHOST) || defined(HAVE_USBMONITOR) || defined(CONFIG_AJOYSTICK)
   int ret;
 #endif
 
@@ -146,5 +146,16 @@ int nsh_archinitialize(void)
     }
 #endif
 
+#ifdef CONFIG_AJOYSTICK
+  /* Initialize and register the joystick driver */
+
+  ret = sam_ajoy_initialization();
+  if (ret != OK)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to register the joystick driver: %d\n", ret);
+      return ret;
+    }
+#endif
+
   return OK;
 }
diff --git a/nuttx/configs/sama5d3-xplained/src/sama5d3-xplained.h b/nuttx/configs/sama5d3-xplained/src/sama5d3-xplained.h
index 6d24bc53e..154fc564f 100644
--- a/nuttx/configs/sama5d3-xplained/src/sama5d3-xplained.h
+++ b/nuttx/configs/sama5d3-xplained/src/sama5d3-xplained.h
@@ -487,6 +487,90 @@
                         PIO_PORT_PIOD | PIO_PIN13)
 #define AT25_PORT      SPI0_CS0
 
+/* Itead Joystick Shield
+ *
+ * See http://imall.iteadstudio.com/im120417014.html for more information
+ * about this joystick.
+ *
+ *   --------- ----------------- ---------------------------------
+ *   ARDUINO   ITEAD             SAMA5D3 XPLAINED
+ *   PIN NAME  SIGNAL            CONNECTOR  SIGNAL
+ *   --------- ----------------- ---------- ----------------------
+ *    D3       Button E Output   J18 pin 4  PC8
+ *    D4       Button D Output   J18 pin 5  PC28
+ *    D5       Button C Output   J18 pin 6  PC7
+ *    D6       Button B Output   J18 pin 7  PC6
+ *    D7       Button A Output   J18 pin 8  PC5
+ *    D8       Button F Output   J15 pin 1  PC4
+ *    D9       Button G Output   J15 pin 2  PC3
+ *    A0       Joystick Y Output J17 pin 1  PC18  AD0 (function 4)
+ *    A1       Joystick X Output J17 pin 2  PD21  AD1 (function 1)
+ *   --------- ----------------- ---------- ----------------------
+ */
+
+#define ADC_XOUPUT   1 /* X output is on ADC channel 1 */
+#define ADC_YOUPUT   0 /* Y output is on ADC channel 0 */
+
+#define PIO_BUTTON_A (PIO_INPUT | PIO_CFG_PULLUP | PIO_CFG_DEGLITCH | \
+                      PIO_INT_BOTHEDGES | PIO_PORT_PIOC | PIO_PIN5)
+#define IRQ_BUTTON_A  SAM_IRQ_PC5
+#define PIO_BUTTON_B (PIO_INPUT | PIO_CFG_PULLUP | PIO_CFG_DEGLITCH | \
+                      PIO_INT_BOTHEDGES | PIO_PORT_PIOC | PIO_PIN6)
+#define IRQ_BUTTON_B  SAM_IRQ_PC6
+#define PIO_BUTTON_C (PIO_INPUT | PIO_CFG_PULLUP | PIO_CFG_DEGLITCH | \
+                      PIO_INT_BOTHEDGES | PIO_PORT_PIOC | PIO_PIN7)
+#define IRQ_BUTTON_C  SAM_IRQ_PC7
+#define PIO_BUTTON_D (PIO_INPUT | PIO_CFG_PULLUP | PIO_CFG_DEGLITCH | \
+                      PIO_INT_BOTHEDGES | PIO_PORT_PIOC | PIO_PIN28)
+#define IRQ_BUTTON_D  SAM_IRQ_PC28
+#define PIO_BUTTON_E (PIO_INPUT | PIO_CFG_PULLUP | PIO_CFG_DEGLITCH | \
+                      PIO_INT_BOTHEDGES | PIO_PORT_PIOC | PIO_PIN8)
+#define IRQ_BUTTON_E  SAM_IRQ_PC8
+#define PIO_BUTTON_F (PIO_INPUT | PIO_CFG_PULLUP | PIO_CFG_DEGLITCH | \
