Mercurial > public > ostc4
annotate Discovery/Src/tCCR.c @ 626:3e1a0e267f38
Added option to select sensitivity of focus detection:
Depending on the location the computer is equiped during dive (arm wet/ dry suite, glove...) it is usefull to adapt the sensitivity of the focus detection. Technical it means the radius of the spot in which direction ray is projected may be changed in size.
The option has been added to the motion control menu.
| author | Ideenmodellierer |
|---|---|
| date | Fri, 12 Feb 2021 21:37:50 +0100 |
| parents | 64bf41faab83 |
| children | 7c73f066cd16 |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Discovery/Src/tCCR.c | |
| 5 /// \brief HUD data via optical port | |
| 6 /// \author Heinrichs Weikamp gmbh | |
| 7 /// \date 18-Dec-2014 | |
| 8 /// | |
| 9 /// \details | |
| 10 /// | |
| 11 /// $Id$ | |
| 12 /////////////////////////////////////////////////////////////////////////////// | |
| 13 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 14 /// | |
| 15 /// This program is free software: you can redistribute it and/or modify | |
| 16 /// it under the terms of the GNU General Public License as published by | |
| 17 /// the Free Software Foundation, either version 3 of the License, or | |
| 18 /// (at your option) any later version. | |
| 19 /// | |
| 20 /// This program is distributed in the hope that it will be useful, | |
| 21 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 22 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 23 /// GNU General Public License for more details. | |
| 24 /// | |
| 25 /// You should have received a copy of the GNU General Public License | |
| 26 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 27 ////////////////////////////////////////////////////////////////////////////// | |
| 28 | |
| 29 /* Includes ------------------------------------------------------------------*/ | |
| 30 #include <string.h> | |
| 31 #include "tCCR.h" | |
| 32 #include "ostc.h" | |
| 33 #include "data_central.h" | |
| 34 #include "data_exchange.h" | |
| 35 #include "check_warning.h" | |
|
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36 #include "configuration.h" |
| 38 | 37 |
| 38 /* Private types -------------------------------------------------------------*/ | |
| 39 typedef struct | |
| 40 { | |
| 41 uint8_t hud_firmwareVersion; | |
| 42 bit8_Type status_byte; | |
| 43 uint16_t sensor_voltage_100uV[3]; | |
| 44 uint8_t sensor_ppo2_cbar[3]; | |
| 45 uint8_t temp1; | |
| 46 uint16_t battery_voltage_mV; | |
| 47 uint16_t checksum; | |
| 48 } SIrLink; | |
| 49 | |
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50 #define HUD_BABBLING_IDIOT (30u) /* 30 Bytes received without break */ |
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51 #define HUD_RX_FRAME_LENGTH (15u) /* Length of a HUD data frame */ |
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52 #define HUD_RX_FRAME_BREAK_MS (100u) /* Time used to detect a gap between two byte receptions => frame start */ |
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53 #define HUD_RX_START_DELAY_MS (500u) /* Delay for start of RX function to avoid start of reception while a transmission is ongoing. */ |
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54 /* Based on an assumed cycle time by the sensor of 1 second. Started at time of last RX */ |
| 38 | 55 |
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56 #define BOTTLE_SENSOR_TIMEOUT (6000u) /* signal pressure budget as not received after 10 minutes (6000 * 100ms) */ |
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57 |
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58 /* Private variables ---------------------------------------------------------*/ |
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59 static SIrLink receiveHUD[2]; |
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60 static uint8_t boolHUDdata = 0; |
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61 static uint8_t data_old__lost_connection_to_HUD = 1; |
| 38 | 62 |
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63 static uint8_t receiveHUDraw[16]; |
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64 |
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65 static uint8_t StartListeningToUART_HUD = 0; |
