Mercurial > public > ostc4
annotate Discovery/Src/tCCR.c @ 574:01ee21dd311f
Improved focus detection:
In previous version th calibration window was turned into the current one. At all two translations were used causing a jitter. Now the current view is translated into the calibration windows by one step increasing the quality of the prediction.
Reworked detection of pitch/sector/scroll events:
Sector and scroll uses pitch angles to calculate the view to show. Movment detection uses movment, which may also be out of focus for a short time. To improve all detections these two use cases are now handled individual. Sector and scroll have increased action angle in case yaw and roll stay stable.
| author | Ideenmodellierer |
|---|---|
| date | Wed, 25 Nov 2020 20:26:01 +0100 |
| parents | d97f0e395058 |
| children | 64bf41faab83 |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Discovery/Src/tCCR.c | |
| 5 /// \brief HUD data via optical port | |
| 6 /// \author Heinrichs Weikamp gmbh | |
| 7 /// \date 18-Dec-2014 | |
| 8 /// | |
| 9 /// \details | |
| 10 /// | |
| 11 /// $Id$ | |
| 12 /////////////////////////////////////////////////////////////////////////////// | |
| 13 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 14 /// | |
| 15 /// This program is free software: you can redistribute it and/or modify | |
| 16 /// it under the terms of the GNU General Public License as published by | |
| 17 /// the Free Software Foundation, either version 3 of the License, or | |
| 18 /// (at your option) any later version. | |
| 19 /// | |
| 20 /// This program is distributed in the hope that it will be useful, | |
| 21 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 22 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 23 /// GNU General Public License for more details. | |
| 24 /// | |
| 25 /// You should have received a copy of the GNU General Public License | |
| 26 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 27 ////////////////////////////////////////////////////////////////////////////// | |
| 28 | |
| 29 /* Includes ------------------------------------------------------------------*/ | |
| 30 #include <string.h> | |
| 31 #include "tCCR.h" | |
| 32 #include "ostc.h" | |
| 33 #include "data_central.h" | |
| 34 #include "data_exchange.h" | |
| 35 #include "check_warning.h" | |
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36 #include "configuration.h" |
| 38 | 37 |
| 38 /* Private types -------------------------------------------------------------*/ | |
| 39 typedef struct | |
| 40 { | |
| 41 uint8_t hud_firmwareVersion; | |
| 42 bit8_Type status_byte; | |
| 43 uint16_t sensor_voltage_100uV[3]; | |
| 44 uint8_t sensor_ppo2_cbar[3]; | |
| 45 uint8_t temp1; | |
| 46 uint16_t battery_voltage_mV; | |
| 47 uint16_t checksum; | |
| 48 } SIrLink; | |
| 49 | |
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50 #define HUD_BABBLING_IDIOT (30u) /* 30 Bytes received without break */ |
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51 #define HUD_RX_FRAME_LENGTH (15u) /* Length of a HUD data frame */ |
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52 #define HUD_RX_FRAME_BREAK_MS (100u) /* Time used to detect a gap between two byte receptions => frame start */ |
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53 #define HUD_RX_START_DELAY_MS (500u) /* Delay for start of RX function to avoid start of reception while a transmission is ongoing. */ |
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54 /* Based on an assumed cycle time by the sensor of 1 second. Started at time of last RX */ |
| 38 | 55 |
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56 #define BOTTLE_SENSOR_TIMEOUT (6000u) /* signal pressure budget as not received after 10 minutes (6000 * 100ms) */ |
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57 |
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58 /* Private variables ---------------------------------------------------------*/ |
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59 static SIrLink receiveHUD[2]; |
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60 static uint8_t boolHUDdata = 0; |
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61 static uint8_t data_old__lost_connection_to_HUD = 1; |
