Mercurial > public > ostc4
annotate Discovery/Src/data_central.c @ 771:29d9b5bc7946
Revised automatic setpoint change. The proposed approach is essentially the approach used by most controllers of eCCR ('upshift' on descent, 'downshift' on ascent), so that the OSTC4 when used as a backup computer for eCCR will make the changes at the same time as the eCCR itself.
| author | heinrichsweikamp |
|---|---|
| date | Fri, 21 Apr 2023 09:48:23 +0200 |
| parents | 8a2337c7af52 |
| children | 6169309d6eb9 |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @copyright heinrichs weikamp | |
| 4 * @file data_central.c | |
| 5 * @author heinrichs weikamp gmbh | |
| 6 * @date 10-November-2014 | |
| 7 * @version V1.0.2 | |
| 8 * @since 10-Nov-2014 | |
| 9 * @brief All the data EXCEPT | |
| 10 * - settings (settings.c) | |
| 11 * feste Werte, die nur an der Oberfl�che ge�ndert werden | |
| 12 * - dataIn and dataOut (data_exchange.h and data_exchange_main.c) | |
| 13 * Austausch mit Small CPU | |
| 14 * @bug | |
| 15 * @warning | |
| 16 @verbatim | |
| 17 ============================================================================== | |
| 18 ##### SDiveState Real and Sim ##### | |
| 19 ============================================================================== | |
| 20 [..] SDiveSettings | |
| 21 copy of parts of Settings that are necessary during the dive | |
| 22 and could be modified during the dive without post dive changes. | |
| 23 | |
| 24 [..] SLifeData | |
| 25 written in DataEX_copy_to_LifeData(); | |
| 26 block 1 "lifedata" set by SmallCPU in stateReal | |
| 27 block 2 "actualGas" set by main CPU from user input and send to Small CPU | |
| 28 block 3 "calculated data" set by main CPU based on "lifedata" | |
| 29 | |
| 30 [..] SVpm | |
| 31 | |
| 32 [..] SEvents | |
| 33 | |
| 34 [..] SDecoinfo | |
| 35 | |
| 36 [..] mode | |
| 37 set by SmallCPU in stateReal, can be surface, dive, ... | |
| 38 | |
| 39 [..] data_old__lost_connection_to_slave | |
| 40 set by DataEX_copy_to_LifeData(); | |
| 41 | |
| 42 ============================================================================== | |
| 43 ##### SDiveState Deco ##### | |
| 44 ============================================================================== | |
| 45 [..] kjbkldafj�lasdfjasdf | |
| 46 | |
| 47 ============================================================================== | |
| 48 ##### decoLock ##### | |
| 49 ============================================================================== | |
| 50 [..] The handler that synchronizes the data between IRQ copy and main deco loop | |
| 51 | |
| 52 | |
| 53 @endverbatim | |
| 54 ****************************************************************************** | |
| 55 * @attention | |
| 56 * | |
| 57 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2> | |
| 58 * | |
| 59 ****************************************************************************** | |
| 60 */ | |
| 61 | |
| 62 /* Includes ------------------------------------------------------------------*/ | |
| 63 #include <string.h> | |
|
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64 #include <math.h> |
| 38 | 65 #include "data_central.h" |
| 66 #include "calc_crush.h" | |
| 67 #include "decom.h" | |
| 68 #include "stm32f4xx_hal.h" | |
| 69 #include "settings.h" | |
| 70 #include "data_exchange_main.h" | |
| 71 #include "ostc.h" // for button adjust on hw testboard 1 | |
| 72 #include "tCCR.h" | |
| 73 #include "crcmodel.h" | |
| 662 | 74 #include "configuration.h" |
| 38 | 75 |
|
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76 static SDiveState stateReal = { 0 }; |
| 38 | 77 SDiveState stateSim = { 0 }; |
| 78 SDiveState stateDeco = { 0 }; | |
| 79 | |
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80 static SDevice stateDevice = |
| 38 | 81 { |
| 82 /* max is 0x7FFFFFFF, min is 0x80000000 but also defined in stdint.h :-) */ | |
| 83 | |
| 84 /* count, use 0 */ | |
| 85 .batteryChargeCompleteCycles.value_int32 = 0, | |
| 86 .batteryChargeCycles.value_int32 = 0, | |
| 87 .diveCycles.value_int32 = 0, | |
| 88 .hoursOfOperation.value_int32 = 0, | |
| 89 | |
| 90 /* max values, use min. */ | |
| 91 .temperatureMaximum.value_int32 = INT32_MIN, | |
| 92 .depthMaximum.value_int32 = INT32_MIN, | |
| 93 | |
| 94 /* min values, use max. */ | |
| 95 .temperatureMinimum.value_int32 = INT32_MAX, | |
