Mercurial > public > ostc4
annotate Discovery/Src/simulation.c @ 799:1e3c12d772eb
Added CO2 mirrow instance:
Using the CO2 mirror the co2 data may be displayed on one of the three O2 slots if a slot is not in used. The physical sensor can be found in the externalsensor map.
| author | Ideenmodellierer |
|---|---|
| date | Mon, 07 Aug 2023 20:32:42 +0200 |
| parents | 3b5f9557c053 |
| children | dd7ce655db26 |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Discovery/Src/simulation.c | |
| 5 /// \brief Contains dive simulation functionality | |
| 6 /// \author Heinrichs Weikamp gmbh | |
| 7 /// \date 13-Oct-2014 | |
| 8 /// | |
| 9 /// \details | |
| 10 /// The simulation uses "extern SDiveState stateSim" defined in dataCentral.h" | |
| 11 /// | |
| 12 /// simulation_start(void) sets stateUsed to stateSim and initializes simulation | |
| 13 /// simulation_UpdateLifeData should be called at least once per second | |
| 14 /// simulation_end() sets stateUsed back to stateReal | |
| 15 /// | |
| 16 /// $Id$ | |
| 17 /////////////////////////////////////////////////////////////////////////////// | |
| 18 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 19 /// | |
| 20 /// This program is free software: you can redistribute it and/or modify | |
| 21 /// it under the terms of the GNU General Public License as published by | |
| 22 /// the Free Software Foundation, either version 3 of the License, or | |
| 23 /// (at your option) any later version. | |
| 24 /// | |
| 25 /// This program is distributed in the hope that it will be useful, | |
| 26 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 27 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 28 /// GNU General Public License for more details. | |
| 29 /// | |
| 30 /// You should have received a copy of the GNU General Public License | |
| 31 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 32 ////////////////////////////////////////////////////////////////////////////// | |
| 33 | |
| 34 #include <string.h> | |
| 35 #include "simulation.h" | |
| 36 | |
| 37 #include "decom.h" | |
| 38 #include "calc_crush.h" | |
| 39 #include "data_exchange.h" | |
|
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40 #include "data_exchange_main.h" |
| 38 | 41 #include "timer.h" |
| 42 #include "check_warning.h" | |
| 43 #include "vpm.h" | |
| 44 #include "buehlmann.h" | |
| 45 #include "logbook_miniLive.h" | |
| 46 | |
| 450 | 47 #include "configuration.h" |
| 48 | |
| 38 | 49 //Private state variables |
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50 static float sim_aim_depth_meter; |
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51 static float sim_aim_time_minutes; |
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52 static _Bool sim_heed_decostops = 1; |
| 38 | 53 |
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54 static const float sim_descent_rate_meter_per_min = 20; |
| 38 | 55 |
| 56 | |
| 57 //Private functions | |
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58 static float sim_get_ambient_pressure(SDiveState * pDiveState); |
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59 static void sim_reduce_deco_time_one_second(SDiveState* pDiveState); |
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60 static void simulation_set_aim_depth(int depth_meter); |
| 38 | 61 |
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62 #define NUM_OF_SENSORS (3u) |
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63 #define SIM_PPO2_STEP (1.1f) |
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64 static float simSensmVOffset[NUM_OF_SENSORS]; |
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65 |
| 38 | 66 /** |
| 67 ****************************************************************************** | |
| 68 * @brief sets heed_decostops_while_ascending | |
| 69 ****************************************************************************** | |
| 70 * @param heed_decostops_while_ascending : true -> deco_stops are considered while ascending | |
| 71 * @return void | |
| 72 */ | |
| 73 void simulation_set_heed_decostops(_Bool heed_decostops_while_ascending) | |
| 74 { | |
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75 sim_heed_decostops = heed_decostops_while_ascending; |
| 38 | 76 } |
| 77 | |
| 78 /** | |
| 79 ****************************************************************************** | |
| 80 * @brief start of simulation | |
| 81 ****************************************************************************** | |
| 82 * @return void | |
| 83 */ | |
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84 void simulation_start(int aim_depth, uint16_t aim_time_minutes) |
| 38 | 85 { |
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86 copyDiveSettingsToSim(); |
| 38 | 87 copyVpmRepetetiveDataToSim(); |
| 88 //vpm_init(&stateSimGetPointerWrite()->vpm, stateSimGetPointerWrite()->diveSettings.vpm_conservatism, 0, 0); | |
| 89 stateSimGetPointerWrite()->lifeData.counterSecondsShallowDepth = 0; | |
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90 stateSimGetPointerWrite()->mode = MODE_DIVE; |
| 38 | 91 if(aim_depth <= 0) |
| 92 aim_depth = 20; | |
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93 simulation_set_aim_depth(aim_depth); |
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94 sim_aim_time_minutes = aim_time_minutes; |
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95 timer_init(); |
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96 set_stateUsedToSim(); |
| 38 | 97 stateSim.lifeData.boolResetAverageDepth = 1; |
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98 decoLock = DECO_CALC_init_as_is_start_of_dive; |
