Mercurial > public > ostc4
annotate Small_CPU/Src/scheduler.c @ 694:2a800dfe64f6 Betatest
Update current build for testing
| author | heinrichsweikamp |
|---|---|
| date | Sat, 06 Aug 2022 11:10:56 +0200 |
| parents | 52d68cf9994c |
| children | f1b40364b0af |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file scheduler.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.0.6 | |
| 7 * @since 18-June-2015 | |
| 8 * @brief the main part except for base.c | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 @endverbatim | |
| 15 ****************************************************************************** | |
| 16 * @attention | |
| 17 * | |
| 18 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2> | |
| 19 * | |
| 20 ****************************************************************************** | |
| 21 */ | |
| 22 | |
| 23 | |
| 24 //#define DEBUGMODE | |
| 25 | |
| 26 /* Includes ------------------------------------------------------------------*/ | |
| 27 #include <string.h> | |
| 28 #include "baseCPU2.h" | |
| 29 #include "stm32f4xx_hal.h" | |
| 30 #include "i2c.h" | |
| 31 #include "scheduler.h" | |
| 32 #include "pressure.h" | |
| 33 #include "compass.h" | |
| 34 #include "batteryGasGauge.h" | |
| 35 #include "batteryCharger.h" | |
| 36 #include "spi.h" | |
| 37 #include "rtc.h" | |
| 38 #include "dma.h" | |
| 39 #include "adc.h" | |
| 40 #include "calc_crush.h" | |
| 41 #include "stm32f4xx_hal_rtc_ex.h" | |
| 42 #include "decom.h" | |
| 43 #include "tm_stm32f4_otp.h" | |
|
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44 #include "externalInterface.h" |
| 662 | 45 #include "uart.h" |
| 38 | 46 |
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47 /* uncomment to enable restoting of last known date in case of a power loss (RTC looses timing data) */ |
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48 /* #define RESTORE_LAST_KNOWN_DATE */ |
| 38 | 49 |
| 475 | 50 #define INVALID_PREASURE_VALUE (0.0f) |
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51 #define START_DIVE_MOUNTAIN_MODE_BAR (0.88f) |
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52 #define START_DIVE_IMMEDIATLY_BAR (1.16f) |
| 135 | 53 |
| 38 | 54 /* Private types -------------------------------------------------------------*/ |
| 55 const SGas Air = {79,0,0,0,0}; | |
| 56 | |
| 57 /* Exported variables --------------------------------------------------------*/ | |
| 58 SGlobal global; | |
| 59 SDevice DeviceDataFlash; | |
| 60 uint8_t deviceDataFlashValid = 0; | |
| 61 uint8_t deviceDataSubSeconds = 0; | |
| 62 | |
| 63 /* Private variables ---------------------------------------------------------*/ | |
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64 static uint16_t ManualExitDiveCounter = 0; /* The computer will exit dive mode in shallow area immediately. Increase depth to restart dive while counter is active */ |
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65 |
| 38 | 66 /* can be lost while in sleep */ |
| 67 uint8_t clearDecoNow = 0; | |
| 68 uint8_t setButtonsNow = 0; | |
| 69 | |
| 70 /* has to be in SRAM2 */ | |
| 71 uint8_t secondsCount = 0; | |
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72 |
| 207 | 73 static uint8_t dospisync = SPI_SYNC_METHOD_NONE; |
| 74 | |
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75 SScheduleCtrl Scheduler; |
| 38 | 76 |
| 77 /* Private function prototypes -----------------------------------------------*/ | |
| 78 | |
| 79 _Bool vpm_crush2(void); | |
| 80 void scheduleUpdateDeviceData(void); | |
| 81 long get_nofly_time_minutes(void); | |
| 82 void copyActualGas(SGas gas); | |
| 83 void copyPressureData(void); | |
| 84 void copyCnsAndOtuData(void); | |
| 85 void copyTimeData(void); | |
| 86 void copyCompassData(void); | |
| 87 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 88 void copyAmbientLightData(void); | |
| 89 void copyTissueData(void); | |
| 90 void copyVpmCrushingData(void); | |
| 91 void copyDeviceData(void); | |
| 92 void copyPICdata(void); | |
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93 void copyExtADCdata(); |
| 662 | 94 void copyExtCO2data(); |
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95 static void schedule_update_timer_helper(int8_t thisSeconds); |
| 38 | 96 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
| 97 | |
| 98 void scheduleSetDate(SDeviceLine *line); | |
| 99 | |
| 100 /* Exported functions --------------------------------------------------------*/ | |
| 101 | |
| 102 void initGlobals(void) | |
| 103 { | |
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104 bzero(&global, sizeof(SGlobal)); |
| 38 | 105 |
| 106 global.dataSendToSlavePending = 0; | |
| 107 global.dataSendToSlaveIsValid = 1; | |
| 108 global.dataSendToSlaveIsNotValidCount = 0; | |
| 109 | |
| 110 global.mode = MODE_POWERUP; | |
| 111 global.repetitive_dive = 0; | |
| 112 global.conservatism = 0; | |
| 113 global.whichGas = 0; | |
| 114 global.aktualGas[0] = Air; | |
| 115 global.lifeData.actualGas = global.aktualGas[0]; | |
| 116 | |
| 475 | 117 const uint8_t button_standard_sensitivity = 51; /* 51 equals a percentage of 85% which was the default value before */ |
| 38 | 118 global.ButtonResponsiveness[0] = button_standard_sensitivity; |
| 119 global.ButtonResponsiveness[1] = button_standard_sensitivity; | |
| 120 global.ButtonResponsiveness[2] = button_standard_sensitivity; | |
| 121 global.ButtonResponsiveness[3] = button_standard_sensitivity; | |
| 122 | |
| 123 global.ButtonPICdata[0] = 0xFF; | |
| 124 global.ButtonPICdata[1] = 0xFF; | |
| 125 global.ButtonPICdata[2] = 0xFF; | |
| 126 global.ButtonPICdata[3] = 0xFF; | |
| 127 | |
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128 global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working |
| 38 | 129 |
| 668 | 130 global.lifeData.battery_voltage = BATTERY_DEFAULT_VOLTAGE; |
| 131 | |
| 135 | 132 global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE; |
| 133 global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE; | |
| 38 | 134 decom_reset_with_1000mbar(&global.lifeData); |
| 135 | |
| 136 global.demo_mode = 0; | |
| 137 | |
| 138 for(int i = 0; i < MAX_SENSORS; i++) | |
| 139 { | |
| 140 global.sensorError[i] = HAL_OK; // HAL_OK = 0; | |
| 141 } | |
| 142 | |
| 143 global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;; | |
| 144 global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;; | |
| 145 global.dataSendToMaster.chargeStatus = 0; | |
| 146 | |
| 475 | 147 global.dataSendToMaster.power_on_reset = 0; |
| 38 | 148 global.dataSendToMaster.header.checkCode[0] = 0xA1; |
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149 global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE; |
| 38 | 150 global.dataSendToMaster.header.checkCode[2] = 0xA3; |
| 151 global.dataSendToMaster.header.checkCode[3] = 0xA4; | |
| 152 global.dataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 153 global.dataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 154 global.dataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 155 global.dataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 156 global.dataSendToMaster.sensorErrors = 0; | |
| 157 | |
| 158 global.sync_error_count = 0; | |
| 159 global.check_sync_not_running = 0; | |
| 160 | |
| 161 global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH; | |
| 162 global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW; | |
| 163 global.deviceDataSendToMaster.chargeStatus = 0; | |
| 164 | |
| 475 | 165 global.deviceDataSendToMaster.power_on_reset = 0; |
| 38 | 166 global.deviceDataSendToMaster.header.checkCode[0] = 0xDF; |
| 167 global.deviceDataSendToMaster.header.checkCode[1] = 0xDE; | |
| 168 global.deviceDataSendToMaster.header.checkCode[2] = 0xDD; | |
| 169 global.deviceDataSendToMaster.header.checkCode[3] = 0xDC; | |
| 170 global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 171 global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 172 global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 173 global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 174 | |
| 175 global.dataSendToSlave.getDeviceDataNow = 0; | |
| 176 | |
| 177 global.deviceData.batteryChargeCompleteCycles.value_int32 = 0; | |
| 178 global.deviceData.batteryChargeCycles.value_int32 = 0; | |
| 179 global.deviceData.depthMaximum.value_int32 = 0; | |
| 180 global.deviceData.diveCycles.value_int32 = 0; | |
| 181 global.deviceData.hoursOfOperation.value_int32 = 0; | |
| 182 global.deviceData.temperatureMaximum.value_int32 = INT32_MIN; | |
| 183 global.deviceData.temperatureMinimum.value_int32 = INT32_MAX; | |
| 184 global.deviceData.voltageMinimum.value_int32 = INT32_MAX; | |
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185 |
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186 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
| 207 | 187 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
| 38 | 188 } |
| 189 | |
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190 void reinitGlobals(void) |
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191 { |
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192 global.dataSendToSlavePending = 0; |
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193 global.dataSendToSlaveIsValid = 0; |
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194 global.dataSendToSlaveIsNotValidCount = 0; |
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195 global.sync_error_count = 0; |
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196 global.check_sync_not_running = 0; |
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197 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
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198 } |
| 38 | 199 |
| 200 void scheduleSpecial_Evaluate_DataSendToSlave(void) | |
| 201 { | |
| 104 | 202 //TEMPORARY fix for compass calibration. |
| 203 //TODO: Fix I2C timeout for complete solving problem. | |
| 204 if(global.mode==MODE_CALIB){ | |
| 205 return; | |
| 206 } | |
| 90 | 207 |
| 88 | 208 global.dataSendToSlavePending = 0; |
| 209 if(!global.dataSendToSlaveIsValid) return; | |
| 38 | 210 |
| 211 global.dataSendToMaster.confirmRequest.uw = 0; | |
| 212 | |
| 213 if(TM_OTP_Read(0,0) == 0xFF) | |
| 214 { | |
| 215 if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A)) | |
| 216 TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware); | |
| 217 } | |
| 218 | |
| 219 if(global.dataSendToSlave.setAccidentFlag) | |
| 220 { | |
| 221 global.dataSendToMaster.confirmRequest.ub.accident = 1; | |
