forked from Archive/PX4-Autopilot
506 lines
14 KiB
C
506 lines
14 KiB
C
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/****************************************************************************
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* examples/buttons/main.c
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* NOTE: This test exercises internal button driver interfaces. As such, it
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* it relies on internal OS interfaces that are not normally available to a
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* user-space program. As a result, this example cannot be used if a
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* NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/arch.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <debug.h>
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/****************************************************************************
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* Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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#ifndef CONFIG_ARCH_BUTTONS
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# error "CONFIG_ARCH_BUTTONS is not defined in the configuration"
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_NAME0
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# define CONFIG_EXAMPLE_BUTTONS_NAME0 "BUTTON0"
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_NAME1
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# define CONFIG_EXAMPLE_BUTTONS_NAME1 "BUTTON1"
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_NAME2
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# define CONFIG_EXAMPLE_BUTTONS_NAME2 "BUTTON2"
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_NAME3
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# define CONFIG_EXAMPLE_BUTTONS_NAME3 "BUTTON3"
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_NAME4
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# define CONFIG_EXAMPLE_BUTTONS_NAME4 "BUTTON4"
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_NAME5
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# define CONFIG_EXAMPLE_BUTTONS_NAME5 "BUTTON5"
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_NAME6
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# define CONFIG_EXAMPLE_BUTTONS_NAME6 "BUTTON6"
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_NAME7
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# define CONFIG_EXAMPLE_BUTTONS_NAME7 "BUTTON7"
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#endif
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#define BUTTON_MIN 0
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#define BUTTON_MAX 7
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#ifndef CONFIG_EXAMPLE_BUTTONS_MIN
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# define CONFIG_EXAMPLE_BUTTONS_MIN BUTTON_MIN
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#endif
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#ifndef CONFIG_EXAMPLE_BUTTONS_MAX
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# define CONFIG_EXAMPLE_BUTTONS_MAX BUTTON_MAX
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#endif
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#if CONFIG_EXAMPLE_BUTTONS_MIN > CONFIG_EXAMPLE_BUTTONS_MAX
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# error "CONFIG_EXAMPLE_BUTTONS_MIN > CONFIG_EXAMPLE_BUTTONS_MAX"
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#endif
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#if CONFIG_EXAMPLE_BUTTONS_MAX > 7
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# error "CONFIG_EXAMPLE_BUTTONS_MAX > 7"
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#endif
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#ifndef CONFIG_EXAMPLE_IRQBUTTONS_MIN
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# define CONFIG_EXAMPLE_IRQBUTTONS_MIN CONFIG_EXAMPLE_BUTTONS_MIN
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#endif
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#ifndef CONFIG_EXAMPLE_IRQBUTTONS_MAX
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# define CONFIG_EXAMPLE_IRQBUTTONS_MAX CONFIG_EXAMPLE_BUTTONS_MAX
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#endif
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#if CONFIG_EXAMPLE_IRQBUTTONS_MIN > CONFIG_EXAMPLE_IRQBUTTONS_MAX
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# error "CONFIG_EXAMPLE_IRQBUTTONS_MIN > CONFIG_EXAMPLE_IRQBUTTONS_MAX"
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#endif
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#if CONFIG_EXAMPLE_IRQBUTTONS_MAX > 7
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# error "CONFIG_EXAMPLE_IRQBUTTONS_MAX > 7"
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#endif
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#ifndef MIN
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# define MIN(a,b) (a < b ? a : b)
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#endif
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#ifndef MAX
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# define MAX(a,b) (a > b ? a : b)
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#endif
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#define MIN_BUTTON MIN(CONFIG_EXAMPLE_BUTTONS_MIN, CONFIG_EXAMPLE_IRQBUTTONS_MIN)
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#define MAX_BUTTON MAX(CONFIG_EXAMPLE_BUTTONS_MAX, CONFIG_EXAMPLE_IRQBUTTONS_MAX)
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#define NUM_BUTTONS (MAX_BUTTON - MIN_BUTTON + 1)
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#define BUTTON_INDEX(b) ((b)-MIN_BUTTON)
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/* Is this being built as an NSH built-in application? */
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#ifdef CONFIG_NSH_BUILTIN_APPS
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# define MAIN_NAME buttons_main
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# define MAIN_STRING "buttons_main: "
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#else
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# define MAIN_NAME user_start
