Mercurial > public > ostc4
annotate Small_CPU/Src/scheduler.c @ 781:01b3eb9d55c3
Update real multiplexer implementation:
The final multiplexer provides 4 sensor connections instead of three supported by the prototype => A mupping functionality has been introduced to map the 4 possible mux addresses to the three visible O2 sensor slots.
In addition the request cycle time is not depending on the number of sensors connected to make sure that all sensors are read within a defined time frame.
The error reaction had to be updated to reset mux channels if one of the sensors fails to respond.
| author | Ideenmodellierer |
|---|---|
| date | Mon, 29 May 2023 18:26:55 +0200 |
| parents | e40790a67165 |
| children | 19ab6f3ed52a |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file scheduler.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.0.6 | |
| 7 * @since 18-June-2015 | |
| 8 * @brief the main part except for base.c | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 @endverbatim | |
| 15 ****************************************************************************** | |
| 16 * @attention | |
| 17 * | |
| 18 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2> | |
| 19 * | |
| 20 ****************************************************************************** | |
| 21 */ | |
| 22 | |
| 23 | |
| 24 //#define DEBUGMODE | |
| 25 | |
| 26 /* Includes ------------------------------------------------------------------*/ | |
| 27 #include <string.h> | |
| 28 #include "baseCPU2.h" | |
| 29 #include "stm32f4xx_hal.h" | |
| 30 #include "i2c.h" | |
| 31 #include "scheduler.h" | |
| 32 #include "pressure.h" | |
| 33 #include "compass.h" | |
| 34 #include "batteryGasGauge.h" | |
| 35 #include "batteryCharger.h" | |
| 36 #include "spi.h" | |
| 37 #include "rtc.h" | |
| 38 #include "dma.h" | |
| 39 #include "adc.h" | |
| 40 #include "calc_crush.h" | |
| 41 #include "stm32f4xx_hal_rtc_ex.h" | |
| 42 #include "decom.h" | |
| 43 #include "tm_stm32f4_otp.h" | |
|
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44 #include "externalInterface.h" |
| 662 | 45 #include "uart.h" |
| 38 | 46 |
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47 /* uncomment to enable restoting of last known date in case of a power loss (RTC looses timing data) */ |
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48 /* #define RESTORE_LAST_KNOWN_DATE */ |
| 38 | 49 |
| 475 | 50 #define INVALID_PREASURE_VALUE (0.0f) |
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51 #define START_DIVE_MOUNTAIN_MODE_BAR (0.88f) |
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52 #define START_DIVE_IMMEDIATLY_BAR (1.16f) |
| 135 | 53 |
| 38 | 54 /* Private types -------------------------------------------------------------*/ |
| 55 const SGas Air = {79,0,0,0,0}; | |
| 56 | |
| 57 /* Exported variables --------------------------------------------------------*/ | |
| 58 SGlobal global; | |
| 59 SDevice DeviceDataFlash; | |
| 60 uint8_t deviceDataFlashValid = 0; | |
| 61 uint8_t deviceDataSubSeconds = 0; | |
| 62 | |
| 63 /* Private variables ---------------------------------------------------------*/ | |
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64 static uint16_t ManualExitDiveCounter = 0; /* The computer will exit dive mode in shallow area immediately. Increase depth to restart dive while counter is active */ |
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65 |
| 38 | 66 /* can be lost while in sleep */ |
| 67 uint8_t clearDecoNow = 0; | |
| 68 uint8_t setButtonsNow = 0; | |
| 69 | |
| 70 /* has to be in SRAM2 */ | |
| 71 uint8_t secondsCount = 0; | |
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72 |
| 207 | 73 static uint8_t dospisync = SPI_SYNC_METHOD_NONE; |
| 74 | |
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75 SScheduleCtrl Scheduler; |
| 38 | 76 |
| 77 /* Private function prototypes -----------------------------------------------*/ | |
| 78 | |
| 79 _Bool vpm_crush2(void); | |
| 80 void scheduleUpdateDeviceData(void); | |
| 81 long get_nofly_time_minutes(void); | |
| 82 void copyActualGas(SGas gas); | |
| 83 void copyPressureData(void); | |
| 84 void copyCnsAndOtuData(void); | |
| 85 void copyTimeData(void); | |
| 86 void copyCompassData(void); | |
| 87 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 88 void copyAmbientLightData(void); | |
| 89 void copyTissueData(void); | |
| 90 void copyVpmCrushingData(void); | |
| 91 void copyDeviceData(void); | |
| 92 void copyPICdata(void); | |
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93 void copyExtADCdata(); |
| 662 | 94 void copyExtCO2data(); |
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95 static void schedule_update_timer_helper(int8_t thisSeconds); |
| 38 | 96 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
| 97 | |
| 98 void scheduleSetDate(SDeviceLine *line); | |
| 99 | |
| 100 /* Exported functions --------------------------------------------------------*/ | |
| 101 | |
| 102 void initGlobals(void) | |
| 103 { | |
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104 bzero(&global, sizeof(SGlobal)); |
| 38 | 105 |
| 106 global.dataSendToSlavePending = 0; | |
| 107 global.dataSendToSlaveIsValid = 1; | |
| 108 global.dataSendToSlaveIsNotValidCount = 0; | |
| 109 | |
| 110 global.mode = MODE_POWERUP; | |
| 111 global.repetitive_dive = 0; | |
| 112 global.conservatism = 0; | |
| 113 global.whichGas = 0; | |
| 114 global.aktualGas[0] = Air; | |
| 115 global.lifeData.actualGas = global.aktualGas[0]; | |
| 116 | |
| 475 | 117 const uint8_t button_standard_sensitivity = 51; /* 51 equals a percentage of 85% which was the default value before */ |
| 38 | 118 global.ButtonResponsiveness[0] = button_standard_sensitivity; |
| 119 global.ButtonResponsiveness[1] = button_standard_sensitivity; | |
| 120 global.ButtonResponsiveness[2] = button_standard_sensitivity; | |
| 121 global.ButtonResponsiveness[3] = button_standard_sensitivity; | |
| 122 | |
| 123 global.ButtonPICdata[0] = 0xFF; | |
| 124 global.ButtonPICdata[1] = 0xFF; | |
| 125 global.ButtonPICdata[2] = 0xFF; | |
| 126 global.ButtonPICdata[3] = 0xFF; | |
| 127 | |
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128 global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working |
| 38 | 129 |
| 668 | 130 global.lifeData.battery_voltage = BATTERY_DEFAULT_VOLTAGE; |
| 131 | |
| 135 | 132 global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE; |
| 133 global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE; | |
| 38 | 134 decom_reset_with_1000mbar(&global.lifeData); |
| 135 | |
| 136 global.demo_mode = 0; | |
| 137 | |
| 138 for(int i = 0; i < MAX_SENSORS; i++) | |
| 139 { | |
| 140 global.sensorError[i] = HAL_OK; // HAL_OK = 0; | |
| 141 } | |
| 142 | |
| 143 global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;; | |
| 144 global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;; | |
| 145 global.dataSendToMaster.chargeStatus = 0; | |
| 146 | |
| 475 | 147 global.dataSendToMaster.power_on_reset = 0; |
| 38 | 148 global.dataSendToMaster.header.checkCode[0] = 0xA1; |
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149 global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE; |
| 38 | 150 global.dataSendToMaster.header.checkCode[2] = 0xA3; |
| 151 global.dataSendToMaster.header.checkCode[3] = 0xA4; | |
| 152 global.dataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 153 global.dataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 154 global.dataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 155 global.dataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 156 global.dataSendToMaster.sensorErrors = 0; | |
| 157 | |
| 158 global.sync_error_count = 0; | |
| 159 global.check_sync_not_running = 0; | |
| 160 | |
| 161 global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH; | |
| 162 global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW; | |
| 163 global.deviceDataSendToMaster.chargeStatus = 0; | |
| 164 | |
| 475 | 165 global.deviceDataSendToMaster.power_on_reset = 0; |
| 38 | 166 global.deviceDataSendToMaster.header.checkCode[0] = 0xDF; |
| 167 global.deviceDataSendToMaster.header.checkCode[1] = 0xDE; | |
| 168 global.deviceDataSendToMaster.header.checkCode[2] = 0xDD; | |
| 169 global.deviceDataSendToMaster.header.checkCode[3] = 0xDC; | |
| 170 global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 171 global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 172 global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 173 global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 174 | |
| 175 global.dataSendToSlave.getDeviceDataNow = 0; | |
| 176 | |
| 177 global.deviceData.batteryChargeCompleteCycles.value_int32 = 0; | |
| 178 global.deviceData.batteryChargeCycles.value_int32 = 0; | |
| 179 global.deviceData.depthMaximum.value_int32 = 0; | |
| 180 global.deviceData.diveCycles.value_int32 = 0; | |
| 181 global.deviceData.hoursOfOperation.value_int32 = 0; | |
| 182 global.deviceData.temperatureMaximum.value_int32 = INT32_MIN; | |
| 183 global.deviceData.temperatureMinimum.value_int32 = INT32_MAX; | |
| 184 global.deviceData.voltageMinimum.value_int32 = INT32_MAX; | |
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185 |
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186 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
| 207 | 187 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
| 38 | 188 } |
| 189 | |
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190 void reinitGlobals(void) |
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191 { |
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192 global.dataSendToSlavePending = 0; |
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193 global.dataSendToSlaveIsValid = 0; |
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194 global.dataSendToSlaveIsNotValidCount = 0; |
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195 global.sync_error_count = 0; |
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196 global.check_sync_not_running = 0; |
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197 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
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198 } |
| 38 | 199 |
| 200 void scheduleSpecial_Evaluate_DataSendToSlave(void) | |
| 201 { | |
| 104 | 202 //TEMPORARY fix for compass calibration. |
| 203 //TODO: Fix I2C timeout for complete solving problem. | |
| 204 if(global.mode==MODE_CALIB){ | |
| 205 return; | |
| 206 } | |
| 90 | 207 |
| 88 | 208 global.dataSendToSlavePending = 0; |
| 209 if(!global.dataSendToSlaveIsValid) return; | |
| 38 | 210 |
| 211 global.dataSendToMaster.confirmRequest.uw = 0; | |
| 212 | |
| 213 if(TM_OTP_Read(0,0) == 0xFF) | |
| 214 { | |
| 215 if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A)) | |
| 216 TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware); | |