| 38 | 62 |
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63 static uint8_t receiveHUDraw[16]; |
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64 |
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65 static uint8_t StartListeningToUART_HUD = 0; |
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66 static uint16_t HUDTimeoutCount = 0; |
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67 |
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68 static __IO ITStatus UartReadyHUD = RESET; |
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69 static uint32_t LastReceivedTick_HUD = 0; |
| 38 | 70 |
| 71 /* Private variables with external access via get_xxx() function -------------*/ | |
| 72 | |
| 73 /* Private function prototypes -----------------------------------------------*/ | |
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74 static void tCCR_fallbackToFixedSetpoint(void); |
| 38 | 75 |
| 76 #ifndef USART_IR_HUD | |
| 77 | |
| 78 void tCCR_init(void) | |
| 79 { | |
| 80 } | |
| 81 void tCCR_control(void) | |
| 82 { | |
| 83 } | |
| 84 void tCCR_test(void) | |
| 85 { | |
| 86 } | |
| 87 void tCCR_restart(void) | |
| 88 { | |
| 89 } | |
| 90 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 91 { | |
| 92 } | |
| 93 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 94 { | |
| 95 } | |
| 96 float get_HUD_battery_voltage_V(void) | |
| 97 { | |
| 98 } | |
| 99 void tCCR_tick(void) | |
| 100 { | |
| 101 } | |
| 102 | |
| 103 #else | |
| 104 /* Exported functions --------------------------------------------------------*/ | |
| 105 | |
| 106 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 107 { | |
| 108 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 109 return 0; | |
| 110 | |
| 111 return (float)(receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id]) / 100.0f; | |
| 112 } | |
| 113 | |
| 114 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 115 { | |
| 116 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 117 return 0; | |
| 118 | |
| 119 return (float)(receiveHUD[boolHUDdata].sensor_voltage_100uV[sensor_id]) / 10.0f; | |
| 120 } | |
| 121 | |
| 122 float get_HUD_battery_voltage_V(void) | |
| 123 { | |
| 124 if(data_old__lost_connection_to_HUD) | |
| 125 return 0; | |
| 126 | |
| 127 return (float)(receiveHUD[boolHUDdata].battery_voltage_mV) / 1000.0f; | |
| 128 } | |
| 129 | |
| 130 | |
| 563 | 131 void test_O2_sensor_values_outOfBounds(int8_t * outOfBouds1, int8_t * outOfBouds2, int8_t * outOfBouds3) |
| 38 | 132 { |
| 133 uint8_t sensorNotActiveBinary; | |
| 134 uint8_t sensorActive[3]; | |
| 135 | |
| 136 // test1: user deactivation | |
| 137 sensorNotActiveBinary = stateUsed->diveSettings.ppo2sensors_deactivated; | |
| 138 | |
| 139 for(int i=0;i<3;i++) | |
| 140 sensorActive[i] = 1; | |
| 141 | |
| 142 if(sensorNotActiveBinary) | |
| 143 { | |
| 144 if(sensorNotActiveBinary & 1) | |
| 145 sensorActive[0] = 0; | |
| 146 | |
| 147 if(sensorNotActiveBinary & 2) | |
| 148 sensorActive[1] = 0; | |
| 149 | |
| 150 if(sensorNotActiveBinary & 4) | |
| 151 sensorActive[2] = 0; | |
| 152 } | |
| 153 | |
| 154 // test2: mV of remaining sensors | |
| 155 for(int i=0;i<3;i++) | |
| 156 { | |
| 157 if(sensorActive[i]) | |
| 158 { | |
| 563 | 159 if( (stateUsed->lifeData.sensorVoltage_mV[i] < 8) || |
| 160 (stateUsed->lifeData.sensorVoltage_mV[i] > 250)) | |
| 38 | 161 { |
| 162 sensorActive[i] = 0; | |
| 163 switch(i) | |
| 164 { | |
| 165 case 0: | |
| 166 sensorNotActiveBinary |= 1; | |
| 167 break; | |
| 168 case 1: | |
| 169 sensorNotActiveBinary |= 2; | |
| 170 break; | |
| 171 case 2: | |
| 172 sensorNotActiveBinary |= 4; | |
| 173 break; | |
| 174 } | |
| 175 } | |
| 176 } | |
| 177 } | |
| 178 | |
| 179 *outOfBouds1 = 0; | |
| 180 *outOfBouds2 = 0; | |
| 181 *outOfBouds3 = 0; | |
| 182 | |
| 183 /* with two, one or no sensor, there is nothing to compare anymore | |
| 184 */ | |
| 185 if(sensorNotActiveBinary) | |
| 186 { | |
| 187 // set outOfBounds for both tests | |
| 188 if(!sensorActive[0]) | |
| 189 *outOfBouds1 = 1; | |
| 190 | |
| 191 if(!sensorActive[1]) | |
| 192 *outOfBouds2 = 1; | |
| 193 | |
| 194 if(!sensorActive[2]) | |