| 38 | 99 |
| 100 stateSim.lifeData.apnea_total_max_depth_meter = 0; | |
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101 memset(simSensmVOffset,0,sizeof(simSensmVOffset)); |
| 38 | 102 } |
| 103 | |
| 104 /** | |
| 105 ****************************************************************************** | |
| 106 * @brief end of simulation | |
| 107 ****************************************************************************** | |
| 108 * | |
| 109 * @return void | |
| 110 */ | |
| 111 void simulation_exit(void) | |
| 112 { | |
| 113 timer_Stopwatch_Stop(); | |
| 114 set_stateUsedToReal(); | |
| 115 } | |
| 116 | |
| 117 /** | |
| 118 ****************************************************************************** | |
| 119 * @brief simulates change of Lifedata (saturation, depth change, etc.) within one second | |
| 120 ****************************************************************************** | |
| 121 * | |
| 122 * @param checkOncePerSecond : true -> simulation in real time (function is evaluated only once per second) | |
| 123 * and copy of parts of LifeData from SmallCPU with each call from HAL_TIM_PeriodElapsedCallback() | |
| 124 * : false -> fast simulation (many simulation cycles per second are possible) | |
| 125 * @return void | |
| 126 */ | |
| 127 void simulation_UpdateLifeData( _Bool checkOncePerSecond) | |
| 128 { | |
| 129 SDiveState * pDiveState = &stateSim; | |
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130 SSettings *pSettings; |
| 38 | 131 |
| 132 static int last_second = -1; | |
| 133 static _Bool two_second = 0; | |
| 134 static float lastPressure_bar = 0; | |
| 135 | |
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136 if (sim_aim_time_minutes && sim_aim_time_minutes * 60 <= pDiveState->lifeData.dive_time_seconds) { |
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137 simulation_set_aim_depth(0); |
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138 } |
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139 |
| 699 | 140 float localCalibCoeff[3] = { 0.0, 0.0, 0.0 }; |
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141 uint8_t index, index2; |
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142 |
| 38 | 143 if(checkOncePerSecond) |
| 144 { | |
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145 |
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146 pSettings = settingsGetPointer(); |
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147 for(index = 0; index < 3; index++) |
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148 { |
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149 localCalibCoeff[index] = pSettings->ppo2sensors_calibCoeff[index]; |
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150 if(localCalibCoeff[index] < 0.01) |
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151 { |
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152 for(index2 = 0; index2 < 3; index2++) /* no valid coeff => check other entries */ |
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153 { |
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154 if(pSettings->ppo2sensors_calibCoeff[index2] > 0.01) |
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155 { |
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156 localCalibCoeff[index] = pSettings->ppo2sensors_calibCoeff[index2]; |
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157 break; |
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158 } |
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159 if(index2 == 3) /* no coeff at all => use default */ |
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160 { |
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161 localCalibCoeff[index] = 0.02; |
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162 } |
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163 } |
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164 } |
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165 } |
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166 |
| 38 | 167 pDiveState->lifeData.temperature_celsius = stateRealGetPointer()->lifeData.temperature_celsius; |
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168 pDiveState->lifeData.battery_charge = stateRealGetPointer()->lifeData.battery_charge; |
| 38 | 169 pDiveState->lifeData.compass_heading = stateRealGetPointer()->lifeData.compass_heading; |
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170 pDiveState->lifeData.compass_roll = stateRealGetPointer()->lifeData.compass_roll; |
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171 pDiveState->lifeData.compass_pitch = stateRealGetPointer()->lifeData.compass_pitch; |
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172 |
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173 #ifdef ENABLE_BOTTLE_SENSOR |
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174 pDiveState->lifeData.bottle_bar[pDiveState->lifeData.actualGas.GasIdInSettings] = stateRealGetPointer()->lifeData.bottle_bar[stateRealGetPointer()->lifeData.actualGas.GasIdInSettings]; |
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175 pDiveState->lifeData.bottle_bar_age_MilliSeconds[pDiveState->lifeData.actualGas.GasIdInSettings] = stateRealGetPointer()->lifeData.bottle_bar_age_MilliSeconds[stateRealGetPointer()->lifeData.actualGas.GasIdInSettings]; |
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176 #endif |
| 38 | 177 int now = current_second(); |
| 178 if( last_second == now) | |
| 179 return; | |
| 180 last_second = now; | |
| 181 | |
| 182 if(!two_second) | |
| 183 two_second = 1; | |
| 184 else | |
| 185 { | |
| 186 two_second = 0; | |