+                      PIO_INT_BOTHEDGES | PIO_PORT_PIOC | PIO_PIN4)
+#define IRQ_BUTTON_F  SAM_IRQ_PC4
+#define PIO_BUTTON_G (PIO_INPUT | PIO_CFG_PULLUP | PIO_CFG_DEGLITCH | \
+                      PIO_INT_BOTHEDGES | PIO_PORT_PIOC | PIO_PIN3)
+#define IRQ_BUTTON_G  SAM_IRQ_PC3
+
+/* Itead Joystick Signal interpretation:
+ *
+ *   --------- ----------------------- ---------------------------
+ *   BUTTON     TYPE                    NUTTX ALIAS
+ *   --------- ----------------------- ---------------------------
+ *   Button A  Large button A          JUMP/BUTTON 3
+ *   Button B  Large button B          FIRE/BUTTON 2
+ *   Button C  Joystick select button  SELECT/BUTTON 1
+ *   Button D  Tiny Button D           BUTTON 6
+ *   Button E  Tiny Button E           BUTTON 7
+ *   Button F  Large Button F          BUTTON 4
+ *   Button G  Large Button G          BUTTON 5
+ *   --------- ----------------------- ---------------------------
+ */
+
+#define PIO_BUTTON_1 PIO_BUTTON_C
+#define IRQ_BUTTON_1 IRQ_BUTTON_C
+#define PIO_BUTTON_2 PIO_BUTTON_B
+#define IRQ_BUTTON_2 IRQ_BUTTON_B
+#define PIO_BUTTON_3 PIO_BUTTON_A
+#define IRQ_BUTTON_3 IRQ_BUTTON_A
+#define PIO_BUTTON_4 PIO_BUTTON_F
+#define IRQ_BUTTON_4 IRQ_BUTTON_F
+#define PIO_BUTTON_5 PIO_BUTTON_G
+#define IRQ_BUTTON_5 IRQ_BUTTON_G
+#define PIO_BUTTON_6 PIO_BUTTON_D
+#define IRQ_BUTTON_6 IRQ_BUTTON_D
+#define PIO_BUTTON_7 PIO_BUTTON_E
+#define IRQ_BUTTON_7 IRQ_BUTTON_E
+
+#define PIO_SELECT   PIO_BUTTON_1
+#define IRQ_SELECT   IRQ_BUTTON_1
+#define PIO_FIRE     PIO_BUTTON_2
+#define IRQ_FIRE     IRQ_BUTTON_2
+#define PIO_JUMP     PIO_BUTTON_3
+#define IRQ_JUMP     IRQ_BUTTON_3
+
+
 /************************************************************************************
  * Public Types
  ************************************************************************************/
@@ -673,6 +757,18 @@ void board_led_initialize(void);
 int nsh_archinitialize(void);
 #endif
 
+/************************************************************************************
+ * Name: board_adc_initialize
+ *
+ * Description:
+ *   Initialize and register the ADC driver
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_SAMA5_ADC
+int board_adc_initialize(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __CONFIGS_SAMA5D3_XPLAINED_SRC_SAMA5D3_XPLAINED_H */
 
diff --git a/nuttx/drivers/input/ajoystick.c b/nuttx/drivers/input/ajoystick.c
index 1054b8ca3..9f2416c46 100644
--- a/nuttx/drivers/input/ajoystick.c
+++ b/nuttx/drivers/input/ajoystick.c
@@ -396,9 +396,9 @@ static int ajoy_open(FAR struct file *filep)
 {
   FAR struct inode *inode;
   FAR struct ajoy_upperhalf_s *priv;
-  FAR const struct ajoy_lowerhalf_s *lower;
   FAR struct ajoy_open_s *opriv;
 #ifndef CONFIG_DISABLE_POLL
+  FAR const struct ajoy_lowerhalf_s *lower;
   ajoy_buttonset_t supported;
 #endif
   int ret;