nuttx/arch/arm/src/cxd56xx/cxd56_geofence.c

/****************************************************************************
 * arch/arm/src/cxd56xx/cxd56_geofence.c
 *
 *   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.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fixedmath.h>
#include <poll.h>
#include <errno.h>
#include <debug.h>

#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>

#include <arch/chip/geofence.h>
#include "cxd56_gnss_api.h"
#include "cxd56_cpu1signal.h"
#include "cxd56_gnss.h"

#if defined(CONFIG_CXD56_GEOFENCE)

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#ifndef CONFIG_GEOFENCE_NPOLLWAITERS
#  define CONFIG_GEOFENCE_NPOLLWAITERS    4
#endif

/****************************************************************************
 * Private Types
 ****************************************************************************/

struct cxd56_geofence_dev_s
{
  sem_t              devsem;
  FAR struct pollfd *fds[CONFIG_GEOFENCE_NPOLLWAITERS];
};

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

/* file operation functions */

static int cxd56_geofence_open(FAR struct file *filep);
static int cxd56_geofence_close(FAR struct file *filep);
static ssize_t cxd56_geofence_read(FAR struct file *filep,
                                   FAR char *buffer,
                                   size_t len);
static int cxd56_geofence_ioctl(FAR struct file *filep,
                                int cmd,
                                unsigned long arg);
#ifndef CONFIG_DISABLE_POLL
static int cxd56_geofence_poll(FAR struct file *filep,
                               FAR struct pollfd *fds,
                               bool setup);
#endif

/* ioctl command functions */

static int cxd56_geofence_start(unsigned long arg);
static int cxd56_geofence_stop(unsigned long arg);
static int cxd56_geofence_add_region(unsigned long arg);
static int cxd56_geofence_modify_region(unsigned long arg);
static int cxd56_geofence_delete_region(unsigned long arg);
static int cxd56_geofence_delete_all_region(unsigned long arg);
static int cxd56_geofence_get_region_data(unsigned long arg);
static int cxd56_geofence_get_used_id(unsigned long arg);
static int cxd56_geofence_get_all_status(unsigned long arg);
static int cxd56_geofence_set_mode(unsigned long arg);

/****************************************************************************
 * Private Data
 ****************************************************************************/

/* This the vtable that supports the character driver interface */

static const struct file_operations g_geofencefops =
{
  cxd56_geofence_open,  /* open */
  cxd56_geofence_close, /* close */
  cxd56_geofence_read,  /* read */
  0,                    /* write */
  0,                    /* seek */
  cxd56_geofence_ioctl, /* ioctl */
#ifndef CONFIG_DISABLE_POLL
  cxd56_geofence_poll,  /* poll */
#endif
};

/* ioctl command list */

FAR static int (*g_cmdlist[CXD56_GEOFENCE_IOCTL_MAX])(unsigned long) =
{
  NULL,              /* CXD56_GEOFENCE_IOCTL_INVAL = 0 */
  cxd56_geofence_start,
  cxd56_geofence_stop,
  cxd56_geofence_add_region,
  cxd56_geofence_modify_region,
  cxd56_geofence_delete_region,
  cxd56_geofence_delete_all_region,
  cxd56_geofence_get_region_data,
  cxd56_geofence_get_used_id,
  cxd56_geofence_get_all_status,
  cxd56_geofence_set_mode,

  /* max                CXD56_GEOFENCE_IOCTL_MAX */
};

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/****************************************************************************
 * Name: cxd56_geofence_start
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_START command.
 *   Start GEOFENCE Detect
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_start(unsigned long arg)
{
  return GD_RegisterGeofence();
}

/****************************************************************************
 * Name: cxd56_geofence_stop
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_STOP command.
 *   Stop GEOFENCE Detect
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_stop(unsigned long arg)
{
  return GD_ReleaseGeofence();
}

/****************************************************************************
 * Name: cxd56_geofence_add_region
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_ADD command.
 *   Add region
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_add_region(unsigned long arg)
{
  int                                    ret;
  FAR struct cxd56_geofence_region_s *reg_data;

  if (!arg)
    {
      return -EINVAL;
    }

  reg_data = (FAR struct cxd56_geofence_region_s *)arg;

  ret = GD_GeoAddRegion(reg_data->id,
                        reg_data->latitude,
                        reg_data->longitude,
                        reg_data->radius);

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_modify_region
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_MODIFY command.
 *   Modify region
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_modify_region(unsigned long arg)
{
  int                                    ret;
  FAR struct cxd56_geofence_region_s *reg_data;

  if (!arg)
    {
      return -EINVAL;
    }

  reg_data = (FAR struct cxd56_geofence_region_s *)arg;

  ret = GD_GeoModifyRegion(reg_data->id, reg_data->latitude,
                           reg_data->longitude, reg_data->radius);