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66 static uint16_t HUDTimeoutCount = 0; |
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67 |
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68 static __IO ITStatus UartReadyHUD = RESET; |
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69 static uint32_t LastReceivedTick_HUD = 0; |
| 38 | 70 |
| 71 /* Private variables with external access via get_xxx() function -------------*/ | |
| 72 | |
| 73 /* Private function prototypes -----------------------------------------------*/ | |
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74 static void tCCR_fallbackToFixedSetpoint(void); |
| 38 | 75 |
| 76 #ifndef USART_IR_HUD | |
| 77 | |
| 78 void tCCR_init(void) | |
| 79 { | |
| 80 } | |
| 81 void tCCR_control(void) | |
| 82 { | |
| 83 } | |
| 84 void tCCR_test(void) | |
| 85 { | |
| 86 } | |
| 87 void tCCR_restart(void) | |
| 88 { | |
| 89 } | |
| 90 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 91 { | |
| 92 } | |
| 93 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 94 { | |
| 95 } | |
| 96 float get_HUD_battery_voltage_V(void) | |
| 97 { | |
| 98 } | |
| 99 void tCCR_tick(void) | |
| 100 { | |
| 101 } | |
| 102 | |
| 103 #else | |
| 104 /* Exported functions --------------------------------------------------------*/ | |
| 105 | |
| 106 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 107 { | |
| 108 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 109 return 0; | |
| 110 | |
| 111 return (float)(receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id]) / 100.0f; | |
| 112 } | |
| 113 | |
| 114 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 115 { | |
| 116 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 117 return 0; | |
| 118 | |
| 119 return (float)(receiveHUD[boolHUDdata].sensor_voltage_100uV[sensor_id]) / 10.0f; | |
| 120 } | |
| 121 | |
| 122 float get_HUD_battery_voltage_V(void) | |
| 123 { | |
| 124 if(data_old__lost_connection_to_HUD) | |
| 125 return 0; | |
| 126 | |
| 127 return (float)(receiveHUD[boolHUDdata].battery_voltage_mV) / 1000.0f; | |
| 128 } | |
| 129 | |
| 130 | |
| 563 | 131 void test_O2_sensor_values_outOfBounds(int8_t * outOfBouds1, int8_t * outOfBouds2, int8_t * outOfBouds3) |
| 38 | 132 { |
| 133 uint8_t sensorNotActiveBinary; | |
| 134 uint8_t sensorActive[3]; | |
| 135 | |
| 136 // test1: user deactivation | |
| 137 sensorNotActiveBinary = stateUsed->diveSettings.ppo2sensors_deactivated; | |
| 138 | |
| 139 for(int i=0;i<3;i++) | |
| 140 sensorActive[i] = 1; | |
| 141 | |
| 142 if(sensorNotActiveBinary) | |
| 143 { | |
| 144 if(sensorNotActiveBinary & 1) | |
| 145 sensorActive[0] = 0; | |
| 146 | |
| 147 if(sensorNotActiveBinary & 2) | |
| 148 sensorActive[1] = 0; | |
| 149 | |
| 150 if(sensorNotActiveBinary & 4) | |
| 151 sensorActive[2] = 0; | |
| 152 } | |
| 153 | |
| 154 // test2: mV of remaining sensors | |
| 155 for(int i=0;i<3;i++) | |
| 156 { | |
| 157 if(sensorActive[i]) | |
| 158 { | |
| 563 | 159 if( (stateUsed->lifeData.sensorVoltage_mV[i] < 8) || |
| 160 (stateUsed->lifeData.sensorVoltage_mV[i] > 250)) | |
| 38 | 161 { |
| 162 sensorActive[i] = 0; | |
| 163 switch(i) | |
| 164 { | |
| 165 case 0: | |
| 166 sensorNotActiveBinary |= 1; | |
| 167 break; | |
| 168 case 1: | |
| 169 sensorNotActiveBinary |= 2; | |
| 170 break; | |
| 171 case 2: | |
| 172 sensorNotActiveBinary |= 4; | |
| 173 break; | |
| 174 } | |
| 175 } | |
| 176 } | |
| 177 } | |
| 178 | |
| 179 *outOfBouds1 = 0; | |
| 180 *outOfBouds2 = 0; | |
| 181 *outOfBouds3 = 0; | |
| 182 | |
| 183 /* with two, one or no sensor, there is nothing to compare anymore | |
| 184 */ | |
| 185 if(sensorNotActiveBinary) | |
| 186 { | |
| 187 // set outOfBounds for both tests | |
| 188 if(!sensorActive[0]) | |
| 189 *outOfBouds1 = 1; | |
| 190 | |
| 191 if(!sensorActive[1]) | |
| 192 *outOfBouds2 = 1; | |
| 193 | |
| 194 if(!sensorActive[2]) | |
| 195 *outOfBouds3 = 1; | |
| 196 } | |
| 197 else | |
| 198 { | |
| 199 uint8_t sensor_id_ordered[3]; | |
| 563 | 200 float difference[2]; |
| 38 | 201 |
| 563 | 202 if((stateUsed->lifeData.ppO2Sensor_bar[1] > stateUsed->lifeData.ppO2Sensor_bar[0])) |
| 38 | 203 { |
| 204 sensor_id_ordered[0] = 0; | |
| 205 sensor_id_ordered[1] = 1; | |
| 206 } | |
| 207 else | |
| 208 { | |