| 222 global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag; | |
| 223 scheduleSetDate(&global.deviceData.diveAccident); | |
| 224 global.accidentFlag |= global.dataSendToSlave.setAccidentFlag; | |
| 225 if(global.accidentFlag == ACCIDENT_CNS) // LVL1 | |
| 226 global.accidentRemainingSeconds = 2*60*60; | |
| 227 else | |
| 228 global.accidentRemainingSeconds = 24*60*60; | |
| 229 } | |
| 230 | |
| 231 if(global.dataSendToSlave.setTimeNow) | |
| 232 { | |
| 233 global.dataSendToMaster.confirmRequest.ub.time = 1; | |
| 234 RTC_SetTime(global.dataSendToSlave.data.newTime); | |
| 235 schedule_update_timer_helper(0); | |
| 236 } | |
| 237 | |
| 238 if(global.dataSendToSlave.setDateNow) | |
| 239 { | |
| 240 global.dataSendToMaster.confirmRequest.ub.date = 1; | |
| 241 RTC_SetDate(global.dataSendToSlave.data.newDate); | |
| 242 schedule_update_timer_helper(0); | |
| 243 } | |
| 244 | |
| 245 if(global.dataSendToSlave.calibrateCompassNow) | |
| 246 { | |
| 247 global.dataSendToMaster.confirmRequest.ub.compass = 1; | |
| 248 global.mode = MODE_CALIB; | |
| 249 } | |
| 250 | |
| 251 if(global.dataSendToSlave.clearDecoNow) | |
| 252 { | |
| 253 global.dataSendToMaster.confirmRequest.ub.clearDeco = 1; | |
| 254 clearDecoNow = 1; | |
| 255 } | |
| 256 | |
| 257 if(global.dataSendToSlave.setButtonSensitivityNow) | |
| 258 { | |
| 259 global.dataSendToMaster.confirmRequest.ub.button = 1; | |
| 260 global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0]; | |
| 261 global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1]; | |
| 262 global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2]; | |
| 263 global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3]; | |
| 264 setButtonsNow = 1; | |
| 265 } | |
| 266 | |
| 267 if(global.dataSendToSlave.setBatteryGaugeNow) | |
| 268 { | |
| 104 | 269 if(global.mode!=MODE_CALIB){ |
| 38 | 270 global.dataSendToMaster.confirmRequest.ub.batterygauge = 1; |
| 271 battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat); | |
| 104 | 272 } |
| 38 | 273 } |
| 274 | |
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275 if(global.dataSendToSlave.setEndDive) |
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276 { |
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277 ManualExitDiveCounter = 30 * 60; /* This will cause the computer to leave dive mode if in shallow area and increase the depth to enter dive mode for the next 30 minutes */ |
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278 } |
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279 |
| 38 | 280 if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN)) |
| 281 { | |
| 282 global.mode = MODE_SHUTDOWN; | |
| 283 } | |
| 284 | |
| 285 if(global.mode == MODE_DIVE) | |
| 286 { | |
| 287 copyActualGas(global.dataSendToSlave.data.actualGas); | |
| 288 } | |
| 289 else | |
| 290 { | |
| 291 copyActualGas(Air); | |
| 292 global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook; | |
| 293 global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth; | |
| 294 } | |
| 295 | |
| 296 /* for simulation / testing */ | |
| 297 global.ceiling_from_main_CPU_mbar = global.dataSendToSlave.data.ambient_pressure_mbar_ceiling; | |
| 298 | |
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299 /* Set pressure and temperature offsets */ |
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300 pressure_set_offset (global.dataSendToSlave.data.offsetPressureSensor_mbar, global.dataSendToSlave.data.offsetTemperatureSensor_centiDegree); |
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301 |
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302 |
| 88 | 303 /* for device data updates */ |
| 304 deviceDataFlashValid = 0; | |
| 305 memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice)); | |
| 306 deviceDataFlashValid = 1; | |
| 89 | 307 |
| 662 | 308 |
| 309 /* handle external interface requests */ | |
| 310 | |
| 311 if((global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON) != externalInterface_isEnabledPower33()) | |
| 312 { | |
| 313 externalInterface_SwitchPower33(global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON); | |
| 314 } | |
| 315 | |
| 691 | 316 if(((global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_ADC_ON) != 0) != externalInterface_isEnabledADC()) |
| 317 { | |
| 318 externalInterface_SwitchADC(global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_ADC_ON); | |
| 319 } | |
| 320 | |
| 321 | |
| 322 if(global.dataSendToSlave.data.externalInterface_Cmd & 0x00FF) /* lowest nibble for commands */ | |
| 662 | 323 { |
| 324 externalInterface_ExecuteCmd(global.dataSendToSlave.data.externalInterface_Cmd); | |
| 325 } | |
| 326 | |
| 327 | |
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328 #if 0 |
| 104 | 329 //TODO: Temporary placed here. Duration ~210 ms. |
| 330 if (global.I2C_SystemStatus != HAL_OK) { | |
| 331 MX_I2C1_TestAndClear(); | |
| 332 MX_I2C1_Init(); | |
| 333 // init_pressure(); | |
| 334 // compass_init(0, 7); | |
| 335 // accelerator_init(); | |
| 336 } | |
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337 #endif /* already called once a second */ |
| 38 | 338 } |
| 339 | |
| 340 | |
| 341 /** | |
| 342 ****************************************************************************** | |
| 343 * @brief schedule_time_compare_helper. | |
| 344 * @author heinrichs weikamp gmbh | |
| 345 * @version V0.0.1 | |
| 346 * @date 20-Oct-2016 | |
| 347 ****************************************************************************** | |
| 348 */ | |
| 349 | |
| 350 uint8_t RtcBugFixChsw(uint8_t inStupidTime) | |
| 351 { | |
| 352 uint8_t multiplesOf16 = 0; | |
| 353 | |
| 354 multiplesOf16 = inStupidTime / 16; | |
| 355 | |
| 356 inStupidTime -= multiplesOf16 * 16; | |
| 357 | |
| 358 return (10 * multiplesOf16) + inStupidTime; | |
| 359 } | |
| 360 | |
| 361 uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast) | |
| 362 { | |
| 363 uint32_t nowInSeconds; | |
| 364 uint32_t lastInSeconds; | |
| 365 uint32_t resultDiff; | |
| 366 | |
| 367 nowInSeconds = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600; | |
| 368 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60; | |
| 369 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds); | |
| 370 | |
| 371 lastInSeconds = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600; | |
| 372 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60; | |
| 373 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds); | |
| 374 | |
| 375 if(dateNow.Date != dateLast.Date) | |
| 376 { | |
| 377 resultDiff = 86400 + nowInSeconds - lastInSeconds; | |
| 378 } | |
| 379 else | |
| 380 { | |
| 381 resultDiff = nowInSeconds - lastInSeconds; | |
| 382 } | |
| 383 return resultDiff; | |
| 384 } | |
| 385 | |
| 386 | |
| 387 | |
| 388 /** | |
| 389 ****************************************************************************** | |
| 390 * @brief schedule_update_timer_helper. | |
| 391 * @author heinrichs weikamp gmbh | |
| 392 * @version V0.0.1 | |
| 393 * @date 20-Oct-2016 | |
| 394 * @brief use 0 for init | |
| 395 use -1 for RTC controlled | |
| 396 use >= 1 for manual control | |
| 397 ****************************************************************************** | |
| 398 */ | |
| 399 extern RTC_HandleTypeDef RTCHandle; | |
| 400 | |
|
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401 static void schedule_update_timer_helper(int8_t thisSeconds) |
| 38 | 402 { |
| 403 static RTC_TimeTypeDef sTimeLast; | |
| 404 static RTC_DateTypeDef sDateLast; | |
| 405 RTC_TimeTypeDef sTimeNow; | |
| 406 RTC_DateTypeDef sDateNow; | |
| 407 uint32_t secondsPast; | |
| 408 | |
| 409 HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD); | |
| 410 HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD); | |
| 411 | |
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412 if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast |
| 38 | 413 { |
| 414 if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast | |
| 415 { | |
| 416 secondsPast = thisSeconds; | |
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417 } else { |
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418 // thisSeconds < 0 and not <= ! |
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419 secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast); |
| 38 | 420 } |
| 421 | |
| 422 if(global.seconds_since_last_dive) | |
| 423 { | |
| 424 if(secondsPast >= 777900) | |
| 425 { | |
| 426 global.seconds_since_last_dive = 0; | |
| 427 } | |
| 428 else | |
| 429 { | |
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430 uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast; |
| 38 | 431 if(tempNewValue > 777900) // a bit more than nine days [seconds] |
| 432 global.seconds_since_last_dive = 0; | |
| 433 else | |
| 434 global.seconds_since_last_dive = (long)tempNewValue; | |
| 435 } | |
| 436 } | |
| 437 } | |
| 438 | |
| 439 sTimeLast = sTimeNow; | |
| 440 sDateLast = sDateNow; | |
| 441 } | |
| 442 | |
| 443 /** | |
| 444 ****************************************************************************** | |
| 445 * @brief schedule_check_resync. | |
| 446 * @author heinrichs weikamp gmbh | |
| 447 * @version V0.0.2 | |
| 448 * @date 18-June-2015 | |
| 449 ****************************************************************************** | |
| 450 */ | |
| 135 | 451 |
| 38 | 452 void schedule_check_resync(void) |
| 453 { | |
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454 /* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */ |
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455 if((global.check_sync_not_running >= Scheduler.communicationTimeout)) |
| 38 | 456 { |
| 89 | 457 // global.dataSendToSlaveIsNotValidCount = 0; |
| 135 | 458 global.check_sync_not_running = 0; |
| 459 global.sync_error_count++; | |
| 460 | |
| 461 /* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the | |
| 462 * function error handler | |
| 463 */ | |
| 277 | 464 HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE); |
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465 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON; /* Reduce error detection time */ |
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466 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
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467 } |
| 38 | 468 } |
| 469 | |
| 470 | |
| 471 /** | |
| 472 ****************************************************************************** | |
| 473 * @brief scheduleDiveMode. / Dive Mode: Main Loop | |
