Mercurial > public > ostc4
annotate Discovery/Src/simulation.c @ 792:25103f5c7e29
Avoid a configuration warning after the firmware upgrade by disabling automatic setpoint switching. This makes sure the user's automatic setpoint configuration is not overwritten by the validity checks if the settings are not in the correct spots for the new configuration. Users will have to manually re-create the automatic setpoint switching configuration in the new format;
Add a checkbox to 'SPdeco' in the menu - this will make it obvious to users that this setpoint can be disabled. (mikeller)
| author | heinrichsweikamp |
|---|---|
| date | Sat, 05 Aug 2023 11:52:08 +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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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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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 } |