| 187 if(lastPressure_bar >= 0) | |
| 188 { | |
| 189 //2 seconds * 30 == 1 minute, bar * 10 = meter | |
| 190 pDiveState->lifeData.ascent_rate_meter_per_min = (lastPressure_bar - pDiveState->lifeData.pressure_ambient_bar) * 30 * 10; | |
| 191 } | |
| 192 lastPressure_bar = pDiveState->lifeData.pressure_ambient_bar; | |
| 193 } | |
| 194 } | |
| 195 else if(pDiveState->lifeData.depth_meter <= (float)(decom_get_actual_deco_stop(pDiveState) + 0.001)) | |
| 196 sim_reduce_deco_time_one_second(pDiveState); | |
| 197 | |
| 198 pDiveState->lifeData.dive_time_seconds += 1; | |
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199 pDiveState->lifeData.pressure_ambient_bar = sim_get_ambient_pressure(pDiveState); |
| 38 | 200 |
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201 pDiveState->lifeData.sensorVoltage_mV[0] = stateRealGetPointer()->lifeData.sensorVoltage_mV[0] + simSensmVOffset[0]; |
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202 if(pDiveState->lifeData.sensorVoltage_mV[0] < 0.0) { pDiveState->lifeData.sensorVoltage_mV[0] = 0.0; } |
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203 pDiveState->lifeData.sensorVoltage_mV[1] = stateRealGetPointer()->lifeData.sensorVoltage_mV[1] + simSensmVOffset[1]; |
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204 if(pDiveState->lifeData.sensorVoltage_mV[1] < 0.0) { pDiveState->lifeData.sensorVoltage_mV[1] = 0.0; } |
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205 pDiveState->lifeData.sensorVoltage_mV[2] = stateRealGetPointer()->lifeData.sensorVoltage_mV[2] + simSensmVOffset[2]; |
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206 if(pDiveState->lifeData.sensorVoltage_mV[2] < 0.0) { pDiveState->lifeData.sensorVoltage_mV[2] = 0.0; } |
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207 |
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208 pDiveState->lifeData.ppO2Sensor_bar[0] = pDiveState->lifeData.sensorVoltage_mV[0] * localCalibCoeff[0] * pDiveState->lifeData.pressure_ambient_bar; |
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209 pDiveState->lifeData.ppO2Sensor_bar[1] = pDiveState->lifeData.sensorVoltage_mV[1] * localCalibCoeff[1] * pDiveState->lifeData.pressure_ambient_bar; |
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210 pDiveState->lifeData.ppO2Sensor_bar[2] = pDiveState->lifeData.sensorVoltage_mV[2] * localCalibCoeff[2] * pDiveState->lifeData.pressure_ambient_bar; |
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211 |
| 748 | 212 pDiveState->lifeData.CO2_data.CO2_ppm = stateRealGetPointer()->lifeData.CO2_data.CO2_ppm; |
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213 |
| 38 | 214 if(is_ambient_pressure_close_to_surface(&pDiveState->lifeData)) // new hw 170214 |
| 215 { | |
| 216 if(!(stateSimGetPointer()->lifeData.counterSecondsShallowDepth)) | |
| 217 { | |
| 218 if(pDiveState->diveSettings.diveMode != DIVEMODE_Apnea) | |
| 219 pDiveState->lifeData.counterSecondsShallowDepth = settingsGetPointer()->timeoutDiveReachedZeroDepth - 15; | |
| 220 else | |
| 221 { | |
| 222 pDiveState->lifeData.apnea_last_dive_time_seconds = pDiveState->lifeData.dive_time_seconds; | |
| 223 if(pDiveState->lifeData.apnea_last_dive_time_seconds > pDiveState->lifeData.dive_time_seconds_without_surface_time) | |
| 224 pDiveState->lifeData.apnea_last_dive_time_seconds = pDiveState->lifeData.dive_time_seconds_without_surface_time; | |
| 225 pDiveState->lifeData.apnea_last_max_depth_meter = pDiveState->lifeData.max_depth_meter; | |
| 226 pDiveState->lifeData.counterSecondsShallowDepth = 1; | |
| 227 } | |
| 228 } | |
| 229 } | |
| 230 else | |
| 231 { | |
| 232 pDiveState->lifeData.counterSecondsShallowDepth = 0; | |
| 233 } | |
| 234 | |
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235 if(!is_ambient_pressure_close_to_surface(&pDiveState->lifeData) && !(stateSimGetPointer()->lifeData.counterSecondsShallowDepth) ) |
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236 { |
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237 pDiveState->lifeData.dive_time_seconds_without_surface_time += 1; |
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238 } |
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bugfix, simulator: fix the 1 sec difference between stopwatch and divetime
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239 |
| 38 | 240 pDiveState->lifeData.depth_meter = (pDiveState->lifeData.pressure_ambient_bar - pDiveState->lifeData.pressure_surface_bar) * 10.0f; |
| 241 if(pDiveState->lifeData.max_depth_meter < pDiveState->lifeData.depth_meter) | |
| 242 pDiveState->lifeData.max_depth_meter = pDiveState->lifeData.depth_meter; | |
| 243 | |
| 244 /* apnoe specials | |
| 245 */ | |
| 246 if(pDiveState->diveSettings.diveMode == DIVEMODE_Apnea) | |
| 247 { | |
| 248 if(pDiveState->lifeData.max_depth_meter > pDiveState->lifeData.apnea_total_max_depth_meter) | |
| 249 pDiveState->lifeData.apnea_total_max_depth_meter = pDiveState->lifeData.max_depth_meter; | |
| 250 | |
| 251 if(pDiveState->lifeData.counterSecondsShallowDepth) | |
| 252 { | |
| 253 pDiveState->lifeData.dive_time_seconds = 0; | |
| 254 pDiveState->lifeData.max_depth_meter = 0; | |
| 255 pDiveState->lifeData.boolResetAverageDepth = 1; | |
| 256 } | |
| 257 } | |
| 258 | |
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259 setAvgDepth(pDiveState); |
| 38 | 260 |
| 261 /* Exposure Tissues | |
| 262 */ | |
| 263 decom_tissues_exposure(1, &pDiveState->lifeData); | |
| 264 decom_oxygen_calculate_cns_exposure(1, &pDiveState->lifeData.actualGas, pDiveState->lifeData.pressure_ambient_bar, &pDiveState->lifeData.cns); | |
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265 |
