Mercurial > public > ostc4
annotate Small_CPU/Src/scheduler.c @ 321:37ee61f93124 O2_SensorSync
Moved indication variable for received HUD data to tCCR file.
To avoid global functions an interface function for indication and handling of received HUD data has been added
author | ideenmodellierer |
---|---|
date | Sun, 30 Jun 2019 21:18:05 +0200 |
parents | 95928ef3986f |
children | b4c578caaafb |
rev | line source |
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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" | |
44 | |
45 | |
135 | 46 #define INVALID_PREASURE_VALUE (100.0F) |
47 | |
38 | 48 /* Private types -------------------------------------------------------------*/ |
49 const SGas Air = {79,0,0,0,0}; | |
50 | |
51 /* Exported variables --------------------------------------------------------*/ | |
52 SGlobal global; | |
53 SDevice DeviceDataFlash; | |
54 uint8_t deviceDataFlashValid = 0; | |
55 uint8_t deviceDataSubSeconds = 0; | |
56 | |
57 /* Private variables ---------------------------------------------------------*/ | |
58 /* can be lost while in sleep */ | |
59 uint8_t clearDecoNow = 0; | |
60 uint8_t setButtonsNow = 0; | |
61 | |
62 /* has to be in SRAM2 */ | |
63 uint8_t secondsCount = 0; | |
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64 |
207 | 65 static uint8_t dospisync = SPI_SYNC_METHOD_NONE; |
66 | |
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67 SScheduleCtrl Scheduler; |
38 | 68 |
69 /* Private function prototypes -----------------------------------------------*/ | |
70 | |
71 _Bool vpm_crush2(void); | |
72 void scheduleUpdateDeviceData(void); | |
73 long get_nofly_time_minutes(void); | |
74 void copyActualGas(SGas gas); | |
75 void copyPressureData(void); | |
76 void copyCnsAndOtuData(void); | |
77 void copyTimeData(void); | |
78 void copyCompassData(void); | |
79 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
80 void copyAmbientLightData(void); | |
81 void copyTissueData(void); | |
82 void copyVpmCrushingData(void); | |
83 void copyDeviceData(void); | |
84 void copyPICdata(void); | |
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85 static void schedule_update_timer_helper(int8_t thisSeconds); |
38 | 86 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
87 | |
88 void scheduleSetDate(SDeviceLine *line); | |
89 | |
90 /* Exported functions --------------------------------------------------------*/ | |
91 | |
92 void initGlobals(void) | |
93 { | |
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94 bzero(&global, sizeof(SGlobal)); |
38 | 95 |
96 global.dataSendToSlavePending = 0; | |
97 global.dataSendToSlaveIsValid = 1; | |
98 global.dataSendToSlaveIsNotValidCount = 0; | |
99 | |
100 global.mode = MODE_POWERUP; | |
101 global.repetitive_dive = 0; | |
102 global.conservatism = 0; | |
103 global.whichGas = 0; | |
104 global.aktualGas[0] = Air; | |
105 global.lifeData.actualGas = global.aktualGas[0]; | |
106 | |
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107 const uint8_t button_standard_sensitivity = 85; |
38 | 108 global.ButtonResponsiveness[0] = button_standard_sensitivity; |
109 global.ButtonResponsiveness[1] = button_standard_sensitivity; | |
110 global.ButtonResponsiveness[2] = button_standard_sensitivity; | |
111 global.ButtonResponsiveness[3] = button_standard_sensitivity; | |
112 | |
113 global.ButtonPICdata[0] = 0xFF; | |
114 global.ButtonPICdata[1] = 0xFF; | |
115 global.ButtonPICdata[2] = 0xFF; | |
116 global.ButtonPICdata[3] = 0xFF; | |
117 | |
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118 global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working |
38 | 119 |
135 | 120 global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE; |
121 global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE; | |
38 | 122 decom_reset_with_1000mbar(&global.lifeData); |
123 | |
124 global.demo_mode = 0; | |
125 | |
126 for(int i = 0; i < MAX_SENSORS; i++) | |
127 { | |
128 global.sensorError[i] = HAL_OK; // HAL_OK = 0; | |
129 } | |
130 | |
131 global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;; | |
132 global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;; | |
133 global.dataSendToMaster.chargeStatus = 0; | |
134 | |
135 global.dataSendToMaster.power_on_reset = 1; | |
136 global.dataSendToMaster.header.checkCode[0] = 0xA1; | |
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137 global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE; |
38 | 138 global.dataSendToMaster.header.checkCode[2] = 0xA3; |
139 global.dataSendToMaster.header.checkCode[3] = 0xA4; | |
140 global.dataSendToMaster.footer.checkCode[3] = 0xE4; | |
141 global.dataSendToMaster.footer.checkCode[2] = 0xE3; | |
142 global.dataSendToMaster.footer.checkCode[1] = 0xE2; | |
143 global.dataSendToMaster.footer.checkCode[0] = 0xE1; | |
144 global.dataSendToMaster.sensorErrors = 0; | |
145 | |
146 global.sync_error_count = 0; | |
147 global.check_sync_not_running = 0; | |
148 | |
149 global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH; | |
150 global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW; | |
151 global.deviceDataSendToMaster.chargeStatus = 0; | |
152 | |
153 global.deviceDataSendToMaster.power_on_reset = 1; | |
154 global.deviceDataSendToMaster.header.checkCode[0] = 0xDF; | |
155 global.deviceDataSendToMaster.header.checkCode[1] = 0xDE; | |
156 global.deviceDataSendToMaster.header.checkCode[2] = 0xDD; | |
157 global.deviceDataSendToMaster.header.checkCode[3] = 0xDC; | |
158 global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4; | |
159 global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3; | |
160 global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2; | |
161 global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1; | |
162 | |
163 global.dataSendToSlave.getDeviceDataNow = 0; | |
164 | |
165 global.deviceData.batteryChargeCompleteCycles.value_int32 = 0; | |
166 global.deviceData.batteryChargeCycles.value_int32 = 0; | |
167 global.deviceData.depthMaximum.value_int32 = 0; | |
168 global.deviceData.diveCycles.value_int32 = 0; | |
169 global.deviceData.hoursOfOperation.value_int32 = 0; | |
170 global.deviceData.temperatureMaximum.value_int32 = INT32_MIN; | |
171 global.deviceData.temperatureMinimum.value_int32 = INT32_MAX; | |
172 global.deviceData.voltageMinimum.value_int32 = INT32_MAX; | |
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173 |
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174 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
207 | 175 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
38 | 176 } |
177 | |
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178 void reinitGlobals(void) |
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179 { |
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180 global.dataSendToSlavePending = 0; |
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181 global.dataSendToSlaveIsValid = 0; |
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182 global.dataSendToSlaveIsNotValidCount = 0; |
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183 global.sync_error_count = 0; |
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184 global.check_sync_not_running = 0; |
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185 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
264
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186 } |
38 | 187 |
188 void scheduleSpecial_Evaluate_DataSendToSlave(void) | |
189 { | |
104 | 190 //TEMPORARY fix for compass calibration. |
191 //TODO: Fix I2C timeout for complete solving problem. | |
192 if(global.mode==MODE_CALIB){ | |
193 return; | |
194 } | |
90 | 195 |
88 | 196 global.dataSendToSlavePending = 0; |
197 if(!global.dataSendToSlaveIsValid) return; | |
38 | 198 |
199 global.dataSendToMaster.confirmRequest.uw = 0; | |