| 96 .voltageMinimum.value_int32 = INT32_MAX, | |
| 97 }; | |
| 98 | |
|
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99 static SVpmRepetitiveData stateVPM = |
| 38 | 100 { |
| 101 .repetitive_variables_not_valid = 1, | |
| 102 .is_data_from_RTE_CPU = 0, | |
| 103 }; | |
| 104 | |
|
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105 const SDiveState *stateUsed = &stateReal; |
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106 SDiveState *stateUsedWrite = &stateReal; |
| 38 | 107 |
|
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108 |
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109 #define COMPASS_FRACTION (4.0f) /* delay till value changes to new actual */ |
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110 |
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111 static float compass_compensated = 0; |
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112 |
| 38 | 113 void set_stateUsedToReal(void) |
| 114 { | |
|
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115 stateUsed = stateUsedWrite = &stateReal; |
| 38 | 116 } |
| 117 | |
| 118 void set_stateUsedToSim(void) | |
| 119 { | |
|
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120 stateUsed = stateUsedWrite = &stateSim; |
| 38 | 121 } |
| 122 | |
| 123 _Bool is_stateUsedSetToSim(void) | |
| 124 { | |
|
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125 return stateUsed == &stateSim; |
| 38 | 126 } |
| 127 | |
| 128 const SDiveState * stateRealGetPointer(void) | |
| 129 { | |
| 130 return &stateReal; | |
| 131 } | |
| 132 | |
| 133 SDiveState * stateRealGetPointerWrite(void) | |
| 134 { | |
| 135 return &stateReal; | |
| 136 } | |
| 137 | |
| 138 | |
| 139 const SDiveState * stateSimGetPointer(void) | |
| 140 { | |
| 141 return &stateSim; | |
| 142 } | |
| 143 | |
| 144 | |
| 145 SDiveState * stateSimGetPointerWrite(void) | |
| 146 { | |
| 147 return &stateSim; | |
| 148 } | |
| 149 | |
| 150 | |
| 151 const SDevice * stateDeviceGetPointer(void) | |
| 152 { | |
| 153 return &stateDevice; | |
| 154 } | |
| 155 | |
| 156 | |
| 157 SDevice * stateDeviceGetPointerWrite(void) | |
| 158 { | |
| 159 return &stateDevice; | |
| 160 } | |
| 161 | |
| 162 | |
| 163 const SVpmRepetitiveData * stateVpmRepetitiveDataGetPointer(void) | |
| 164 { | |
| 165 return &stateVPM; | |
| 166 } | |
| 167 | |
| 168 | |
| 169 SVpmRepetitiveData * stateVpmRepetitiveDataGetPointerWrite(void) | |
| 170 { | |
| 171 return &stateVPM; | |
| 172 } | |
| 173 | |
| 174 | |
| 175 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) | |
| 176 { | |
| 177 if(ticksstart <= ticksnow) | |
| 178 return ticksnow - ticksstart; | |
| 179 else | |
| 180 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 181 } | |
| 182 | |
| 183 | |
| 184 uint8_t decoLock = DECO_CALC_undefined; | |
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185 |
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186 static int descent_rate_meter_per_min = 20; |
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187 static int max_depth = 70; |
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188 static int bottom_time = 10; |
| 38 | 189 |
| 190 _Bool vpm_crush(SDiveState* pDiveState); | |
| 191 void setSimulationValues(int _ascent_rate_meter_per_min, int _descent_rate_meter_per_min, int _max_depth, int _bottom_time ) | |
| 192 { | |
| 193 descent_rate_meter_per_min = _descent_rate_meter_per_min; | |
| 194 max_depth = _max_depth; | |
| 195 bottom_time = _bottom_time; | |
| 196 } | |
| 197 | |
| 198 int current_second(void) { | |
| 199 | |
| 200 return HAL_GetTick() / 1000; | |
| 201 } | |
| 202 | |
| 203 #define OXY_ONE_SIXTIETH_PART 0.0166667f | |
| 204 | |
| 205 uint8_t calc_MOD(uint8_t gasId) | |
| 206 { | |
| 207 int16_t oxygen, maxppO2, result; | |
| 208 SSettings *pSettings; | |
| 209 | |
| 210 pSettings = settingsGetPointer(); | |
| 211 | |
| 212 oxygen = (int16_t)(pSettings->gas[gasId].oxygen_percentage); | |
| 213 | |
| 214 if(pSettings->gas[gasId].note.ub.deco > 0) | |
| 215 maxppO2 =(int16_t)(pSettings->ppO2_max_deco); | |
| 216 else | |
| 217 maxppO2 =(int16_t)(pSettings->ppO2_max_std); | |
| 218 | |
| 219 result = 10 * maxppO2; | |
| 220 result /= oxygen; | |
| 221 result -= 10; | |
| 222 | |
| 223 if(result < 0) | |
| 224 return 0; | |
| 225 | |
| 226 if(result > 255) | |