| 209 sensor_id_ordered[0] = 1; | |
| 210 sensor_id_ordered[1] = 0; | |
| 211 } | |
| 563 | 212 if(stateUsed->lifeData.ppO2Sensor_bar[2] > stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[1]]) |
| 38 | 213 { |
| 214 sensor_id_ordered[2] = 2; | |
| 215 } | |
| 216 else | |
| 217 { | |
| 218 sensor_id_ordered[2] = sensor_id_ordered[1]; | |
| 563 | 219 if(stateUsed->lifeData.ppO2Sensor_bar[2] > stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[0]]) |
| 38 | 220 { |
| 221 sensor_id_ordered[1] = 2; | |
| 222 } | |
| 223 else | |
| 224 { | |
| 225 sensor_id_ordered[1] = sensor_id_ordered[0]; | |
| 226 sensor_id_ordered[0] = 2; | |
| 227 } | |
| 228 } | |
| 229 | |
| 563 | 230 difference[0] = stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[1]]- stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[0]]; |
| 231 difference[1] = stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[2]]- stateUsed->lifeData.ppO2Sensor_bar[sensor_id_ordered[1]]; | |
| 38 | 232 |
| 563 | 233 if((difference[0] > difference[1]) && (difference[0] > 0.15)) /* was 15cBar ==> 0.15 bar */ |
| 38 | 234 { |
| 235 switch(sensor_id_ordered[0]) | |
| 236 { | |
| 237 case 0: | |
| 238 *outOfBouds1 = 1; | |
| 239 break; | |
| 240 case 1: | |
| 241 *outOfBouds2 = 1; | |
| 242 break; | |
| 243 case 2: | |
| 244 *outOfBouds3 = 1; | |
| 245 break; | |
| 246 } | |
| 247 } | |
| 248 else | |
| 563 | 249 if((difference[0] < difference[1]) && (difference[1] > 0.15)) |
| 38 | 250 { |
| 251 switch(sensor_id_ordered[2]) | |
| 252 { | |
| 253 case 0: | |
| 254 *outOfBouds1 = 1; | |
| 255 break; | |
| 256 case 1: | |
| 257 *outOfBouds2 = 1; | |
| 258 break; | |
| 259 case 2: | |
| 260 *outOfBouds3 = 1; | |
| 261 break; | |
| 262 } | |
| 263 } | |
| 264 } | |
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265 |
| 38 | 266 } |
| 267 | |
| 268 | |
| 269 uint8_t get_ppO2SensorWeightedResult_cbar(void) | |
| 270 { | |
| 271 int8_t sensorOutOfBound[3]; | |
| 272 uint16_t result = 0; | |
| 273 uint8_t count = 0; | |
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274 uint8_t retVal = 0; |
| 38 | 275 |
| 563 | 276 test_O2_sensor_values_outOfBounds(&sensorOutOfBound[0], &sensorOutOfBound[1], &sensorOutOfBound[2]); |
| 38 | 277 |
| 278 for(int i=0;i<3;i++) | |
| 279 { | |
| 280 if(!sensorOutOfBound[i]) | |
| 281 { | |
| 563 | 282 result += stateUsed->lifeData.ppO2Sensor_bar[i] * 100.0; /* convert centibar used by HUB */ |
| 38 | 283 count++; |
| 284 } | |
| 285 } | |
| 286 if(count == 0) // all sensors out of bounds! | |
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287 { |
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288 set_warning_fallback(); |
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289 } |
| 38 | 290 else |
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291 { |
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292 retVal = (uint8_t)(result / count); |
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293 } |
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294 return retVal; |
| 38 | 295 } |
| 296 | |
| 297 | |
| 298 void tCCR_init(void) | |
| 299 { | |
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300 uint8_t loop; |
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301 |
| 38 | 302 StartListeningToUART_HUD = 1; |
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303 |
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304 SDiveState* pDiveData = stateRealGetPointerWrite(); |
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305 for(loop=0;loop<(2*NUM_GASES+1);loop++) |
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306 { |
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307 pDiveData->lifeData.bottle_bar_age_MilliSeconds[loop] = BOTTLE_SENSOR_TIMEOUT; |
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308 } |
| 38 | 309 } |
| 310 | |
| 311 | |
| 312 /* after 3 seconds without update from HUD | |
| 313 * data is considered old | |
| 314 */ | |
| 315 void tCCR_tick(void) | |
| 316 { | |
| 563 | 317 if(settingsGetPointer()->ppo2sensors_source == O2_SENSOR_SOURCE_OPTIC) |
| 318 { | |
| 319 if(HUDTimeoutCount < 3 * 10) | |
| 320 HUDTimeoutCount++; | |
| 321 else | |
| 322 { | |
| 323 data_old__lost_connection_to_HUD = 1; | |
| 324 if(HUDTimeoutCount < 20 * 10) | |