| 195 *outOfBouds3 = 1; | |
| 196 | |
| 197 return; | |
| 198 } | |
| 199 else | |
| 200 { | |
| 201 uint8_t sensor_id_ordered[3]; | |
| 563 | 202 float difference[2]; |
| 38 | 203 |
| 563 | 204 if((stateUsed->lifeData.ppO2Sensor_bar[1] > stateUsed->lifeData.ppO2Sensor_bar[0])) |
| 38 | 205 { |
| 206 sensor_id_ordered[0] = 0; | |
| 207 sensor_id_ordered[1] = 1; | |
| 208 } | |
| 209 else | |
| 210 { | |
| 211 sensor_id_ordered[0] = 1; | |
| 212 sensor_id_ordered[1] = 0; | |
| 213 } | |
| 563 | 214 if(stateUsed->lifeData.ppO2Sensor_bar[2] > stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[1]]) |
| 38 | 215 { |
| 216 sensor_id_ordered[2] = 2; | |
| 217 } | |
| 218 else | |
| 219 { | |
| 220 sensor_id_ordered[2] = sensor_id_ordered[1]; | |
| 563 | 221 if(stateUsed->lifeData.ppO2Sensor_bar[2] > stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[0]]) |
| 38 | 222 { |
| 223 sensor_id_ordered[1] = 2; | |
| 224 } | |
| 225 else | |
| 226 { | |
| 227 sensor_id_ordered[1] = sensor_id_ordered[0]; | |
| 228 sensor_id_ordered[0] = 2; | |
| 229 } | |
| 230 } | |
| 231 | |
| 563 | 232 difference[0] = stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[1]]- stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[0]]; |
| 233 difference[1] = stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[2]]- stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[1]]; | |
| 38 | 234 |
| 563 | 235 if((difference[0] > difference[1]) && (difference[0] > 0.15)) /* was 15cBar ==> 0.15 bar */ |
| 38 | 236 { |
| 237 switch(sensor_id_ordered[0]) | |
| 238 { | |
| 239 case 0: | |
| 240 *outOfBouds1 = 1; | |
| 241 break; | |
| 242 case 1: | |
| 243 *outOfBouds2 = 1; | |
| 244 break; | |
| 245 case 2: | |
| 246 *outOfBouds3 = 1; | |
| 247 break; | |
| 248 } | |
| 249 } | |
| 250 else | |
| 563 | 251 if((difference[0] < difference[1]) && (difference[1] > 0.15)) |
| 38 | 252 { |
| 253 switch(sensor_id_ordered[2]) | |
| 254 { | |
| 255 case 0: | |
| 256 *outOfBouds1 = 1; | |
| 257 break; | |
| 258 case 1: | |
| 259 *outOfBouds2 = 1; | |
| 260 break; | |
| 261 case 2: | |
| 262 *outOfBouds3 = 1; | |
| 263 break; | |
| 264 } | |
| 265 } | |
| 266 } | |
| 267 } | |
| 268 | |
| 269 | |
| 270 uint8_t get_ppO2SensorWeightedResult_cbar(void) | |
| 271 { | |
| 272 int8_t sensorOutOfBound[3]; | |
| 273 uint16_t result = 0; | |
| 274 uint8_t count = 0; | |
| 275 | |
| 563 | 276 test_O2_sensor_values_outOfBounds(&sensorOutOfBound[0], &sensorOutOfBound[1], &sensorOutOfBound[2]); |
| 38 | 277 |
| 278 for(int i=0;i<3;i++) | |
| 279 { | |
| 280 if(!sensorOutOfBound[i]) | |
| 281 { | |
| 563 | 282 result += stateUsed->lifeData.ppO2Sensor_bar[i] * 100.0; /* convert centibar used by HUB */ |
| 38 | 283 count++; |
| 284 } | |
| 285 } | |
| 286 if(count == 0) // all sensors out of bounds! | |
| 287 return 0; | |
| 288 else | |
| 289 return (uint8_t)(result / count); | |
| 290 } | |
| 291 | |
| 292 | |
| 293 void tCCR_init(void) | |
| 294 { | |
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295 uint8_t loop; |
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296 |
| 38 | 297 StartListeningToUART_HUD = 1; |
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298 |
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299 SDiveState* pDiveData = stateRealGetPointerWrite(); |
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300 for(loop=0;loop<(2*NUM_GASES+1);loop++) |
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301 { |
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302 pDiveData->lifeData.bottle_bar_age_MilliSeconds[loop] = BOTTLE_SENSOR_TIMEOUT; |
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303 } |
| 38 | 304 } |
| 305 | |
| 306 | |
| 307 /* after 3 seconds without update from HUD | |
| 308 * data is considered old | |
| 309 */ | |
| 310 void tCCR_tick(void) | |
| 311 { | |
| 563 | 312 if(settingsGetPointer()->ppo2sensors_source == O2_SENSOR_SOURCE_OPTIC) |
| 313 { | |
| 314 if(HUDTimeoutCount < 3 * 10) | |
| 315 HUDTimeoutCount++; | |
| 316 else | |
| 317 { | |
| 318 data_old__lost_connection_to_HUD = 1; | |
| 319 if(HUDTimeoutCount < 20 * 10) | |
| 320 HUDTimeoutCount++; | |
| 321 else | |
| 322 tCCR_fallbackToFixedSetpoint(); | |
| 323 } | |
| 324 } | |
| 38 | 325 } |