| 474 * @author Peter Ryser | |
| 475 * @version V0.0.1 | |
| 476 * @date 22-April-2014 | |
| 477 ****************************************************************************** | |
| 478 */ | |
| 479 void scheduleDiveMode(void) | |
| 480 { | |
| 481 uint32_t ticksdiff = 0; | |
| 482 uint32_t lasttick = 0; | |
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483 uint8_t extAdcChannel = 0; |
| 38 | 484 uint8_t counterAscentRate = 0; |
| 485 float lastPressure_bar = 0.0f; | |
| 486 global.dataSendToMaster.mode = MODE_DIVE; | |
| 487 global.deviceDataSendToMaster.mode = MODE_DIVE; | |
| 488 uint8_t counter_exit = 0; | |
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489 |
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490 Scheduler.counterSPIdata100msec = 0; |
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491 Scheduler.counterCompass100msec = 0; |
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492 Scheduler.counterPressure100msec = 0; |
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493 Scheduler.counterAmbientLight100msec = 0; |
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494 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 495 |
| 496 global.deviceData.diveCycles.value_int32++; | |
| 497 scheduleSetDate(&global.deviceData.diveCycles); | |
| 498 global.lifeData.counterSecondsShallowDepth = 0; | |
| 499 | |
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500 /* Get the last stable value in case of an unstable surface history condition */ |
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501 if(!is_surface_pressure_stable()) |
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502 { |
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503 set_last_surface_pressure_stable(); |
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504 } |
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505 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; |
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506 ManualExitDiveCounter = 0; /* reset early exit request */ |
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507 |
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508 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 509 while(global.mode == MODE_DIVE) |
| 510 { | |
| 511 lasttick = HAL_GetTick(); | |
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512 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 513 |
| 691 | 514 #ifdef ENABLE_CO2_SUPPORT |
| 515 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_SENTINEL) | |
| 516 { | |
| 517 HandleUARTCO2Data(); | |
| 518 } | |
| 519 #endif | |
| 520 #ifdef ENABLE_SENTINEL_MODE | |
| 521 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_SENTINEL) | |
| 522 { | |
| 523 HandleUARTSentinelData(); | |
| 524 } | |
| 525 #endif | |
| 526 | |
| 527 | |
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528 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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529 { |
| 277 | 530 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 531 { | |
| 532 Scheduler.counterSPIdata100msec++; | |
| 533 } | |
| 534 schedule_check_resync(); | |
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535 |
| 691 | 536 if(externalInterface_isEnabledADC()) |
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537 { |
| 691 | 538 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 539 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 540 { | |
| 541 externalInterface_CalculateADCValue(extAdcChannel); | |
| 542 } | |
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543 } |
| 691 | 544 copyExtADCdata(); |
| 662 | 545 copyExtCO2data(); |
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546 } |
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547 |
| 38 | 548 //Evaluate pressure at 20 ms, 120 ms, 220 ms,.... |
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549 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 550 { |
| 551 global.check_sync_not_running++; | |
| 277 | 552 pressure_update_alternating(); |
| 135 | 553 scheduleUpdateDeviceData(); |
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554 #ifdef DEMOMODE |
| 38 | 555 if(global.demo_mode) |
| 556 { | |
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557 int turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar); |
| 38 | 558 if(turbo_seconds) |
| 559 { | |
| 560 global.lifeData.dive_time_seconds += turbo_seconds; | |
| 561 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData); | |
| 562 copyTissueData(); | |
| 563 } | |
| 564 if((global.lifeData.counterSecondsShallowDepth > 1) && (global.lifeData.counterSecondsShallowDepth < (global.settings.timeoutDiveReachedZeroDepth - 10))) | |
| 565 global.lifeData.counterSecondsShallowDepth = (global.settings.timeoutDiveReachedZeroDepth - 10); | |
| 566 } | |
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567 #endif |
| 38 | 568 |
| 569 //Calc ascentrate every two second (20 * 100 ms) | |
| 570 counterAscentRate++; | |
| 571 if(counterAscentRate == 20) | |
| 572 { | |
| 573 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 574 if(lastPressure_bar >= 0) | |
| 575 { | |
| 576 //2 seconds * 30 == 1 minute, bar * 10 = meter | |
| 577 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10; | |
| 578 } | |
| 579 lastPressure_bar = global.lifeData.pressure_ambient_bar; | |
| 580 counterAscentRate = 0; | |
| 581 } | |
| 135 | 582 copyPressureData(); |
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583 Scheduler.counterPressure100msec++; |
| 38 | 584 } |
| 585 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... | |
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586 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 587 { |
| 588 compass_read(); | |
| 589 acceleration_read(); | |
| 590 compass_calc(); | |
| 591 copyCompassData(); | |
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592 Scheduler.counterCompass100msec++; |
| 135 | 593 } |
| 38 | 594 |
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595 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 596 { |
| 597 adc_ambient_light_sensor_get_data(); | |
| 598 copyAmbientLightData(); | |
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599 Scheduler.counterAmbientLight100msec++; |
| 38 | 600 } |
| 601 | |
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602 //Evaluate tissues, toxic data, vpm, etc. once a second |
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603 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 604 { |
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605 Scheduler.tick_execute1second = 0xFFFFFFFF; /* execute once only in the second cycle */ |
| 38 | 606 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) |
| 607 { | |
| 608 scheduleUpdateLifeData(0); // includes tissues | |
| 609 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too | |
| 610 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); | |
| 611 decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2); | |
| 612 decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2); | |
| 88 | 613 battery_gas_gauge_get_data(); |
| 38 | 614 |
| 615 | |
| 616 /** counter_exit allows safe exit via button for testing | |
| 617 * and demo_mode is exited too if aplicable. | |
| 618 */ | |
| 619 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 620 { | |
| 621 counter_exit++; | |
| 622 if(counter_exit >= 2) | |
| 623 { | |
| 624 global.mode = MODE_SURFACE; | |
| 625 global.demo_mode = 0; | |
| 626 } | |
| 627 } | |
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628 |
| 38 | 629 if(is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 630 { | |
| 631 global.lifeData.counterSecondsShallowDepth++; | |
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632 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0)) |
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633 || (ManualExitDiveCounter)) |
| 38 | 634 { |
| 635 global.seconds_since_last_dive = 1; // start counter | |
| 636 schedule_update_timer_helper(0); // zum starten :-) | |
| 637 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 638 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 639 } | |
| 640 } | |
| 641 else | |
| 642 { | |
| 643 global.lifeData.counterSecondsShallowDepth = 0; | |
| 644 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 645 } | |
| 646 vpm_crush2(); | |
| 647 } | |
| 648 else // DIVEMODE_Apnea | |
| 649 { | |
| 650 global.lifeData.dive_time_seconds++; | |
| 651 | |
| 652 // exit dive mode | |
| 653 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 654 { | |
| 655 counter_exit++; | |
| 656 if(counter_exit >= 2) | |
| 657 { | |
| 658 scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode | |
| 659 global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time | |
| 660 global.mode = MODE_SURFACE; | |
| 661 global.demo_mode = 0; | |
| 662 } | |
| 663 } | |
| 664 | |
| 665 // surface break | |
| 666 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
| 667 { | |
| 668 global.lifeData.counterSecondsShallowDepth++; | |
| 669 if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds | |
| 670 { | |
| 671 global.lifeData.dive_time_seconds = 0; // this apnea dive ends here | |
| 672 } | |
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673 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (ManualExitDiveCounter)) |
| 38 | 674 { |
| 675 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 676 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 677 } | |
| 678 } | |
| 679 else | |
| 680 { | |
| 681 global.lifeData.counterSecondsShallowDepth = 0; | |
| 682 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 683 } | |
| 684 } // standard dive or DIVEMODE_Apnea | |
| 685 | |
| 88 | 686 copyVpmCrushingData(); |
| 687 copyTimeData(); | |
| 688 copyCnsAndOtuData(); | |
| 689 copyBatteryData(); | |
| 38 | 690 |
| 88 | 691 // new hw 170523 |
| 692 if(global.I2C_SystemStatus != HAL_OK) | |
| 693 { | |
| 694 MX_I2C1_TestAndClear(); | |
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695 HAL_Delay(100); |
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696 I2C_DeInit(); |
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697 HAL_Delay(100); |
| 88 | 698 MX_I2C1_Init(); |
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699 HAL_Delay(100); |
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700 |
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701 init_pressure(); |
| 88 | 702 } |