200 | |
201 if(TM_OTP_Read(0,0) == 0xFF) | |
202 { | |
203 if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A)) | |
204 TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware); | |
205 } | |
206 | |
207 if(global.dataSendToSlave.setAccidentFlag) | |
208 { | |
209 global.dataSendToMaster.confirmRequest.ub.accident = 1; | |
210 global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag; | |
211 scheduleSetDate(&global.deviceData.diveAccident); | |
212 global.accidentFlag |= global.dataSendToSlave.setAccidentFlag; | |
213 if(global.accidentFlag == ACCIDENT_CNS) // LVL1 | |
214 global.accidentRemainingSeconds = 2*60*60; | |
215 else | |
216 global.accidentRemainingSeconds = 24*60*60; | |
217 } | |
218 | |
219 if(global.dataSendToSlave.setTimeNow) | |
220 { | |
221 global.dataSendToMaster.confirmRequest.ub.time = 1; | |
222 RTC_SetTime(global.dataSendToSlave.data.newTime); | |
223 schedule_update_timer_helper(0); | |
224 } | |
225 | |
226 if(global.dataSendToSlave.setDateNow) | |
227 { | |
228 global.dataSendToMaster.confirmRequest.ub.date = 1; | |
229 RTC_SetDate(global.dataSendToSlave.data.newDate); | |
230 schedule_update_timer_helper(0); | |
231 } | |
232 | |
233 if(global.dataSendToSlave.calibrateCompassNow) | |
234 { | |
235 global.dataSendToMaster.confirmRequest.ub.compass = 1; | |
236 global.mode = MODE_CALIB; | |
237 } | |
238 | |
239 if(global.dataSendToSlave.clearDecoNow) | |
240 { | |
241 global.dataSendToMaster.confirmRequest.ub.clearDeco = 1; | |
242 clearDecoNow = 1; | |
243 } | |
244 | |
245 if(global.dataSendToSlave.setButtonSensitivityNow) | |
246 { | |
247 global.dataSendToMaster.confirmRequest.ub.button = 1; | |
248 global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0]; | |
249 global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1]; | |
250 global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2]; | |
251 global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3]; | |
252 setButtonsNow = 1; | |
253 } | |
254 | |
255 if(global.dataSendToSlave.setBatteryGaugeNow) | |
256 { | |
104 | 257 if(global.mode!=MODE_CALIB){ |
38 | 258 global.dataSendToMaster.confirmRequest.ub.batterygauge = 1; |
259 battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat); | |
104 | 260 } |
38 | 261 } |
262 | |
263 if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN)) | |
264 { | |
265 global.mode = MODE_SHUTDOWN; | |
266 } | |
267 | |
268 if(global.mode == MODE_DIVE) | |
269 { | |
270 copyActualGas(global.dataSendToSlave.data.actualGas); | |
271 } | |
272 else | |
273 { | |
274 copyActualGas(Air); | |
275 global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook; | |
276 global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth; | |
277 } | |
278 | |
279 /* for simulation / testing */ | |
280 global.ceiling_from_main_CPU_mbar = global.dataSendToSlave.data.ambient_pressure_mbar_ceiling; | |
281 | |
88 | 282 /* for device data updates */ |
283 deviceDataFlashValid = 0; | |
284 memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice)); | |
285 deviceDataFlashValid = 1; | |
89 | 286 |
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287 #if 0 |
104 | 288 //TODO: Temporary placed here. Duration ~210 ms. |
289 if (global.I2C_SystemStatus != HAL_OK) { | |
290 MX_I2C1_TestAndClear(); | |
291 MX_I2C1_Init(); | |
292 // init_pressure(); | |
293 // compass_init(0, 7); | |
294 // accelerator_init(); | |
295 } | |
264
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296 #endif /* already called once a second */ |
38 | 297 } |
298 | |
299 | |
300 /** | |
301 ****************************************************************************** | |
302 * @brief schedule_time_compare_helper. | |
303 * @author heinrichs weikamp gmbh | |
304 * @version V0.0.1 | |
305 * @date 20-Oct-2016 | |
306 ****************************************************************************** | |
307 */ | |
308 | |
309 uint8_t RtcBugFixChsw(uint8_t inStupidTime) | |
310 { | |
311 uint8_t multiplesOf16 = 0; | |
312 | |
313 multiplesOf16 = inStupidTime / 16; | |
314 | |
315 inStupidTime -= multiplesOf16 * 16; | |
316 | |
317 return (10 * multiplesOf16) + inStupidTime; | |
318 } | |
319 | |
320 uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast) | |
321 { | |
322 uint32_t nowInSeconds; | |
323 uint32_t lastInSeconds; | |
324 uint32_t resultDiff; | |
325 | |
326 nowInSeconds = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600; | |
327 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60; | |
328 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds); | |
329 | |
330 lastInSeconds = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600; | |
331 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60; | |
332 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds); | |
333 | |
334 if(dateNow.Date != dateLast.Date) | |
335 { | |
336 resultDiff = 86400 + nowInSeconds - lastInSeconds; | |
337 } | |
338 else | |
339 { | |
340 resultDiff = nowInSeconds - lastInSeconds; | |
341 } | |
342 return resultDiff; | |
343 } | |
344 | |
345 | |
346 | |
347 /** | |
348 ****************************************************************************** | |
349 * @brief schedule_update_timer_helper. | |
350 * @author heinrichs weikamp gmbh | |
351 * @version V0.0.1 | |
352 * @date 20-Oct-2016 | |
353 * @brief use 0 for init | |
354 use -1 for RTC controlled | |
355 use >= 1 for manual control | |
356 ****************************************************************************** | |
357 */ | |
358 extern RTC_HandleTypeDef RTCHandle; | |
359 | |
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360 static void schedule_update_timer_helper(int8_t thisSeconds) |
38 | 361 { |
362 static RTC_TimeTypeDef sTimeLast; | |
363 static RTC_DateTypeDef sDateLast; | |
364 RTC_TimeTypeDef sTimeNow; | |
365 RTC_DateTypeDef sDateNow; | |
366 uint32_t secondsPast; | |
367 | |
368 HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD); | |
369 HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD); | |
370 | |
230
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371 if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast |
38 | 372 { |
373 if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast | |
374 { | |
375 secondsPast = thisSeconds; | |
230
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376 } else { |
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377 // thisSeconds < 0 and not <= ! |
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378 secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast); |
38 | 379 } |
380 | |
381 if(global.seconds_since_last_dive) | |
382 { | |
383 if(secondsPast >= 777900) | |
384 { | |
385 global.seconds_since_last_dive = 0; | |
386 } | |
387 else | |
388 { | |
230
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389 uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast; |
38 | 390 if(tempNewValue > 777900) // a bit more than nine days [seconds] |
391 global.seconds_since_last_dive = 0; | |
392 else | |
393 global.seconds_since_last_dive = (long)tempNewValue; | |
394 } | |
395 } | |
396 } | |
397 | |
398 sTimeLast = sTimeNow; | |
399 sDateLast = sDateNow; | |
400 } | |
401 | |
402 /** | |
403 ****************************************************************************** | |
404 * @brief schedule_check_resync. | |
405 * @author heinrichs weikamp gmbh | |
406 * @version V0.0.2 | |
407 * @date 18-June-2015 | |
408 ****************************************************************************** | |
409 */ | |
135 | 410 |
38 | 411 void schedule_check_resync(void) |
412 { | |
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413 /* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */ |
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414 if((global.check_sync_not_running >= Scheduler.communicationTimeout)) |
