static void *__map_umm(const char *name, uint32_t *size_r)
{
struct cobalt_memdev_stat statbuf;
int fd, ret;
void *addr;
fd = __RT(open(name, O_RDWR));
if (fd < 0) {
early_warning("cannot open RTDM device %s: %s", name,
strerror(errno));
return MAP_FAILED;
}
ret = __RT(ioctl(fd, MEMDEV_RTIOC_STAT, &statbuf));
if (ret) {
early_warning("failed getting status of %s: %s",
name, strerror(errno));
return MAP_FAILED;
}
addr = __RT(mmap(NULL, statbuf.size, PROT_READ|PROT_WRITE,
MAP_SHARED, fd, 0));
__RT(close(fd));
*size_r = statbuf.size;
return addr;
}
void cancel_fall(void)
{
staticCnt = 0;
delayCnt = 0;
//watcher_data->flag &= ~flag_sensor_transient;
early_warning(false);
terminate_transfer();
}
/*
* Will be called once on behalf of xenomai_init(), and when
* re-binding after a fork.
*/
static void init_bind(void)
{
cobalt_umm_private = map_umm(COBALT_MEMDEV_PRIVATE, &private_size);
if (cobalt_umm_private == MAP_FAILED) {
early_warning("cannot map private umm area: %s",
strerror(errno));
early_panic("(CONFIG_DEVTMPFS_MOUNT not enabled?)");
}
}
bool is_fall(void)
{
// LED_Light(led_blue,true);
if(watcher_data->config.valid & VALID_AUTO_ALARM) {
if(++delayCnt <= POSE_FALL_CONFIRM){
return false;
}
// LED_Light(led_blue,false);
if(( watcher_data->step.activity.base.type & TYPE_STAND) == 0){
early_warning(true); // play alarm media every time, it can make some break here
staticCnt++; //静止计数
if(staticCnt > POSE_FALL_STATIC) { //至此满足了摔倒的所有条件
cancel_fall();
return true;
}
}else { //取消报警
cancel_fall();
}
}
return false;
}