| 227 return 255; | |
| 228 | |
| 229 return result; | |
| 230 } | |
| 231 | |
| 232 float get_ambiant_pressure_simulation(long dive_time_seconds, float surface_pressure_bar ) | |
| 233 { | |
| 234 static | |
| 235 long descent_time; | |
| 236 float depth_meter; | |
| 237 | |
| 238 descent_time = 60 * max_depth / descent_rate_meter_per_min; | |
| 239 | |
| 240 if(dive_time_seconds <= descent_time) | |
| 241 { | |
| 242 depth_meter = ((float)(dive_time_seconds * descent_rate_meter_per_min)) / 60; | |
| 243 return surface_pressure_bar + depth_meter / 10; | |
| 244 } | |
| 245 //else if(dive_time_seconds <= (descent_time + bottom_time * 60)) | |
| 246 return surface_pressure_bar + max_depth / 10; | |
| 247 | |
| 248 | |
| 249 | |
| 250 } | |
| 251 | |
| 252 void UpdateLifeDataTest(SDiveState * pDiveState) | |
| 253 { | |
| 254 static int last_second = -1; | |
| 255 int now = current_second(); | |
| 256 if(last_second == now) | |
| 257 return; | |
| 258 last_second = now; | |
| 259 | |
| 260 pDiveState->lifeData.dive_time_seconds += 1; | |
| 261 pDiveState->lifeData.pressure_ambient_bar = get_ambiant_pressure_simulation(pDiveState->lifeData.dive_time_seconds,pDiveState->lifeData.pressure_surface_bar); | |
| 262 | |
| 263 pDiveState->lifeData.depth_meter = (pDiveState->lifeData.pressure_ambient_bar - pDiveState->lifeData.pressure_surface_bar) * 10.0f; | |
| 264 if(pDiveState->lifeData.max_depth_meter < pDiveState->lifeData.depth_meter) | |
| 265 pDiveState->lifeData.max_depth_meter = pDiveState->lifeData.depth_meter; | |
| 266 decom_tissues_exposure(1, &pDiveState->lifeData); | |
| 267 pDiveState->lifeData.ppO2 = decom_calc_ppO2( pDiveState->lifeData.pressure_ambient_bar, &pDiveState->lifeData.actualGas); | |
| 268 decom_oxygen_calculate_cns(& pDiveState->lifeData.cns, pDiveState->lifeData.ppO2); | |
| 269 | |
| 270 vpm_crush(pDiveState); | |
| 271 } | |
| 272 | |
| 273 | |
| 274 _Bool vpm_crush(SDiveState* pDiveState) | |
| 275 { | |
| 276 int i = 0; | |
| 277 static float starting_ambient_pressure = 0; | |
| 278 static float ending_ambient_pressure = 0; | |
| 279 static float time_calc_begin = -1; | |
| 280 static float initial_helium_pressure[16]; | |
| 281 static float initial_nitrogen_pressure[16]; | |
| 282 ending_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 283 | |
| 284 if((pDiveState->lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 285 { | |
| 286 time_calc_begin = pDiveState->lifeData.dive_time_seconds; | |
| 287 starting_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 288 for( i = 0; i < 16; i++) | |
| 289 { | |
| 290 initial_helium_pressure[i] = pDiveState->lifeData.tissue_helium_bar[i] * 10; | |
| 291 initial_nitrogen_pressure[i] = pDiveState->lifeData.tissue_nitrogen_bar[i] * 10; | |
| 292 } | |
| 293 return false; | |
| 294 } | |
| 295 if(pDiveState->lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 296 { | |
| 297 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 298 { | |
| 299 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 300 calc_crushing_pressure(&pDiveState->lifeData, &pDiveState->vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 301 | |
| 302 time_calc_begin = pDiveState->lifeData.dive_time_seconds; | |
| 303 starting_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 304 for( i = 0; i < 16; i++) | |
| 305 { | |
| 306 initial_helium_pressure[i] = pDiveState->lifeData.tissue_helium_bar[i] * 10; | |
| 307 initial_nitrogen_pressure[i] = pDiveState->lifeData.tissue_nitrogen_bar[i] * 10; | |
| 308 } | |
| 309 | |
| 310 return true; | |
| 311 } | |
| 312 | |
| 313 } | |
| 314 return false; | |
| 315 }; | |
| 316 | |
| 317 | |
| 318 void createDiveSettings(void) | |
| 319 { | |
| 662 | 320 int i; |
| 38 | 321 SSettings* pSettings = settingsGetPointer(); |
| 322 | |
| 323 stateReal.diveSettings.compassHeading = pSettings->compassBearing; | |
| 324 stateReal.diveSettings.ascentRate_meterperminute = 10; | |
| 325 | |
| 326 stateReal.diveSettings.diveMode = pSettings->dive_mode; | |
| 327 stateReal.diveSettings.CCR_Mode = pSettings->CCR_Mode; | |
| 662 | 328 if((stateReal.diveSettings.diveMode == DIVEMODE_PSCR) && (stateReal.diveSettings.CCR_Mode == CCRMODE_FixedSetpoint)) |
| 329 { | |
| 330 /* TODO: update selection of sensor used on/off (currently sensor/fixpoint). As PSCR has no fixed setpoint change to simulated ppo2 if sensors are not active */ | |