| 217 } | |
| 218 | |
| 219 if(global.dataSendToSlave.setAccidentFlag) | |
| 220 { | |
| 221 global.dataSendToMaster.confirmRequest.ub.accident = 1; | |
| 222 global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag; | |
| 223 scheduleSetDate(&global.deviceData.diveAccident); | |
| 224 global.accidentFlag |= global.dataSendToSlave.setAccidentFlag; | |
| 225 if(global.accidentFlag == ACCIDENT_CNS) // LVL1 | |
| 226 global.accidentRemainingSeconds = 2*60*60; | |
| 227 else | |
| 228 global.accidentRemainingSeconds = 24*60*60; | |
| 229 } | |
| 230 | |
| 231 if(global.dataSendToSlave.setTimeNow) | |
| 232 { | |
| 233 global.dataSendToMaster.confirmRequest.ub.time = 1; | |
| 234 RTC_SetTime(global.dataSendToSlave.data.newTime); | |
| 235 schedule_update_timer_helper(0); | |
| 236 } | |
| 237 | |
| 238 if(global.dataSendToSlave.setDateNow) | |
| 239 { | |
| 240 global.dataSendToMaster.confirmRequest.ub.date = 1; | |
| 241 RTC_SetDate(global.dataSendToSlave.data.newDate); | |
| 242 schedule_update_timer_helper(0); | |
| 243 } | |
| 244 | |
| 245 if(global.dataSendToSlave.calibrateCompassNow) | |
| 246 { | |
| 247 global.dataSendToMaster.confirmRequest.ub.compass = 1; | |
| 248 global.mode = MODE_CALIB; | |
| 249 } | |
| 250 | |
| 251 if(global.dataSendToSlave.clearDecoNow) | |
| 252 { | |
| 253 global.dataSendToMaster.confirmRequest.ub.clearDeco = 1; | |
| 254 clearDecoNow = 1; | |
| 255 } | |
| 256 | |
| 257 if(global.dataSendToSlave.setButtonSensitivityNow) | |
| 258 { | |
| 259 global.dataSendToMaster.confirmRequest.ub.button = 1; | |
| 260 global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0]; | |
| 261 global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1]; | |
| 262 global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2]; | |
| 263 global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3]; | |
| 264 setButtonsNow = 1; | |
| 265 } | |
| 266 | |
| 267 if(global.dataSendToSlave.setBatteryGaugeNow) | |
| 268 { | |
| 104 | 269 if(global.mode!=MODE_CALIB){ |
| 38 | 270 global.dataSendToMaster.confirmRequest.ub.batterygauge = 1; |
| 271 battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat); | |
| 104 | 272 } |
| 38 | 273 } |
| 274 | |
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275 if(global.dataSendToSlave.setEndDive) |
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276 { |
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277 ManualExitDiveCounter = 30 * 60; /* This will cause the computer to leave dive mode if in shallow area and increase the depth to enter dive mode for the next 30 minutes */ |
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278 } |
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279 |
| 38 | 280 if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN)) |
| 281 { | |
| 282 global.mode = MODE_SHUTDOWN; | |
| 283 } | |
| 284 | |
| 285 if(global.mode == MODE_DIVE) | |
| 286 { | |
| 287 copyActualGas(global.dataSendToSlave.data.actualGas); | |
| 288 } | |
| 289 else | |
| 290 { | |
| 291 copyActualGas(Air); | |
| 292 global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook; | |
| 293 global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth; | |
| 294 } | |
| 295 | |
| 296 /* for simulation / testing */ | |
| 297 global.ceiling_from_main_CPU_mbar = global.dataSendToSlave.data.ambient_pressure_mbar_ceiling; | |
| 298 | |
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299 /* Set pressure and temperature offsets */ |
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300 pressure_set_offset (global.dataSendToSlave.data.offsetPressureSensor_mbar, global.dataSendToSlave.data.offsetTemperatureSensor_centiDegree); |
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301 |
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302 |
| 88 | 303 /* for device data updates */ |
| 304 deviceDataFlashValid = 0; | |
| 305 memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice)); | |
| 306 deviceDataFlashValid = 1; | |
| 89 | 307 |
| 662 | 308 |
| 309 /* handle external interface requests */ | |
| 310 | |
| 311 if((global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON) != externalInterface_isEnabledPower33()) | |
| 312 { | |
| 313 externalInterface_SwitchPower33(global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON); | |
| 314 } | |
| 315 | |
| 691 | 316 if(((global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_ADC_ON) != 0) != externalInterface_isEnabledADC()) |
| 317 { | |
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318 externalInterface_SwitchADC(1-externalInterface_isEnabledADC()); |
| 691 | 319 } |
| 320 | |
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321 if(((global.dataSendToSlave.data.externalInterface_Cmd >> 8) & 0x0F) != externalInterface_GetUARTProtocol()) |
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322 { |
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323 externalInterface_SwitchUART((global.dataSendToSlave.data.externalInterface_Cmd >> 8) & 0x0F); |
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324 } |
| 691 | 325 |
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326 externalInface_SetSensorMap(global.dataSendToSlave.data.externalInterface_SensorMap); |
| 691 | 327 if(global.dataSendToSlave.data.externalInterface_Cmd & 0x00FF) /* lowest nibble for commands */ |
| 662 | 328 { |
| 329 externalInterface_ExecuteCmd(global.dataSendToSlave.data.externalInterface_Cmd); | |
| 330 } | |
| 331 | |
| 332 | |
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333 #if 0 |
| 104 | 334 //TODO: Temporary placed here. Duration ~210 ms. |
| 335 if (global.I2C_SystemStatus != HAL_OK) { | |
| 336 MX_I2C1_TestAndClear(); | |
| 337 MX_I2C1_Init(); | |
| 338 // init_pressure(); | |
| 339 // compass_init(0, 7); | |
| 340 // accelerator_init(); | |
| 341 } | |
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342 #endif /* already called once a second */ |
| 38 | 343 } |
| 344 | |
| 345 | |
| 346 /** | |
| 347 ****************************************************************************** | |
| 348 * @brief schedule_time_compare_helper. | |
| 349 * @author heinrichs weikamp gmbh | |
| 350 * @version V0.0.1 | |
| 351 * @date 20-Oct-2016 | |
| 352 ****************************************************************************** | |
| 353 */ | |
| 354 | |
| 355 uint8_t RtcBugFixChsw(uint8_t inStupidTime) | |
| 356 { | |
| 357 uint8_t multiplesOf16 = 0; | |
| 358 | |
| 359 multiplesOf16 = inStupidTime / 16; | |
| 360 | |
| 361 inStupidTime -= multiplesOf16 * 16; | |
| 362 | |
| 363 return (10 * multiplesOf16) + inStupidTime; | |
| 364 } | |
| 365 | |
| 366 uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast) | |
| 367 { | |
| 368 uint32_t nowInSeconds; | |
| 369 uint32_t lastInSeconds; | |
| 370 uint32_t resultDiff; | |
| 371 | |
| 372 nowInSeconds = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600; | |
| 373 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60; | |
| 374 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds); | |
| 375 | |
| 376 lastInSeconds = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600; | |
| 377 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60; | |
| 378 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds); | |
| 379 | |
| 380 if(dateNow.Date != dateLast.Date) | |
| 381 { | |
| 382 resultDiff = 86400 + nowInSeconds - lastInSeconds; | |
| 383 } | |
| 384 else | |
| 385 { | |
| 386 resultDiff = nowInSeconds - lastInSeconds; | |
| 387 } | |
| 388 return resultDiff; | |
| 389 } | |
| 390 | |
| 391 | |
| 392 | |
| 393 /** | |
| 394 ****************************************************************************** | |
| 395 * @brief schedule_update_timer_helper. | |
| 396 * @author heinrichs weikamp gmbh | |
| 397 * @version V0.0.1 | |
| 398 * @date 20-Oct-2016 | |
| 399 * @brief use 0 for init | |
| 400 use -1 for RTC controlled | |
| 401 use >= 1 for manual control | |
| 402 ****************************************************************************** | |
| 403 */ | |
| 404 extern RTC_HandleTypeDef RTCHandle; | |
| 405 | |
|
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406 static void schedule_update_timer_helper(int8_t thisSeconds) |
| 38 | 407 { |
| 408 static RTC_TimeTypeDef sTimeLast; | |
| 409 static RTC_DateTypeDef sDateLast; | |
| 410 RTC_TimeTypeDef sTimeNow; | |
| 411 RTC_DateTypeDef sDateNow; | |
| 412 uint32_t secondsPast; | |
| 413 | |
| 414 HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD); | |
| 415 HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD); | |
| 416 | |
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417 if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast |
| 38 | 418 { |
| 419 if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast | |
| 420 { | |
| 421 secondsPast = thisSeconds; | |
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422 } else { |
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423 // thisSeconds < 0 and not <= ! |
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424 secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast); |
| 38 | 425 } |
| 426 | |
| 427 if(global.seconds_since_last_dive) | |
| 428 { | |
| 429 if(secondsPast >= 777900) | |
| 430 { | |
| 431 global.seconds_since_last_dive = 0; | |
| 432 } | |
| 433 else | |
| 434 { | |
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435 uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast; |
| 38 | 436 if(tempNewValue > 777900) // a bit more than nine days [seconds] |
| 437 global.seconds_since_last_dive = 0; | |
| 438 else | |
| 439 global.seconds_since_last_dive = (long)tempNewValue; | |
| 440 } | |
| 441 } | |
| 442 } | |
| 443 | |
| 444 sTimeLast = sTimeNow; | |
| 445 sDateLast = sDateNow; | |
| 446 } | |
| 447 | |
| 448 /** | |
| 449 ****************************************************************************** | |
| 450 * @brief schedule_check_resync. | |
| 451 * @author heinrichs weikamp gmbh | |
| 452 * @version V0.0.2 | |
| 453 * @date 18-June-2015 | |
| 454 ****************************************************************************** | |
| 455 */ | |
| 135 | 456 |
| 38 | 457 void schedule_check_resync(void) |
| 458 { | |
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459 /* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */ |
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460 if((global.check_sync_not_running >= Scheduler.communicationTimeout)) |
| 38 | 461 { |
| 89 | 462 // global.dataSendToSlaveIsNotValidCount = 0; |
| 135 | 463 global.check_sync_not_running = 0; |
| 464 global.sync_error_count++; | |
| 465 | |
| 466 /* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the | |
| 467 * function error handler | |
| 468 */ | |
| 277 | 469 HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE); |