| 326 | |
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327 void tCCR_SetRXIndication(void) |
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328 { |
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329 static uint8_t floatingRXCount = 0; |
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330 |
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331 if((UartIR_HUD_Handle.RxXferSize == HUD_RX_FRAME_LENGTH) || (UartIR_HUD_Handle.RxXferSize == HUD_RX_FRAME_LENGTH - 1)) /* we expected a complete frame */ |
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332 { |
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333 UartReadyHUD = SET; |
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334 LastReceivedTick_HUD = HAL_GetTick(); |
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335 floatingRXCount = 0; |
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336 } |
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337 else /* follow up of error handling */ |
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338 { |
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339 if(time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_FRAME_BREAK_MS) /* Reception took a while => frame start detected */ |
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340 { |
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341 HAL_UART_Receive_IT(&UartIR_HUD_Handle, &receiveHUDraw[1], 14); /* We have already the first byte => get the missing 14 */ |
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342 } |
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343 else |
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344 { |
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345 if(floatingRXCount++ < HUD_BABBLING_IDIOT) |
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346 { |
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347 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); /* Start polling of incoming bytes */ |
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348 } |
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349 else /* Significant amount of data comming in without break => disable input */ |
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350 { /* by not reactivation HUD RX, no recovery fromthis state */ |
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351 stateUsedWrite->diveSettings.ppo2sensors_deactivated = 0x07; /* Display deactivation */ |
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352 } |
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353 } |
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354 } |
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355 |
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356 } |
| 38 | 357 |
| 358 void tCCR_restart(void) | |
| 359 { | |
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360 HAL_UART_AbortReceive_IT(&UartIR_HUD_Handle); /* Called by the error handler. RX will be restarted by control function */ |
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361 StartListeningToUART_HUD = 1; |
| 38 | 362 } |
| 363 | |
| 364 | |
| 365 void tCCR_control(void) | |
| 366 { | |
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367 uint16_t checksum = 0; |
| 457 | 368 #ifdef ENABLE_BOTTLE_SENSOR |
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369 SDiveState *pLivedata = stateRealGetPointerWrite(); |
| 457 | 370 #endif |
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371 |
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372 if((UartReadyHUD == RESET) && StartListeningToUART_HUD && (time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_START_DELAY_MS)) |
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373 { |
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374 StartListeningToUART_HUD = 0; |
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375 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, HUD_RX_FRAME_LENGTH); |
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376 } |
| 38 | 377 |
| 378 if(UartReadyHUD == SET) | |
| 379 { | |
| 380 UartReadyHUD = RESET; | |
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381 StartListeningToUART_HUD = 1; |