38 | 415 { |
89 | 416 // global.dataSendToSlaveIsNotValidCount = 0; |
135 | 417 global.check_sync_not_running = 0; |
418 global.sync_error_count++; | |
419 | |
420 /* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the | |
421 * function error handler | |
422 */ | |
277 | 423 HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE); |
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424 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON; /* Reduce error detection time */ |
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425 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
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426 } |
38 | 427 } |
428 | |
429 | |
430 /** | |
431 ****************************************************************************** | |
432 * @brief scheduleDiveMode. / Dive Mode: Main Loop | |
433 * @author Peter Ryser | |
434 * @version V0.0.1 | |
435 * @date 22-April-2014 | |
436 ****************************************************************************** | |
437 */ | |
438 void scheduleDiveMode(void) | |
439 { | |
440 uint32_t ticksdiff = 0; | |
441 uint32_t lasttick = 0; | |
442 uint8_t counterAscentRate = 0; | |
443 float lastPressure_bar = 0.0f; | |
444 global.dataSendToMaster.mode = MODE_DIVE; | |
445 global.deviceDataSendToMaster.mode = MODE_DIVE; | |
446 uint8_t counter_exit = 0; | |
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447 |
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448 Scheduler.counterSPIdata100msec = 0; |
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449 Scheduler.counterCompass100msec = 0; |
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450 Scheduler.counterPressure100msec = 0; |
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451 Scheduler.counterAmbientLight100msec = 0; |
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452 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
38 | 453 |
454 global.deviceData.diveCycles.value_int32++; | |
455 scheduleSetDate(&global.deviceData.diveCycles); | |
456 global.lifeData.counterSecondsShallowDepth = 0; | |
457 | |
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458 Scheduler.tickstart = HAL_GetTick(); |
38 | 459 while(global.mode == MODE_DIVE) |
460 { | |
461 lasttick = HAL_GetTick(); | |
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462 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
38 | 463 |
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464 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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465 { |
277 | 466 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
467 { | |
468 Scheduler.counterSPIdata100msec++; | |
469 } | |
470 schedule_check_resync(); | |
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471 } |
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472 |
38 | 473 //Evaluate pressure at 20 ms, 120 ms, 220 ms,.... |
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474 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
38 | 475 { |
476 global.check_sync_not_running++; | |
277 | 477 pressure_update_alternating(); |
135 | 478 scheduleUpdateDeviceData(); |
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479 #ifdef DEMOMODE |
38 | 480 if(global.demo_mode) |
481 { | |
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482 int turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar); |
38 | 483 if(turbo_seconds) |
484 { | |
485 global.lifeData.dive_time_seconds += turbo_seconds; | |
486 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData); | |
487 copyTissueData(); | |
488 } | |
489 if((global.lifeData.counterSecondsShallowDepth > 1) && (global.lifeData.counterSecondsShallowDepth < (global.settings.timeoutDiveReachedZeroDepth - 10))) | |
490 global.lifeData.counterSecondsShallowDepth = (global.settings.timeoutDiveReachedZeroDepth - 10); | |
491 } | |
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492 #endif |
38 | 493 |
494 //Calc ascentrate every two second (20 * 100 ms) | |
495 counterAscentRate++; | |
496 if(counterAscentRate == 20) | |
497 { | |
498 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
499 if(lastPressure_bar >= 0) | |
500 { | |
501 //2 seconds * 30 == 1 minute, bar * 10 = meter | |
502 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10; | |
503 } | |
504 lastPressure_bar = global.lifeData.pressure_ambient_bar; | |
505 counterAscentRate = 0; | |
506 } | |
135 | 507 copyPressureData(); |
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508 Scheduler.counterPressure100msec++; |
38 | 509 } |
510 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... | |
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511 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
135 | 512 { |
513 compass_read(); | |
514 acceleration_read(); | |
515 compass_calc(); | |
516 copyCompassData(); | |
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517 Scheduler.counterCompass100msec++; |
135 | 518 } |
38 | 519 |
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520 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
38 | 521 { |
522 adc_ambient_light_sensor_get_data(); | |
523 copyAmbientLightData(); | |
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524 Scheduler.counterAmbientLight100msec++; |
38 | 525 } |
526 | |
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527 //Evaluate tissues, toxic data, vpm, etc. once a second |
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528 if(ticksdiff >= Scheduler.tick_execute1second) |
38 | 529 { |
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530 Scheduler.tick_execute1second = 0xFFFFFFFF; /* execute once only in the second cycle */ |
38 | 531 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) |
532 { | |
533 scheduleUpdateLifeData(0); // includes tissues | |
534 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too | |
535 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); | |
536 decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2); | |
537 decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2); | |
88 | 538 battery_gas_gauge_get_data(); |
38 | 539 |
540 | |
541 /** counter_exit allows safe exit via button for testing | |
542 * and demo_mode is exited too if aplicable. | |
543 */ | |
544 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
545 { | |
546 counter_exit++; | |
547 if(counter_exit >= 2) | |
548 { | |
549 global.mode = MODE_SURFACE; | |
550 global.demo_mode = 0; | |
551 } | |
552 } | |
553 | |
554 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
555 { | |
556 global.lifeData.counterSecondsShallowDepth++; | |
557 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0)) || (global.dataSendToSlave.setEndDive)) | |
558 { | |
559 global.seconds_since_last_dive = 1; // start counter | |
560 schedule_update_timer_helper(0); // zum starten :-) | |
561 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
562 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
563 } | |
564 } | |
565 else | |
566 { | |
567 global.lifeData.counterSecondsShallowDepth = 0; | |
568 global.lifeData.dive_time_seconds_without_surface_time++; | |
569 } | |
570 vpm_crush2(); | |
571 } | |
572 else // DIVEMODE_Apnea | |
573 { | |
574 global.lifeData.dive_time_seconds++; | |
575 | |
576 // exit dive mode | |
577 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
578 { | |
579 counter_exit++; | |
580 if(counter_exit >= 2) | |
581 { | |
582 scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode | |
583 global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time | |
584 global.mode = MODE_SURFACE; | |
585 global.demo_mode = 0; | |
586 } | |
587 } | |
588 | |
589 // surface break | |
590 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
591 { | |