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703 } |
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704 if(ticksdiff >= 1000) |
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705 { |
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706 /* reset counter */ |
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707 Scheduler.tickstart = HAL_GetTick(); |
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708 Scheduler.counterSPIdata100msec = 0; |
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709 Scheduler.counterCompass100msec = 0; |
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710 Scheduler.counterPressure100msec = 0; |
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711 Scheduler.counterAmbientLight100msec = 0; |
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712 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 713 } |
| 714 } | |
| 715 } | |
| 716 | |
| 717 | |
| 718 /** | |
| 719 ****************************************************************************** | |
| 720 * @brief scheduleSurfaceMode / surface mode: Main Loop | |
| 721 * @author Peter Ryser | |
| 722 * @version V0.0.1 | |
| 723 * @date 22-April-2014 | |
| 724 ****************************************************************************** | |
| 725 */ | |
| 726 | |
| 727 | |
| 728 // =============================================================================== | |
| 729 // scheduleTestMode | |
| 730 /// @brief included for sealed hardware with permanent RTE update message | |
| 731 // =============================================================================== | |
| 732 void scheduleTestMode(void) | |
| 733 { | |
| 734 uint32_t ticksdiff = 0; | |
| 735 uint32_t lasttick = 0; | |
|
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736 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 737 |
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738 Scheduler.counterPressure100msec = 0; |
| 38 | 739 |
| 740 float temperature_carousel = 0.0f; | |
| 741 float temperature_changer = 0.1f; | |
| 742 | |
| 743 while(global.mode == MODE_TEST) | |
| 744 { | |
| 745 lasttick = HAL_GetTick(); | |
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746 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
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747 |
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748 //Evaluate received data at 10 ms, 110 ms, 210 ms,... |
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749 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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750 { |
| 277 | 751 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 752 { | |
| 753 Scheduler.counterSPIdata100msec++; | |
| 754 } | |
| 755 schedule_check_resync(); | |
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756 } |
| 38 | 757 |
| 758 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... | |
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759 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 760 { |
| 761 global.check_sync_not_running++; | |
| 762 | |
| 277 | 763 pressure_update_alternating(); |
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764 scheduleUpdateDeviceData(); |
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765 global.lifeData.ascent_rate_meter_per_min = 0; |
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766 copyPressureData(); |
| 38 | 767 |
| 768 if(temperature_carousel > 20.0f) | |
| 769 { | |
| 770 temperature_carousel = 20.0f; | |
| 771 temperature_changer = -0.1f; | |
| 772 } | |
| 773 else | |
| 774 if(temperature_carousel < 0) | |
| 775 { | |
| 776 temperature_carousel = 0; | |
| 777 temperature_changer = +0.1f; | |
| 778 } | |
| 779 | |
| 780 temperature_carousel += temperature_changer; | |
| 781 | |
| 782 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; | |
| 783 | |
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784 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); |
| 38 | 785 |
| 786 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; | |
| 787 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 788 global.dataSendToMaster.boolPressureData = boolPressureData; | |
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789 Scheduler.counterPressure100msec++; |
| 38 | 790 } |
| 791 | |
| 792 if(ticksdiff >= 1000) | |
| 793 { | |
| 794 //Set back tick counter | |
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795 Scheduler.tickstart = HAL_GetTick(); |
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796 Scheduler.counterPressure100msec = 0; |
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797 Scheduler.counterSPIdata100msec = 0; |
| 38 | 798 } |
| 799 }; | |
| 800 } | |
| 801 | |
| 802 | |
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803 |
| 38 | 804 void scheduleSurfaceMode(void) |
| 805 { | |
| 806 uint32_t ticksdiff = 0; | |
| 807 uint32_t lasttick = 0; | |
|
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808 uint8_t extAdcChannel = 0; |
| 662 | 809 uint8_t batteryToggle = 0; /* ADC is operating in automatic 2 second cycles => consider for battery charge function call */ |
| 810 | |
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811 Scheduler.tickstart = HAL_GetTick(); |
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812 Scheduler.counterSPIdata100msec = 0; |
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813 Scheduler.counterCompass100msec = 0; |
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814 Scheduler.counterPressure100msec = 0; |
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815 Scheduler.counterAmbientLight100msec = 0; |
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816 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
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817 |
| 38 | 818 global.dataSendToMaster.mode = MODE_SURFACE; |
| 819 global.deviceDataSendToMaster.mode = MODE_SURFACE; | |
| 820 | |
| 821 while(global.mode == MODE_SURFACE) | |
| 822 { | |
| 277 | 823 |
| 38 | 824 lasttick = HAL_GetTick(); |
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825 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 826 |
| 827 if(setButtonsNow == 1) | |
| 828 { | |
| 829 if(scheduleSetButtonResponsiveness()) | |
| 830 setButtonsNow = 0; | |
| 831 } | |
| 691 | 832 |
| 833 #ifdef ENABLE_CO2_SUPPORT | |
| 834 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_SENTINEL) | |
| 835 { | |
| 836 HandleUARTCO2Data(); | |
| 837 } | |
| 838 #endif | |
| 839 #ifdef ENABLE_SENTINEL_MODE | |
| 840 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_SENTINEL) | |
| 841 { | |
| 842 HandleUARTSentinelData(); | |
| 843 } | |
| 844 #endif | |
| 662 | 845 |
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846 /* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */ |
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847 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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848 { |
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849 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
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850 { |
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851 Scheduler.counterSPIdata100msec++; |
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852 } |
| 277 | 853 schedule_check_resync(); |
| 691 | 854 if(externalInterface_isEnabledADC()) |
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855 { |
| 691 | 856 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 857 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 858 { | |
| 859 externalInterface_CalculateADCValue(extAdcChannel); | |
| 860 | |
| 861 } | |
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862 } |
| 691 | 863 copyExtADCdata(); |
| 662 | 864 copyExtCO2data(); |
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865 } |
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866 |
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867 /* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */ |
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868 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 869 { |
| 870 global.check_sync_not_running++; | |
| 277 | 871 pressure_update_alternating(); |
| 135 | 872 scheduleUpdateDeviceData(); |
| 38 | 873 global.lifeData.ascent_rate_meter_per_min = 0; |
| 135 | 874 copyPressureData(); |
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875 Scheduler.counterPressure100msec++; |
| 135 | 876 |
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877 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 38 | 878 global.mode = MODE_DIVE; |
| 879 } | |
| 880 | |
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881 /* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */ |
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882 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 883 { |
| 884 compass_read(); | |
| 885 acceleration_read(); | |
| 886 compass_calc(); | |
| 887 copyCompassData(); | |
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888 Scheduler.counterCompass100msec++; |
| 135 | 889 } |
| 38 | 890 |
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891 /* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */ |
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892 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 893 { |
| 894 adc_ambient_light_sensor_get_data(); | |
| 895 copyAmbientLightData(); | |
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896 Scheduler.counterAmbientLight100msec++; |
| 38 | 897 } |
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898 |
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899 |
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900 |
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901 /* Evaluate tissues, toxic data, etc. once a second... duration ~1ms */ |
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902 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 903 { |
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904 Scheduler.tick_execute1second = 0xFFFFFFFF; |
| 38 | 905 if(clearDecoNow) |
| 906 { | |
| 907 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time | |
| 908 // new 160215 hw | |
| 909 global.repetitive_dive = 0; | |
| 910 global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well | |
| 911 global.no_fly_time_minutes = 0; | |
| 912 global.accidentFlag = 0; | |
| 913 global.accidentRemainingSeconds = 0; | |
| 914 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); | |
| 915 clearDecoNow = 0; | |