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470 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON; /* Reduce error detection time */ |
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471 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
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472 } |
| 38 | 473 } |
| 474 | |
| 475 | |
| 476 /** | |
| 477 ****************************************************************************** | |
| 478 * @brief scheduleDiveMode. / Dive Mode: Main Loop | |
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479 * @author heinrichs weikamp gmbh |
| 38 | 480 * @version V0.0.1 |
| 481 * @date 22-April-2014 | |
| 482 ****************************************************************************** | |
| 483 */ | |
| 484 void scheduleDiveMode(void) | |
| 485 { | |
| 486 uint32_t ticksdiff = 0; | |
| 487 uint32_t lasttick = 0; | |
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488 uint8_t extAdcChannel = 0; |
| 38 | 489 uint8_t counterAscentRate = 0; |
| 490 float lastPressure_bar = 0.0f; | |
| 491 global.dataSendToMaster.mode = MODE_DIVE; | |
| 492 global.deviceDataSendToMaster.mode = MODE_DIVE; | |
| 493 uint8_t counter_exit = 0; | |
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494 |
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495 Scheduler.counterSPIdata100msec = 0; |
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496 Scheduler.counterCompass100msec = 0; |
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497 Scheduler.counterPressure100msec = 0; |
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498 Scheduler.counterAmbientLight100msec = 0; |
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499 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 500 |
| 501 global.deviceData.diveCycles.value_int32++; | |
| 502 scheduleSetDate(&global.deviceData.diveCycles); | |
| 503 global.lifeData.counterSecondsShallowDepth = 0; | |
| 504 | |
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505 /* Get the last stable value in case of an unstable surface history condition */ |
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506 if(!is_surface_pressure_stable()) |
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507 { |
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508 set_last_surface_pressure_stable(); |
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509 } |
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510 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; |
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511 ManualExitDiveCounter = 0; /* reset early exit request */ |
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512 |
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513 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 514 while(global.mode == MODE_DIVE) |
| 515 { | |
| 516 lasttick = HAL_GetTick(); | |
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517 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 518 |
| 691 | 519 #ifdef ENABLE_CO2_SUPPORT |
| 742 | 520 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_CO2 >> 8)) |
| 691 | 521 { |
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522 UART_HandleCO2Data(); |
| 691 | 523 } |
| 524 #endif | |
| 525 #ifdef ENABLE_SENTINEL_MODE | |
| 742 | 526 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_SENTINEL >> 8)) |
| 691 | 527 { |
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528 UART_HandleSentinelData(); |
| 691 | 529 } |
| 530 #endif | |
| 742 | 531 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_O2 >> 8)) |
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532 { |
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533 UART_HandleDigitalO2(); |
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534 } |
| 691 | 535 |
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536 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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537 { |
| 277 | 538 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 539 { | |
| 540 Scheduler.counterSPIdata100msec++; | |
| 541 } | |
| 542 schedule_check_resync(); | |
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543 |
| 691 | 544 if(externalInterface_isEnabledADC()) |
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545 { |
| 691 | 546 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 547 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 548 { | |
| 549 externalInterface_CalculateADCValue(extAdcChannel); | |
| 550 } | |
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551 } |
| 691 | 552 copyExtADCdata(); |
| 662 | 553 copyExtCO2data(); |
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554 } |
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555 |
| 38 | 556 //Evaluate pressure at 20 ms, 120 ms, 220 ms,.... |
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557 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 558 { |
| 559 global.check_sync_not_running++; | |
| 277 | 560 pressure_update_alternating(); |
| 135 | 561 scheduleUpdateDeviceData(); |
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562 #ifdef DEMOMODE |
| 38 | 563 if(global.demo_mode) |
| 564 { | |
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565 int turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar); |
| 38 | 566 if(turbo_seconds) |
| 567 { | |
| 568 global.lifeData.dive_time_seconds += turbo_seconds; | |
| 569 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData); | |
| 570 copyTissueData(); | |
| 571 } | |
| 572 if((global.lifeData.counterSecondsShallowDepth > 1) && (global.lifeData.counterSecondsShallowDepth < (global.settings.timeoutDiveReachedZeroDepth - 10))) | |
| 573 global.lifeData.counterSecondsShallowDepth = (global.settings.timeoutDiveReachedZeroDepth - 10); | |
| 574 } | |
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575 #endif |
| 38 | 576 |
| 577 //Calc ascentrate every two second (20 * 100 ms) | |
| 578 counterAscentRate++; | |
| 579 if(counterAscentRate == 20) | |
| 580 { | |
| 581 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 582 if(lastPressure_bar >= 0) | |
| 583 { | |
| 584 //2 seconds * 30 == 1 minute, bar * 10 = meter | |
| 585 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10; | |
| 586 } | |
| 587 lastPressure_bar = global.lifeData.pressure_ambient_bar; | |
| 588 counterAscentRate = 0; | |
| 589 } | |
| 135 | 590 copyPressureData(); |
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591 Scheduler.counterPressure100msec++; |
| 38 | 592 } |
| 593 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... | |
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594 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 595 { |
| 596 compass_read(); | |
| 597 acceleration_read(); | |
| 598 compass_calc(); | |
| 599 copyCompassData(); | |
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600 Scheduler.counterCompass100msec++; |
| 135 | 601 } |
| 38 | 602 |
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603 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 604 { |
| 605 adc_ambient_light_sensor_get_data(); | |
| 606 copyAmbientLightData(); | |
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607 Scheduler.counterAmbientLight100msec++; |
| 38 | 608 } |
| 609 | |
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610 //Evaluate tissues, toxic data, vpm, etc. once a second |
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611 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 612 { |
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613 Scheduler.tick_execute1second = 0xFFFFFFFF; /* execute once only in the second cycle */ |
| 38 | 614 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) |
| 615 { | |
| 616 scheduleUpdateLifeData(0); // includes tissues | |
| 617 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too | |
| 618 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); | |
| 619 decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2); | |
| 620 decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2); | |
| 88 | 621 battery_gas_gauge_get_data(); |
| 38 | 622 |
| 623 | |
| 624 /** counter_exit allows safe exit via button for testing | |
| 625 * and demo_mode is exited too if aplicable. | |
| 626 */ | |
| 627 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 628 { | |
| 629 counter_exit++; | |
| 630 if(counter_exit >= 2) | |
| 631 { | |
| 632 global.mode = MODE_SURFACE; | |
| 633 global.demo_mode = 0; | |
| 634 } | |
| 635 } | |
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636 |
| 38 | 637 if(is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 638 { | |
| 639 global.lifeData.counterSecondsShallowDepth++; | |
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640 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0)) |
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641 || (ManualExitDiveCounter)) |
| 38 | 642 { |
| 643 global.seconds_since_last_dive = 1; // start counter | |
| 644 schedule_update_timer_helper(0); // zum starten :-) | |
| 645 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 646 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 647 } | |
| 648 } | |
| 649 else | |
| 650 { | |
| 651 global.lifeData.counterSecondsShallowDepth = 0; | |
| 652 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 653 } | |
| 654 vpm_crush2(); | |
| 655 } | |
| 656 else // DIVEMODE_Apnea | |
| 657 { | |
| 658 global.lifeData.dive_time_seconds++; | |
| 659 | |
| 660 // exit dive mode | |
| 661 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 662 { | |
| 663 counter_exit++; | |
| 664 if(counter_exit >= 2) | |
| 665 { | |
| 666 scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode | |
| 667 global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time | |
| 668 global.mode = MODE_SURFACE; | |
| 669 global.demo_mode = 0; | |
| 670 } | |
| 671 } | |
| 672 | |
| 673 // surface break | |
| 674 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
| 675 { | |
| 676 global.lifeData.counterSecondsShallowDepth++; | |
| 677 if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds | |
| 678 { | |
| 679 global.lifeData.dive_time_seconds = 0; // this apnea dive ends here | |
| 680 } | |
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681 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (ManualExitDiveCounter)) |
| 38 | 682 { |
| 683 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 684 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 685 } | |
| 686 } | |
| 687 else | |
| 688 { | |
| 689 global.lifeData.counterSecondsShallowDepth = 0; | |
| 690 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 691 } | |
| 692 } // standard dive or DIVEMODE_Apnea | |
| 693 | |
| 88 | 694 copyVpmCrushingData(); |
| 695 copyTimeData(); | |
| 696 copyCnsAndOtuData(); | |
| 697 copyBatteryData(); | |
| 38 | 698 |
| 88 | 699 // new hw 170523 |