| 331 stateReal.diveSettings.CCR_Mode = CCRMODE_Simulation; | |
| 332 } | |
| 333 | |
| 334 if(isLoopMode(stateReal.diveSettings.diveMode)) | |
| 38 | 335 stateReal.diveSettings.ccrOption = 1; |
| 336 else | |
| 337 stateReal.diveSettings.ccrOption = 0; | |
| 338 memcpy(stateReal.diveSettings.gas, pSettings->gas,sizeof(pSettings->gas)); | |
| 339 memcpy(stateReal.diveSettings.setpoint, pSettings->setpoint,sizeof(pSettings->setpoint)); | |
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340 |
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341 setActualGasFirst(&stateReal.lifeData); |
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342 |
| 38 | 343 stateReal.diveSettings.gf_high = pSettings->GF_high; |
| 344 stateReal.diveSettings.gf_low = pSettings->GF_low; | |
| 345 stateReal.diveSettings.input_next_stop_increment_depth_bar = ((float)pSettings->stop_increment_depth_meter) / 10.0f; | |
| 346 stateReal.diveSettings.last_stop_depth_bar = ((float)pSettings->last_stop_depth_meter) / 10.0f; | |
| 347 stateReal.diveSettings.vpm_conservatism = pSettings->VPM_conservatism.ub.standard; | |
| 348 stateReal.diveSettings.deco_type.uw = pSettings->deco_type.uw; | |
| 349 stateReal.diveSettings.fallbackOption = pSettings->fallbackToFixedSetpoint; | |
| 350 stateReal.diveSettings.ppo2sensors_deactivated = pSettings->ppo2sensors_deactivated; | |
| 351 stateReal.diveSettings.future_TTS_minutes = pSettings->future_TTS; | |
| 352 | |
| 662 | 353 stateReal.diveSettings.pscr_lung_ratio = pSettings->pscr_lung_ratio; |
| 354 stateReal.diveSettings.pscr_o2_drop = pSettings->pscr_o2_drop; | |
| 355 | |
| 356 if(stateReal.diveSettings.diveMode == DIVEMODE_PSCR) | |
| 357 { | |
| 358 for(i=0; i<5; i++) | |
| 359 { | |
| 360 stateReal.diveSettings.decogaslist[i].pscr_factor = 1.0 / stateReal.diveSettings.pscr_lung_ratio * stateReal.diveSettings.pscr_o2_drop; | |
| 361 } | |
| 362 } | |
| 363 | |
| 38 | 364 decom_CreateGasChangeList(&stateReal.diveSettings, &stateReal.lifeData); // decogaslist |
| 365 stateReal.diveSettings.internal__pressure_first_stop_ambient_bar_as_upper_limit_for_gf_low_otherwise_zero = 0; | |
| 366 | |
| 367 /* for safety */ | |
| 368 stateReal.diveSettings.input_second_to_last_stop_depth_bar = stateReal.diveSettings.last_stop_depth_bar + stateReal.diveSettings.input_next_stop_increment_depth_bar; | |
| 369 /* and the proper calc */ | |
| 662 | 370 for(i = 1; i <10; i++) |
| 38 | 371 { |
| 372 if(stateReal.diveSettings.input_next_stop_increment_depth_bar * i > stateReal.diveSettings.last_stop_depth_bar) | |
| 373 { | |
| 374 stateReal.diveSettings.input_second_to_last_stop_depth_bar = stateReal.diveSettings.input_next_stop_increment_depth_bar * i; | |
| 375 break; | |
| 376 } | |
| 377 } | |
| 378 } | |
| 379 | |
| 380 | |
| 381 void copyDiveSettingsToSim(void) | |
| 382 { | |
| 383 memcpy(&stateSim, &stateReal, sizeof(stateReal)); | |
| 384 } | |
| 385 | |
| 386 | |
| 387 void copyVpmRepetetiveDataToSim(void) | |
| 388 { | |
| 389 SDiveState * pSimData = stateSimGetPointerWrite(); | |
| 390 const SVpmRepetitiveData * pVpmData = stateVpmRepetitiveDataGetPointer(); | |
| 391 | |
| 392 if(pVpmData->is_data_from_RTE_CPU) | |
| 393 { | |
| 394 for(int i=0; i<16;i++) | |
| 395 { | |
| 396 pSimData->vpm.adjusted_critical_radius_he[i] = pVpmData->adjusted_critical_radius_he[i]; | |
| 397 pSimData->vpm.adjusted_critical_radius_n2[i] = pVpmData->adjusted_critical_radius_n2[i]; | |
| 398 | |
| 399 pSimData->vpm.adjusted_crushing_pressure_he[i] = pVpmData->adjusted_crushing_pressure_he[i]; | |
| 400 pSimData->vpm.adjusted_crushing_pressure_n2[i] = pVpmData->adjusted_crushing_pressure_n2[i]; | |
| 401 | |
| 402 pSimData->vpm.initial_allowable_gradient_he[i] = pVpmData->initial_allowable_gradient_he[i]; | |
| 403 pSimData->vpm.initial_allowable_gradient_n2[i] = pVpmData->initial_allowable_gradient_n2[i]; | |
| 404 | |
| 405 pSimData->vpm.max_actual_gradient[i] = pVpmData->max_actual_gradient[i]; | |
| 406 } | |
| 407 pSimData->vpm.repetitive_variables_not_valid = pVpmData->repetitive_variables_not_valid; | |
| 408 } | |
| 409 } | |
| 410 | |
| 411 | |
| 662 | 412 |
| 413 | |
| 38 | 414 void updateSetpointStateUsed(void) |
| 415 { | |
| 682 | 416 if(!isLoopMode(stateUsed->diveSettings.diveMode)) |