592 global.lifeData.counterSecondsShallowDepth++; | |
593 if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds | |
594 { | |
595 global.lifeData.dive_time_seconds = 0; // this apnea dive ends here | |
596 } | |
597 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (global.dataSendToSlave.setEndDive)) | |
598 { | |
599 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
600 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
601 } | |
602 } | |
603 else | |
604 { | |
605 global.lifeData.counterSecondsShallowDepth = 0; | |
606 global.lifeData.dive_time_seconds_without_surface_time++; | |
607 } | |
608 } // standard dive or DIVEMODE_Apnea | |
609 | |
88 | 610 copyVpmCrushingData(); |
611 copyTimeData(); | |
612 copyCnsAndOtuData(); | |
613 copyBatteryData(); | |
38 | 614 |
88 | 615 // new hw 170523 |
616 if(global.I2C_SystemStatus != HAL_OK) | |
617 { | |
618 MX_I2C1_TestAndClear(); | |
619 MX_I2C1_Init(); | |
620 if(!is_init_pressure_done()) | |
621 { | |
622 init_pressure(); | |
623 } | |
624 } | |
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625 } |
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626 if(ticksdiff >= 1000) |
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627 { |
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628 /* reset counter */ |
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629 Scheduler.tickstart = HAL_GetTick(); |
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630 Scheduler.counterSPIdata100msec = 0; |
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631 Scheduler.counterCompass100msec = 0; |
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632 Scheduler.counterPressure100msec = 0; |
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633 Scheduler.counterAmbientLight100msec = 0; |
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634 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
38 | 635 } |
636 } | |
637 } | |
638 | |
639 | |
640 /** | |
641 ****************************************************************************** | |
642 * @brief scheduleSurfaceMode / surface mode: Main Loop | |
643 * @author Peter Ryser | |
644 * @version V0.0.1 | |
645 * @date 22-April-2014 | |
646 ****************************************************************************** | |
647 */ | |
648 | |
649 | |
650 // =============================================================================== | |
651 // scheduleTestMode | |
652 /// @brief included for sealed hardware with permanent RTE update message | |
653 // =============================================================================== | |
654 void scheduleTestMode(void) | |
655 { | |
656 uint32_t ticksdiff = 0; | |
657 uint32_t lasttick = 0; | |
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658 Scheduler.tickstart = HAL_GetTick(); |
38 | 659 |
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660 Scheduler.counterPressure100msec = 0; |
38 | 661 |
662 float temperature_carousel = 0.0f; | |
663 float temperature_changer = 0.1f; | |
664 | |
665 while(global.mode == MODE_TEST) | |
666 { | |
667 lasttick = HAL_GetTick(); | |
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668 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
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669 |
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670 //Evaluate received data at 10 ms, 110 ms, 210 ms,... |
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671 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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672 { |
277 | 673 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
674 { | |
675 Scheduler.counterSPIdata100msec++; | |
676 } | |
677 schedule_check_resync(); | |
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678 } |
38 | 679 |
680 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... | |
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681 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
38 | 682 { |
683 global.check_sync_not_running++; | |
684 | |
277 | 685 pressure_update_alternating(); |
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686 scheduleUpdateDeviceData(); |
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687 global.lifeData.ascent_rate_meter_per_min = 0; |
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688 copyPressureData(); |
38 | 689 |
690 if(temperature_carousel > 20.0f) | |
691 { | |
692 temperature_carousel = 20.0f; | |
693 temperature_changer = -0.1f; | |
694 } | |
695 else | |
696 if(temperature_carousel < 0) | |
697 { | |
698 temperature_carousel = 0; | |
699 temperature_changer = +0.1f; | |
700 } | |
701 | |
702 temperature_carousel += temperature_changer; | |
703 | |
704 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; | |
705 | |
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706 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); |
38 | 707 |
708 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; | |
709 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
710 global.dataSendToMaster.boolPressureData = boolPressureData; | |
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711 Scheduler.counterPressure100msec++; |
38 | 712 } |
713 | |
714 if(ticksdiff >= 1000) | |
715 { | |
716 //Set back tick counter | |
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717 Scheduler.tickstart = HAL_GetTick(); |
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718 Scheduler.counterPressure100msec = 0; |
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719 Scheduler.counterSPIdata100msec = 0; |
38 | 720 } |
721 }; | |
722 } | |
723 | |
724 | |
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725 |
38 | 726 void scheduleSurfaceMode(void) |
727 { | |
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728 |
38 | 729 uint32_t ticksdiff = 0; |
730 uint32_t lasttick = 0; | |
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731 Scheduler.tickstart = HAL_GetTick(); |
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732 Scheduler.counterSPIdata100msec = 0; |
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733 Scheduler.counterCompass100msec = 0; |
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734 Scheduler.counterPressure100msec = 0; |
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735 Scheduler.counterAmbientLight100msec = 0; |
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736 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
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737 |
38 | 738 global.dataSendToMaster.mode = MODE_SURFACE; |
739 global.deviceDataSendToMaster.mode = MODE_SURFACE; | |
740 | |
741 while(global.mode == MODE_SURFACE) | |
742 { | |
277 | 743 |
38 | 744 lasttick = HAL_GetTick(); |
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745 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
38 | 746 |
747 if(setButtonsNow == 1) | |
748 { | |
749 if(scheduleSetButtonResponsiveness()) | |
750 setButtonsNow = 0; | |
751 } | |
752 | |
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753 /* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */ |
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754 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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755 { |
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756 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
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757 { |
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758 Scheduler.counterSPIdata100msec++; |
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759 } |
277 | 760 schedule_check_resync(); |
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761 } |
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762 |
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763 /* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */ |
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764 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
38 | 765 { |
766 global.check_sync_not_running++; | |
277 | 767 pressure_update_alternating(); |
135 | 768 scheduleUpdateDeviceData(); |
38 | 769 global.lifeData.ascent_rate_meter_per_min = 0; |
135 | 770 copyPressureData(); |
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771 Scheduler.counterPressure100msec++; |
135 | 772 |
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773 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
38 | 774 global.mode = MODE_DIVE; |
775 } | |
776 | |
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777 /* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */ |
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778 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
135 | 779 { |
780 compass_read(); | |
781 acceleration_read(); | |
782 compass_calc(); | |
783 copyCompassData(); | |
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784 Scheduler.counterCompass100msec++; |
135 | 785 } |
38 | 786 |
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787 /* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */ |
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788 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
38 | 789 { |
790 adc_ambient_light_sensor_get_data(); | |
791 copyAmbientLightData(); | |
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792 Scheduler.counterAmbientLight100msec++; |
38 | 793 } |
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794 |
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795 |
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796 |
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797 /* Evaluate tissues, toxic data, etc. once a second... duration ~1ms */ |
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798 if(ticksdiff >= Scheduler.tick_execute1second) |
38 | 799 { |
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800 Scheduler.tick_execute1second = 0xFFFFFFFF; |
38 | 801 if(clearDecoNow) |
802 { | |
803 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time | |
804 // new 160215 hw | |
805 global.repetitive_dive = 0; | |
806 global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well | |
807 global.no_fly_time_minutes = 0; | |
808 global.accidentFlag = 0; | |
809 global.accidentRemainingSeconds = 0; | |
810 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); | |
811 clearDecoNow = 0; | |
812 } | |
89 | 813 |
38 | 814 if(global.seconds_since_last_dive) |
815 { | |
816 schedule_update_timer_helper(-1); | |
817 } | |
89 | 818 |
38 | 819 if(global.accidentRemainingSeconds) |
820 { | |
821 global.accidentRemainingSeconds--; | |
822 if(!global.accidentRemainingSeconds) | |
823 global.accidentFlag = 0; | |
824 } | |
825 global.dataSendToMaster.accidentFlags = global.accidentFlag; | |
89 | 826 |
38 | 827 update_surface_pressure(1); |
828 scheduleUpdateLifeData(0); | |
829 decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive); | |
830 decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive); | |
135 | 831 |
832 /* start desaturation calculation after first valid measurement has been done */ | |
833 if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE) | |
834 { | |
835 global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar); | |
836 } | |
837 else | |
838 { | |
839 global.lifeData.desaturation_time_minutes = 0; | |
840 } | |
38 | 841 battery_charger_get_status_and_contral_battery_gas_gauge(0); |
88 | 842 battery_gas_gauge_get_data(); |
89 | 843 |
88 | 844 copyCnsAndOtuData(); |
845 copyTimeData(); | |
846 copyBatteryData(); | |
847 copyDeviceData(); | |
38 | 848 |
88 | 849 // new hw 170523 |
850 if(global.I2C_SystemStatus != HAL_OK) | |
851 { | |
852 MX_I2C1_TestAndClear(); | |
853 MX_I2C1_Init(); | |
854 if(!is_init_pressure_done()) | |
855 { | |
856 init_pressure(); | |
857 } | |
858 } | |
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859 } |
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860 |
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861 if(ticksdiff >= 1000) |
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862 { |
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863 //Set back tick counter |
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864 Scheduler.tickstart = HAL_GetTick(); |
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865 Scheduler.counterSPIdata100msec = 0; |
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866 Scheduler.counterCompass100msec = 0; |
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867 Scheduler.counterPressure100msec = 0; |
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868 Scheduler.counterAmbientLight100msec = 0; |
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869 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
38 | 870 } |
871 } | |
872 } | |
873 | |
207 | 874 inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod) |
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875 { |
207 | 876 if( SyncMethod < SPI_SYNC_METHOD_INVALID) |
877 { | |
878 dospisync = SyncMethod; | |
879 } | |
880 } | |
881 | |
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882 void Scheduler_SyncToSPI(uint8_t TXtick) |
207 | 883 { |
884 uint32_t deltatick = 0; | |
264
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885 int8_t TXcompensation; |
207 | 886 |
887 switch(dospisync) | |
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888 { |
207 | 889 case SPI_SYNC_METHOD_HARD: |
890 //Set back tick counter | |
264
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891 Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */ |
207 | 892 Scheduler.counterSPIdata100msec = 0; |
893 Scheduler.counterCompass100msec = 0; | |
894 Scheduler.counterPressure100msec = 0; | |
895 Scheduler.counterAmbientLight100msec = 0; | |
896 dospisync = SPI_SYNC_METHOD_NONE; | |
897 break; | |
898 case SPI_SYNC_METHOD_SOFT: | |
899 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); | |
900 deltatick %= 100; /* clip to 100ms window */ | |
901 if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */ | |
902 { | |
903 Scheduler.tickstart -= deltatick; | |
904 } | |
905 else | |
906 { | |
907 Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart); | |
908 } | |
909 dospisync = SPI_SYNC_METHOD_NONE; | |
910 break; | |
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911 default: /* continous sync activity */ |
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912 if(TXtick < 100) /* do not handle unexpected jump length > 100ms */ |
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913 { |
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914 TXtick += 4; /* add 4ms TX time to offset of 100ms time stamp */ |
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915 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); |
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916 deltatick %= 100; |
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917 if(deltatick > 50) |
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918 { |
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919 TXcompensation = deltatick - 100; /* neg drift */ |
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920 } |
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921 else |
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922 { |
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923 TXcompensation = deltatick; /* pos drift */ |
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924 } |
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925 TXcompensation = TXtick - TXcompensation; |
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926 Scheduler.tickstart -= TXcompensation; |