| 38 | 266 if(stateSimGetPointer()->lifeData.counterSecondsShallowDepth) |
| 267 { | |
| 268 stateSimGetPointerWrite()->lifeData.counterSecondsShallowDepth += 1; | |
| 269 if(stateSimGetPointer()->lifeData.counterSecondsShallowDepth >= settingsGetPointer()->timeoutDiveReachedZeroDepth) | |
| 270 simulation_exit(); | |
| 271 } | |
| 272 vpm_crush(pDiveState); | |
| 273 } | |
| 274 | |
| 275 /** | |
| 276 ****************************************************************************** | |
| 277 * @brief adds extra time for fast simulation | |
| 278 ****************************************************************************** | |
| 279 *@param minutes | |
| 280 * @return float : new pressure | |
| 281 */ | |
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282 static void simulation_add_time(int minutes) |
| 38 | 283 { |
| 284 for(int i = 0; i < 60 * minutes; i++) | |
| 285 { | |
| 286 simulation_UpdateLifeData(0); | |
| 287 updateMiniLiveLogbook(0); | |
| 288 timer_UpdateSecond(0); | |
| 289 } | |
| 290 } | |
| 291 | |
| 292 /** | |
| 293 ****************************************************************************** | |
| 294 * @brief get aim_depth | |
| 295 ****************************************************************************** | |
| 296 * @return sim_aim_depth_meter; | |
| 297 */ | |
| 298 | |
| 299 uint16_t simulation_get_aim_depth(void) | |
| 300 { | |
| 301 return (uint16_t)sim_aim_depth_meter; | |
| 302 } | |
| 303 | |
| 304 /** | |
| 305 ****************************************************************************** | |
| 306 * @brief get heed decostops | |
| 307 ****************************************************************************** | |
| 308 * @return true if ascend follows decostops; | |
| 309 */ | |
| 310 | |
| 311 _Bool simulation_get_heed_decostops(void) | |
| 312 { | |
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313 return sim_heed_decostops; |
| 38 | 314 } |
| 315 | |
| 316 /** | |
| 317 ****************************************************************************** | |
| 318 * @brief sets aim_depth | |
| 319 ****************************************************************************** | |
| 320 *@param depth_meter | |
| 321 * @return float : new pressure | |
| 322 */ | |
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323 static void simulation_set_aim_depth(int depth_meter) |
| 38 | 324 { |
| 325 sim_aim_depth_meter = depth_meter; | |
| 326 } | |
| 327 | |
| 328 /** | |
| 329 ****************************************************************************** | |
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330 * @brief simulates ambient pressure depending on aim depth |
| 38 | 331 ****************************************************************************** |
| 332 * @note if aim_depth != actual depth, the depth change within one second | |
| 333 * (depending on descent or ascent) rate is calculated | |
| 334 * @param SDiveState* pDiveState: | |
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335 * @return float : new ambient pressure |
| 38 | 336 */ |
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337 static float sim_get_ambient_pressure(SDiveState * pDiveState) |
| 38 | 338 { |
| 339 //Calc next depth | |
| 340 uint8_t actual_deco_stop = decom_get_actual_deco_stop(pDiveState); | |
| 341 float depth_meter = pDiveState->lifeData.depth_meter; | |
| 342 float surface_pressure_bar = pDiveState->lifeData.pressure_surface_bar; | |
| 343 if(depth_meter < sim_aim_depth_meter) | |
| 344 { | |
| 345 depth_meter = depth_meter + sim_descent_rate_meter_per_min / 60; | |
| 346 if(depth_meter > sim_aim_depth_meter) | |
| 347 depth_meter = sim_aim_depth_meter; | |
| 348 } | |
| 349 else if(depth_meter > sim_aim_depth_meter) | |
| 350 { | |
| 351 | |
| 352 depth_meter -= pDiveState->diveSettings.ascentRate_meterperminute / 60; | |
| 353 if(depth_meter < sim_aim_depth_meter) | |
| 354 depth_meter = sim_aim_depth_meter; | |
| 355 | |
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356 if(sim_heed_decostops && depth_meter < actual_deco_stop) |
| 38 | 357 { |
| 358 if(actual_deco_stop < (depth_meter + pDiveState->diveSettings.ascentRate_meterperminute / 60)) | |
| 359 depth_meter = actual_deco_stop; | |
| 360 else | |
| 361 depth_meter += pDiveState->diveSettings.ascentRate_meterperminute / 60; | |
| 362 } | |
| 363 | |
| 364 } | |
| 365 | |
| 366 return surface_pressure_bar + depth_meter / 10; | |
| 367 } | |
| 368 | |
| 369 | |
| 370 /** | |
| 371 ****************************************************************************** | |
| 372 * @brief Reduces deco time of deepest stop by one second | |
| 373 ****************************************************************************** | |
| 374 * @note called during fast simulation | |
| 375 * @param SDiveState* pDiveState: | |
| 376 * @return void | |
| 377 */ | |
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378 static void sim_reduce_deco_time_one_second(SDiveState* pDiveState) |
| 38 | 379 { |
| 380 SDecoinfo* pDecoinfo; | |
| 381 if(pDiveState->diveSettings.deco_type.ub.standard == GF_MODE) | |
| 382 pDecoinfo = &pDiveState->decolistBuehlmann; | |
| 383 else | |
| 384 pDecoinfo = &pDiveState->decolistVPM; | |
| 385 | |
| 386 //Reduce deco time of deepest stop by one second | |
| 387 for(int i = DECOINFO_STRUCT_MAX_STOPS -1 ;i >= 0; i--) | |
| 388 { | |
| 389 if(pDecoinfo->output_stop_length_seconds[i] > 0) | |
| 390 { | |
| 391 pDecoinfo->output_stop_length_seconds[i]--; | |
| 392 break; | |
| 393 } | |
| 394 } | |
| 395 } | |
| 396 | |
| 397 SDecoinfo* simulation_decoplaner(uint16_t depth_meter, uint16_t intervall_time_minutes, uint16_t dive_time_minutes, uint8_t *gasChangeListDepthGas20x2) | |