| 38 | 417 { |
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418 stateUsedWrite->lifeData.actualGas.setPoint_cbar = 0; |
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419 stateUsedWrite->lifeData.ppO2 = decom_calc_ppO2(stateUsed->lifeData.pressure_ambient_bar, &stateUsed->lifeData.actualGas); |
| 38 | 420 } |
| 421 else | |
| 422 { | |
| 423 if(stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) | |
| 424 { | |
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425 stateUsedWrite->lifeData.actualGas.setPoint_cbar = get_ppO2SensorWeightedResult_cbar(); |
| 38 | 426 } |
| 662 | 427 #ifdef ENABLE_PSCR_MODE |
| 428 if(stateUsed->diveSettings.diveMode == DIVEMODE_PSCR) /* calculate a ppO2 value based on assumptions ( transfered approach from hwos code) */ | |
| 429 { | |
| 430 stateUsedWrite->lifeData.ppo2Simulated_bar = decom_calc_SimppO2_O2based(stateUsed->lifeData.pressure_ambient_bar, stateReal.diveSettings.gas[stateUsed->lifeData.actualGas.GasIdInSettings].oxygen_percentage, stateUsed->lifeData.actualGas.pscr_factor); | |
| 431 if(stateUsed->diveSettings.CCR_Mode == CCRMODE_Simulation) | |
| 432 { | |
| 433 stateUsedWrite->lifeData.actualGas.setPoint_cbar = stateUsedWrite->lifeData.ppo2Simulated_bar * 100; | |
| 434 } | |
| 435 } | |
| 436 #endif | |
| 437 /* limit calculated value to the physically possible if needed */ | |
| 38 | 438 if((stateUsed->lifeData.pressure_ambient_bar * 100) < stateUsed->lifeData.actualGas.setPoint_cbar) |
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439 stateUsedWrite->lifeData.ppO2 = stateUsed->lifeData.pressure_ambient_bar; |
| 38 | 440 else |
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441 stateUsedWrite->lifeData.ppO2 = ((float)stateUsed->lifeData.actualGas.setPoint_cbar) / 100; |
| 38 | 442 } |
| 443 } | |
| 444 | |
| 445 void setActualGasFirst(SLifeData *lifeData) | |
| 446 { | |
| 447 SSettings* pSettings = settingsGetPointer(); | |
| 448 uint8_t start = 0; | |
| 449 uint8_t gasId = 0; | |
| 450 uint8_t setpoint_cbar = 0; | |
| 451 | |
| 662 | 452 if(isLoopMode(pSettings->dive_mode)) |
| 38 | 453 { |
| 454 setpoint_cbar = pSettings->setpoint[1].setpoint_cbar; | |
| 455 start = NUM_OFFSET_DILUENT+1; | |
| 456 } | |
| 457 else | |
| 458 { | |
| 459 setpoint_cbar = 0; | |
| 460 start = 1; | |
| 461 } | |
| 462 | |
| 463 gasId = start; | |
| 464 for(int i=start;i<=NUM_GASES+start;i++) | |
| 465 { | |
| 466 if(pSettings->gas[i].note.ub.first) | |
| 467 { | |
| 468 gasId = i; | |
| 469 break; | |
| 470 } | |
| 471 } | |
| 472 setActualGas(lifeData, gasId, setpoint_cbar); | |
| 473 } | |
| 474 | |
| 475 void setActualGasAir(SLifeData *lifeData) | |
| 476 { | |
| 477 uint8_t nitrogen; | |
| 478 nitrogen = 79; | |
| 479 lifeData->actualGas.GasIdInSettings = 0; | |
| 480 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 481 lifeData->actualGas.helium_percentage =0; | |
| 482 lifeData->actualGas.setPoint_cbar = 0; | |
| 483 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 662 | 484 lifeData->actualGas.AppliedDiveMode = stateUsed->diveSettings.diveMode; |
| 38 | 485 } |
| 486 | |
| 487 | |
| 488 void setActualGas(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar) | |
| 489 { | |
| 490 SSettings* pSettings = settingsGetPointer(); | |
| 491 uint8_t nitrogen; | |
| 492 | |
| 493 nitrogen = 100; | |
| 494 nitrogen -= pSettings->gas[gasId].oxygen_percentage; | |
| 495 nitrogen -= pSettings->gas[gasId].helium_percentage; | |
| 496 | |
| 497 lifeData->actualGas.GasIdInSettings = gasId; | |
| 498 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 499 lifeData->actualGas.helium_percentage = pSettings->gas[gasId].helium_percentage; | |
| 500 lifeData->actualGas.setPoint_cbar = setpoint_cbar; | |
| 501 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 682 | 502 lifeData->actualGas.AppliedDiveMode = stateUsed->diveSettings.diveMode; |
| 662 | 503 lifeData->actualGas.pscr_factor = 1.0 / pSettings->pscr_lung_ratio * pSettings->pscr_o2_drop; |
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Revised automatic setpoint change. The proposed approach is essentially the approach used by most controllers of eCCR ('upshift' on descent, 'downshift' on ascent), so that the OSTC4 when used as a backup computer for eCCR will make the changes at the same time as the eCCR itself.