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927 } |
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928 else |
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929 { |
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930 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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931 } |
207 | 932 break; |
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933 } |
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934 } |
38 | 935 |
936 /** | |
937 ****************************************************************************** | |
938 * @brief scheduleCompassCalibrationMode | |
939 * @author heinrichs weikamp gmbh | |
940 * @version V0.0.1 | |
941 * @since 31-March-2015 | |
942 * @date 31-March-2015 | |
943 ****************************************************************************** | |
944 */ | |
945 void scheduleCompassCalibrationMode(void) | |
946 { | |
947 compass_init(1,7); // fast mode, max gain | |
948 compass_calib(); // duration : 1 minute! | |
949 compass_init(0,7); // back to normal mode | |
950 | |
951 if(global.seconds_since_last_dive) | |
952 { | |
953 schedule_update_timer_helper(-1); | |
954 } | |
955 | |
956 scheduleUpdateLifeData(0); | |
957 global.mode = MODE_SURFACE; | |
958 } | |
959 | |
960 | |
961 /** | |
962 ****************************************************************************** | |
963 * @brief scheduleSleepMode / sleep mode: Main Loop | |
964 * @author heinrichs weikamp gmbh | |
965 * @version V0.0.2 | |
966 * @since 31-March-2015 | |
967 * @date 22-April-2014 | |
968 ****************************************************************************** | |
969 */ | |
970 | |
971 void scheduleSleepMode(void) | |
972 { | |
973 global.dataSendToMaster.mode = 0; | |
974 global.deviceDataSendToMaster.mode = 0; | |
975 | |
976 /* prevent button wake up problem while in sleep_prepare | |
977 * sleep prepare does I2C_DeInit() | |
978 */ | |
979 if(global.mode != MODE_SLEEP) | |
980 MX_I2C1_Init(); | |
981 else | |
982 do | |
983 { | |
984 I2C_DeInit(); | |
985 | |
986 #ifdef DEBUGMODE | |
987 HAL_Delay(2000); | |
988 #else | |
989 RTC_StopMode_2seconds(); | |
990 #endif | |
991 | |
992 | |
993 | |
994 if(global.mode == MODE_SLEEP) | |
995 secondsCount += 2; | |
996 | |
997 MX_I2C1_Init(); | |
998 pressure_sensor_get_pressure_raw(); | |
999 | |
1000 if(secondsCount >= 30) | |
1001 { | |
1002 pressure_sensor_get_temperature_raw(); | |
1003 battery_gas_gauge_get_data(); | |
1004 // ReInit_battery_charger_status_pins(); | |
1005 battery_charger_get_status_and_contral_battery_gas_gauge(1); | |
1006 // DeInit_battery_charger_status_pins(); | |
1007 secondsCount = 0; | |
1008 } | |
1009 | |
1010 pressure_calculation(); | |
1011 | |
1012 scheduleUpdateDeviceData(); | |
1013 update_surface_pressure(2); | |
1014 | |
1015 if(global.seconds_since_last_dive) | |
1016 { | |
1017 schedule_update_timer_helper(-1); | |
1018 } | |
1019 | |
1020 if(global.accidentRemainingSeconds) | |
1021 { | |
1022 if(global.accidentRemainingSeconds > 2) | |
1023 global.accidentRemainingSeconds -= 2; | |
1024 else | |
1025 { | |
1026 global.accidentRemainingSeconds = 0; | |
1027 global.accidentFlag = 0; | |
1028 } | |
1029 } | |
1030 | |
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1031 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
38 | 1032 global.mode = MODE_BOOT; |
1033 | |
1034 scheduleUpdateLifeData(2000); | |
1035 } | |
1036 while(global.mode == MODE_SLEEP); | |
1037 /* new section for system after Standby */ | |
1038 scheduleUpdateLifeData(-1); | |
1039 clearDecoNow = 0; | |
1040 setButtonsNow = 0; | |
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1041 reinitGlobals(); |
38 | 1042 } |
1043 | |
1044 | |
1045 | |
1046 /* Private functions ---------------------------------------------------------*/ | |
1047 | |
1048 /** | |
1049 ****************************************************************************** | |
1050 * @brief scheduleUpdateLifeData / calculates tissues | |
1051 * @author Peter Ryser | |
1052 * @version V0.0.1 | |
1053 * @date 22-April-2014 | |
1054 ****************************************************************************** | |
1055 */ | |
1056 | |
1057 | |
1058 void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last) | |
1059 { | |
1060 static _Bool first = 1; | |
1061 static uint32_t tickstart = 0; | |
1062 static uint32_t ticksrest = 0; | |
1063 | |
1064 uint32_t ticksdiff = 0; | |
1065 uint32_t ticksnow = 0; | |
1066 uint32_t time_seconds = 0; | |
1067 uint8_t whichGasTmp = 0; | |
1068 | |
135 | 1069 uint8_t updateTissueData = 0; |
1070 | |
1071 | |
1072 if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE) | |
1073 { | |
1074 updateTissueData = 1; | |
1075 } | |
1076 | |
38 | 1077 if(asynchron_milliseconds_since_last < 0) |
1078 { | |
1079 first = 1; | |
1080 tickstart = 0; | |
1081 ticksrest = 0; | |
1082 return; | |
1083 } | |
1084 | |
1085 if(!asynchron_milliseconds_since_last && first) | |
1086 { | |
1087 tickstart = HAL_GetTick(); | |
1088 first = 0; | |
1089 return; | |
1090 } | |
1091 | |
1092 whichGasTmp = global.whichGas; | |
1093 global.lifeData.actualGas = global.aktualGas[whichGasTmp]; | |
1094 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
1095 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; | |
1096 | |
135 | 1097 if(updateTissueData) |
1098 { | |
1099 decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData); | |
1100 } | |
1101 | |
38 | 1102 if(!asynchron_milliseconds_since_last) |
1103 { | |
1104 ticksnow = HAL_GetTick(); | |
1105 ticksdiff = time_elapsed_ms(tickstart,ticksnow); | |
1106 } | |
1107 else | |
1108 { | |
1109 first = 1; | |
1110 ticksdiff = asynchron_milliseconds_since_last; | |
1111 } | |
1112 | |
1113 if(ticksrest > 1000) // whatever happens after standby with STM32L476 | |
1114 ticksrest = 0; // maybe move static to SRAM2 | |
1115 | |
1116 ticksdiff += ticksrest; | |
1117 time_seconds = ticksdiff/ 1000; | |
1118 ticksrest = ticksdiff - time_seconds * 1000; | |
1119 tickstart = ticksnow; | |
1120 | |
1121 decom_tissues_exposure((int)time_seconds, &global.lifeData); | |
1122 if(global.demo_mode) | |
1123 decom_tissues_exposure((int)(3*time_seconds), &global.lifeData); | |
1124 copyTissueData(); | |
1125 } | |
1126 | |
1127 | |
1128 /** | |
1129 ****************************************************************************** | |
1130 * @brief scheduleUpdateDeviceData | |
1131 * @author heinrichs weikamp gmbh | |
1132 * @version V0.0.1 | |
1133 * @date 16-March-2015 | |
1134 * | |
1135 * two step process | |
1136 * first compare with data from main CPU == externalLogbookFlash | |
1137 * second update with new sensor data | |
1138 ****************************************************************************** | |
1139 */ | |
1140 void scheduleSetDate(SDeviceLine *line) | |
1141 { | |
1142 extern RTC_HandleTypeDef RTCHandle; | |
1143 | |
1144 line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
1145 line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
1146 } | |
1147 | |
1148 | |
1149 void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead) | |
1150 { | |
1151 lineWrite->date_rtc_dr = lineRead->date_rtc_dr; | |
1152 lineWrite->time_rtc_tr = lineRead->time_rtc_tr; | |
1153 lineWrite->value_int32 = lineRead->value_int32; | |
1154 } | |
1155 | |
1156 | |
1157 void scheduleUpdateDeviceData(void) | |
1158 { | |
1159 /* first step, main CPU */ | |
1160 | |
1161 if(deviceDataFlashValid) | |
1162 { | |
1163 /* max values */ | |
1164 if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32) | |
1165 { | |
1166 scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles); | |
1167 } | |
1168 if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32) | |
1169 { | |