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# define MAIN_STRING "user_start: "
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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struct button_info_s
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{
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FAR const char *name; /* Name for the button */
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#ifdef CONFIG_ARCH_IRQBUTTONS
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xcpt_t handler; /* Button interrupt handler */
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#endif
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static void show_buttons(uint8_t oldset, uint8_t newset);
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#ifdef CONFIG_ARCH_IRQBUTTONS
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static void button_handler(int id, int irq);
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#if MIN_BUTTON < 1
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static int button0_handler(int irq, FAR void *context);
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#endif
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#if MIN_BUTTON < 2 && MAX_BUTTON > 0
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static int button1_handler(int irq, FAR void *context);
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#endif
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#if MIN_BUTTON < 3 && MAX_BUTTON > 1
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static int button2_handler(int irq, FAR void *context);
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#endif
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#if MIN_BUTTON < 4 && MAX_BUTTON > 2
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static int button3_handler(int irq, FAR void *context);
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#endif
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#if MIN_BUTTON < 5 && MAX_BUTTON > 3
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static int button4_handler(int irq, FAR void *context);
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#endif
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#if MIN_BUTTON < 6 && MAX_BUTTON > 4
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static int button5_handler(int irq, FAR void *context);
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#endif
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#if MIN_BUTTON < 7 && MAX_BUTTON > 5
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static int button6_handler(int irq, FAR void *context);
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#endif
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#if MAX_BUTTON > 6
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static int button7_handler(int irq, FAR void *context);
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#endif
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#endif /* CONFIG_ARCH_IRQBUTTONS */
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* Button Names */
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static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
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{
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#if MIN_BUTTON < 1
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{
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CONFIG_EXAMPLE_BUTTONS_NAME0,
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#ifdef CONFIG_ARCH_IRQBUTTONS
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button0_handler
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#endif
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},
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#endif
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#if MIN_BUTTON < 2 && MAX_BUTTON > 0
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{
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CONFIG_EXAMPLE_BUTTONS_NAME1,
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#ifdef CONFIG_ARCH_IRQBUTTONS
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button1_handler
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#endif
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},
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#endif
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#if MIN_BUTTON < 3 && MAX_BUTTON > 1
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{
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CONFIG_EXAMPLE_BUTTONS_NAME2,
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#ifdef CONFIG_ARCH_IRQBUTTONS
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button2_handler
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#endif
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},
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#endif
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#if MIN_BUTTON < 4 && MAX_BUTTON > 2
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{
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CONFIG_EXAMPLE_BUTTONS_NAME3,
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#ifdef CONFIG_ARCH_IRQBUTTONS
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button3_handler
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#endif
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},
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#endif
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#if MIN_BUTTON < 5 && MAX_BUTTON > 3
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{
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CONFIG_EXAMPLE_BUTTONS_NAME4,
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#ifdef CONFIG_ARCH_IRQBUTTONS
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button4_handler
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#endif
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},
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#endif
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#if MIN_BUTTON < 6 && MAX_BUTTON > 4
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{
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CONFIG_EXAMPLE_BUTTONS_NAME5,
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#ifdef CONFIG_ARCH_IRQBUTTONS
