transport_mode.h

/****************************************************************************
 * modules/include/sensing/logical_sensor/transport_mode.h
 *
 *   Copyright 2018 Sony Semiconductor Solutions Corporation
 *
 * 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 of Sony Semiconductor Solutions Corporation 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.
 *
 ****************************************************************************/
 
#ifndef __INCLUDE_SENSING_LOGICAL_SENSOR_TRANSPORT_MODE_H
#define __INCLUDE_SENSING_LOGICAL_SENSOR_TRANSPORT_MODE_H
 
/****************************************************************************
 * Included Files
 ****************************************************************************/
 
#include <asmp/mpmq.h>
#include <asmp/mptask.h>
 
#include "sensing/sensor_api.h"
#include "sensing/sensor_id.h"
#include "sensing/sensor_ecode.h"
#include "sensing/logical_sensor/transport_mode_command.h"
#include "memutils/s_stl/queue.h"
#include "memutils/memory_manager/MemHandle.h"
 
/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
 
#define TRAM_NUMBER_OF_MODES 13             
#define ACCEL_SAMPLING_FREQUENCY_MS   16    
#define ACCEL_SAMPLING_FREQUENCY_CMD  64    
#define ACCEL_SAMPLING_FREQUENCY_TMI  64    
#define ACCEL_WATERMARK_NUM           320   
#define ACCEL_FIFO_NUM                (ACCEL_WATERMARK_NUM * 2)  
#define ACCEL_TRIGGER_RISE_THRESS     50    
#define ACCEL_TRIGGER_RISE_COUNT0     2     
#define ACCEL_TRIGGER_RISE_COUNT1     20    
#define ACCEL_TRIGGER_RISE_DELAY      0     
#define ACCEL_TRIGGER_FALL_THRESS     49    
#define ACCEL_TRIGGER_FALL_COUNT0     2     
#define ACCEL_TRIGGER_FALL_COUNT1     4     
#define ACCEL_TRIGGER_FALL_DELAY      0     
#define GET_SCU_ACCEL_SAMPLING_FREQUENCY(_x_) (512 / (1 << (_x_)))  
#define MAG_SAMPLING_FREQUENCY  8           
#define MAG_WATERMARK_NUM       40          
/****************************************************************************
 * Public Types
 ****************************************************************************/
 
typedef enum
{
  TRAM_STATE_UNINITIALIZED = 0,   
  TRAM_STATE_MS,                  
  TRAM_STATE_CMD,                 
  TRAM_STATE_TMI,                 
  TRAM_STATE_NUM
} tram_state_e;
 
enum TramEvent {
  MathFuncEvent,                  
};
 
enum TramNotification {
  ChangeScuSettings,              
};
 
struct ScuSettings {
  uint16_t fifosize;              
  uint8_t samplingrate;           
  uint8_t elements;               
  FAR struct scuev_notify_s *ev;  
  FAR struct math_filter_s *mf;   
  FAR struct scufifo_wm_s *wm;    
};
 
/*--------------------------------------------------------------------
 *   TRAM Class
 *--------------------------------------------------------------------
 */
 
class TramClass
{
public:
 
  /* public methods */
  int open(FAR float *likelihood);
  int close(void);
  int start(void);
  int stop(void);
  int write(FAR sensor_command_data_mh_t*);
  void send_detection_result(uint32_t pred);
  void send_notification(TramNotification notification);
  void set_power(uint32_t subscriptions);
  void clear_power(uint32_t subscriptions);
  void receive_sync_msg(void);
  void receive_async_msg(uint32_t param);
  int receive(void);
  int handle_event(TramEvent event);
 
  int set_state(tram_state_e state);
  tram_state_e get_state(void);
 
  TramClass(MemMgrLite::PoolId cmd_pool_id)
      : m_cmd_pool_id(cmd_pool_id),
        m_state(TRAM_STATE_UNINITIALIZED)
  {
  };
 
  ~TramClass(){};
 
private:
  #define MAX_EXEC_COUNT 8
 
  struct exe_mh_s {
    MemMgrLite::MemHandle cmd;
    MemMgrLite::MemHandle data;
  };
 
  s_std::Queue<struct exe_mh_s, MAX_EXEC_COUNT> m_exe_que;
 
  /* private members */
 
  MemMgrLite::PoolId  m_cmd_pool_id;
 
  mptask_t    m_mptask;
  mpmq_t      m_mq;
 
  pthread_t m_thread_id;
 
  tram_state_e m_state;
 
  /* private methods */
 
  int sendInit(FAR float *likelihood);
};
 
/****************************************************************************
 * Public Function Prototypes
 ****************************************************************************/
 
TramClass* TramCreate(MemMgrLite::PoolId cmd_pool_id);
 
int TramOpen(FAR TramClass *ins, FAR float *likelihood = NULL);
 
int TramClose(FAR TramClass *ins);
 
int TramStart(FAR TramClass *ins);
 
int TramStop(FAR TramClass *ins);
 
int TramWrite(FAR TramClass *ins, FAR sensor_command_data_mh_t *command);
 
int TramHandleEvent(FAR TramClass *ins, TramEvent event);
 
struct ScuSettings* TramGetAccelScuSettings(FAR TramClass* ins);
 
#endif /* __INCLUDE_SENSING_LOGICAL_SENSOR_TRANSPORT_MODE_H */