accelerometer_task.h

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#ifndef _ACCELEROMETER_TASK_H
#define _ACCELEROMETER_TASK_H
 
#include "debug_config.h"
#include "local_typedef.h"
#include "str.h"
#include "stima_utility.h"
 
#if (ENABLE_ACCELEROMETER)
 
#include <STM32FreeRTOS.h>
#include "thread.hpp"
#include "ticks.hpp"
#include "semaphore.hpp"
#include "queue.hpp"
#include "drivers/module_slave_hal.hpp"
#include "drivers/accelerometer.h"
 
#include <STM32RTC.h>
 
// Register EEprom
#include "register_class.hpp"
 
#include "debug_F.h"
 
using namespace cpp_freertos;
 
// Main TASK Switch Delay
#define ACCELEROMETER_TASK_WAIT_DELAY_MS    (20)
#define ACCELEROMETER_TASK_SLEEP_DELAY_MS   (850)
 
#define BUBBLE_ANGLE_ERROR                  (0.04)
#define BUBBLE_ANGLE_MIRROR                 (0.75)
 
#define BUBBLE_TIMINGS_VERIFY               (14400)
 
typedef struct {
  configuration_t *configuration;                     
  system_status_t *system_status;                     
  TwoWire *wire;                                      
  cpp_freertos::BinarySemaphore *systemStatusLock;    
  cpp_freertos::BinarySemaphore *registerAccessLock;  
  cpp_freertos::BinarySemaphore *wireLock;            
  cpp_freertos::Queue *systemMessageQueue;            
  EERegister *clRegister;                             
} AccelerometerParam_t;
 
class AccelerometerTask : public cpp_freertos::Thread {
 
  typedef enum
  {
    ACCELEROMETER_STATE_CREATE,
    ACCELEROMETER_STATE_INIT,
    ACCELEROMETER_STATE_CHECK_HARDWARE,
    ACCELEROMETER_STATE_LOAD_CONFIGURATION,
    ACCELEROMETER_STATE_SETUP_MODULE,
    ACCELEROMETER_STATE_CHECK_OPERATION,
    ACCELEROMETER_STATE_WAIT_RESUME,
    ACCELEROMETER_STATE_HARDWARE_FAIL
  } AccelerometerState_t;
 
public:
  AccelerometerTask(const char *taskName, uint16_t stackSize, uint8_t priority, AccelerometerParam_t AccelerometerParam);
  
protected:
  virtual void Run();
 
private:
 
  #if (ENABLE_STACK_USAGE)
  void TaskMonitorStack();
  #endif
  void TaskWatchDog(uint32_t millis_standby);
  void TaskState(uint8_t state_position, uint8_t state_subposition, task_flag state_operation);
 
  void printConfiguration(void);
  void loadConfiguration(void);
  void saveConfiguration(bool is_default);
  void calibrate(bool is_default, bool save_register);
  bool checkModule(void);
  void setupModule(void);
  bool readModule(void);
  void powerDownModule(void);
 
  // Rtc check event access
  STM32RTC &rtc = STM32RTC::getInstance();
 
  AccelerometerState_t state;
  AccelerometerParam_t param;
  Accelerometer accelerometer;
  accelerometer_t accelerometer_configuration;
    
  // Value data
  float value_x;
  float value_y;
  float value_z;
};
 
#endif
#endif