3.3.1 Task Model

High level processing is implemented with two tasks: higher priority Mailbox Task, and lower priority Application Task. Once the system is configured, Mailbox task is pending on a semaphore, waiting for the frame ready message from DSP. Once awakened, Mailbox task copies relevant point cloud data from the shared memory into TCM, and posts the semaphore to an Application Task to run. It then creates the transport frame header, and initiates a DMA process for each part (TLV) of the frame. While DMA started sending data over UART, Mailbox task yields to lower priority Application Task. Once DMA process completes, additional DMA can be scheduled (example, TX2, and TX3). To achieve parallelism between Task processing and DMA, Transmit task sends current (Nth) point cloud TLV with previous (N-1)th target list and target index TLVs.

Application Task executes Group Tracking Step.