| 700 if(global.I2C_SystemStatus != HAL_OK) | |
| 701 { | |
| 702 MX_I2C1_TestAndClear(); | |
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703 HAL_Delay(100); |
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704 I2C_DeInit(); |
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705 HAL_Delay(100); |
| 88 | 706 MX_I2C1_Init(); |
|
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707 HAL_Delay(100); |
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708 |
|
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709 init_pressure(); |
| 88 | 710 } |
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711 } |
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712 if(ticksdiff >= 1000) |
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713 { |
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714 /* reset counter */ |
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715 Scheduler.tickstart = HAL_GetTick(); |
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716 Scheduler.counterSPIdata100msec = 0; |
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717 Scheduler.counterCompass100msec = 0; |
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718 Scheduler.counterPressure100msec = 0; |
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719 Scheduler.counterAmbientLight100msec = 0; |
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720 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 721 } |
| 722 } | |
| 723 } | |
| 724 | |
| 725 | |
| 726 /** | |
| 727 ****************************************************************************** | |
| 728 * @brief scheduleSurfaceMode / surface mode: Main Loop | |
|
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729 * @author heinrichs weikamp gmbh |
| 38 | 730 * @version V0.0.1 |
| 731 * @date 22-April-2014 | |
| 732 ****************************************************************************** | |
| 733 */ | |
| 734 | |
| 735 | |
| 736 // =============================================================================== | |
| 737 // scheduleTestMode | |
| 738 /// @brief included for sealed hardware with permanent RTE update message | |
| 739 // =============================================================================== | |
| 740 void scheduleTestMode(void) | |
| 741 { | |
| 742 uint32_t ticksdiff = 0; | |
| 743 uint32_t lasttick = 0; | |
|
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744 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 745 |
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746 Scheduler.counterPressure100msec = 0; |
| 38 | 747 |
| 748 float temperature_carousel = 0.0f; | |
| 749 float temperature_changer = 0.1f; | |
| 750 | |
| 751 while(global.mode == MODE_TEST) | |
| 752 { | |
| 753 lasttick = HAL_GetTick(); | |
|
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754 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
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755 |
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756 //Evaluate received data at 10 ms, 110 ms, 210 ms,... |
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757 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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758 { |
| 277 | 759 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 760 { | |
| 761 Scheduler.counterSPIdata100msec++; | |
| 762 } | |
| 763 schedule_check_resync(); | |
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764 } |
| 38 | 765 |
| 766 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... | |
|
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767 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 768 { |
| 769 global.check_sync_not_running++; | |
| 770 | |
| 277 | 771 pressure_update_alternating(); |
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772 scheduleUpdateDeviceData(); |
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773 global.lifeData.ascent_rate_meter_per_min = 0; |
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774 copyPressureData(); |
| 38 | 775 |
| 776 if(temperature_carousel > 20.0f) | |
| 777 { | |
| 778 temperature_carousel = 20.0f; | |
| 779 temperature_changer = -0.1f; | |
| 780 } | |
| 781 else | |
| 782 if(temperature_carousel < 0) | |
| 783 { | |
| 784 temperature_carousel = 0; | |
| 785 temperature_changer = +0.1f; | |
| 786 } | |
| 787 | |
| 788 temperature_carousel += temperature_changer; | |
| 789 | |
| 790 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; | |
| 791 | |
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792 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); |
| 38 | 793 |
| 794 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; | |
| 795 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 796 global.dataSendToMaster.boolPressureData = boolPressureData; | |
|
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797 Scheduler.counterPressure100msec++; |
| 38 | 798 } |
| 799 | |
| 800 if(ticksdiff >= 1000) | |
| 801 { | |
| 802 //Set back tick counter | |
|
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803 Scheduler.tickstart = HAL_GetTick(); |
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804 Scheduler.counterPressure100msec = 0; |
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805 Scheduler.counterSPIdata100msec = 0; |
| 38 | 806 } |
| 807 }; | |
| 808 } | |
| 809 | |
| 810 | |
|
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811 |
| 38 | 812 void scheduleSurfaceMode(void) |
| 813 { | |
| 814 uint32_t ticksdiff = 0; | |
| 815 uint32_t lasttick = 0; | |
|
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816 uint8_t extAdcChannel = 0; |
| 662 | 817 uint8_t batteryToggle = 0; /* ADC is operating in automatic 2 second cycles => consider for battery charge function call */ |
| 818 | |
|
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819 Scheduler.tickstart = HAL_GetTick(); |
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820 Scheduler.counterSPIdata100msec = 0; |
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821 Scheduler.counterCompass100msec = 0; |
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822 Scheduler.counterPressure100msec = 0; |
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823 Scheduler.counterAmbientLight100msec = 0; |
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824 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
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825 |
| 38 | 826 global.dataSendToMaster.mode = MODE_SURFACE; |
| 827 global.deviceDataSendToMaster.mode = MODE_SURFACE; | |
| 828 | |
| 829 while(global.mode == MODE_SURFACE) | |
| 830 { | |
| 277 | 831 |
| 38 | 832 lasttick = HAL_GetTick(); |
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833 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 834 |
| 835 if(setButtonsNow == 1) | |
| 836 { | |
| 837 if(scheduleSetButtonResponsiveness()) | |
| 838 setButtonsNow = 0; | |
| 839 } | |
| 691 | 840 |
| 841 #ifdef ENABLE_CO2_SUPPORT | |
|
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842 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_CO2 >> 8)) |
| 691 | 843 { |
|
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844 UART_HandleCO2Data(); |
| 691 | 845 } |
| 846 #endif | |
| 847 #ifdef ENABLE_SENTINEL_MODE | |
| 742 | 848 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_SENTINEL >> 8)) |
| 691 | 849 { |
|
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850 UART_HandleSentinelData(); |
| 691 | 851 } |
| 852 #endif | |
| 662 | 853 |
|
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854 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_O2 >> 8)) |
|
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855 { |
|
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856 UART_HandleDigitalO2(); |
|
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857 } |
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858 |
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859 /* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */ |
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860 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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861 { |
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862 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
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863 { |
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864 Scheduler.counterSPIdata100msec++; |
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865 } |
| 277 | 866 schedule_check_resync(); |
| 691 | 867 if(externalInterface_isEnabledADC()) |
|
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868 { |
| 691 | 869 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 870 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 871 { | |
| 872 externalInterface_CalculateADCValue(extAdcChannel); | |
| 873 | |
| 874 } | |
|
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875 } |
| 691 | 876 copyExtADCdata(); |
| 662 | 877 copyExtCO2data(); |
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878 } |
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879 |
|
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880 /* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */ |
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881 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 882 { |
| 883 global.check_sync_not_running++; | |
| 277 | 884 pressure_update_alternating(); |
| 135 | 885 scheduleUpdateDeviceData(); |
| 38 | 886 global.lifeData.ascent_rate_meter_per_min = 0; |
| 135 | 887 copyPressureData(); |
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888 Scheduler.counterPressure100msec++; |
| 135 | 889 |
|
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890 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 38 | 891 global.mode = MODE_DIVE; |
| 892 } | |
| 893 | |
|
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894 /* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */ |
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895 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 896 { |
| 897 compass_read(); | |
| 898 acceleration_read(); | |
| 899 compass_calc(); | |
| 900 copyCompassData(); | |
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901 Scheduler.counterCompass100msec++; |
| 135 | 902 } |
| 38 | 903 |
|
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904 /* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */ |
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905 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 906 { |
| 907 adc_ambient_light_sensor_get_data(); | |
| 908 copyAmbientLightData(); | |
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909 Scheduler.counterAmbientLight100msec++; |
| 38 | 910 } |
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911 |