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504 if (isLoopMode(pSettings->dive_mode) && gasId > NUM_OFFSET_DILUENT) { |
| 38 | 505 lifeData->lastDiluent_GasIdInSettings = gasId; |
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506 lifeData->lastSetpointChangeDepthM = lifeData->depth_meter; |
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507 } |
| 38 | 508 } |
| 509 | |
| 510 | |
| 511 void setActualGas_DM(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar) | |
| 512 { | |
| 513 if(stateUsed->diveSettings.ccrOption && gasId < 6) | |
| 514 { | |
| 515 if(lifeData->actualGas.GasIdInSettings != gasId) | |
| 516 { | |
| 517 SSettings* pSettings = settingsGetPointer(); | |
|
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518 stateUsedWrite->events.bailout = 1; |
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519 stateUsedWrite->events.info_bailoutO2 = pSettings->gas[gasId].oxygen_percentage; |
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520 stateUsedWrite->events.info_bailoutHe = pSettings->gas[gasId].helium_percentage; |
| 38 | 521 } |
| 522 } | |
| 523 else | |
| 524 { | |
| 525 if(lifeData->actualGas.GasIdInSettings != gasId) | |
| 526 { | |
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527 stateUsedWrite->events.gasChange = 1; |
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528 stateUsedWrite->events.info_GasChange = gasId; |
| 38 | 529 } |
| 530 if( lifeData->actualGas.setPoint_cbar != setpoint_cbar) | |
| 531 { | |
| 532 // setPoint_cbar = 255 -> change to sensor mode | |
|
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533 stateUsedWrite->events.setpointChange = 1; |
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534 stateUsedWrite->events.info_SetpointChange = setpoint_cbar; |
| 38 | 535 } |
| 536 } | |
| 537 setActualGas(lifeData, gasId, setpoint_cbar); | |
| 538 } | |
| 539 | |
| 540 void setActualGas_ExtraGas(SLifeData *lifeData, uint8_t oxygen, uint8_t helium, uint8_t setpoint_cbar) | |
| 541 { | |
| 542 uint8_t nitrogen; | |
| 543 | |
| 544 nitrogen = 100; | |
| 545 nitrogen -= oxygen; | |
| 546 nitrogen -= helium; | |
| 547 | |
|
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548 |
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549 if((lifeData->actualGas.nitrogen_percentage != nitrogen) || (lifeData->actualGas.helium_percentage != helium) || (lifeData->actualGas.AppliedDiveMode != DIVEMODE_OC)) |
| 38 | 550 { |
| 281 | 551 stateUsedWrite->events.manualGasSet = 1; |
| 552 stateUsedWrite->events.info_manualGasSetHe = helium; | |
| 553 stateUsedWrite->events.info_manualGasSetO2 = oxygen; | |
| 38 | 554 } |
| 555 if( lifeData->actualGas.setPoint_cbar != setpoint_cbar) | |
| 556 { | |
|
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557 stateUsedWrite->events.setpointChange = 1; |
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558 stateUsedWrite->events.info_SetpointChange = setpoint_cbar; |
| 38 | 559 } |
| 560 lifeData->actualGas.GasIdInSettings = 0; | |
| 561 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 562 lifeData->actualGas.helium_percentage = helium; | |
| 563 lifeData->actualGas.setPoint_cbar = setpoint_cbar; | |
| 564 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 662 | 565 lifeData->actualGas.AppliedDiveMode = stateUsed->diveSettings.diveMode; |
| 38 | 566 } |
| 567 | |
| 568 void setButtonResponsiveness(uint8_t *ButtonSensitivyList) | |
| 569 { | |
| 570 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 571 | |
| 572 for(int i=0; i<4; i++) | |
| 573 { | |
| 574 pDataOut->data.buttonResponsiveness[i] = settingsHelperButtonSens_translate_percentage_to_hwOS_values(ButtonSensitivyList[i]); | |
| 575 } | |
| 576 pDataOut->setButtonSensitivityNow = 1; | |
| 577 } | |
| 578 | |
| 579 | |
| 580 void setDate(RTC_DateTypeDef Sdate) | |
| 581 { | |
| 582 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 583 | |
| 584 pDataOut->data.newDate = Sdate; | |
| 585 pDataOut->setDateNow = 1; | |
| 586 } | |
| 587 | |
| 588 | |
| 589 void setTime(RTC_TimeTypeDef Stime) | |
| 590 { | |
| 591 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 592 | |
| 593 pDataOut->data.newTime = Stime; | |
| 594 pDataOut->setTimeNow = 1; | |
| 595 } | |
| 596 | |
| 597 | |
| 598 void setBatteryPercentage(uint8_t newChargePercentage) | |
| 599 { | |
| 600 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 601 | |
| 602 pDataOut->data.newBatteryGaugePercentageFloat = settingsGetPointer()->lastKnownBatteryPercentage; | |
| 603 pDataOut->setBatteryGaugeNow = 1; | |
| 604 } | |
| 605 | |
| 606 | |
| 607 void calibrateCompass(void) | |
| 608 { | |
| 609 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 610 pDataOut->calibrateCompassNow = 1; | |
| 611 } | |
| 612 | |
| 613 | |
| 614 void clearDeco(void) | |
| 615 { | |
| 616 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 617 pDataOut->clearDecoNow = 1; | |
| 618 | |
| 619 stateRealGetPointerWrite()->cnsHigh_at_the_end_of_dive = 0; | |
| 620 stateRealGetPointerWrite()->decoMissed_at_the_end_of_dive = 0; | |
| 621 } | |
| 622 | |
| 623 | |
|
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624 static int32_t helper_days_from_civil(int32_t y, uint32_t m, uint32_t d) |
| 38 | 625 { |
| 626 y += 2000; | |
| 627 y -= m <= 2; | |
| 628 int32_t era = (y >= 0 ? y : y-399) / 400; | |