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button5_handler
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#endif
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},
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#endif
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#if MIN_BUTTON < 7 && MAX_BUTTON > 5
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{
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CONFIG_EXAMPLE_BUTTONS_NAME6,
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#ifdef CONFIG_ARCH_IRQBUTTONS
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button6_handler
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#endif
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},
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#endif
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#if MAX_BUTTON > 6
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{
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CONFIG_EXAMPLE_BUTTONS_NAME7,
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#ifdef CONFIG_ARCH_IRQBUTTONS
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button7_handler
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#endif
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}
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#endif
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};
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/* Last sampled button set */
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static uint8_t g_oldset;
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/* Used to limit the number of button presses */
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#ifdef CONFIG_NSH_BUILTIN_APPS
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static volatile long g_nbuttons;
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#endif
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static void show_buttons(uint8_t oldset, uint8_t newset)
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{
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uint8_t chgset = oldset ^ newset;
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int i;
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/* Update the count of button presses shown */
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#ifdef CONFIG_NSH_BUILTIN_APPS
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if ((chgset & newset) != 0)
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{
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g_nbuttons++;
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}
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#endif
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/* Show each button state change */
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for (i = MIN_BUTTON; i <= MAX_BUTTON; i++)
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{
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uint8_t mask = (1 << i);
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if ((chgset & mask) != 0)
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{
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FAR const char *state;
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/* Get the button state */
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if ((newset & mask) != 0)
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{
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state = "depressed";
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}
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else
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{
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state = "released";
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}
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/* Use lib_lowprintf() because we make be executing from an
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* interrupt handler.
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*/
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lib_lowprintf(" %s %s\n", g_buttoninfo[BUTTON_INDEX(i)].name, state);
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}
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}
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}
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#ifdef CONFIG_ARCH_IRQBUTTONS
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static void button_handler(int id, int irq)
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{
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uint8_t newset = up_buttons();
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lib_lowprintf("IRQ:%d Button %d:%s SET:%02x:\n",
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irq, id, g_buttoninfo[BUTTON_INDEX(id)].name, newset);
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show_buttons(g_oldset, newset);
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g_oldset = newset;
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}
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#if MIN_BUTTON < 1
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static int button0_handler(int irq, FAR void *context)
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{
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button_handler(0, irq);
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return OK;
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}
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#endif
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#if MIN_BUTTON < 2 && MAX_BUTTON > 0
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static int button1_handler(int irq, FAR void *context)
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{
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button_handler(1, irq);
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return OK;
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}
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#endif
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#if MIN_BUTTON < 3 && MAX_BUTTON > 1
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static int button2_handler(int irq, FAR void *context)