| 398 { | |
| 399 uint8_t ptrGasChangeList = 0; // new hw 160704 | |
| 400 | |
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401 for (int i = 0; i < 40; i++) |
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402 gasChangeListDepthGas20x2[i] = 0; |
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403 |
| 38 | 404 SDiveState * pDiveState = &stateSim; |
| 405 copyDiveSettingsToSim(); | |
| 406 vpm_init(&pDiveState->vpm, pDiveState->diveSettings.vpm_conservatism, 0, 0); | |
| 407 //buehlmann_init(); | |
| 408 //timer_init(); | |
| 409 memset(&pDiveState->events,0, sizeof(SEvents)); | |
| 410 pDiveState->diveSettings.internal__pressure_first_stop_ambient_bar_as_upper_limit_for_gf_low_otherwise_zero = 0; | |
| 411 //Calc desaturation during intervall (with Air) | |
| 412 setActualGasAir(&pDiveState->lifeData); | |
| 413 if(intervall_time_minutes > 0) | |
| 414 { | |
| 415 decom_tissues_exposure(intervall_time_minutes * 60, &pDiveState->lifeData); | |
| 416 decom_oxygen_calculate_cns_degrade(&pDiveState->lifeData.cns, intervall_time_minutes * 60); | |
| 417 } | |
| 418 | |
| 419 //Switch to first Gas | |
| 420 setActualGasFirst(&pDiveState->lifeData); | |
| 421 | |
| 422 // new hw 160704 | |
| 423 if(gasChangeListDepthGas20x2) | |
| 424 { | |
| 425 gasChangeListDepthGas20x2[ptrGasChangeList++] = 0; | |
| 426 gasChangeListDepthGas20x2[ptrGasChangeList++] = pDiveState->lifeData.actualGas.GasIdInSettings; | |
| 427 gasChangeListDepthGas20x2[0] =0; // depth zero | |
| 428 } | |
| 429 | |
| 430 //Going down / descent | |
| 431 simulation_set_aim_depth(depth_meter); | |
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432 sim_aim_time_minutes = 0; |
| 38 | 433 for(int i = 0; i < 60 * dive_time_minutes; i++) |
| 434 { | |
| 435 simulation_UpdateLifeData(0); | |
| 436 check_warning2(pDiveState); | |
| 437 if(pDiveState->warnings.betterGas) | |
| 438 { | |
| 439 setActualGas(&pDiveState->lifeData,actualBetterGasId(),pDiveState->lifeData.actualGas.setPoint_cbar); | |
| 440 if(gasChangeListDepthGas20x2 && (pDiveState->diveSettings.diveMode == DIVEMODE_OC)) | |
| 441 { | |
| 442 gasChangeListDepthGas20x2[ptrGasChangeList++] = pDiveState->lifeData.depth_meter; | |
| 443 gasChangeListDepthGas20x2[ptrGasChangeList++] = actualBetterGasId(); | |
| 444 } | |
| 445 } | |
| 446 } | |
| 447 | |
| 448 decom_CreateGasChangeList(&pDiveState->diveSettings, &pDiveState->lifeData); // was there before and needed for buehlmann_calc_deco and vpm_calc | |
| 449 | |
| 450 // new hw 160704 | |
| 451 if(gasChangeListDepthGas20x2 && (pDiveState->diveSettings.diveMode == DIVEMODE_OC)) | |
| 452 { | |
| 453 // change direction from better gas to deco gas | |
| 454 gasChangeListDepthGas20x2[ptrGasChangeList++] = 255; | |
| 455 gasChangeListDepthGas20x2[ptrGasChangeList++] = 255; | |
| 456 | |
| 457 // ascend (deco) gases | |
| 458 for(int i=1; i<=5;i++) | |
| 459 { | |
| 460 if(pDiveState->diveSettings.decogaslist[i].change_during_ascent_depth_meter_otherwise_zero == 0) | |
| 461 break; | |
| 462 gasChangeListDepthGas20x2[ptrGasChangeList++] = pDiveState->diveSettings.decogaslist[i].change_during_ascent_depth_meter_otherwise_zero; | |
| 463 gasChangeListDepthGas20x2[ptrGasChangeList++] = pDiveState->diveSettings.decogaslist[i].GasIdInSettings; | |
| 464 } | |
| 465 gasChangeListDepthGas20x2[0] = 0; | |
| 466 } | |
| 467 | |
| 468 // deco and ascend calc | |
| 469 if(pDiveState->diveSettings.deco_type.ub.standard == GF_MODE) | |
| 470 { | |
| 471 /* this does modify the cns now 11.06.2015 */ | |
| 472 buehlmann_calc_deco(&pDiveState->lifeData,&pDiveState->diveSettings,&pDiveState->decolistBuehlmann); | |
| 473 pDiveState->lifeData.cns += buehlmann_get_gCNS(); | |
| 474 return &pDiveState->decolistBuehlmann; | |
| 475 } | |
| 476 else | |
| 477 { | |
| 478 /* this does modify the cns now 11.06.2015 */ | |
| 479 vpm_calc(&pDiveState->lifeData,&pDiveState->diveSettings,&pDiveState->vpm,&pDiveState->decolistVPM, DECOSTOPS); | |
| 480 pDiveState->lifeData.cns += vpm_get_CNS(); | |
| 481 return &pDiveState->decolistVPM; | |
| 482 } | |
| 483 } | |
| 484 | |
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485 static float sGChelper_bar(uint16_t depth_meter) |
| 38 | 486 { |
| 487 SDiveState * pDiveState = &stateSim; | |
| 488 float ambient, surface, density, meter; | |
| 489 | |
| 490 surface = pDiveState->lifeData.pressure_surface_bar; | |
| 491 | |
| 492 if(!depth_meter) | |
| 493 return surface; | |
| 494 | |
| 495 density = ((float)( 100 + settingsGetPointer()->salinity)) / 100.0f; | |
| 496 meter = depth_meter * (0.09807f * density); | |
| 497 ambient = (meter + surface); | |
| 498 | |
| 499 return ambient; | |
| 500 } | |
| 501 | |
| 502 | |
| 503 /** | |
| 504 ****************************************************************************** | |
| 505 * @brief simulation_helper_change_points | |
| 506 ****************************************************************************** | |
| 507 * @param | |
| 508 * @return void | |
| 509 */ | |
| 510 void simulation_helper_change_points(SSimDataSummary *outputSummary, uint16_t depth_meter, uint16_t dive_time_minutes, SDecoinfo *decoInfoInput, const uint8_t *gasChangeListDepthGas20x2) | |
| 511 { | |
| 512 uint8_t ptrDecoInfo = 0; | |
| 513 uint16_t actualDepthPoint = 0; | |
| 514 uint16_t nextDepthPoint = 0; | |
| 515 uint8_t actualConsumGasId = 0; | |
| 516 uint8_t nextGasChangeMeter = 0; | |
| 517 uint8_t ptrChangeList = 0; | |
| 518 | |
| 519 float timeThis = 0; | |
| 520 float timeSummary = 0; | |
| 521 float sim_descent_rate_meter_per_min_local = 10; | |
| 522 float sim_ascent_rate_meter_per_min_local = 10; | |