| 38 | 382 |
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383 /* check if received package is valid */ |
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384 for(int i=0;i<13;i++) |
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385 { |
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386 checksum += receiveHUDraw[i]; |
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387 } |
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388 receiveHUD[!boolHUDdata].checksum = receiveHUDraw[13] + (256 * receiveHUDraw[14]); |
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389 if(checksum == receiveHUD[!boolHUDdata].checksum) |
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390 { |
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391 #ifdef ENABLE_BOTTLE_SENSOR |
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392 if(receiveHUDraw[0] == 0xA5) /* code for pressure sensor */ |
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393 { |
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394 pLivedata->lifeData.bottle_bar[pLivedata->lifeData.actualGas.GasIdInSettings] = receiveHUDraw[10]; |
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395 pLivedata->lifeData.bottle_bar_age_MilliSeconds[pLivedata->lifeData.actualGas.GasIdInSettings] = 0; |
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396 } |
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397 else |
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398 #endif |
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399 /* handle O2 sensor data */ |
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400 { |
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401 memcpy(&receiveHUD[!boolHUDdata], receiveHUDraw, 11); |
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402 receiveHUD[!boolHUDdata].battery_voltage_mV = receiveHUDraw[11] + (256 * receiveHUDraw[12]); |
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403 } |
| 38 | 404 |
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405 boolHUDdata = !boolHUDdata; |
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406 HUDTimeoutCount = 0; |
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407 data_old__lost_connection_to_HUD = 0; |
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408 } |
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409 else |
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410 { |
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411 if(data_old__lost_connection_to_HUD) /* we lost connection, maybe due to RX shift => start single byte read to resynchronize */ |
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412 { |
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413 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); |
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414 StartListeningToUART_HUD = 0; |
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415 } |
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416 } |
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417 memset(receiveHUDraw,0,sizeof(receiveHUDraw)); |
| 38 | 418 } |
| 419 } | |
| 420 | |
| 421 #endif | |
| 422 /* Private functions ---------------------------------------------------------*/ | |
| 423 | |
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424 static void tCCR_fallbackToFixedSetpoint(void) |
| 38 | 425 { |
| 426 if((stateUsed->mode == MODE_DIVE) && (stateUsed->diveSettings.diveMode == DIVEMODE_CCR) && (stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) && (stateUsed->diveSettings.fallbackOption)) | |
| 427 { | |
| 428 uint8_t setpointCbar, actualGasID; | |
| 429 | |
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430 setpointCbar = stateUsed->diveSettings.setpoint[1].setpoint_cbar; |
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431 stateUsedWrite->diveSettings.CCR_Mode = CCRMODE_FixedSetpoint; |
| 38 | 432 |
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433 actualGasID = stateUsed->lifeData.actualGas.GasIdInSettings; |
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434 setActualGas_DM(&stateUsedWrite->lifeData,actualGasID,setpointCbar); |
| 38 | 435 |
| 436 set_warning_fallback(); | |
| 437 } | |
| 438 } |