| 629 uint32_t yoe = (uint32_t)(y - era * 400); // [0, 399] | |
| 630 uint32_t doy = (153*(m + (m > 2 ? -3 : 9)) + 2)/5 + d-1; // [0, 365] | |
| 631 uint32_t doe = yoe * 365 + yoe/4 - yoe/100 + doy; // [0, 146096] | |
| 632 return era * 146097 + (int32_t)(doe) - 719468; | |
| 633 } | |
| 634 | |
| 635 | |
|
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636 static uint8_t helper_weekday_from_days(int32_t z) |
| 38 | 637 { |
| 638 return (uint8_t)(z >= -4 ? (z+4) % 7 : (z+5) % 7 + 6); | |
| 639 } | |
| 640 | |
| 641 | |
| 642 void setWeekday(RTC_DateTypeDef *sDate) | |
| 643 { | |
| 644 uint8_t day; | |
| 645 // [0, 6] -> [Sun, Sat] | |
| 646 day = helper_weekday_from_days(helper_days_from_civil(sDate->Year, sDate->Month, sDate->Date)); | |
| 647 // [1, 7] -> [Mon, Sun] | |
| 648 if(day == 0) | |
| 649 day = 7; | |
| 650 sDate->WeekDay = day; | |
| 651 } | |
| 652 | |
| 653 | |
| 654 void translateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) | |
| 655 { | |
| 656 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); | |
| 657 | |
| 658 /* Fill the structure fields with the read parameters */ | |
| 659 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); | |
| 660 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); | |
| 661 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); | |
| 662 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); | |
| 663 | |
| 664 /* Convert the date structure parameters to Binary format */ | |
| 665 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); | |
| 666 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); | |
| 667 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); | |
| 668 } | |
| 669 | |
| 670 void translateTime(uint32_t tmpreg, RTC_TimeTypeDef *sTime) | |
| 671 { | |
| 672 tmpreg = (uint32_t)(tmpreg & RTC_TR_RESERVED_MASK); | |
| 673 | |
| 674 /* Fill the structure fields with the read parameters */ | |
| 675 sTime->Hours = (uint8_t)((tmpreg & (RTC_TR_HT | RTC_TR_HU)) >> 16); | |
| 676 sTime->Minutes = (uint8_t)((tmpreg & (RTC_TR_MNT | RTC_TR_MNU)) >>8); | |
| 677 sTime->Seconds = (uint8_t)(tmpreg & (RTC_TR_ST | RTC_TR_SU)); | |
| 678 sTime->TimeFormat = (uint8_t)((tmpreg & (RTC_TR_PM)) >> 16); | |
| 679 | |
| 680 /* Convert the time structure parameters to Binary format */ | |
| 681 sTime->Hours = (uint8_t)RTC_Bcd2ToByte(sTime->Hours); | |
| 682 sTime->Minutes = (uint8_t)RTC_Bcd2ToByte(sTime->Minutes); | |
| 683 sTime->Seconds = (uint8_t)RTC_Bcd2ToByte(sTime->Seconds); | |
| 684 sTime->SubSeconds = 0; | |
| 685 } | |
| 686 | |
|
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|
687 void resetEvents(const SDiveState *pStateUsed) |
| 38 | 688 { |
|
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|
689 memset((void *)&pStateUsed->events, 0, sizeof(SEvents)); |
| 38 | 690 } |
| 691 | |
| 692 | |
| 693 uint32_t CRC_CalcBlockCRC_moreThan768000(uint32_t *buffer1, uint32_t *buffer2, uint32_t words) | |
| 694 { | |
| 695 cm_t crc_model; | |
| 696 uint32_t word_to_do; | |
| 697 uint8_t byte_to_do; | |
| 698 int i; | |
| 699 | |
| 700 // Values for the STM32F generator. | |
| 701 | |
| 702 crc_model.cm_width = 32; // 32-bit CRC | |
| 703 crc_model.cm_poly = 0x04C11DB7; // CRC-32 polynomial | |
| 704 crc_model.cm_init = 0xFFFFFFFF; // CRC initialized to 1's | |
| 705 crc_model.cm_refin = FALSE; // CRC calculated MSB first | |
| 706 crc_model.cm_refot = FALSE; // Final result is not bit-reversed | |
| 707 crc_model.cm_xorot = 0x00000000; // Final result XOR'ed with this | |
| 708 | |
| 709 cm_ini(&crc_model); | |
| 710 | |
| 711 while (words--) | |
| 712 { | |
| 713 // The STM32F10x hardware does 32-bit words at a time!!! | |
| 714 if(words > (768000/4)) | |
| 715 word_to_do = *buffer2++; | |
| 716 else | |
| 717 word_to_do = *buffer1++; | |
| 718 | |
| 719 // Do all bytes in the 32-bit word. | |
| 720 | |
| 721 for (i = 0; i < sizeof(word_to_do); i++) | |
| 722 { | |
| 723 // We calculate a *byte* at a time. If the CRC is MSB first we | |
| 724 // do the next MS byte and vica-versa. | |
| 725 | |
| 726 if (crc_model.cm_refin == FALSE) | |
| 727 { | |
| 728 // MSB first. Do the next MS byte. | |
| 729 | |
| 730 byte_to_do = (uint8_t) ((word_to_do & 0xFF000000) >> 24); | |
| 731 word_to_do <<= 8; | |
| 732 } | |
| 733 else | |
| 734 { | |
| 735 // LSB first. Do the next LS byte. | |
| 736 | |
| 737 byte_to_do = (uint8_t) (word_to_do & 0x000000FF); | |
| 738 word_to_do >>= 8; | |
| 739 } | |
| 740 | |
| 741 cm_nxt(&crc_model, byte_to_do); | |
| 742 } | |
| 743 } | |
| 744 | |
| 745 // Return the final result. | |
| 746 | |
| 747 return (cm_crc(&crc_model)); | |
| 748 } | |
| 749 | |
| 750 | |
| 751 uint32_t CRC_CalcBlockCRC(uint32_t *buffer, uint32_t words) | |
| 752 { | |
| 753 cm_t crc_model; | |
| 754 uint32_t word_to_do; | |
| 755 uint8_t byte_to_do; | |
| 756 int i; | |
| 757 | |
| 758 // Values for the STM32F generator. | |
| 759 | |
| 760 crc_model.cm_width = 32; // 32-bit CRC | |
| 761 crc_model.cm_poly = 0x04C11DB7; // CRC-32 polynomial | |
| 762 crc_model.cm_init = 0xFFFFFFFF; // CRC initialized to 1's | |
| 763 crc_model.cm_refin = FALSE; // CRC calculated MSB first | |
| 764 crc_model.cm_refot = FALSE; // Final result is not bit-reversed | |
| 765 crc_model.cm_xorot = 0x00000000; // Final result XOR'ed with this | |