| 325 HUDTimeoutCount++; | |
| 326 else | |
| 327 tCCR_fallbackToFixedSetpoint(); | |
| 328 } | |
| 329 } | |
| 38 | 330 } |
| 331 | |
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332 void tCCR_SetRXIndication(void) |
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333 { |
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334 static uint8_t floatingRXCount = 0; |
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335 |
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336 if((UartIR_HUD_Handle.RxXferSize == HUD_RX_FRAME_LENGTH) || (UartIR_HUD_Handle.RxXferSize == HUD_RX_FRAME_LENGTH - 1)) /* we expected a complete frame */ |
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337 { |
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338 UartReadyHUD = SET; |
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339 LastReceivedTick_HUD = HAL_GetTick(); |
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340 floatingRXCount = 0; |
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341 } |
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342 else /* follow up of error handling */ |
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343 { |
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344 if(time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_FRAME_BREAK_MS) /* Reception took a while => frame start detected */ |
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345 { |
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346 HAL_UART_Receive_IT(&UartIR_HUD_Handle, &receiveHUDraw[1], 14); /* We have already the first byte => get the missing 14 */ |
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347 } |
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348 else |
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349 { |
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350 if(floatingRXCount++ < HUD_BABBLING_IDIOT) |
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351 { |
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352 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); /* Start polling of incoming bytes */ |
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353 } |
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354 else /* Significant amount of data comming in without break => disable input */ |
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355 { /* by not reactivation HUD RX, no recovery fromthis state */ |
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356 stateUsedWrite->diveSettings.ppo2sensors_deactivated = 0x07; /* Display deactivation */ |
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357 } |
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358 } |
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359 } |
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360 |
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361 } |
| 38 | 362 |
| 363 void tCCR_restart(void) | |
| 364 { | |
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365 HAL_UART_AbortReceive_IT(&UartIR_HUD_Handle); /* Called by the error handler. RX will be restarted by control function */ |
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366 StartListeningToUART_HUD = 1; |
| 38 | 367 } |
| 368 | |
| 369 | |
| 370 void tCCR_control(void) | |
| 371 { | |
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372 uint16_t checksum = 0; |
| 457 | 373 #ifdef ENABLE_BOTTLE_SENSOR |
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374 SDiveState *pLivedata = stateRealGetPointerWrite(); |
| 457 | 375 #endif |
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376 |
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377 if((UartReadyHUD == RESET) && StartListeningToUART_HUD && (time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_START_DELAY_MS)) |
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378 { |
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379 StartListeningToUART_HUD = 0; |
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380 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, HUD_RX_FRAME_LENGTH); |
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381 } |
| 38 | 382 |
| 383 if(UartReadyHUD == SET) | |
| 384 { | |
| 385 UartReadyHUD = RESET; | |
