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Add nuttx to the system framework, which is 10.1.0

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TangYiwen123
2021-06-09 14:33:15 +08:00
parent 06c351e27c
commit 804bd57aa0
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Ubiquitous/Nuttx/apps/examples/ajoystick/ajoy_main.c
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/****************************************************************************
* examplex/ajoystick/ajoy_main.c
*
* Copyright (C) 2014-2015 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 4",
"BUTTON 5", "BUTTON 6", "BUTTON 7", "BUTTON 8",
};
/****************************************************************************
* 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 set;
struct siginfo value;
ajoy_buttonset_t newset;
int ret;
/* Wait for a signal */
sigemptyset(&set);
sigaddset(&set, CONFIG_EXAMPLES_AJOYSTICK_SIGNO);
ret = sigtimedwait(&set, &value, timeout);
if (ret < 0)
{
int errcode = errno;
if (!timeout || errcode != EAGAIN)
{
fprintf(stderr, "ERROR: sigtimedwait() 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", ret);
return ret;
}
/* Read the joystick sample */
ret = ajoy_read(fd, sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_read() failed: %d\n", ret);
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
****************************************************************************/
int main(int argc, char *argv[])
{
struct timespec timeout;
struct ajoy_notify_s notify;
int fd;
int tmp;
int ret;
int errcode = 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_event.sigev_notify = SIGEV_SIGNAL;
notify.an_event.sigev_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. */
timeout.tv_sec = 0;
timeout.tv_nsec = 600*1000*1000;
for (;;)
{
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;
}
}
errcode = EXIT_SUCCESS;
errout_with_fd:
close(fd);
return errcode;
}