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912 |
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913 |
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914 /* Evaluate tissues, toxic data, etc. once a second... duration ~1ms */ |
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915 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 916 { |
|
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917 Scheduler.tick_execute1second = 0xFFFFFFFF; |
| 38 | 918 if(clearDecoNow) |
| 919 { | |
| 920 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time | |
| 921 // new 160215 hw | |
| 922 global.repetitive_dive = 0; | |
| 923 global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well | |
| 924 global.no_fly_time_minutes = 0; | |
| 925 global.accidentFlag = 0; | |
| 926 global.accidentRemainingSeconds = 0; | |
| 927 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); | |
| 928 clearDecoNow = 0; | |
| 929 } | |
| 89 | 930 |
|
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931 if(ManualExitDiveCounter) |
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932 { |
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933 ManualExitDiveCounter--; |
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934 } |
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935 |
| 38 | 936 if(global.seconds_since_last_dive) |
| 937 { | |
| 938 schedule_update_timer_helper(-1); | |
| 939 } | |
| 89 | 940 |
| 38 | 941 if(global.accidentRemainingSeconds) |
| 942 { | |
| 943 global.accidentRemainingSeconds--; | |
| 944 if(!global.accidentRemainingSeconds) | |
| 945 global.accidentFlag = 0; | |
| 946 } | |
| 947 global.dataSendToMaster.accidentFlags = global.accidentFlag; | |
| 89 | 948 |
| 38 | 949 update_surface_pressure(1); |
| 950 scheduleUpdateLifeData(0); | |
| 951 decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive); | |
| 952 decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive); | |
| 135 | 953 |
| 954 /* start desaturation calculation after first valid measurement has been done */ | |
| 955 if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE) | |
| 956 { | |
| 957 global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar); | |
| 958 } | |
| 959 else | |
| 960 { | |
| 961 global.lifeData.desaturation_time_minutes = 0; | |
| 962 } | |
| 662 | 963 |
| 964 if(!batteryToggle) | |
| 965 { | |
| 966 battery_gas_gauge_get_data(); | |
| 967 battery_charger_get_status_and_contral_battery_gas_gauge(2); | |
| 968 batteryToggle = 1; | |
| 969 } | |
| 970 else | |
| 971 { | |
| 972 batteryToggle = 0; | |
| 973 } | |
| 89 | 974 |
| 88 | 975 copyCnsAndOtuData(); |
| 976 copyTimeData(); | |
| 977 copyBatteryData(); | |
| 978 copyDeviceData(); | |
| 38 | 979 |
| 691 | 980 |
|
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981 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occured during startup */ |
| 88 | 982 if(global.I2C_SystemStatus != HAL_OK) |
| 983 { | |
| 984 MX_I2C1_TestAndClear(); | |
|
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985 HAL_Delay(100); |
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986 I2C_DeInit(); |
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987 HAL_Delay(100); |
| 88 | 988 MX_I2C1_Init(); |
|
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989 HAL_Delay(100); |
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990 |
|
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991 if(global.I2C_SystemStatus == HAL_OK) |
| 88 | 992 { |
| 993 init_pressure(); | |
|
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994 if(is_init_pressure_done()) /* Init surface data with initial measurement */ |
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995 { |
|
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996 init_surface_ring(0); |
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997 } |
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998 |
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999 if(!battery_gas_gauge_CheckConfigOK()) |
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1000 { |
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1001 init_battery_gas_gauge(); |
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1002 } |
| 88 | 1003 } |
| 1004 } | |
|
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1005 externalInterface_AutodetectSensor(); |
|
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1006 } |
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1007 |
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1008 if(ticksdiff >= 1000) |
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1009 { |
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1010 //Set back tick counter |
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1011 Scheduler.tickstart = HAL_GetTick(); |
|
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1012 Scheduler.counterSPIdata100msec = 0; |
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1013 Scheduler.counterCompass100msec = 0; |
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1014 Scheduler.counterPressure100msec = 0; |
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1015 Scheduler.counterAmbientLight100msec = 0; |
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1016 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 1017 } |
| 1018 } | |
| 1019 } | |
| 1020 | |
| 207 | 1021 inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod) |
|
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1022 { |
| 207 | 1023 if( SyncMethod < SPI_SYNC_METHOD_INVALID) |
| 1024 { | |
| 1025 dospisync = SyncMethod; | |
| 1026 } | |
| 1027 } | |
| 1028 | |
|
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1029 void Scheduler_SyncToSPI(uint8_t TXtick) |
| 207 | 1030 { |
| 1031 uint32_t deltatick = 0; | |
|
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1032 int8_t TXcompensation; |
| 207 | 1033 |
| 1034 switch(dospisync) | |
|
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1035 { |
| 207 | 1036 case SPI_SYNC_METHOD_HARD: |
| 1037 //Set back tick counter | |
|
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1038 Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */ |
| 207 | 1039 Scheduler.counterSPIdata100msec = 0; |
| 1040 Scheduler.counterCompass100msec = 0; | |
| 1041 Scheduler.counterPressure100msec = 0; | |
| 1042 Scheduler.counterAmbientLight100msec = 0; | |
| 1043 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1044 break; | |
| 1045 case SPI_SYNC_METHOD_SOFT: | |
| 1046 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); | |
| 1047 deltatick %= 100; /* clip to 100ms window */ | |
| 1048 if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */ | |
| 1049 { | |
| 1050 Scheduler.tickstart -= deltatick; | |
| 1051 } | |
| 1052 else | |
| 1053 { | |
| 1054 Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart); | |
| 1055 } | |
| 1056 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1057 break; | |
|
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1058 default: /* continous sync activity */ |
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1059 if(TXtick < 100) /* do not handle unexpected jump length > 100ms */ |
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1060 { |
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1061 TXtick += 4; /* add 4ms TX time to offset of 100ms time stamp */ |
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1062 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); |
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1063 deltatick %= 100; |
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1064 if(deltatick > 50) |
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1065 { |
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1066 TXcompensation = deltatick - 100; /* neg drift */ |
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1067 } |
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1068 else |
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1069 { |
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1070 TXcompensation = deltatick; /* pos drift */ |
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1071 } |
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1072 TXcompensation = TXtick - TXcompensation; |
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1073 Scheduler.tickstart -= TXcompensation; |
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1074 } |
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1075 else |
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1076 { |
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1077 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_SOFT); /* A large shift in 100ms cycle occured => clip to 100ms in next sync call */ |
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1078 } |
| 207 | 1079 break; |
|
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1080 } |
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1081 } |
| 38 | 1082 |
| 1083 /** | |
| 1084 ****************************************************************************** | |
| 1085 * @brief scheduleCompassCalibrationMode | |
| 1086 * @author heinrichs weikamp gmbh | |
| 1087 * @version V0.0.1 | |
| 1088 * @since 31-March-2015 | |
| 1089 * @date 31-March-2015 | |
| 1090 ****************************************************************************** | |
| 1091 */ | |
| 1092 void scheduleCompassCalibrationMode(void) | |
| 1093 { | |
| 1094 compass_init(1,7); // fast mode, max gain | |
| 1095 compass_calib(); // duration : 1 minute! | |
| 1096 compass_init(0,7); // back to normal mode | |
| 1097 | |
| 1098 if(global.seconds_since_last_dive) | |
| 1099 { | |
| 1100 schedule_update_timer_helper(-1); | |
| 1101 } | |
| 1102 | |
| 1103 scheduleUpdateLifeData(0); | |
| 1104 global.mode = MODE_SURFACE; | |
| 1105 } | |
| 1106 | |
| 1107 | |
| 1108 /** | |
| 1109 ****************************************************************************** | |
| 1110 * @brief scheduleSleepMode / sleep mode: Main Loop | |
| 1111 * @author heinrichs weikamp gmbh | |
| 1112 * @version V0.0.2 | |
| 1113 * @since 31-March-2015 | |
| 1114 * @date 22-April-2014 | |
| 1115 ****************************************************************************** | |
| 1116 */ | |
| 1117 | |
| 1118 void scheduleSleepMode(void) | |
| 1119 { | |
| 1120 global.dataSendToMaster.mode = 0; | |
| 1121 global.deviceDataSendToMaster.mode = 0; | |
| 668 | 1122 secondsCount = 0; |
| 38 | 1123 |
| 1124 /* prevent button wake up problem while in sleep_prepare | |
| 1125 * sleep prepare does I2C_DeInit() | |
| 1126 */ | |
| 1127 if(global.mode != MODE_SLEEP) | |
| 1128 MX_I2C1_Init(); | |
| 1129 else | |
| 1130 do | |
| 1131 { | |
| 1132 I2C_DeInit(); | |
| 1133 | |
| 1134 #ifdef DEBUGMODE | |
| 1135 HAL_Delay(2000); | |
| 1136 #else | |
| 1137 RTC_StopMode_2seconds(); | |
| 1138 #endif | |