| 523 | |
| 524 SDiveState * pDiveState = &stateSim; | |
| 525 | |
| 526 uint8_t depthDecoNext, depthLast, depthSecond, depthInc; | |
| 527 | |
| 528 if(pDiveState->diveSettings.deco_type.ub.standard == GF_MODE) | |
| 529 { | |
| 530 sim_descent_rate_meter_per_min_local = sim_descent_rate_meter_per_min; // const float | |
| 531 sim_ascent_rate_meter_per_min_local = pDiveState->diveSettings.ascentRate_meterperminute; | |
| 532 } | |
| 533 else | |
| 534 { | |
| 535 sim_descent_rate_meter_per_min_local = sim_descent_rate_meter_per_min; // const float | |
| 536 sim_ascent_rate_meter_per_min_local = 10;// fix in vpm_calc_deco(); | |
| 537 } | |
| 538 | |
| 539 outputSummary->descentRateMeterPerMinute = sim_descent_rate_meter_per_min_local; | |
| 540 outputSummary->ascentRateMeterPerMinute = sim_ascent_rate_meter_per_min_local; | |
| 541 | |
| 542 // bottom gas ppO2 | |
| 543 if(gasChangeListDepthGas20x2) | |
| 544 { | |
| 545 nextGasChangeMeter = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 546 actualConsumGasId = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 547 nextGasChangeMeter = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 548 | |
| 549 while(actualDepthPoint < depth_meter) | |
| 550 { | |
| 551 if(nextGasChangeMeter && (nextGasChangeMeter < depth_meter) && (gasChangeListDepthGas20x2[ptrChangeList] != 255)) // list has 255,255 for turn from travel to deco | |
| 552 { | |
| 553 nextDepthPoint = nextGasChangeMeter; | |
| 554 } | |
| 555 else | |
| 556 { | |
| 557 nextDepthPoint = depth_meter; | |
| 558 } | |
| 559 | |
| 560 if(actualConsumGasId > 5) // safety first | |
| 561 actualConsumGasId = 0; | |
| 562 | |
| 563 actualDepthPoint = nextDepthPoint; | |
| 564 | |
| 565 if(actualDepthPoint != depth_meter) | |
| 566 { | |
| 567 actualConsumGasId = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 568 nextGasChangeMeter = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 569 } | |
| 570 } | |
| 571 } | |
| 572 else | |
| 573 { | |
| 574 actualConsumGasId = pDiveState->lifeData.actualGas.GasIdInSettings; | |
| 575 nextGasChangeMeter = 0; | |
| 576 } | |
| 577 outputSummary->ppO2AtBottom = (sGChelper_bar(depth_meter) - WATER_VAPOUR_PRESSURE) * pDiveState->diveSettings.gas[actualConsumGasId].oxygen_percentage / 100.0f; | |
| 578 | |
| 579 | |
| 580 // going down | |
| 581 actualDepthPoint = 0; | |
| 582 nextDepthPoint = depth_meter; | |
| 583 | |
| 584 timeThis = ((float)(nextDepthPoint - actualDepthPoint)) / sim_descent_rate_meter_per_min_local; | |
| 585 timeSummary += timeThis; | |
| 586 outputSummary->timeToBottom = (uint16_t)timeThis; | |
| 587 | |
| 588 // bottom time | |
| 589 timeThis = ((float)dive_time_minutes) - timeSummary; | |
| 590 timeSummary += timeThis; | |
| 591 outputSummary->timeAtBottom = (uint16_t)timeSummary; | |
| 592 | |
| 593 | |
| 594 // ascend to first deco stop | |
| 595 actualDepthPoint = depth_meter; // that is where we are | |
| 596 timeThis = 0; | |
| 597 | |
| 598 if(!decoInfoInput->output_stop_length_seconds[0]) // NDL dive | |
| 599 { | |
| 600 depthLast = 0; | |
| 601 ptrDecoInfo = 0; | |
| 602 depthDecoNext = 0; | |
| 603 } | |
| 604 else | |
| 605 { | |
| 606 // prepare deco stop list | |
| 607 depthLast = (uint8_t)(stateUsed->diveSettings.last_stop_depth_bar * 10); | |
| 608 depthSecond = (uint8_t)(stateUsed->diveSettings.input_second_to_last_stop_depth_bar * 10); | |
| 609 depthInc = (uint8_t)(stateUsed->diveSettings.input_next_stop_increment_depth_bar * 10); | |
| 610 | |
| 611 for(ptrDecoInfo=DECOINFO_STRUCT_MAX_STOPS-1; ptrDecoInfo>0; ptrDecoInfo--) | |
| 612 if(decoInfoInput->output_stop_length_seconds[ptrDecoInfo]) break; | |
| 613 | |
| 614 if(ptrDecoInfo == 0) | |
| 615 { | |
| 616 depthDecoNext = depthLast; | |
| 617 } | |
| 618 else | |
| 619 depthDecoNext = depthSecond + (( ptrDecoInfo - 1 )* depthInc); | |
| 620 } | |
| 621 | |
| 622 nextDepthPoint = depthDecoNext; | |
| 623 if(actualDepthPoint > nextDepthPoint) | |
| 624 { | |
| 625 // flip signs! It's going up | |
| 626 timeThis = ((float)(actualDepthPoint - nextDepthPoint)) / sim_ascent_rate_meter_per_min_local; | |
| 627 actualDepthPoint = nextDepthPoint; // that is where we are | |
| 628 } | |
| 629 timeSummary += timeThis; | |
| 630 outputSummary->timeToFirstStop = (uint16_t)timeSummary; | |
| 631 outputSummary->depthMeterFirstStop = actualDepthPoint; | |
| 632 | |
| 633 //ascent | |
| 634 nextDepthPoint = 0; | |
| 635 timeThis = 0; | |
| 636 if(actualDepthPoint > nextDepthPoint) // only if deco | |
| 637 { | |
| 638 // ascent time | |
| 639 timeThis = ((float)(actualDepthPoint - nextDepthPoint)) / sim_ascent_rate_meter_per_min_local; | |
| 640 | |
| 641 // deco stop time | |
| 642 for(ptrDecoInfo=0;ptrDecoInfo < DECOINFO_STRUCT_MAX_STOPS; ptrDecoInfo++) | |
| 643 { | |
| 644 timeThis += decoInfoInput->output_stop_length_seconds[ptrDecoInfo] / 60; | |
| 645 if(!decoInfoInput->output_stop_length_seconds[ptrDecoInfo]) break; | |
| 646 } | |
| 647 } | |
| 648 timeSummary += timeThis; | |
| 649 outputSummary->timeToSurface = (uint16_t)timeSummary; | |
| 650 | |
| 651 } | |
| 652 | |
| 653 | |
| 654 /** | |
| 655 ****************************************************************************** | |
| 656 * @brief simulation_gas_consumption | |
| 657 ****************************************************************************** | |
| 658 * @note called by openEdit_PlanResult() in tMenuEditPlanner.c | |
| 659 * @note the ascend and descend time is taken from pDiveState->lifeData.ascent_rate_meter_per_min and const float sim_descent_rate_meter_per_min | |
| 660 * @param outputConsumptionList list from 1 to 5 for gas 1 to 5 | |