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_delete_region
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_DELETE command.
 *   Delete region
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_delete_region(unsigned long arg)
{
  int         ret;
  FAR uint8_t id;

  if (UINT8_MAX < arg)
    {
      return -EINVAL;
    }

  id = (uint8_t)arg;
  ret = GD_GeoDeleteRegione(id);

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_delete_all_region
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_ALL_DELETE command.
 *   All delete region
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_delete_all_region(unsigned long arg)
{
  int ret;

  ret = GD_GeoDeleteAllRegion();

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_get_region_data
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_GET_REGION_DATA command.
 *   Get used region ID
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_get_region_data(unsigned long arg)
{
  int                                    ret;
  FAR struct cxd56_geofence_region_s *reg_data;

  if (!arg)
    {
      return -EINVAL;
    }

  reg_data = (FAR struct cxd56_geofence_region_s *)arg;

  ret = GD_GeoGetRegionData(reg_data->id, &reg_data->latitude,
                            &reg_data->longitude, &reg_data->radius);

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_get_used_id
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_GET_USED_ID command.
 *   Get used region ID
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_get_used_id(unsigned long arg)
{
  if (!arg)
    {
      return -EINVAL;
    }

  *(uint32_t *)arg = GD_GeoGetUsedRegionId();

  return 0;
}

/****************************************************************************
 * Name: cxd56_geofence_get_all_status
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_GET_ALL_STATUS command.
 *   Get All transition status
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_get_all_status(unsigned long arg)
{
  int ret;

  ret = GD_GeoSetAllRgionNotifyRequest();

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_set_mode
 *
 * Description:
 *   Process CXD56_GEOFENCE_IOCTL_SET_MODE command.
 *   Set geofence operation mode
 *
 * Input Parameters:
 *   arg   - Data for command
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_set_mode(unsigned long arg)
{
  int                                   ret;
  FAR struct cxd56_geofence_mode_s *mode;

  if (!arg)
    {
      return -EINVAL;
    }

  mode = (FAR struct cxd56_geofence_mode_s *)arg;

  ret = GD_GeoSetOpMode(mode->deadzone, mode->dwell_detecttime);

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_sighandler
 *
 * Description:
 *   Common signal handler from GNSS CPU.
 *
 * Input Parameters:
 *   data     - Received data from GNSS CPU
 *   userdata - User data, this is the device information specified by the
 *              second argument of the function cxd56_cpu1siginit.
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/

static void cxd56_geofence_sighandler(uint32_t data, FAR void *userdata)
{
  FAR struct cxd56_geofence_dev_s *priv =
    (FAR struct cxd56_geofence_dev_s *)userdata;
  int i;
  int ret;

  ret = nxsem_wait(&priv->devsem);
  if (ret < 0)
    {
      return;
    }

  for (i = 0; i < CONFIG_GEOFENCE_NPOLLWAITERS; i++)
    {
      struct pollfd *fds = priv->fds[i];
      if (fds)
        {
          fds->revents |= POLLIN;
          gnssinfo("Report events: %02x\n", fds->revents);
          nxsem_post(fds->sem);
        }
    }

  nxsem_post(&priv->devsem);
}

/****************************************************************************
 * Name: cxd56_geofence_initialize
 *
 * Description:
 *   initialize GEOFENCE device
 *
 * Input Parameters:
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_initialize(FAR struct cxd56_geofence_dev_s *dev)
{
  int32_t ret = 0;

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_open
 *
 * Description:
 *   Standard character driver open method.
 *
 * Input Parameters:
 *   filep - File structure pointer
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_open(FAR struct file *filep)
{
  int32_t ret = 0;

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_close
 *
 * Description:
 *   Standard character driver close method.
 *
 * Input Parameters:
 *   filep - File structure pointer
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_close(FAR struct file *filep)
{
  int32_t ret = 0;

  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_read
 *
 * Description:
 *   Standard character driver read method.
 *
 * Input Parameters:
 *   filep - File structure pointer
 *   buffer - Buffer to write
 *   buflen - The write length of the buffer
 *
 * Returned Value:
 *   Always returns -ENOENT error.
 *
 ****************************************************************************/

static ssize_t cxd56_geofence_read(FAR struct file *filep, FAR char *buffer,
                                   size_t len)
{
  int32_t ret = 0;

  /* Check argument */

  if (!buffer)
    {
      ret = -EINVAL;
      goto _err;
    }

  if (len == 0)
    {
      ret = 0;
      goto _err;
    }

  /* GD_ReadBuffer returns copied data size or negative error code */

  ret = GD_ReadBuffer(CXD56_CPU1_DEV_GEOFENCE, 0, buffer, len);