| 1139 | |
| 1140 | |
| 1141 | |
| 1142 if(global.mode == MODE_SLEEP) | |
| 1143 secondsCount += 2; | |
| 1144 | |
| 662 | 1145 externalInterface_InitPower33(); |
| 38 | 1146 MX_I2C1_Init(); |
| 1147 pressure_sensor_get_pressure_raw(); | |
| 1148 | |
| 475 | 1149 /* check if I2C is not up and running and try to reactivate if necessary. Also do initialization if problem occurred during startup */ |
|
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1150 if(global.I2C_SystemStatus != HAL_OK) |
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1151 { |
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1152 MX_I2C1_TestAndClear(); |
|
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1153 HAL_Delay(100); |
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1154 I2C_DeInit(); |
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1155 HAL_Delay(100); |
|
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1156 MX_I2C1_Init(); |
|
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1157 HAL_Delay(100); |
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1158 |
| 475 | 1159 if((global.I2C_SystemStatus == HAL_OK) && (!is_init_pressure_done())) |
|
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1160 { |
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1161 init_pressure(); |
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1162 } |
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1163 } |
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1164 |
| 691 | 1165 if((secondsCount >= 30) || (global.mode != MODE_SLEEP)) /* Service battery charge state in case sleep is left */ |
| 38 | 1166 { |
| 1167 pressure_sensor_get_temperature_raw(); | |
| 1168 battery_gas_gauge_get_data(); | |
| 662 | 1169 ReInit_battery_charger_status_pins(); |
| 691 | 1170 battery_charger_get_status_and_contral_battery_gas_gauge(secondsCount); |
| 38 | 1171 // DeInit_battery_charger_status_pins(); |
| 1172 secondsCount = 0; | |
| 1173 } | |
| 1174 | |
| 1175 pressure_calculation(); | |
| 1176 | |
| 1177 scheduleUpdateDeviceData(); | |
| 1178 update_surface_pressure(2); | |
| 1179 | |
| 1180 if(global.seconds_since_last_dive) | |
| 1181 { | |
| 1182 schedule_update_timer_helper(-1); | |
| 1183 } | |
| 1184 | |
| 1185 if(global.accidentRemainingSeconds) | |
| 1186 { | |
| 1187 if(global.accidentRemainingSeconds > 2) | |
| 1188 global.accidentRemainingSeconds -= 2; | |
| 1189 else | |
| 1190 { | |
| 1191 global.accidentRemainingSeconds = 0; | |
| 1192 global.accidentFlag = 0; | |
| 1193 } | |
| 1194 } | |
| 1195 | |
|
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1196 if (((!is_ambient_pressure_close_to_surface(&global.lifeData)) && (global.lifeData.pressure_surface_bar > START_DIVE_MOUNTAIN_MODE_BAR )) |
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1197 || (global.lifeData.pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR)) |
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1198 { |
| 38 | 1199 global.mode = MODE_BOOT; |
|
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1200 } |
| 38 | 1201 scheduleUpdateLifeData(2000); |
| 1202 } | |
| 1203 while(global.mode == MODE_SLEEP); | |
| 1204 /* new section for system after Standby */ | |
| 1205 scheduleUpdateLifeData(-1); | |
| 1206 clearDecoNow = 0; | |
| 1207 setButtonsNow = 0; | |
|
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1208 reinitGlobals(); |
| 668 | 1209 ReInit_battery_charger_status_pins(); |
| 38 | 1210 } |
| 1211 | |
| 1212 | |
| 1213 | |
| 1214 /* Private functions ---------------------------------------------------------*/ | |
| 1215 | |
| 1216 /** | |
| 1217 ****************************************************************************** | |
| 1218 * @brief scheduleUpdateLifeData / calculates tissues | |
|
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1219 * @author heinrichs weikamp gmbh |
| 38 | 1220 * @version V0.0.1 |
| 1221 * @date 22-April-2014 | |
| 1222 ****************************************************************************** | |
| 1223 */ | |
| 1224 | |
| 1225 | |
| 1226 void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last) | |
| 1227 { | |
| 1228 static _Bool first = 1; | |
| 1229 static uint32_t tickstart = 0; | |
| 1230 static uint32_t ticksrest = 0; | |
| 1231 | |
| 1232 uint32_t ticksdiff = 0; | |
| 1233 uint32_t ticksnow = 0; | |
| 1234 uint32_t time_seconds = 0; | |
| 1235 uint8_t whichGasTmp = 0; | |
| 1236 | |
| 135 | 1237 uint8_t updateTissueData = 0; |
| 1238 | |
| 1239 | |
| 1240 if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE) | |
| 1241 { | |
| 1242 updateTissueData = 1; | |
| 1243 } | |
| 1244 | |
| 38 | 1245 if(asynchron_milliseconds_since_last < 0) |
| 1246 { | |
| 1247 first = 1; | |
| 1248 tickstart = 0; | |
| 1249 ticksrest = 0; | |
| 1250 return; | |
| 1251 } | |
| 1252 | |
| 1253 if(!asynchron_milliseconds_since_last && first) | |
| 1254 { | |
| 1255 tickstart = HAL_GetTick(); | |
| 1256 first = 0; | |
| 1257 return; | |
| 1258 } | |
| 1259 | |
| 1260 whichGasTmp = global.whichGas; | |
| 1261 global.lifeData.actualGas = global.aktualGas[whichGasTmp]; | |
| 1262 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 1263 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; | |
| 1264 | |
| 135 | 1265 if(updateTissueData) |
| 1266 { | |
| 1267 decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData); | |
| 1268 } | |
| 1269 | |
| 38 | 1270 if(!asynchron_milliseconds_since_last) |
| 1271 { | |
| 1272 ticksnow = HAL_GetTick(); | |
| 1273 ticksdiff = time_elapsed_ms(tickstart,ticksnow); | |
| 1274 } | |
| 1275 else | |
| 1276 { | |
| 1277 first = 1; | |
| 1278 ticksdiff = asynchron_milliseconds_since_last; | |
| 1279 } | |
| 1280 | |
| 1281 if(ticksrest > 1000) // whatever happens after standby with STM32L476 | |
| 1282 ticksrest = 0; // maybe move static to SRAM2 | |
| 1283 | |
| 1284 ticksdiff += ticksrest; | |
| 1285 time_seconds = ticksdiff/ 1000; | |
| 1286 ticksrest = ticksdiff - time_seconds * 1000; | |
| 1287 tickstart = ticksnow; | |
| 1288 | |
| 1289 decom_tissues_exposure((int)time_seconds, &global.lifeData); | |
| 1290 if(global.demo_mode) | |
| 1291 decom_tissues_exposure((int)(3*time_seconds), &global.lifeData); | |
| 1292 copyTissueData(); | |
| 1293 } | |
| 1294 | |
| 1295 | |
| 1296 /** | |
| 1297 ****************************************************************************** | |
| 1298 * @brief scheduleUpdateDeviceData | |
| 1299 * @author heinrichs weikamp gmbh | |
| 1300 * @version V0.0.1 | |
| 1301 * @date 16-March-2015 | |
| 1302 * | |
| 1303 * two step process | |
| 1304 * first compare with data from main CPU == externalLogbookFlash | |
| 1305 * second update with new sensor data | |
| 1306 ****************************************************************************** | |
| 1307 */ | |
| 1308 void scheduleSetDate(SDeviceLine *line) | |
| 1309 { | |
| 1310 extern RTC_HandleTypeDef RTCHandle; | |
| 1311 | |
| 1312 line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1313 line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1314 } | |
| 1315 | |
| 1316 | |
| 1317 void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead) | |
| 1318 { | |
| 1319 lineWrite->date_rtc_dr = lineRead->date_rtc_dr; | |
| 1320 lineWrite->time_rtc_tr = lineRead->time_rtc_tr; | |
| 1321 lineWrite->value_int32 = lineRead->value_int32; | |
| 1322 } | |
| 1323 | |
| 1324 | |
|
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1325 void scheduletranslateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) |
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1326 { |
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1327 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); |
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1328 |
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1329 /* Fill the structure fields with the read parameters */ |
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1330 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); |
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1331 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); |
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1332 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); |
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1333 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); |
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1334 |
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1335 /* Convert the date structure parameters to Binary format */ |
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1336 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); |
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1337 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); |
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1338 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); |
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1339 } |
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1340 |
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1341 void scheduleCheckDate(void) |
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1342 { |
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1343 uint32_t localdate; |
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1344 RTC_DateTypeDef sDate; |
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1345 localdate = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); |
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1346 scheduletranslateDate(localdate, &sDate); |
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1347 |
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1348 /* RTC start in year 2000 in case of a power loss. Use the operation counter time stamp to bring at last date to a more realistic value */ |
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1349 if(sDate.Year < 15) |
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1350 { |
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1351 scheduletranslateDate(DeviceDataFlash.hoursOfOperation.date_rtc_dr, &sDate); |
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1352 if(sDate.Year > 16) |
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1353 { |
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1354 RTC_SetDate(sDate); |
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1355 } |
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1356 } |
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1357 |
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1358 } |
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1359 |
| 38 | 1360 void scheduleUpdateDeviceData(void) |
| 1361 { | |
| 1362 /* first step, main CPU */ | |
| 1363 | |
| 1364 if(deviceDataFlashValid) | |
| 1365 { | |
| 1366 /* max values */ | |
|
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1367 if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32) |