| 661 * @param depth_meter for descend | |
| 662 * @param dive_time_minutes for descend and bottom time | |
| 663 * @param the calculated deco list | |
| 664 * @param gasConsumTravelInput: how many l/min for all but deco stops | |
| 665 * @param gasConsumDecoInput: how many l/min for deco stops only | |
| 666 * @return void | |
| 667 */ | |
| 668 | |
| 669 void simulation_gas_consumption(uint16_t *outputConsumptionList, uint16_t depth_meter, uint16_t dive_time_minutes, SDecoinfo *decoInfoInput, uint8_t gasConsumTravelInput, uint8_t gasConsumDecoInput, const uint8_t *gasChangeListDepthGas20x2) | |
| 670 { | |
| 671 uint8_t ptrDecoInfo = 0; | |
| 672 uint8_t ptrChangeList = 0; | |
| 673 uint8_t actualConsumGasId = 0; | |
| 674 uint8_t nextGasChangeMeter = 0; | |
| 675 uint16_t actualDepthPoint = 0; | |
| 676 uint16_t nextDepthPoint = 0; | |
| 677 uint16_t inBetweenDepthPoint = 0; | |
| 678 float timeThis = 0; | |
| 679 float consumThis = 0; | |
| 680 float timeSummary = 0; | |
| 681 float outputConsumptionTempFloat[6]; | |
| 682 float sim_descent_rate_meter_per_min_local = 10; | |
| 683 float sim_ascent_rate_meter_per_min_local = 10; | |
| 684 | |
| 685 SDiveState * pDiveState = &stateSim; | |
| 686 | |
|
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Resolved warnings pointing to possible invalid memory access
Ideenmodellierer
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687 uint8_t depthDecoNext = 0; |
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688 uint8_t depthLast = 0; |
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689 uint8_t depthSecond = 0; |
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690 uint8_t depthInc = 0; |
| 38 | 691 |
| 692 for(int i = 1; i < 6; i++) | |
| 693 outputConsumptionTempFloat[i] = 0; | |
| 694 | |
| 695 if(gasChangeListDepthGas20x2) | |
| 696 { | |
| 697 nextGasChangeMeter = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 698 actualConsumGasId = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 699 nextGasChangeMeter = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 700 } | |
| 701 else | |
| 702 { | |
| 703 actualConsumGasId = pDiveState->lifeData.actualGas.GasIdInSettings; | |
| 704 nextGasChangeMeter = 0; | |
| 705 } | |
| 706 | |
| 707 if(pDiveState->diveSettings.deco_type.ub.standard == GF_MODE) | |
| 708 { | |
| 709 sim_descent_rate_meter_per_min_local = sim_descent_rate_meter_per_min; // const float | |
| 710 sim_ascent_rate_meter_per_min_local = pDiveState->diveSettings.ascentRate_meterperminute; | |
| 711 } | |
| 712 else | |
| 713 { | |
| 714 sim_descent_rate_meter_per_min_local = sim_descent_rate_meter_per_min; // const float | |
| 715 sim_ascent_rate_meter_per_min_local = 10;// fix in vpm_calc_deco(); | |
| 716 } | |
| 717 | |
| 718 // while((nextGasChangeMeter < depth_meter) && (actualDepthPoint < depth_meter)) | |
| 719 while(actualDepthPoint < depth_meter) | |
| 720 { | |
| 721 if(nextGasChangeMeter && (nextGasChangeMeter < depth_meter) && (gasChangeListDepthGas20x2[ptrChangeList] != 255)) // list has 255,255 for turn from travel to deco | |
| 722 { | |
| 723 nextDepthPoint = nextGasChangeMeter; | |
| 724 } | |
| 725 else | |
| 726 { | |
| 727 nextDepthPoint = depth_meter; | |
| 728 } | |
| 729 | |
| 730 if(actualConsumGasId > 5) // safety first | |
| 731 actualConsumGasId = 0; | |
| 732 | |
| 733 timeThis = ((float)(nextDepthPoint - actualDepthPoint)) / sim_descent_rate_meter_per_min_local; | |
| 734 if(actualDepthPoint) // not if on surface | |
| 735 { | |
| 736 consumThis = ((float)gasConsumTravelInput) * sGChelper_bar(actualDepthPoint) * timeThis; | |
| 737 } | |
| 738 consumThis += ((float)gasConsumTravelInput) * sGChelper_bar(nextDepthPoint -actualDepthPoint) * timeThis / 2; | |
| 739 outputConsumptionTempFloat[actualConsumGasId] += consumThis; | |
| 740 timeSummary += timeThis; | |
| 741 | |
| 742 actualDepthPoint = nextDepthPoint; | |
| 743 | |
| 744 if(actualDepthPoint != depth_meter) | |
| 745 { | |
| 746 actualConsumGasId = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 747 nextGasChangeMeter = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 748 } | |
| 749 } | |
| 750 | |
| 751 // bottom Time | |
| 752 timeThis = ((float)dive_time_minutes) - timeSummary; | |
| 753 | |
| 754 if(timeThis > 0) | |
| 755 { | |
| 756 consumThis = ((float)gasConsumTravelInput) * sGChelper_bar(depth_meter) * timeThis; | |
| 757 outputConsumptionTempFloat[actualConsumGasId] += consumThis; | |
| 758 } | |
| 759 | |
| 760 // ascend with deco stops prepare | |
| 761 if(gasChangeListDepthGas20x2) | |
| 762 { | |
| 763 ptrChangeList++;// gasChangeListDepthGas20x2[ptrChangeList++]; // should be the 255 | |
| 764 nextGasChangeMeter = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 765 } | |
| 766 else | |
| 767 { | |
| 768 nextGasChangeMeter = 0; | |
| 769 } | |
| 770 | |
| 771 | |
| 772 if(!decoInfoInput->output_stop_length_seconds[0]) // NDL dive | |
| 773 { | |
| 774 depthLast = 0; | |
| 775 ptrDecoInfo = 0; | |
| 776 } | |
| 777 else | |
| 778 { | |
| 779 // prepare deco stop list | |
| 780 depthLast = (uint8_t)(stateUsed->diveSettings.last_stop_depth_bar * 10); | |
| 781 depthSecond = (uint8_t)(stateUsed->diveSettings.input_second_to_last_stop_depth_bar * 10); | |
| 782 depthInc = (uint8_t)(stateUsed->diveSettings.input_next_stop_increment_depth_bar * 10); | |
| 783 | |
| 784 for(ptrDecoInfo=DECOINFO_STRUCT_MAX_STOPS-1; ptrDecoInfo>0; ptrDecoInfo--) | |
| 785 if(decoInfoInput->output_stop_length_seconds[ptrDecoInfo]) break; | |
| 786 } | |
| 787 | |
| 788 actualDepthPoint = depth_meter; // that is where we are | |
| 789 | |
| 790 // ascend with deco stops | |