  _err:
  return ret;
}

/****************************************************************************
 * Name: cxd56_geofence_ioctl
 *
 * Description:
 *   Standard character driver ioctl method.
 *
 * Input Parameters:
 *   filep - File structure pointer
 *   fds   - Array of file descriptor
 *   setup - 1 if start poll, 0 if stop poll
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_ioctl(FAR struct file *filep, int cmd,
                                unsigned long arg)
{
  if (cmd <= CXD56_GEOFENCE_IOCTL_INVAL || cmd >= CXD56_GEOFENCE_IOCTL_MAX)
    {
      return -EINVAL;
    }

  return g_cmdlist[cmd](arg);
}

/****************************************************************************
 * Name: cxd56_geofence_poll
 *
 * Description:
 *   Standard character driver poll method.
 *
 * Input Parameters:
 *   filep - File structure pointer
 *   fds   - array of file descriptor
 *   setup - 1 if start poll, 0 if stop poll
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

#ifndef CONFIG_DISABLE_POLL
static int cxd56_geofence_poll(FAR struct file *filep,
                               FAR struct pollfd *fds,
                               bool setup)
{
  FAR struct inode *               inode;
  FAR struct cxd56_geofence_dev_s *priv;
  int                              ret = OK;
  int                              i;

  inode = filep->f_inode;
  priv  = (FAR struct cxd56_geofence_dev_s *)inode->i_private;

  ret = nxsem_wait(&priv->devsem);
  if (ret < 0)
    {
      return ret;
    }

  if (setup)
    {
      if ((fds->events & POLLIN) == 0)
        {
          ret = -EDEADLK;
          goto errout;
        }

      for (i = 0; i < CONFIG_GEOFENCE_NPOLLWAITERS; i++)
        {
          /* Find an unused slot */

          if (priv->fds[i] == NULL)
            {
              /* Bind the poll structure and this slot */

              priv->fds[i] = fds;
              fds->priv    = &priv->fds[i];
              GD_SetNotifyMask(CXD56_CPU1_DEV_GEOFENCE, FALSE);
              break;
            }
        }

      /* No space in priv fds array for poll handling */

      if (i >= CONFIG_GEOFENCE_NPOLLWAITERS)
        {
          fds->priv = NULL;
          ret       = -EBUSY;
          goto errout;
        }
    }
  else if (fds->priv)
    {
      /* This is a request to tear down the poll. */

      struct pollfd **slot = (struct pollfd **)fds->priv;

      /* Remove all memory of the poll setup */

      *slot     = NULL;
      fds->priv = NULL;
    }

errout:
  nxsem_post(&priv->devsem);
  return ret;
}
#endif

/****************************************************************************
 * Name: cxd56_geofence_register
 *
 * Description:
 *   Register the GEOFENCE character device as 'devpath'
 *
 * Input Parameters:
 *   devpath - The full path to the driver to register. E.g., "/dev/geofence"
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int cxd56_geofence_register(FAR const char *devpath)
{
  FAR struct cxd56_geofence_dev_s *priv;
  int                              ret;

  priv = (FAR struct cxd56_geofence_dev_s *)kmm_malloc(
    sizeof(struct cxd56_geofence_dev_s));
  if (!priv)
    {
      gnsserr("Failed to allocate instance\n");
      return -ENOMEM;
    }

  memset(priv, 0, sizeof(struct cxd56_geofence_dev_s));
  nxsem_init(&priv->devsem, 0, 1);

  ret = cxd56_geofence_initialize(priv);
  if (ret < 0)
    {
      gnsserr("Failed to initialize geofence device!\n");
      goto _err0;
    }

  ret = register_driver(devpath, &g_geofencefops, 0666, priv);
  if (ret < 0)
    {
      gnsserr("Failed to register driver: %d\n", ret);
      goto _err0;
    }

  ret = cxd56_cpu1siginit(CXD56_CPU1_DEV_GEOFENCE, priv);
  if (ret < 0)
    {
      gnsserr("Failed to initialize ICC for GPS CPU: %d\n", ret);
      goto _err2;
    }

  cxd56_cpu1sigregisterhandler(CXD56_CPU1_DEV_GEOFENCE,
                               cxd56_geofence_sighandler);

  gnssinfo("GEOFENCE driver loaded successfully!\n");

  return ret;

  _err2:
  unregister_driver(devpath);
  _err0:
  kmm_free(priv);
  return ret;
}

/****************************************************************************
 * Name: cxd56_geofenceinitialize
 *
 * Description:
 *   Initialize GEOFENCE device
 *
 * Input Parameters:
 *   devpath - The full path to the driver to register. E.g., "/dev/geofence"
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

int cxd56_geofenceinitialize(FAR const char *devpath)
{
  int ret;

  gnssinfo("Initializing GEOFENCE..\n");

  ret = cxd56_geofence_register(devpath);
  if (ret < 0)
    {
      gnsserr("Error registering GEOFENCE\n");
    }

  return ret;
}

#endif