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1368 { |
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1369 scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation); |
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1370 #ifdef RESTORE_LAST_KNOWN_DATE |
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1371 scheduleCheckDate(); |
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1372 #endif |
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1373 } |
| 38 | 1374 if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32) |
| 1375 { | |
| 1376 scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles); | |
| 1377 } | |
| 1378 if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32) | |
| 1379 { | |
| 1380 scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles); | |
| 1381 } | |
| 1382 if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32) | |
| 1383 { | |
| 1384 scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum); | |
| 1385 } | |
| 1386 if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32) | |
| 1387 { | |
| 1388 scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum); | |
| 1389 } | |
| 1390 if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32) | |
| 1391 { | |
| 1392 scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles); | |
| 1393 } | |
| 1394 | |
| 1395 /* min values */ | |
| 1396 if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32) | |
| 1397 { | |
| 1398 scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum); | |
| 1399 } | |
| 1400 if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32) | |
| 1401 { | |
| 1402 scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum); | |
| 1403 } | |
| 1404 } | |
| 1405 | |
| 1406 /* second step, sensor data */ | |
| 1407 int32_t temperature_centigrad_int32; | |
| 1408 int32_t pressure_mbar_int32; | |
| 1409 int32_t voltage_mvolt_int32; | |
| 1410 | |
| 1411 temperature_centigrad_int32 = (int32_t)(get_temperature() * 100); | |
| 1412 if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32) | |
| 1413 { | |
| 1414 global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1415 scheduleSetDate(&global.deviceData.temperatureMinimum); |
| 38 | 1416 } |
| 1417 | |
| 1418 if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32) | |
| 1419 { | |
| 1420 global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1421 scheduleSetDate(&global.deviceData.temperatureMaximum); |
| 38 | 1422 } |
| 1423 | |
| 1424 pressure_mbar_int32 = (int32_t)get_pressure_mbar(); | |
| 1425 if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32) | |
| 1426 { | |
| 1427 global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32; | |
| 88 | 1428 scheduleSetDate(&global.deviceData.depthMaximum); |
| 38 | 1429 } |
| 1430 | |
| 1431 voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000); | |
| 1432 if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32) | |
| 1433 { | |
| 1434 global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32; | |
| 88 | 1435 scheduleSetDate(&global.deviceData.voltageMinimum); |
| 38 | 1436 } |
| 1437 | |
| 1438 /* third step, counter */ | |
| 1439 switch (global.mode) | |
| 1440 { | |
| 1441 case MODE_SURFACE: | |
| 1442 case MODE_DIVE: | |
| 1443 default: | |
| 1444 deviceDataSubSeconds++; | |
| 1445 if(deviceDataSubSeconds > 10) | |
| 1446 { | |
| 1447 deviceDataSubSeconds = 0; | |
| 1448 global.deviceData.hoursOfOperation.value_int32++; | |
|
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1449 scheduleSetDate(&global.deviceData.hoursOfOperation); |
| 38 | 1450 } |
| 1451 break; | |
| 1452 | |
| 662 | 1453 case MODE_SLEEP: |
| 38 | 1454 case MODE_SHUTDOWN: |
| 1455 break; | |
| 1456 } | |
| 1457 } | |
| 1458 | |
| 1459 | |
| 1460 void scheduleUpdateDeviceDataChargerFull(void) | |
| 1461 { | |
| 1462 global.deviceData.batteryChargeCompleteCycles.value_int32++; | |
| 88 | 1463 scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles); |
| 38 | 1464 } |
| 1465 | |
| 1466 | |
| 1467 void scheduleUpdateDeviceDataChargerCharging(void) | |
| 1468 { | |
| 1469 global.deviceData.batteryChargeCycles.value_int32++; | |
| 88 | 1470 scheduleSetDate(&global.deviceData.batteryChargeCycles); |
| 38 | 1471 } |
| 1472 | |
| 1473 | |
| 1474 /** | |
| 1475 ****************************************************************************** | |
| 1476 * @brief vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend | |
|
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1477 * @author heinrichs weikamp gmbh |
| 38 | 1478 * @version V0.0.1 |
| 1479 * @date 22-April-2014 | |
| 1480 ****************************************************************************** | |
| 1481 */ | |
| 1482 _Bool vpm_crush2(void) | |
| 1483 { | |
| 1484 int i = 0; | |
| 1485 static float starting_ambient_pressure = 0; | |
| 1486 static float ending_ambient_pressure = 0; | |
| 1487 static float time_calc_begin = -1; | |
| 1488 static float initial_helium_pressure[16]; | |
| 1489 static float initial_nitrogen_pressure[16]; | |
| 1490 ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1491 | |
| 1492 if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 1493 { | |
| 1494 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1495 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1496 for( i = 0; i < 16; i++) | |
| 1497 { | |
| 1498 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1499 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1500 } | |
| 1501 return 0; | |
| 1502 } | |
| 1503 if(global.lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 1504 { | |
| 1505 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 1506 { | |
| 1507 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 1508 calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 1509 | |
| 1510 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1511 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1512 for( i = 0; i < 16; i++) | |
| 1513 { | |
| 1514 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1515 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1516 } | |
| 1517 | |
| 1518 return 1; | |
| 1519 } | |
| 1520 | |
| 1521 } | |
| 1522 return 0; | |
| 1523 } | |
| 1524 | |
| 1525 | |
| 1526 long get_nofly_time_minutes(void) | |
| 1527 { | |
| 1528 | |
| 1529 if(global.no_fly_time_minutes <= 0) | |
| 1530 return 0; | |
| 1531 | |
| 1532 long minutes_since_last_dive = global.seconds_since_last_dive/60; | |
| 1533 | |
| 1534 if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive)) | |
| 1535 { | |
| 1536 return (global.no_fly_time_minutes - minutes_since_last_dive); | |
| 1537 } | |
| 1538 else | |
| 1539 { | |
| 1540 global.no_fly_time_minutes = 0; | |
| 1541 return 0; | |
| 1542 } | |
| 1543 } | |
| 1544 | |
| 1545 | |
| 1546 //Supports threadsave copying!!! | |
| 1547 void copyActualGas(SGas gas) | |
| 1548 { | |
| 1549 uint8_t whichGas = !global.whichGas; | |
| 1550 global.aktualGas[whichGas] = gas; | |
| 1551 global.whichGas = whichGas; | |
| 1552 } | |
| 1553 | |
| 1554 | |
| 1555 //Supports threadsave copying!!! | |
| 1556 void copyPressureData(void) | |
| 1557 { | |
|
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1558 global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus; |
| 38 | 1559 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; |
| 1560 global.dataSendToMaster.data[boolPressureData].temperature = get_temperature(); | |
| 1561 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); | |
| 1562 global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar(); | |
| 1563 global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min; | |
| 1564 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 1565 global.dataSendToMaster.boolPressureData = boolPressureData; | |
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1566 global.dataSendToMaster.data[boolPressureData].SPARE1 = is_surface_pressure_stable(); |
| 38 | 1567 } |
| 1568 | |
| 1569 | |
| 1570 //Supports threadsave copying!!! | |
| 1571 void copyCnsAndOtuData(void) | |
| 1572 { | |
| 1573 //uint8_t dataSendToMaster. | |
| 1574 uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData; | |
| 1575 global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns; | |
| 1576 global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu; | |
| 1577 global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes; | |
| 1578 global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes(); | |
| 1579 global.dataSendToMaster.boolToxicData = boolToxicData; | |
| 1580 } | |
| 1581 | |
| 1582 | |
| 1583 //Supports threadsave copying!!! | |
| 1584 void copyTimeData(void) | |
| 1585 { | |
| 1586 extern RTC_HandleTypeDef RTCHandle; | |
| 1587 | |
| 1588 uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData; | |
| 1589 global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1590 global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1591 global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds; | |
| 1592 global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time; | |
| 1593 global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive; | |
| 1594 global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth; | |
| 1595 global.dataSendToMaster.boolTimeData = boolTimeData; | |
| 1596 } | |
| 1597 | |
| 1598 | |
| 1599 //Supports threadsave copying!!! | |
| 1600 void copyCompassData(void) | |
| 1601 { | |
| 1602 extern float compass_heading; | |
| 1603 extern float compass_roll; | |
| 1604 extern float compass_pitch; | |
| 1605 //uint8_t dataSendToMaster. | |
| 1606 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1607 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1608 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1609 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1610 global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0; | |
| 1611 global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0; | |
| 1612 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0; | |
| 1613 global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick(); | |
| 1614 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1615 } | |
| 1616 | |
| 1617 | |
| 1618 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz) | |
| 1619 { | |
| 1620 extern float compass_heading; | |
| 1621 extern float compass_roll; | |
| 1622 extern float compass_pitch; | |
| 1623 //uint8_t dataSendToMaster. | |
| 1624 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1625 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1626 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1627 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1628 global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx; | |
| 1629 global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy; | |
| 1630 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz; | |