| 916 } | |
| 89 | 917 |
|
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918 if(ManualExitDiveCounter) |
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919 { |
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920 ManualExitDiveCounter--; |
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921 } |
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922 |
| 38 | 923 if(global.seconds_since_last_dive) |
| 924 { | |
| 925 schedule_update_timer_helper(-1); | |
| 926 } | |
| 89 | 927 |
| 38 | 928 if(global.accidentRemainingSeconds) |
| 929 { | |
| 930 global.accidentRemainingSeconds--; | |
| 931 if(!global.accidentRemainingSeconds) | |
| 932 global.accidentFlag = 0; | |
| 933 } | |
| 934 global.dataSendToMaster.accidentFlags = global.accidentFlag; | |
| 89 | 935 |
| 38 | 936 update_surface_pressure(1); |
| 937 scheduleUpdateLifeData(0); | |
| 938 decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive); | |
| 939 decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive); | |
| 135 | 940 |
| 941 /* start desaturation calculation after first valid measurement has been done */ | |
| 942 if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE) | |
| 943 { | |
| 944 global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar); | |
| 945 } | |
| 946 else | |
| 947 { | |
| 948 global.lifeData.desaturation_time_minutes = 0; | |
| 949 } | |
| 662 | 950 |
| 951 if(!batteryToggle) | |
| 952 { | |
| 953 battery_gas_gauge_get_data(); | |
| 954 battery_charger_get_status_and_contral_battery_gas_gauge(2); | |
| 955 batteryToggle = 1; | |
| 956 } | |
| 957 else | |
| 958 { | |
| 959 batteryToggle = 0; | |
| 960 } | |
| 89 | 961 |
| 88 | 962 copyCnsAndOtuData(); |
| 963 copyTimeData(); | |
| 964 copyBatteryData(); | |
| 965 copyDeviceData(); | |
| 38 | 966 |
| 691 | 967 |
|
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968 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occured during startup */ |
| 88 | 969 if(global.I2C_SystemStatus != HAL_OK) |
| 970 { | |
| 971 MX_I2C1_TestAndClear(); | |
|
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972 HAL_Delay(100); |
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973 I2C_DeInit(); |
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974 HAL_Delay(100); |
| 88 | 975 MX_I2C1_Init(); |
|
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976 HAL_Delay(100); |
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977 |
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978 if(global.I2C_SystemStatus == HAL_OK) |
| 88 | 979 { |
| 980 init_pressure(); | |
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981 if(is_init_pressure_done()) /* Init surface data with initial measurement */ |
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982 { |
|
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983 init_surface_ring(0); |
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984 } |
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985 |
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986 if(!battery_gas_gauge_CheckConfigOK()) |
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987 { |
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988 init_battery_gas_gauge(); |
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989 } |
| 88 | 990 } |
| 991 } | |
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992 } |
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993 |
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994 if(ticksdiff >= 1000) |
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995 { |
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996 //Set back tick counter |
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997 Scheduler.tickstart = HAL_GetTick(); |
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998 Scheduler.counterSPIdata100msec = 0; |
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999 Scheduler.counterCompass100msec = 0; |
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1000 Scheduler.counterPressure100msec = 0; |
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1001 Scheduler.counterAmbientLight100msec = 0; |
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1002 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 1003 } |
| 1004 } | |
| 1005 } | |
| 1006 | |
| 207 | 1007 inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod) |
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1008 { |
| 207 | 1009 if( SyncMethod < SPI_SYNC_METHOD_INVALID) |
| 1010 { | |
| 1011 dospisync = SyncMethod; | |
| 1012 } | |
| 1013 } | |
| 1014 | |
|
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1015 void Scheduler_SyncToSPI(uint8_t TXtick) |
| 207 | 1016 { |
| 1017 uint32_t deltatick = 0; | |
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1018 int8_t TXcompensation; |
| 207 | 1019 |
| 1020 switch(dospisync) | |
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1021 { |
| 207 | 1022 case SPI_SYNC_METHOD_HARD: |
| 1023 //Set back tick counter | |
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1024 Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */ |
| 207 | 1025 Scheduler.counterSPIdata100msec = 0; |
| 1026 Scheduler.counterCompass100msec = 0; | |
| 1027 Scheduler.counterPressure100msec = 0; | |
| 1028 Scheduler.counterAmbientLight100msec = 0; | |
| 1029 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1030 break; | |
| 1031 case SPI_SYNC_METHOD_SOFT: | |
| 1032 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); | |
| 1033 deltatick %= 100; /* clip to 100ms window */ | |
| 1034 if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */ | |
| 1035 { | |
| 1036 Scheduler.tickstart -= deltatick; | |
| 1037 } | |
| 1038 else | |
| 1039 { | |
| 1040 Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart); | |
| 1041 } | |
| 1042 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1043 break; | |
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1044 default: /* continous sync activity */ |
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1045 if(TXtick < 100) /* do not handle unexpected jump length > 100ms */ |
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1046 { |
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1047 TXtick += 4; /* add 4ms TX time to offset of 100ms time stamp */ |
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1048 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); |
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1049 deltatick %= 100; |
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1050 if(deltatick > 50) |
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1051 { |
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1052 TXcompensation = deltatick - 100; /* neg drift */ |
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1053 } |
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1054 else |
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1055 { |
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1056 TXcompensation = deltatick; /* pos drift */ |
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1057 } |
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1058 TXcompensation = TXtick - TXcompensation; |
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1059 Scheduler.tickstart -= TXcompensation; |
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1060 } |
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1061 else |
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1062 { |
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1063 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_SOFT); /* A large shift in 100ms cycle occured => clip to 100ms in next sync call */ |
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1064 } |
| 207 | 1065 break; |
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1066 } |
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1067 } |
| 38 | 1068 |
| 1069 /** | |
| 1070 ****************************************************************************** | |
| 1071 * @brief scheduleCompassCalibrationMode | |
| 1072 * @author heinrichs weikamp gmbh | |
| 1073 * @version V0.0.1 | |
| 1074 * @since 31-March-2015 | |
| 1075 * @date 31-March-2015 | |
| 1076 ****************************************************************************** | |
| 1077 */ | |
| 1078 void scheduleCompassCalibrationMode(void) | |
| 1079 { | |
| 1080 compass_init(1,7); // fast mode, max gain | |
| 1081 compass_calib(); // duration : 1 minute! | |
| 1082 compass_init(0,7); // back to normal mode | |
| 1083 | |
| 1084 if(global.seconds_since_last_dive) | |
| 1085 { | |
| 1086 schedule_update_timer_helper(-1); | |
| 1087 } | |
| 1088 | |
| 1089 scheduleUpdateLifeData(0); | |
| 1090 global.mode = MODE_SURFACE; | |
| 1091 } | |
| 1092 | |
| 1093 | |
| 1094 /** | |
| 1095 ****************************************************************************** | |
| 1096 * @brief scheduleSleepMode / sleep mode: Main Loop | |
| 1097 * @author heinrichs weikamp gmbh | |
| 1098 * @version V0.0.2 | |
| 1099 * @since 31-March-2015 | |
| 1100 * @date 22-April-2014 | |
| 1101 ****************************************************************************** | |
| 1102 */ | |
| 1103 | |
| 1104 void scheduleSleepMode(void) | |
| 1105 { | |
| 1106 global.dataSendToMaster.mode = 0; | |
| 1107 global.deviceDataSendToMaster.mode = 0; | |
| 668 | 1108 secondsCount = 0; |
| 38 | 1109 |
| 1110 /* prevent button wake up problem while in sleep_prepare | |
| 1111 * sleep prepare does I2C_DeInit() | |
| 1112 */ | |
| 1113 if(global.mode != MODE_SLEEP) | |
| 1114 MX_I2C1_Init(); | |
| 1115 else | |
| 1116 do | |
| 1117 { | |
| 1118 I2C_DeInit(); | |
| 1119 | |
| 1120 #ifdef DEBUGMODE | |
| 1121 HAL_Delay(2000); | |
| 1122 #else | |
| 1123 RTC_StopMode_2seconds(); | |
| 1124 #endif | |
| 1125 | |
| 1126 | |
| 1127 | |
| 1128 if(global.mode == MODE_SLEEP) | |
| 1129 secondsCount += 2; | |
| 1130 | |
| 662 | 1131 externalInterface_InitPower33(); |
| 38 | 1132 MX_I2C1_Init(); |
| 1133 pressure_sensor_get_pressure_raw(); | |
| 1134 | |
| 475 | 1135 /* check if I2C is not up and running and try to reactivate if necessary. Also do initialization if problem occurred during startup */ |
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1136 if(global.I2C_SystemStatus != HAL_OK) |
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1137 { |
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1138 MX_I2C1_TestAndClear(); |
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1139 HAL_Delay(100); |