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386 StartListeningToUART_HUD = 1; |
| 38 | 387 |
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388 /* check if received package is valid */ |
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389 for(int i=0;i<13;i++) |
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390 { |
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391 checksum += receiveHUDraw[i]; |
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392 } |
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393 receiveHUD[!boolHUDdata].checksum = receiveHUDraw[13] + (256 * receiveHUDraw[14]); |
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394 if(checksum == receiveHUD[!boolHUDdata].checksum) |
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395 { |
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396 #ifdef ENABLE_BOTTLE_SENSOR |
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397 if(receiveHUDraw[0] == 0xA5) /* code for pressure sensor */ |
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398 { |
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399 pLivedata->lifeData.bottle_bar[pLivedata->lifeData.actualGas.GasIdInSettings] = receiveHUDraw[10]; |
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400 pLivedata->lifeData.bottle_bar_age_MilliSeconds[pLivedata->lifeData.actualGas.GasIdInSettings] = 0; |
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401 } |
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402 else |
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403 #endif |
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404 /* handle O2 sensor data */ |
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405 { |
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406 memcpy(&receiveHUD[!boolHUDdata], receiveHUDraw, 11); |
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407 receiveHUD[!boolHUDdata].battery_voltage_mV = receiveHUDraw[11] + (256 * receiveHUDraw[12]); |
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408 } |
| 38 | 409 |
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410 boolHUDdata = !boolHUDdata; |
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411 HUDTimeoutCount = 0; |
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412 data_old__lost_connection_to_HUD = 0; |
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413 } |
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414 else |
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415 { |
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416 if(data_old__lost_connection_to_HUD) /* we lost connection, maybe due to RX shift => start single byte read to resynchronize */ |
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417 { |
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418 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); |
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419 StartListeningToUART_HUD = 0; |
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420 } |
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421 } |
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422 memset(receiveHUDraw,0,sizeof(receiveHUDraw)); |
| 38 | 423 } |
| 424 } | |
| 425 | |
| 426 #endif | |
| 427 /* Private functions ---------------------------------------------------------*/ | |
| 428 | |
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429 static void tCCR_fallbackToFixedSetpoint(void) |
| 38 | 430 { |
| 431 if((stateUsed->mode == MODE_DIVE) && (stateUsed->diveSettings.diveMode == DIVEMODE_CCR) && (stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) && (stateUsed->diveSettings.fallbackOption)) | |
| 432 { | |
| 433 uint8_t setpointCbar, actualGasID; | |
| 434 | |
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435 setpointCbar = stateUsed->diveSettings.setpoint[1].setpoint_cbar; |
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436 stateUsedWrite->diveSettings.CCR_Mode = CCRMODE_FixedSetpoint; |
| 38 | 437 |
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438 actualGasID = stateUsed->lifeData.actualGas.GasIdInSettings; |
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439 setActualGas_DM(&stateUsedWrite->lifeData,actualGasID,setpointCbar); |
| 38 | 440 |
| 441 set_warning_fallback(); | |
| 442 } | |
| 443 } |