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{
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button_handler(2, irq);
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return OK;
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}
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#endif
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#if MIN_BUTTON < 4 && MAX_BUTTON > 2
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static int button3_handler(int irq, FAR void *context)
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{
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button_handler(3, irq);
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return OK;
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}
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#endif
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#if MIN_BUTTON < 5 && MAX_BUTTON > 3
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static int button4_handler(int irq, FAR void *context)
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{
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button_handler(4, irq);
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return OK;
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}
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#endif
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#if MIN_BUTTON < 6 && MAX_BUTTON > 4
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static int button5_handler(int irq, FAR void *context)
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{
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button_handler(5, irq);
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return OK;
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}
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#endif
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#if MIN_BUTTON < 7 && MAX_BUTTON > 5
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static int button6_handler(int irq, FAR void *context)
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{
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button_handler(6, irq);
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return OK;
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}
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#endif
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#if MAX_BUTTON > 6
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static int button7_handler(int irq, FAR void *context)
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||
|
|
{
|
||
|
|
button_handler(7, irq);
|
||
|
|
return OK;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
#endif /* CONFIG_ARCH_IRQBUTTONS */
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||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Public Functions
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* user_start/buttons_main
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
int MAIN_NAME(int argc, char *argv[])
|
||
|
|
{
|
||
|
|
uint8_t newset;
|
||
|
|
irqstate_t flags;
|
||
|
|
int i;
|
||
|
|
|
||
|
|
/* If this example is configured as an NX add-on, then limit the number of
|
||
|
|
* samples that we collect before returning. Otherwise, we never return
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifdef CONFIG_NSH_BUILTIN_APPS
|
||
|
|
long maxbuttons = 1;
|
||
|
|
g_nbuttons = 0;
|
||
|
|
if (argc > 1)
|
||
|
|
{
|
||
|
|
maxbuttons = strtol(argv[1], NULL, 10);
|
||
|
|
}
|
||
|
|
lib_lowprintf("maxbuttons: %d\n", maxbuttons);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Register to recieve button interrupts */
|
||
|
|
|
||
|
|
#ifdef CONFIG_ARCH_IRQBUTTONS
|
||
|
|
for (i = CONFIG_EXAMPLE_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLE_IRQBUTTONS_MAX; i++)
|
||
|
|
{
|
||
|
|
xcpt_t oldhandler = up_irqbutton(i, g_buttoninfo[BUTTON_INDEX(i)].handler);
|
||
|
|
|
||
|
|
/* Use lib_lowprintf() for compatibility with interrrupt handler output. */
|
||
|
|
|
||
|
|
lib_lowprintf("Attached handler at %p to button %d [%s], oldhandler:%p\n",
|
||
|
|
g_buttoninfo[BUTTON_INDEX(i)].handler, i,
|
||
|
|
g_buttoninfo[BUTTON_INDEX(i)].name, oldhandler);
|
||
|
|
|
||
|
|
/* Some hardware multiplexes different GPIO button sources to the same
|
||
|
|
* physical interrupt. If we register multiple such multiplexed button
|
||
|
|
* interrupts, then the second registration will overwrite the first. In
|
||
|
|
* this case, the first button interrupts may be aliased to the second
|
||
|
|
* interrupt handler (or worse, could be lost).
|
||
|
|
*/
|
||
|
|
|
||
|
|
if (oldhandler != NULL)
|
||
|
|
{
|
||
|
|
lib_lowprintf("WARNING: oldhandler:%p is not NULL! "
|
||
|
|
"Button events may be lost or aliased!\n",
|
||
|
|
oldhandler);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Poll button state */
|
||
|
|
|
||
|
|
g_oldset = up_buttons();
|
||
|
|
#ifdef CONFIG_NSH_BUILTIN_APPS
|
||
|
|
while (g_nbuttons < maxbuttons)
|
||
|
|
#else
|
||
|
|
for (;;)
|
||
|
|
#endif
|
||
|
|
{
|
||
|
|
/* Get the set of pressed and release buttons. */
|
||
|
|
|
||
|
|
newset = up_buttons();
|
||
|
|
|
||
|
|
/* Any changes from the last sample? */
|
||
|
|
|
||
|
|
if (newset != g_oldset)
|
||
|
|
{
|
||
|
|
/* Disable interrupts so that output here will not collide with
|
||
|
|
* output from an interrupt handler.
|
||
|
|
*/
|
||
|
|
|
||
|
|
flags = irqsave();
|
||
|
|
|
||
|
|
/* Use lib_lowprintf() for compatibility with interrrupt handler
|
||
|
|
* output.
|
||
|
|
*/
|
||
|
|
|
||
|
|
lib_lowprintf("POLL SET:%02x:\n", newset);
|
||
|
|
show_buttons(g_oldset, newset);
|
||
|
|
g_oldset = newset;
|
||
|
|
irqrestore(flags);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Sleep a little... but not long. This will determine how fast we
|
||
|
|
* poll for button changes.
|
||
|
|
*/
|
||
|
|
|
||
|
|
usleep(150000); /* 150 Milliseconds */
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Un-register button handlers */
|
||
|
|
|
||
|
|
#if defined(CONFIG_ARCH_IRQBUTTONS) && defined(CONFIG_NSH_BUILTIN_APPS)
|
||
|
|
for (i = CONFIG_EXAMPLE_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLE_IRQBUTTONS_MAX; i++)
|
||
|
|
{
|
||
|
|
(void)up_irqbutton(i, NULL);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|