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1140 I2C_DeInit(); |
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1141 HAL_Delay(100); |
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1142 MX_I2C1_Init(); |
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1143 HAL_Delay(100); |
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1144 |
| 475 | 1145 if((global.I2C_SystemStatus == HAL_OK) && (!is_init_pressure_done())) |
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1146 { |
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1147 init_pressure(); |
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1148 } |
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1149 } |
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1150 |
| 691 | 1151 if((secondsCount >= 30) || (global.mode != MODE_SLEEP)) /* Service battery charge state in case sleep is left */ |
| 38 | 1152 { |
| 1153 pressure_sensor_get_temperature_raw(); | |
| 1154 battery_gas_gauge_get_data(); | |
| 662 | 1155 ReInit_battery_charger_status_pins(); |
| 691 | 1156 battery_charger_get_status_and_contral_battery_gas_gauge(secondsCount); |
| 38 | 1157 // DeInit_battery_charger_status_pins(); |
| 1158 secondsCount = 0; | |
| 1159 } | |
| 1160 | |
| 1161 pressure_calculation(); | |
| 1162 | |
| 1163 scheduleUpdateDeviceData(); | |
| 1164 update_surface_pressure(2); | |
| 1165 | |
| 1166 if(global.seconds_since_last_dive) | |
| 1167 { | |
| 1168 schedule_update_timer_helper(-1); | |
| 1169 } | |
| 1170 | |
| 1171 if(global.accidentRemainingSeconds) | |
| 1172 { | |
| 1173 if(global.accidentRemainingSeconds > 2) | |
| 1174 global.accidentRemainingSeconds -= 2; | |
| 1175 else | |
| 1176 { | |
| 1177 global.accidentRemainingSeconds = 0; | |
| 1178 global.accidentFlag = 0; | |
| 1179 } | |
| 1180 } | |
| 1181 | |
|
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1182 if (((!is_ambient_pressure_close_to_surface(&global.lifeData)) && (global.lifeData.pressure_surface_bar > START_DIVE_MOUNTAIN_MODE_BAR )) |
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1183 || (global.lifeData.pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR)) |
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1184 { |
| 38 | 1185 global.mode = MODE_BOOT; |
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1186 } |
| 38 | 1187 scheduleUpdateLifeData(2000); |
| 1188 } | |
| 1189 while(global.mode == MODE_SLEEP); | |
| 1190 /* new section for system after Standby */ | |
| 1191 scheduleUpdateLifeData(-1); | |
| 1192 clearDecoNow = 0; | |
| 1193 setButtonsNow = 0; | |
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1194 reinitGlobals(); |
| 668 | 1195 ReInit_battery_charger_status_pins(); |
| 38 | 1196 } |
| 1197 | |
| 1198 | |
| 1199 | |
| 1200 /* Private functions ---------------------------------------------------------*/ | |
| 1201 | |
| 1202 /** | |
| 1203 ****************************************************************************** | |
| 1204 * @brief scheduleUpdateLifeData / calculates tissues | |
| 1205 * @author Peter Ryser | |
| 1206 * @version V0.0.1 | |
| 1207 * @date 22-April-2014 | |
| 1208 ****************************************************************************** | |
| 1209 */ | |
| 1210 | |
| 1211 | |
| 1212 void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last) | |
| 1213 { | |
| 1214 static _Bool first = 1; | |
| 1215 static uint32_t tickstart = 0; | |
| 1216 static uint32_t ticksrest = 0; | |
| 1217 | |
| 1218 uint32_t ticksdiff = 0; | |
| 1219 uint32_t ticksnow = 0; | |
| 1220 uint32_t time_seconds = 0; | |
| 1221 uint8_t whichGasTmp = 0; | |
| 1222 | |
| 135 | 1223 uint8_t updateTissueData = 0; |
| 1224 | |
| 1225 | |
| 1226 if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE) | |
| 1227 { | |
| 1228 updateTissueData = 1; | |
| 1229 } | |
| 1230 | |
| 38 | 1231 if(asynchron_milliseconds_since_last < 0) |
| 1232 { | |
| 1233 first = 1; | |
| 1234 tickstart = 0; | |
| 1235 ticksrest = 0; | |
| 1236 return; | |
| 1237 } | |
| 1238 | |
| 1239 if(!asynchron_milliseconds_since_last && first) | |
| 1240 { | |
| 1241 tickstart = HAL_GetTick(); | |
| 1242 first = 0; | |
| 1243 return; | |
| 1244 } | |
| 1245 | |
| 1246 whichGasTmp = global.whichGas; | |
| 1247 global.lifeData.actualGas = global.aktualGas[whichGasTmp]; | |
| 1248 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 1249 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; | |
| 1250 | |
| 135 | 1251 if(updateTissueData) |
| 1252 { | |
| 1253 decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData); | |
| 1254 } | |
| 1255 | |
| 38 | 1256 if(!asynchron_milliseconds_since_last) |
| 1257 { | |
| 1258 ticksnow = HAL_GetTick(); | |
| 1259 ticksdiff = time_elapsed_ms(tickstart,ticksnow); | |
| 1260 } | |
| 1261 else | |
| 1262 { | |
| 1263 first = 1; | |
| 1264 ticksdiff = asynchron_milliseconds_since_last; | |
| 1265 } | |
| 1266 | |
| 1267 if(ticksrest > 1000) // whatever happens after standby with STM32L476 | |
| 1268 ticksrest = 0; // maybe move static to SRAM2 | |
| 1269 | |
| 1270 ticksdiff += ticksrest; | |
| 1271 time_seconds = ticksdiff/ 1000; | |
| 1272 ticksrest = ticksdiff - time_seconds * 1000; | |
| 1273 tickstart = ticksnow; | |
| 1274 | |
| 1275 decom_tissues_exposure((int)time_seconds, &global.lifeData); | |
| 1276 if(global.demo_mode) | |
| 1277 decom_tissues_exposure((int)(3*time_seconds), &global.lifeData); | |
| 1278 copyTissueData(); | |
| 1279 } | |
| 1280 | |
| 1281 | |
| 1282 /** | |
| 1283 ****************************************************************************** | |
| 1284 * @brief scheduleUpdateDeviceData | |
| 1285 * @author heinrichs weikamp gmbh | |
| 1286 * @version V0.0.1 | |
| 1287 * @date 16-March-2015 | |
| 1288 * | |
| 1289 * two step process | |
| 1290 * first compare with data from main CPU == externalLogbookFlash | |
| 1291 * second update with new sensor data | |
| 1292 ****************************************************************************** | |
| 1293 */ | |
| 1294 void scheduleSetDate(SDeviceLine *line) | |
| 1295 { | |
| 1296 extern RTC_HandleTypeDef RTCHandle; | |
| 1297 | |
| 1298 line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1299 line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1300 } | |
| 1301 | |
| 1302 | |
| 1303 void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead) | |
| 1304 { | |
| 1305 lineWrite->date_rtc_dr = lineRead->date_rtc_dr; | |
| 1306 lineWrite->time_rtc_tr = lineRead->time_rtc_tr; | |
| 1307 lineWrite->value_int32 = lineRead->value_int32; | |
| 1308 } | |
| 1309 | |
| 1310 | |
|
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1311 void scheduletranslateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) |
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1312 { |
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1313 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); |
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1314 |
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1315 /* Fill the structure fields with the read parameters */ |
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1316 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); |
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1317 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); |
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1318 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); |
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1319 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); |
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1320 |
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1321 /* Convert the date structure parameters to Binary format */ |
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1322 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); |
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1323 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); |
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1324 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); |
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1325 } |
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1326 |
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1327 void scheduleCheckDate(void) |
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1328 { |
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1329 uint32_t localdate; |
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1330 RTC_DateTypeDef sDate; |
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1331 localdate = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); |
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1332 scheduletranslateDate(localdate, &sDate); |
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1333 |
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1334 /* RTC start in year 2000 in case of a power loss. Use the operation counter time stamp to bring at last date to a more realistic value */ |
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1335 if(sDate.Year < 15) |
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1336 { |
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1337 scheduletranslateDate(DeviceDataFlash.hoursOfOperation.date_rtc_dr, &sDate); |
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1338 if(sDate.Year > 16) |
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1339 { |
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1340 RTC_SetDate(sDate); |
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1341 } |
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1342 } |
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1343 |
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1344 } |
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Restore last known date: After a power off RTC looses time data and restarts in the year 2000. Code will fix this date to the year 2016. This change will set the date to the last known date of the operation hour counter
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1345 |
| 38 | 1346 void scheduleUpdateDeviceData(void) |
| 1347 { | |
| 1348 /* first step, main CPU */ | |
| 1349 | |
| 1350 if(deviceDataFlashValid) | |
| 1351 { | |
| 1352 /* max values */ | |
|
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1353 if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32) |
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1354 { |
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1355 scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation); |
