compass.h

/****************************************************************************
 * modules/include/sensing/logical_sensor/compass.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_COMPASS_H
#define  __INCLUDE_SENSING_COMPASS_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/compass_command.h"
#include "memutils/s_stl/queue.h"
#include "memutils/memory_manager/MemHandle.h"
 
/****************************************************************************
 * Public Types
 ****************************************************************************/
 
typedef struct
{
  int   resultcmd;    
  int   exec_result;  
  int   errcode;      
  float azimuth;      
  float pitch;        
  float roll;         
  float decl;         
  int   acc_azimuth;  
  int   calib_lv;     
} CompassResult;
 
/*--------------------------------------------------------------------
 *   Compass Class
 * --------------------------------------------------------------------
 */
 
class CompassClass
{
public:
 
  /* public methods */
 
  int open(void);
  int close(void);
  int write(FAR sensor_command_data_mh_t*);
  int result(void);
  void set_callback(uint32_t);
  int receive(void);
 
 
  CompassClass(MemMgrLite::PoolId cmd_pool_id,
               MemMgrLite::PoolId rst_pool_id)
      : m_cmd_pool_id(cmd_pool_id)
      , m_rst_pool_id(rst_pool_id)
  {
  };
 
  ~CompassClass(){};
 
private:
 
  #define MAX_EXEC_COUNT 10
  struct exe_mh_s
    {
      MemMgrLite::MemHandle cmd;
      MemMgrLite::MemHandle data;
    };
  s_std::Queue<struct exe_mh_s, MAX_EXEC_COUNT> m_accel_exe_que;
  s_std::Queue<struct exe_mh_s, MAX_EXEC_COUNT> m_mag_exe_que;
 
  /* private members */
 
  MemMgrLite::PoolId m_cmd_pool_id;
  MemMgrLite::PoolId m_rst_pool_id;
 
  mptask_t    m_mptask;
  mpmq_t      m_mq;
 
  pthread_t   m_thread_id;
 
  /* private methods */
 
  int sendInit(void);
  int sendFlush(void);
};
 
/*--------------------------------------------------------------------
 *   External Interface
 *--------------------------------------------------------------------
 */
 
FAR CompassClass *CompassCreate(MemMgrLite::PoolId cmd_pool_id,
                                MemMgrLite::PoolId rst_pool_id);
 
int CompassOpen(FAR CompassClass *ins);
 
int CompassClose(FAR CompassClass *ins);
 
int CompassWrite(FAR CompassClass *ins,
                 FAR sensor_command_data_mh_t *command);
 
#endif /* __INCLUDE_SENSING_COMPASS_H */