| 1631 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1632 } | |
| 1633 | |
| 1634 | |
| 1635 //Supports threadsave copying!!! | |
| 1636 void copyBatteryData(void) | |
| 1637 { | |
| 1638 uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData; | |
| 668 | 1639 global.lifeData.battery_charge = get_charge(); |
| 38 | 1640 global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage(); |
| 668 | 1641 |
| 1642 if(battery_gas_gauge_isChargeValueValid()) | |
| 1643 { | |
| 1644 global.dataSendToMaster.data[boolBatteryData].battery_charge= global.lifeData.battery_charge; | |
| 1645 } | |
| 1646 else | |
| 1647 { | |
| 1648 global.dataSendToMaster.data[boolBatteryData].battery_charge = global.lifeData.battery_charge * -1.0; /* negate value to show that this is just an assumption */ | |
| 1649 } | |
| 38 | 1650 global.dataSendToMaster.boolBatteryData = boolBatteryData; |
| 1651 } | |
| 1652 | |
| 1653 | |
| 1654 //Supports threadsave copying!!! | |
| 1655 void copyAmbientLightData(void) | |
| 1656 { | |
| 1657 uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData; | |
| 1658 global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level(); | |
| 1659 global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData; | |
| 1660 } | |
| 1661 | |
| 1662 | |
| 1663 //Supports threadsave copying!!! | |
| 1664 void copyTissueData(void) | |
| 1665 { | |
| 1666 //uint8_t dataSendToMaster. | |
| 1667 uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData; | |
| 1668 for(int i = 0; i < 16; i++) | |
| 1669 { | |
| 1670 global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i]; | |
| 1671 global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i]; | |
| 1672 } | |
| 1673 global.dataSendToMaster.boolTisssueData = boolTisssueData; | |
| 1674 } | |
| 1675 | |
| 1676 | |
| 1677 //Supports threadsave copying!!! | |
| 1678 void copyVpmCrushingData(void) | |
| 1679 { | |
| 1680 //uint8_t dataSendToMaster. | |
| 1681 uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData; | |
| 1682 for(int i = 0; i < 16; i++) | |
| 1683 { | |
| 1684 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i]; | |
| 1685 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i]; | |
| 1686 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i]; | |
| 1687 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i]; | |
| 1688 } | |
| 1689 global.dataSendToMaster.boolCrushingData = boolCrushingData; | |
| 1690 } | |
| 1691 | |
| 1692 | |
| 1693 void copyDeviceData(void) | |
| 1694 { | |
| 1695 uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData; | |
| 1696 memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice)); | |
| 1697 global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; | |
| 1698 | |
| 1699 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0; | |
| 1700 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, &global.vpm.adjusted_critical_radius_he, sizeof(16*4)); | |
| 1701 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, &global.vpm.adjusted_critical_radius_n2, sizeof(16*4)); | |
| 1702 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he, &global.vpm.adjusted_crushing_pressure_he, sizeof(16*4)); | |
| 1703 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2, &global.vpm.adjusted_crushing_pressure_n2, sizeof(16*4)); | |
| 1704 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he, &global.vpm.initial_allowable_gradient_he, sizeof(16*4)); | |
| 1705 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2, &global.vpm.initial_allowable_gradient_n2, sizeof(16*4)); | |
| 1706 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, &global.vpm.max_actual_gradient, sizeof(16*4)); | |
| 1707 global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid; | |
| 1708 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1; | |
| 1709 } | |
| 1710 | |
| 1711 /* copyPICdata(); is used in spi.c */ | |
| 1712 void copyPICdata(void) | |
| 1713 { | |
| 1714 uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata; | |
| 1715 for(int i = 0; i < 3; i++) | |
| 1716 { | |
| 1717 global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i]; | |
| 1718 } | |
| 1719 global.dataSendToMaster.boolPICdata = boolPICdata; | |
| 1720 } | |
| 1721 | |
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1722 void copyExtADCdata() |
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1723 { |
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1724 float value; |
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1725 |
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1726 uint8_t channel = 0; |
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1727 |
| 691 | 1728 uint8_t boolADCBuffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_ADC); |
| 1729 | |
| 1730 boolADCBuffer &= DATA_BUFFER_ADC; | |
| 1731 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_ADC; | |
| 1732 | |
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1733 for(channel = 0; channel < MAX_ADC_CHANNEL; channel++) |
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1734 { |
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1735 value = getExternalInterfaceChannel(channel); |
| 691 | 1736 global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].extADC_voltage[channel] = value; |
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1737 } |
| 780 | 1738 global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].externalInterface_SensorID = externalInterface_GetSensorData(0, (uint8_t*)&global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].sensor_data); |
| 731 | 1739 memcpy(global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].sensor_map,externalInterface_GetSensorMapPointer(1),EXT_INTERFACE_SENSOR_CNT); |
| 691 | 1740 global.dataSendToMaster.boolADCO2Data |= boolADCBuffer; |
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1741 } |
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1742 |
| 662 | 1743 void copyExtCO2data() |
| 1744 { | |
| 1745 uint16_t value; | |
| 691 | 1746 uint8_t boolCO2Buffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_CO2); |
| 1747 | |
| 1748 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_CO2; | |
| 1749 boolCO2Buffer &= DATA_BUFFER_CO2; | |
| 662 | 1750 |
| 1751 if(externalInterface_GetCO2State()) | |
| 1752 { | |
| 1753 value = externalInterface_GetCO2Value(); | |
| 691 | 1754 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = value; |
| 662 | 1755 value = externalInterface_GetCO2SignalStrength(); |
| 691 | 1756 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = value; |
| 1757 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = externalInterface_GetCO2State(); | |
| 662 | 1758 externalInterface_SetCO2State(EXT_INTERFACE_33V_ON); /* clear command responses */ |
| 1759 } | |
| 1760 else | |
| 1761 { | |
| 691 | 1762 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = 0; |
| 1763 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = 0; | |
| 1764 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = 0; | |
| 662 | 1765 } |
| 691 | 1766 global.dataSendToMaster.boolADCO2Data |= boolCO2Buffer; |
| 662 | 1767 } |
| 38 | 1768 |
| 1769 typedef enum | |
| 1770 { | |
| 1771 SPI3_OK = 0x00, | |
| 1772 SPI3_DEINIT = 0x01, | |
| 1773 } SPI3_StatusTypeDef; | |
| 1774 /* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine | |
| 1775 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit | |
| 1776 and will be init the next call of scheduleSetButtonResponsiveness() | |
| 1777 and data will be send again on the third call | |
| 1778 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active | |
| 1779 */ | |
| 1780 uint8_t scheduleSetButtonResponsiveness(void) | |
| 1781 { | |
| 1782 static uint8_t SPI3status = SPI3_OK; | |
| 1783 | |
| 1784 if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata))) | |
| 1785 { | |
| 1786 copyPICdata(); | |
| 1787 return 1; | |
| 1788 } | |
| 1789 else | |
| 1790 { | |
| 1791 for(int i=0;i<3;i++) | |
| 1792 { | |
| 1793 global.ButtonPICdata[i] = 0xFF; | |
| 1794 } | |
| 1795 copyPICdata(); | |
| 1796 | |
| 1797 if(SPI3status == SPI3_OK) | |
| 1798 { | |
| 1799 MX_SPI3_DeInit(); | |
| 1800 SPI3status = SPI3_DEINIT; | |
| 1801 } | |
| 1802 else | |
| 1803 { | |
| 1804 MX_SPI3_Init(); | |
| 1805 SPI3status = SPI3_OK; | |
| 1806 } | |
| 1807 return 0; | |
| 1808 } | |
| 1809 } | |
| 1810 | |
| 1811 | |
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1812 //save time difference |
| 38 | 1813 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) |
| 1814 { | |
| 1815 if(ticksstart <= ticksnow) | |
| 1816 { | |
| 1817 return ticksnow - ticksstart; | |
| 1818 } | |
| 1819 else | |
| 1820 { | |
| 1821 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 1822 } | |
| 1823 } | |
| 1824 | |
| 1825 /* same as in data_central.c */ | |
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1826 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 38 | 1827 { |
|
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1828 _Bool retval = true; |
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1829 |
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1830 if(lifeData->pressure_ambient_bar != INVALID_PREASURE_VALUE) /* as long as no valid data is available expect we are close to surface */ |
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1831 { |
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1832 /* this will e.g. apply in case of a significant pressure change during last 30 minutes => use increased offset for surface detection */ |
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1833 if (lifeData->pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR) |
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1834 { |
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1835 retval = false; |
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1836 } |
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1837 else if(is_surface_pressure_stable()) /* this is the expected start condition */ |
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1838 { |
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1839 if((lifeData->pressure_ambient_bar >= (lifeData->pressure_surface_bar + 0.1f)) |
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1840 && (ManualExitDiveCounter == 0)) /* only if diver did not request to exit dive mode */ |
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1841 { |
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1842 retval = false; |
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1843 } |
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1844 } |
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1845 } |
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1846 return retval; |
| 38 | 1847 } |
| 1848 | |
| 1849 | |
| 1850 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/ | |
| 1851 |