|
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1356 #ifdef RESTORE_LAST_KNOWN_DATE |
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1357 scheduleCheckDate(); |
|
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1358 #endif |
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1359 } |
| 38 | 1360 if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32) |
| 1361 { | |
| 1362 scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles); | |
| 1363 } | |
| 1364 if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32) | |
| 1365 { | |
| 1366 scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles); | |
| 1367 } | |
| 1368 if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32) | |
| 1369 { | |
| 1370 scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum); | |
| 1371 } | |
| 1372 if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32) | |
| 1373 { | |
| 1374 scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum); | |
| 1375 } | |
| 1376 if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32) | |
| 1377 { | |
| 1378 scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles); | |
| 1379 } | |
| 1380 | |
| 1381 /* min values */ | |
| 1382 if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32) | |
| 1383 { | |
| 1384 scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum); | |
| 1385 } | |
| 1386 if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32) | |
| 1387 { | |
| 1388 scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum); | |
| 1389 } | |
| 1390 } | |
| 1391 | |
| 1392 /* second step, sensor data */ | |
| 1393 int32_t temperature_centigrad_int32; | |
| 1394 int32_t pressure_mbar_int32; | |
| 1395 int32_t voltage_mvolt_int32; | |
| 1396 | |
| 1397 temperature_centigrad_int32 = (int32_t)(get_temperature() * 100); | |
| 1398 if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32) | |
| 1399 { | |
| 1400 global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1401 scheduleSetDate(&global.deviceData.temperatureMinimum); |
| 38 | 1402 } |
| 1403 | |
| 1404 if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32) | |
| 1405 { | |
| 1406 global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1407 scheduleSetDate(&global.deviceData.temperatureMaximum); |
| 38 | 1408 } |
| 1409 | |
| 1410 pressure_mbar_int32 = (int32_t)get_pressure_mbar(); | |
| 1411 if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32) | |
| 1412 { | |
| 1413 global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32; | |
| 88 | 1414 scheduleSetDate(&global.deviceData.depthMaximum); |
| 38 | 1415 } |
| 1416 | |
| 1417 voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000); | |
| 1418 if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32) | |
| 1419 { | |
| 1420 global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32; | |
| 88 | 1421 scheduleSetDate(&global.deviceData.voltageMinimum); |
| 38 | 1422 } |
| 1423 | |
| 1424 /* third step, counter */ | |
| 1425 switch (global.mode) | |
| 1426 { | |
| 1427 case MODE_SURFACE: | |
| 1428 case MODE_DIVE: | |
| 1429 default: | |
| 1430 deviceDataSubSeconds++; | |
| 1431 if(deviceDataSubSeconds > 10) | |
| 1432 { | |
| 1433 deviceDataSubSeconds = 0; | |
| 1434 global.deviceData.hoursOfOperation.value_int32++; | |
|
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1435 scheduleSetDate(&global.deviceData.hoursOfOperation); |
| 38 | 1436 } |
| 1437 break; | |
| 1438 | |
| 662 | 1439 case MODE_SLEEP: |
| 38 | 1440 case MODE_SHUTDOWN: |
| 1441 break; | |
| 1442 } | |
| 1443 } | |
| 1444 | |
| 1445 | |
| 1446 void scheduleUpdateDeviceDataChargerFull(void) | |
| 1447 { | |
| 1448 global.deviceData.batteryChargeCompleteCycles.value_int32++; | |
| 88 | 1449 scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles); |
| 38 | 1450 } |
| 1451 | |
| 1452 | |
| 1453 void scheduleUpdateDeviceDataChargerCharging(void) | |
| 1454 { | |
| 1455 global.deviceData.batteryChargeCycles.value_int32++; | |
| 88 | 1456 scheduleSetDate(&global.deviceData.batteryChargeCycles); |
| 38 | 1457 } |
| 1458 | |
| 1459 | |
| 1460 /** | |
| 1461 ****************************************************************************** | |
| 1462 * @brief vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend | |
| 1463 * @author Peter Ryser | |
| 1464 * @version V0.0.1 | |
| 1465 * @date 22-April-2014 | |
| 1466 ****************************************************************************** | |
| 1467 */ | |
| 1468 _Bool vpm_crush2(void) | |
| 1469 { | |
| 1470 int i = 0; | |
| 1471 static float starting_ambient_pressure = 0; | |
| 1472 static float ending_ambient_pressure = 0; | |
| 1473 static float time_calc_begin = -1; | |
| 1474 static float initial_helium_pressure[16]; | |
| 1475 static float initial_nitrogen_pressure[16]; | |
| 1476 ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1477 | |
| 1478 if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 1479 { | |
| 1480 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1481 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1482 for( i = 0; i < 16; i++) | |
| 1483 { | |
| 1484 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1485 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1486 } | |
| 1487 return 0; | |
| 1488 } | |
| 1489 if(global.lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 1490 { | |
| 1491 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 1492 { | |
| 1493 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 1494 calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 1495 | |
| 1496 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1497 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1498 for( i = 0; i < 16; i++) | |
| 1499 { | |
| 1500 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1501 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1502 } | |
| 1503 | |
| 1504 return 1; | |
| 1505 } | |
| 1506 | |
| 1507 } | |
| 1508 return 0; | |
| 1509 } | |
| 1510 | |
| 1511 | |
| 1512 long get_nofly_time_minutes(void) | |
| 1513 { | |
| 1514 | |
| 1515 if(global.no_fly_time_minutes <= 0) | |
| 1516 return 0; | |
| 1517 | |
| 1518 long minutes_since_last_dive = global.seconds_since_last_dive/60; | |
| 1519 | |
| 1520 if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive)) | |
| 1521 { | |
| 1522 return (global.no_fly_time_minutes - minutes_since_last_dive); | |
| 1523 } | |
| 1524 else | |
| 1525 { | |
| 1526 global.no_fly_time_minutes = 0; | |
| 1527 return 0; | |
| 1528 } | |
| 1529 } | |
| 1530 | |
| 1531 | |
| 1532 //Supports threadsave copying!!! | |
| 1533 void copyActualGas(SGas gas) | |
| 1534 { | |
| 1535 uint8_t whichGas = !global.whichGas; | |
| 1536 global.aktualGas[whichGas] = gas; | |
| 1537 global.whichGas = whichGas; | |
| 1538 } | |
| 1539 | |
| 1540 | |
| 1541 //Supports threadsave copying!!! | |
| 1542 void copyPressureData(void) | |
| 1543 { | |
|
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1544 global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus; |
| 38 | 1545 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; |
| 1546 global.dataSendToMaster.data[boolPressureData].temperature = get_temperature(); | |
| 1547 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); | |
| 1548 global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar(); | |
| 1549 global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min; | |
| 1550 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 1551 global.dataSendToMaster.boolPressureData = boolPressureData; | |
|
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1552 global.dataSendToMaster.data[boolPressureData].SPARE1 = is_surface_pressure_stable(); |
| 38 | 1553 } |
| 1554 | |
| 1555 | |
| 1556 //Supports threadsave copying!!! | |
| 1557 void copyCnsAndOtuData(void) | |
| 1558 { | |
| 1559 //uint8_t dataSendToMaster. | |
| 1560 uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData; | |
| 1561 global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns; | |
| 1562 global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu; | |
| 1563 global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes; | |
| 1564 global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes(); | |
| 1565 global.dataSendToMaster.boolToxicData = boolToxicData; | |
| 1566 } | |
| 1567 | |
| 1568 | |
| 1569 //Supports threadsave copying!!! | |
| 1570 void copyTimeData(void) | |
| 1571 { | |
| 1572 extern RTC_HandleTypeDef RTCHandle; | |
| 1573 | |
| 1574 uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData; | |
| 1575 global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1576 global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1577 global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds; | |
| 1578 global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time; | |
| 1579 global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive; | |
| 1580 global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth; | |
| 1581 global.dataSendToMaster.boolTimeData = boolTimeData; | |
| 1582 } | |
| 1583 | |
| 1584 | |
| 1585 //Supports threadsave copying!!! | |
| 1586 void copyCompassData(void) | |
| 1587 { | |
| 1588 extern float compass_heading; | |
| 1589 extern float compass_roll; | |
| 1590 extern float compass_pitch; | |
| 1591 //uint8_t dataSendToMaster. | |
| 1592 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1593 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1594 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1595 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1596 global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0; | |
| 1597 global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0; | |
| 1598 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0; | |
| 1599 global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick(); | |
| 1600 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1601 } | |
| 1602 | |
| 1603 | |
| 1604 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz) | |
| 1605 { | |
| 1606 extern float compass_heading; | |
| 1607 extern float compass_roll; | |
| 1608 extern float compass_pitch; | |
| 1609 //uint8_t dataSendToMaster. | |
| 1610 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1611 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1612 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1613 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1614 global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx; | |
| 1615 global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy; | |