| 791 while(actualDepthPoint) | |
| 792 { | |
| 793 if(ptrDecoInfo == 0) | |
| 794 { | |
| 795 depthDecoNext = depthLast; | |
| 796 } | |
| 797 else | |
| 798 depthDecoNext = depthSecond + (( ptrDecoInfo - 1 )* depthInc); | |
| 799 | |
| 800 if(nextGasChangeMeter && (nextGasChangeMeter > depthDecoNext)) | |
| 801 { | |
| 802 nextDepthPoint = nextGasChangeMeter; | |
| 803 } | |
| 804 else | |
| 805 { | |
| 806 nextDepthPoint = depthDecoNext; | |
| 807 } | |
| 808 | |
| 809 if(actualConsumGasId > 5) // safety first | |
| 810 actualConsumGasId = 0; | |
| 811 | |
| 812 if(actualDepthPoint > nextDepthPoint) | |
| 813 { | |
| 814 // flip signs! It's going up | |
| 815 timeThis = ((float)(actualDepthPoint - nextDepthPoint)) / sim_ascent_rate_meter_per_min_local; | |
| 816 inBetweenDepthPoint = nextDepthPoint + ((actualDepthPoint - nextDepthPoint)/2); | |
| 817 consumThis = ((float)gasConsumDecoInput) * sGChelper_bar(inBetweenDepthPoint) * timeThis; | |
| 818 /* | |
| 819 if(nextDepthPoint) | |
| 820 { | |
| 821 consumThis = ((float)gasConsumDecoInput) * sGChelper_bar(nextDepthPoint) * timeThis; | |
| 822 } | |
| 823 else | |
| 824 { | |
| 825 consumThis = 0; | |
| 826 } | |
| 827 consumThis += ((float)gasConsumDecoInput) * sGChelper_bar(actualDepthPoint - nextDepthPoint) * timeThis / 2; | |
| 828 */ | |
| 829 outputConsumptionTempFloat[actualConsumGasId] += consumThis; | |
| 830 } | |
| 831 | |
| 832 if(nextGasChangeMeter && (nextDepthPoint == nextGasChangeMeter)) | |
| 833 { | |
| 834 actualConsumGasId = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 835 nextGasChangeMeter = gasChangeListDepthGas20x2[ptrChangeList++]; | |
| 836 } | |
| 837 | |
| 838 if(actualConsumGasId > 5) // safety first | |
| 839 actualConsumGasId = 0; | |
| 840 | |
| 841 if(nextDepthPoint && (nextDepthPoint == depthDecoNext)) | |
| 842 { | |
| 843 if(decoInfoInput->output_stop_length_seconds[ptrDecoInfo]) | |
| 844 { | |
| 845 timeThis = ((float)(decoInfoInput->output_stop_length_seconds[ptrDecoInfo])) / 60.0f; | |
| 846 consumThis = ((float)gasConsumDecoInput) * sGChelper_bar(nextDepthPoint) * timeThis; | |
| 847 outputConsumptionTempFloat[actualConsumGasId] += consumThis; | |
| 848 } | |
| 849 if(ptrDecoInfo != 0) | |
| 850 { | |
| 851 ptrDecoInfo--; | |
| 852 } | |
| 853 else | |
| 854 { | |
| 855 depthLast = 0; | |
| 856 } | |
| 857 } | |
| 858 actualDepthPoint = nextDepthPoint; | |
| 859 } | |
| 860 | |
| 861 // copy and return | |
| 862 for(int i = 1; i < 6; i++) | |
| 863 outputConsumptionList[i] = (uint16_t)(outputConsumptionTempFloat[i]); | |
| 864 } | |
| 865 | |
| 866 /** | |
| 867 ****************************************************************************** | |
| 868 * @brief Simulator control during simulated dive | |
| 869 ****************************************************************************** | |
| 870 * @note called by user via tHomeDiveMenuControl() | |
| 871 * @param void | |
| 872 * @return void | |
| 873 */ | |
| 874 | |
| 875 | |
| 876 void Sim_Descend (void) | |
| 877 { | |
| 878 stateSimGetPointerWrite()->lifeData.counterSecondsShallowDepth = 0; | |
| 879 if(simulation_get_aim_depth() < 200) | |
| 880 simulation_set_aim_depth(simulation_get_aim_depth() + 1); | |
| 881 } | |
| 882 | |
| 883 | |
| 884 void Sim_Ascend (void) | |
| 885 { | |
| 886 if(simulation_get_aim_depth() > 0) | |
| 887 simulation_set_aim_depth(simulation_get_aim_depth() - 1); | |
| 888 } | |
| 889 | |
| 890 | |
| 891 void Sim_Divetime (void) | |
| 892 { | |
| 893 simulation_add_time(5); | |
| 894 } | |
| 895 | |
| 896 | |
| 897 void Sim_Quit (void) | |
| 898 { | |
| 899 if(stateSimGetPointer()->lifeData.counterSecondsShallowDepth) | |
| 900 { | |
| 901 simulation_exit(); | |
| 902 return; | |
| 903 } | |
| 904 | |
| 905 if(simulation_get_aim_depth() > 0) | |
| 906 { | |
| 907 simulation_set_aim_depth(0); | |
| 908 } | |
| 909 else | |
| 910 { | |
| 911 stateSimGetPointerWrite()->lifeData.depth_meter = 0; | |
| 912 if(stateSimGetPointer()->diveSettings.diveMode == DIVEMODE_Apnea) | |
| 913 { | |
| 914 stateSimGetPointerWrite()->lifeData.counterSecondsShallowDepth = 1; | |
| 915 } | |
| 916 else | |
| 917 { | |
| 918 stateSimGetPointerWrite()->lifeData.counterSecondsShallowDepth = settingsGetPointer()->timeoutDiveReachedZeroDepth - 15; | |
| 919 } | |
| 920 } | |
| 921 } | |
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922 |
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923 void Sim_IncreasePPO(uint8_t sensorIdx) |
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924 { |
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925 if((sensorIdx < NUM_OF_SENSORS) && (simSensmVOffset[sensorIdx] + SIM_PPO2_STEP < 100.0) && ((stateUsed->diveSettings.ppo2sensors_deactivated & (1 << sensorIdx)) == 0)) |
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926 { |
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927 simSensmVOffset[sensorIdx] += SIM_PPO2_STEP; |
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928 } |
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929 } |
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930 void Sim_DecreasePPO(uint8_t sensorIdx) |
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931 { |
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932 if((sensorIdx < NUM_OF_SENSORS) && (simSensmVOffset[sensorIdx] - SIM_PPO2_STEP >= -100.0)) |
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933 { |
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934 simSensmVOffset[sensorIdx] -= SIM_PPO2_STEP; |
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935 } |
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936 } |