| 766 | |
| 767 cm_ini(&crc_model); | |
| 768 | |
| 769 while (words--) | |
| 770 { | |
| 771 // The STM32F10x hardware does 32-bit words at a time!!! | |
| 772 | |
| 773 word_to_do = *buffer++; | |
| 774 | |
| 775 // Do all bytes in the 32-bit word. | |
| 776 | |
| 777 for (i = 0; i < sizeof(word_to_do); i++) | |
| 778 { | |
| 779 // We calculate a *byte* at a time. If the CRC is MSB first we | |
| 780 // do the next MS byte and vica-versa. | |
| 781 | |
| 782 if (crc_model.cm_refin == FALSE) | |
| 783 { | |
| 784 // MSB first. Do the next MS byte. | |
| 785 | |
| 786 byte_to_do = (uint8_t) ((word_to_do & 0xFF000000) >> 24); | |
| 787 word_to_do <<= 8; | |
| 788 } | |
| 789 else | |
| 790 { | |
| 791 // LSB first. Do the next LS byte. | |
| 792 | |
| 793 byte_to_do = (uint8_t) (word_to_do & 0x000000FF); | |
| 794 word_to_do >>= 8; | |
| 795 } | |
| 796 | |
| 797 cm_nxt(&crc_model, byte_to_do); | |
| 798 } | |
| 799 } | |
| 800 | |
| 801 // Return the final result. | |
| 802 | |
| 803 return (cm_crc(&crc_model)); | |
| 804 } | |
| 805 | |
|
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parents:
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diff
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|
806 // This code is also in RTE. Keep it in sync when editing |
| 38 | 807 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 808 { | |
|
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|
809 if (lifeData->pressure_ambient_bar > 1.16) |
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|
810 return false; |
|
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811 else if(lifeData->pressure_ambient_bar < (lifeData->pressure_surface_bar + 0.1f)) |
| 38 | 812 return true; |
| 813 else | |
| 814 return false; | |
| 815 } | |
|
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Added inertia simulation for compass heading:
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|
816 |
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|
817 void compass_Inertia(float newHeading) |
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818 { |
|
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Added inertia simulation for compass heading:
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diff
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|
819 float newTarget = newHeading; |
|
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|
820 |
|
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|
821 if(settingsGetPointer()->compassInertia == 0) |
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822 { |
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823 compass_compensated = newHeading; |
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824 } |
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825 else |
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826 { |
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827 if((compass_compensated > 270.0) && (newHeading < 90.0)) /* transition passing 0 clockwise */ |
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828 { |
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829 newTarget = newHeading + 360.0; |
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830 } |
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831 |
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832 if((compass_compensated < 90.0) && (newHeading > 270.0)) /* transition passing 0 counter clockwise */ |
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833 { |
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834 newTarget = newHeading - 360.0; |
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835 } |
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836 |
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837 compass_compensated = compass_compensated + ((newTarget - compass_compensated) / (COMPASS_FRACTION * (settingsGetPointer()->compassInertia))); |
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838 if(compass_compensated < 0.0) |
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839 { |
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840 compass_compensated += 360.0; |
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841 } |
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842 if(compass_compensated >= 360.0) |
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843 { |
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844 compass_compensated -= 360.0; |
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845 } |
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846 } |
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847 } |
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848 |
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849 float compass_getCompensated() |
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850 { |
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851 return compass_compensated; |
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852 } |
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853 |
| 662 | 854 uint8_t isLoopMode(uint8_t Mode) |
| 855 { | |
| 856 uint8_t retVal = 0; | |
| 857 if((Mode == DIVEMODE_CCR) || (Mode == DIVEMODE_PSCR)) | |
| 858 { | |
| 859 retVal = 1; | |
| 860 } | |
| 861 return retVal; | |
| 862 } |