1170 scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles); | |
1171 } | |
1172 if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32) | |
1173 { | |
1174 scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum); | |
1175 } | |
1176 if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32) | |
1177 { | |
1178 scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum); | |
1179 } | |
1180 if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32) | |
1181 { | |
1182 scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles); | |
1183 } | |
1184 if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32) | |
1185 { | |
1186 scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation); | |
1187 } | |
1188 | |
1189 /* min values */ | |
1190 if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32) | |
1191 { | |
1192 scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum); | |
1193 } | |
1194 if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32) | |
1195 { | |
1196 scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum); | |
1197 } | |
1198 } | |
1199 | |
1200 /* second step, sensor data */ | |
1201 int32_t temperature_centigrad_int32; | |
1202 int32_t pressure_mbar_int32; | |
1203 int32_t voltage_mvolt_int32; | |
1204 | |
1205 temperature_centigrad_int32 = (int32_t)(get_temperature() * 100); | |
1206 if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32) | |
1207 { | |
1208 global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32; | |
88 | 1209 scheduleSetDate(&global.deviceData.temperatureMinimum); |
38 | 1210 } |
1211 | |
1212 if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32) | |
1213 { | |
1214 global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32; | |
88 | 1215 scheduleSetDate(&global.deviceData.temperatureMaximum); |
38 | 1216 } |
1217 | |
1218 pressure_mbar_int32 = (int32_t)get_pressure_mbar(); | |
1219 if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32) | |
1220 { | |
1221 global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32; | |
88 | 1222 scheduleSetDate(&global.deviceData.depthMaximum); |
38 | 1223 } |
1224 | |
1225 voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000); | |
1226 if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32) | |
1227 { | |
1228 global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32; | |
88 | 1229 scheduleSetDate(&global.deviceData.voltageMinimum); |
38 | 1230 } |
1231 | |
1232 /* third step, counter */ | |
1233 switch (global.mode) | |
1234 { | |
1235 case MODE_SURFACE: | |
1236 case MODE_DIVE: | |
1237 default: | |
1238 deviceDataSubSeconds++; | |
1239 if(deviceDataSubSeconds > 10) | |
1240 { | |
1241 deviceDataSubSeconds = 0; | |
1242 global.deviceData.hoursOfOperation.value_int32++; | |
1243 } | |
1244 break; | |
1245 | |
1246 case MODE_SLEEP: | |
1247 case MODE_SHUTDOWN: | |
1248 break; | |
1249 } | |
1250 } | |
1251 | |
1252 | |
1253 void scheduleUpdateDeviceDataChargerFull(void) | |
1254 { | |
1255 global.deviceData.batteryChargeCompleteCycles.value_int32++; | |
88 | 1256 scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles); |
38 | 1257 } |
1258 | |
1259 | |
1260 void scheduleUpdateDeviceDataChargerCharging(void) | |
1261 { | |
1262 global.deviceData.batteryChargeCycles.value_int32++; | |
88 | 1263 scheduleSetDate(&global.deviceData.batteryChargeCycles); |
38 | 1264 } |
1265 | |
1266 | |
1267 /** | |
1268 ****************************************************************************** | |
1269 * @brief vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend | |
1270 * @author Peter Ryser | |
1271 * @version V0.0.1 | |
1272 * @date 22-April-2014 | |
1273 ****************************************************************************** | |
1274 */ | |
1275 _Bool vpm_crush2(void) | |
1276 { | |
1277 int i = 0; | |
1278 static float starting_ambient_pressure = 0; | |
1279 static float ending_ambient_pressure = 0; | |
1280 static float time_calc_begin = -1; | |
1281 static float initial_helium_pressure[16]; | |
1282 static float initial_nitrogen_pressure[16]; | |
1283 ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
1284 | |
1285 if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
1286 { | |
1287 time_calc_begin = global.lifeData.dive_time_seconds; | |
1288 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
1289 for( i = 0; i < 16; i++) | |
1290 { | |
1291 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
1292 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
1293 } | |
1294 return 0; | |
1295 } | |
1296 if(global.lifeData.dive_time_seconds - time_calc_begin >= 4) | |
1297 { | |
1298 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
1299 { | |
1300 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
1301 calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
1302 | |
1303 time_calc_begin = global.lifeData.dive_time_seconds; | |
1304 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
1305 for( i = 0; i < 16; i++) | |
1306 { | |
1307 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
1308 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
1309 } | |
1310 | |
1311 return 1; | |
1312 } | |
1313 | |
1314 } | |
1315 return 0; | |
1316 } | |
1317 | |
1318 | |
1319 long get_nofly_time_minutes(void) | |
1320 { | |
1321 | |
1322 if(global.no_fly_time_minutes <= 0) | |
1323 return 0; | |
1324 | |
1325 long minutes_since_last_dive = global.seconds_since_last_dive/60; | |
1326 | |
1327 if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive)) | |
1328 { | |
1329 return (global.no_fly_time_minutes - minutes_since_last_dive); | |
1330 } | |
1331 else | |
1332 { | |
1333 global.no_fly_time_minutes = 0; | |
1334 return 0; | |
1335 } | |
1336 } | |
1337 | |
1338 | |
1339 //Supports threadsave copying!!! | |
1340 void copyActualGas(SGas gas) | |
1341 { | |
1342 uint8_t whichGas = !global.whichGas; | |
1343 global.aktualGas[whichGas] = gas; | |
1344 global.whichGas = whichGas; | |
1345 } | |
1346 | |
1347 | |
1348 //Supports threadsave copying!!! | |
1349 void copyPressureData(void) | |
1350 { | |
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|
1351 global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus; |
38 | 1352 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; |
1353 global.dataSendToMaster.data[boolPressureData].temperature = get_temperature(); | |
1354 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); | |
1355 global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar(); | |
1356 global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min; | |
1357 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
1358 global.dataSendToMaster.boolPressureData = boolPressureData; | |
1359 } | |
1360 | |
1361 | |
1362 //Supports threadsave copying!!! | |
1363 void copyCnsAndOtuData(void) | |
1364 { | |
1365 //uint8_t dataSendToMaster. | |
1366 uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData; | |
1367 global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns; | |
1368 global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu; | |
1369 global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes; | |
1370 global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes(); | |
1371 global.dataSendToMaster.boolToxicData = boolToxicData; | |
1372 } | |
1373 | |
1374 | |
1375 //Supports threadsave copying!!! | |
1376 void copyTimeData(void) | |
1377 { | |
1378 extern RTC_HandleTypeDef RTCHandle; | |
1379 | |
1380 uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData; | |
1381 global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
1382 global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
1383 global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds; | |
1384 global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time; | |
1385 global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive; | |