| 1616 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz; | |
| 1617 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1618 } | |
| 1619 | |
| 1620 | |
| 1621 //Supports threadsave copying!!! | |
| 1622 void copyBatteryData(void) | |
| 1623 { | |
| 1624 uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData; | |
| 668 | 1625 global.lifeData.battery_charge = get_charge(); |
| 38 | 1626 global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage(); |
| 668 | 1627 |
| 1628 if(battery_gas_gauge_isChargeValueValid()) | |
| 1629 { | |
| 1630 global.dataSendToMaster.data[boolBatteryData].battery_charge= global.lifeData.battery_charge; | |
| 1631 } | |
| 1632 else | |
| 1633 { | |
| 1634 global.dataSendToMaster.data[boolBatteryData].battery_charge = global.lifeData.battery_charge * -1.0; /* negate value to show that this is just an assumption */ | |
| 1635 } | |
| 38 | 1636 global.dataSendToMaster.boolBatteryData = boolBatteryData; |
| 1637 } | |
| 1638 | |
| 1639 | |
| 1640 //Supports threadsave copying!!! | |
| 1641 void copyAmbientLightData(void) | |
| 1642 { | |
| 1643 uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData; | |
| 1644 global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level(); | |
| 1645 global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData; | |
| 1646 } | |
| 1647 | |
| 1648 | |
| 1649 //Supports threadsave copying!!! | |
| 1650 void copyTissueData(void) | |
| 1651 { | |
| 1652 //uint8_t dataSendToMaster. | |
| 1653 uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData; | |
| 1654 for(int i = 0; i < 16; i++) | |
| 1655 { | |
| 1656 global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i]; | |
| 1657 global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i]; | |
| 1658 } | |
| 1659 global.dataSendToMaster.boolTisssueData = boolTisssueData; | |
| 1660 } | |
| 1661 | |
| 1662 | |
| 1663 //Supports threadsave copying!!! | |
| 1664 void copyVpmCrushingData(void) | |
| 1665 { | |
| 1666 //uint8_t dataSendToMaster. | |
| 1667 uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData; | |
| 1668 for(int i = 0; i < 16; i++) | |
| 1669 { | |
| 1670 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i]; | |
| 1671 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i]; | |
| 1672 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i]; | |
| 1673 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i]; | |
| 1674 } | |
| 1675 global.dataSendToMaster.boolCrushingData = boolCrushingData; | |
| 1676 } | |
| 1677 | |
| 1678 | |
| 1679 void copyDeviceData(void) | |
| 1680 { | |
| 1681 uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData; | |
| 1682 memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice)); | |
| 1683 global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; | |
| 1684 | |
| 1685 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0; | |
| 1686 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, &global.vpm.adjusted_critical_radius_he, sizeof(16*4)); | |
| 1687 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, &global.vpm.adjusted_critical_radius_n2, sizeof(16*4)); | |
| 1688 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he, &global.vpm.adjusted_crushing_pressure_he, sizeof(16*4)); | |
| 1689 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2, &global.vpm.adjusted_crushing_pressure_n2, sizeof(16*4)); | |
| 1690 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he, &global.vpm.initial_allowable_gradient_he, sizeof(16*4)); | |
| 1691 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2, &global.vpm.initial_allowable_gradient_n2, sizeof(16*4)); | |
| 1692 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, &global.vpm.max_actual_gradient, sizeof(16*4)); | |
| 1693 global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid; | |
| 1694 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1; | |
| 1695 } | |
| 1696 | |
| 1697 /* copyPICdata(); is used in spi.c */ | |
| 1698 void copyPICdata(void) | |
| 1699 { | |
| 1700 uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata; | |
| 1701 for(int i = 0; i < 3; i++) | |
| 1702 { | |
| 1703 global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i]; | |
| 1704 } | |
| 1705 global.dataSendToMaster.boolPICdata = boolPICdata; | |
| 1706 } | |
| 1707 | |
|
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1708 void copyExtADCdata() |
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1709 { |
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1710 float value; |
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1711 |
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1712 uint8_t channel = 0; |
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1713 |
| 691 | 1714 uint8_t boolADCBuffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_ADC); |
| 1715 | |
| 1716 boolADCBuffer &= DATA_BUFFER_ADC; | |
| 1717 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_ADC; | |
| 1718 | |
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1719 for(channel = 0; channel < MAX_ADC_CHANNEL; channel++) |
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1720 { |
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1721 value = getExternalInterfaceChannel(channel); |
| 691 | 1722 global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].extADC_voltage[channel] = value; |
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1723 } |
| 691 | 1724 global.dataSendToMaster.boolADCO2Data |= boolADCBuffer; |
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1725 } |
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1726 |
| 662 | 1727 void copyExtCO2data() |
| 1728 { | |
| 1729 uint16_t value; | |
| 691 | 1730 uint8_t boolCO2Buffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_CO2); |
| 1731 | |
| 1732 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_CO2; | |
| 1733 boolCO2Buffer &= DATA_BUFFER_CO2; | |
| 662 | 1734 |
| 1735 if(externalInterface_GetCO2State()) | |
| 1736 { | |
| 1737 value = externalInterface_GetCO2Value(); | |
| 691 | 1738 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = value; |
| 662 | 1739 value = externalInterface_GetCO2SignalStrength(); |
| 691 | 1740 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = value; |
| 1741 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = externalInterface_GetCO2State(); | |
| 662 | 1742 externalInterface_SetCO2State(EXT_INTERFACE_33V_ON); /* clear command responses */ |
| 1743 } | |
| 1744 else | |
| 1745 { | |
| 691 | 1746 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = 0; |
| 1747 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = 0; | |
| 1748 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = 0; | |
| 662 | 1749 } |
| 691 | 1750 global.dataSendToMaster.boolADCO2Data |= boolCO2Buffer; |
| 662 | 1751 } |
| 38 | 1752 |
| 1753 typedef enum | |
| 1754 { | |
| 1755 SPI3_OK = 0x00, | |
| 1756 SPI3_DEINIT = 0x01, | |
| 1757 } SPI3_StatusTypeDef; | |
| 1758 /* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine | |
| 1759 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit | |
| 1760 and will be init the next call of scheduleSetButtonResponsiveness() | |
| 1761 and data will be send again on the third call | |
| 1762 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active | |
| 1763 */ | |
| 1764 uint8_t scheduleSetButtonResponsiveness(void) | |
| 1765 { | |
| 1766 static uint8_t SPI3status = SPI3_OK; | |
| 1767 | |
| 1768 if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata))) | |
| 1769 { | |
| 1770 copyPICdata(); | |
| 1771 return 1; | |
| 1772 } | |
| 1773 else | |
| 1774 { | |
| 1775 for(int i=0;i<3;i++) | |
| 1776 { | |
| 1777 global.ButtonPICdata[i] = 0xFF; | |
| 1778 } | |
| 1779 copyPICdata(); | |
| 1780 | |
| 1781 if(SPI3status == SPI3_OK) | |
| 1782 { | |
| 1783 MX_SPI3_DeInit(); | |
| 1784 SPI3status = SPI3_DEINIT; | |
| 1785 } | |
| 1786 else | |
| 1787 { | |
| 1788 MX_SPI3_Init(); | |
| 1789 SPI3status = SPI3_OK; | |
| 1790 } | |
| 1791 return 0; | |
| 1792 } | |
| 1793 } | |
| 1794 | |
| 1795 | |
|
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1796 //save time difference |
| 38 | 1797 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) |
| 1798 { | |
| 1799 if(ticksstart <= ticksnow) | |
| 1800 { | |
| 1801 return ticksnow - ticksstart; | |
| 1802 } | |
| 1803 else | |
| 1804 { | |
| 1805 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 1806 } | |
| 1807 } | |
| 1808 | |
| 1809 /* same as in data_central.c */ | |
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1810 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 38 | 1811 { |
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1812 _Bool retval = true; |
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1813 |
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1814 if(lifeData->pressure_ambient_bar != INVALID_PREASURE_VALUE) /* as long as no valid data is available expect we are close to surface */ |
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1815 { |
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1816 /* this will e.g. apply in case of a significant pressure change during last 30 minutes => use increased offset for surface detection */ |
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1817 if (lifeData->pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR) |
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1818 { |
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1819 retval = false; |
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1820 } |
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1821 else if(is_surface_pressure_stable()) /* this is the expected start condition */ |
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1822 { |
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1823 if((lifeData->pressure_ambient_bar >= (lifeData->pressure_surface_bar + 0.1f)) |
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1824 && (ManualExitDiveCounter == 0)) /* only if diver did not request to exit dive mode */ |
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1825 { |
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1826 retval = false; |
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1827 } |
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1828 } |
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1829 } |
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1830 return retval; |
| 38 | 1831 } |
| 1832 | |
| 1833 | |
| 1834 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/ | |
| 1835 |