1386 global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth; | |
1387 global.dataSendToMaster.boolTimeData = boolTimeData; | |
1388 } | |
1389 | |
1390 | |
1391 //Supports threadsave copying!!! | |
1392 void copyCompassData(void) | |
1393 { | |
1394 extern float compass_heading; | |
1395 extern float compass_roll; | |
1396 extern float compass_pitch; | |
1397 //uint8_t dataSendToMaster. | |
1398 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
1399 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
1400 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
1401 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
1402 global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0; | |
1403 global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0; | |
1404 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0; | |
1405 global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick(); | |
1406 global.dataSendToMaster.boolCompassData = boolCompassData; | |
1407 } | |
1408 | |
1409 | |
1410 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz) | |
1411 { | |
1412 extern float compass_heading; | |
1413 extern float compass_roll; | |
1414 extern float compass_pitch; | |
1415 //uint8_t dataSendToMaster. | |
1416 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
1417 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
1418 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
1419 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
1420 global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx; | |
1421 global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy; | |
1422 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz; | |
1423 global.dataSendToMaster.boolCompassData = boolCompassData; | |
1424 } | |
1425 | |
1426 | |
1427 //Supports threadsave copying!!! | |
1428 void copyBatteryData(void) | |
1429 { | |
1430 uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData; | |
1431 global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage(); | |
1432 global.dataSendToMaster.data[boolBatteryData].battery_charge= get_charge(); | |
1433 global.dataSendToMaster.boolBatteryData = boolBatteryData; | |
1434 } | |
1435 | |
1436 | |
1437 //Supports threadsave copying!!! | |
1438 void copyAmbientLightData(void) | |
1439 { | |
1440 uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData; | |
1441 global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level(); | |
1442 global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData; | |
1443 } | |
1444 | |
1445 | |
1446 //Supports threadsave copying!!! | |
1447 void copyTissueData(void) | |
1448 { | |
1449 //uint8_t dataSendToMaster. | |
1450 uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData; | |
1451 for(int i = 0; i < 16; i++) | |
1452 { | |
1453 global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i]; | |
1454 global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i]; | |
1455 } | |
1456 global.dataSendToMaster.boolTisssueData = boolTisssueData; | |
1457 } | |
1458 | |
1459 | |
1460 //Supports threadsave copying!!! | |
1461 void copyVpmCrushingData(void) | |
1462 { | |
1463 //uint8_t dataSendToMaster. | |
1464 uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData; | |
1465 for(int i = 0; i < 16; i++) | |
1466 { | |
1467 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i]; | |
1468 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i]; | |
1469 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i]; | |
1470 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i]; | |
1471 } | |
1472 global.dataSendToMaster.boolCrushingData = boolCrushingData; | |
1473 } | |
1474 | |
1475 | |
1476 void copyDeviceData(void) | |
1477 { | |
1478 uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData; | |
1479 memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice)); | |
1480 global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; | |
1481 | |
1482 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0; | |
1483 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, &global.vpm.adjusted_critical_radius_he, sizeof(16*4)); | |
1484 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, &global.vpm.adjusted_critical_radius_n2, sizeof(16*4)); | |
1485 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he, &global.vpm.adjusted_crushing_pressure_he, sizeof(16*4)); | |
1486 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2, &global.vpm.adjusted_crushing_pressure_n2, sizeof(16*4)); | |
1487 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he, &global.vpm.initial_allowable_gradient_he, sizeof(16*4)); | |
1488 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2, &global.vpm.initial_allowable_gradient_n2, sizeof(16*4)); | |
1489 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, &global.vpm.max_actual_gradient, sizeof(16*4)); | |
1490 global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid; | |
1491 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1; | |
1492 } | |
1493 | |
1494 /* copyPICdata(); is used in spi.c */ | |
1495 void copyPICdata(void) | |
1496 { | |
1497 uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata; | |
1498 for(int i = 0; i < 3; i++) | |
1499 { | |
1500 global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i]; | |
1501 } | |
1502 global.dataSendToMaster.boolPICdata = boolPICdata; | |
1503 } | |
1504 | |
1505 | |
1506 typedef enum | |
1507 { | |
1508 SPI3_OK = 0x00, | |
1509 SPI3_DEINIT = 0x01, | |
1510 } SPI3_StatusTypeDef; | |
1511 /* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine | |
1512 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit | |
1513 and will be init the next call of scheduleSetButtonResponsiveness() | |
1514 and data will be send again on the third call | |
1515 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active | |
1516 */ | |
1517 uint8_t scheduleSetButtonResponsiveness(void) | |
1518 { | |
1519 static uint8_t SPI3status = SPI3_OK; | |
1520 | |
1521 if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata))) | |
1522 { | |
1523 copyPICdata(); | |
1524 return 1; | |
1525 } | |
1526 else | |
1527 { | |
1528 for(int i=0;i<3;i++) | |
1529 { | |
1530 global.ButtonPICdata[i] = 0xFF; | |
1531 } | |
1532 copyPICdata(); | |
1533 | |
1534 if(SPI3status == SPI3_OK) | |
1535 { | |
1536 MX_SPI3_DeInit(); | |
1537 SPI3status = SPI3_DEINIT; | |
1538 } | |
1539 else | |
1540 { | |
1541 MX_SPI3_Init(); | |
1542 SPI3status = SPI3_OK; | |
1543 } | |
1544 return 0; | |
1545 } | |
1546 } | |
1547 | |
1548 | |
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|
1549 //save time difference |
38 | 1550 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) |
1551 { | |
1552 if(ticksstart <= ticksnow) | |
1553 { | |
1554 return ticksnow - ticksstart; | |
1555 } | |
1556 else | |
1557 { | |
1558 return 0xFFFFFFFF - ticksstart + ticksnow; | |
1559 } | |
1560 } | |
1561 | |
1562 /* same as in data_central.c */ | |
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parents:
301
diff
changeset
|
1563 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
38 | 1564 { |
310
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301
diff
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|
1565 if (lifeData->pressure_ambient_bar > 1.16) |
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parents:
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diff
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|
1566 return false; |
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|
1567 else if(lifeData->pressure_ambient_bar < (lifeData->pressure_surface_bar + 0.1f)) // hw 161121 now 1 mter, before 0.04f |
38 | 1568 return true; |
1569 else | |
1570 return false; | |
1571 } | |
1572 | |
1573 | |
1574 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/ | |
1575 |