Mercurial > public > ostc4
annotate Small_CPU/Src/scheduler.c @ 431:49c3c5f0d0cb
make a 1.5.3 for tests
| author | heinrichsweikamp |
|---|---|
| date | Tue, 18 Feb 2020 09:58:52 +0100 |
| parents | 6886aeeca454 |
| children | 4b000e2386c2 |
| 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" | |
| 44 | |
|
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45 /* uncomment to enable restoting of last known date in case of a power loss (RTC looses timing data) */ |
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46 /* #define RESTORE_LAST_KNOWN_DATE */ |
| 38 | 47 |
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48 #define INVALID_PREASURE_VALUE (100.0f) |
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49 #define START_DIVE_MOUNTAIN_MODE_BAR (0.88f) |
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50 #define START_DIVE_IMMEDIATLY_BAR (1.16f) |
| 135 | 51 |
| 38 | 52 /* Private types -------------------------------------------------------------*/ |
| 53 const SGas Air = {79,0,0,0,0}; | |
| 54 | |
| 55 /* Exported variables --------------------------------------------------------*/ | |
| 56 SGlobal global; | |
| 57 SDevice DeviceDataFlash; | |
| 58 uint8_t deviceDataFlashValid = 0; | |
| 59 uint8_t deviceDataSubSeconds = 0; | |
| 60 | |
| 61 /* Private variables ---------------------------------------------------------*/ | |
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62 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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63 |
| 38 | 64 /* can be lost while in sleep */ |
| 65 uint8_t clearDecoNow = 0; | |
| 66 uint8_t setButtonsNow = 0; | |
| 67 | |
| 68 /* has to be in SRAM2 */ | |
| 69 uint8_t secondsCount = 0; | |
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70 |
| 207 | 71 static uint8_t dospisync = SPI_SYNC_METHOD_NONE; |
| 72 | |
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73 SScheduleCtrl Scheduler; |
| 38 | 74 |
| 75 /* Private function prototypes -----------------------------------------------*/ | |
| 76 | |
| 77 _Bool vpm_crush2(void); | |
| 78 void scheduleUpdateDeviceData(void); | |
| 79 long get_nofly_time_minutes(void); | |
| 80 void copyActualGas(SGas gas); | |
| 81 void copyPressureData(void); | |
| 82 void copyCnsAndOtuData(void); | |
| 83 void copyTimeData(void); | |
| 84 void copyCompassData(void); | |
| 85 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 86 void copyAmbientLightData(void); | |
| 87 void copyTissueData(void); | |
| 88 void copyVpmCrushingData(void); | |
| 89 void copyDeviceData(void); | |
| 90 void copyPICdata(void); | |
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91 static void schedule_update_timer_helper(int8_t thisSeconds); |
| 38 | 92 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
| 93 | |
| 94 void scheduleSetDate(SDeviceLine *line); | |
| 95 | |
| 96 /* Exported functions --------------------------------------------------------*/ | |
| 97 | |
| 98 void initGlobals(void) | |
| 99 { | |
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100 bzero(&global, sizeof(SGlobal)); |
| 38 | 101 |
| 102 global.dataSendToSlavePending = 0; | |
| 103 global.dataSendToSlaveIsValid = 1; | |
| 104 global.dataSendToSlaveIsNotValidCount = 0; | |
| 105 | |
| 106 global.mode = MODE_POWERUP; | |
| 107 global.repetitive_dive = 0; | |
| 108 global.conservatism = 0; | |
| 109 global.whichGas = 0; | |
| 110 global.aktualGas[0] = Air; | |
| 111 global.lifeData.actualGas = global.aktualGas[0]; | |
| 112 | |
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113 const uint8_t button_standard_sensitivity = 85; |
| 38 | 114 global.ButtonResponsiveness[0] = button_standard_sensitivity; |
| 115 global.ButtonResponsiveness[1] = button_standard_sensitivity; | |
| 116 global.ButtonResponsiveness[2] = button_standard_sensitivity; | |
| 117 global.ButtonResponsiveness[3] = button_standard_sensitivity; | |
| 118 | |
| 119 global.ButtonPICdata[0] = 0xFF; | |
| 120 global.ButtonPICdata[1] = 0xFF; | |
| 121 global.ButtonPICdata[2] = 0xFF; | |
| 122 global.ButtonPICdata[3] = 0xFF; | |
| 123 | |
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124 global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working |
| 38 | 125 |
| 135 | 126 global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE; |
| 127 global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE; | |
| 38 | 128 decom_reset_with_1000mbar(&global.lifeData); |
| 129 | |
| 130 global.demo_mode = 0; | |
| 131 | |
| 132 for(int i = 0; i < MAX_SENSORS; i++) | |
| 133 { | |
| 134 global.sensorError[i] = HAL_OK; // HAL_OK = 0; | |
| 135 } | |
| 136 | |
| 137 global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;; | |
| 138 global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;; | |
| 139 global.dataSendToMaster.chargeStatus = 0; | |
| 140 | |
| 141 global.dataSendToMaster.power_on_reset = 1; | |
| 142 global.dataSendToMaster.header.checkCode[0] = 0xA1; | |
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143 global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE; |
| 38 | 144 global.dataSendToMaster.header.checkCode[2] = 0xA3; |
| 145 global.dataSendToMaster.header.checkCode[3] = 0xA4; | |
| 146 global.dataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 147 global.dataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 148 global.dataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 149 global.dataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 150 global.dataSendToMaster.sensorErrors = 0; | |
| 151 | |
| 152 global.sync_error_count = 0; | |
| 153 global.check_sync_not_running = 0; | |
| 154 | |
| 155 global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH; | |
| 156 global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW; | |
| 157 global.deviceDataSendToMaster.chargeStatus = 0; | |
| 158 | |
| 159 global.deviceDataSendToMaster.power_on_reset = 1; | |
| 160 global.deviceDataSendToMaster.header.checkCode[0] = 0xDF; | |
| 161 global.deviceDataSendToMaster.header.checkCode[1] = 0xDE; | |
| 162 global.deviceDataSendToMaster.header.checkCode[2] = 0xDD; | |
| 163 global.deviceDataSendToMaster.header.checkCode[3] = 0xDC; | |
| 164 global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 165 global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 166 global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 167 global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 168 | |
| 169 global.dataSendToSlave.getDeviceDataNow = 0; | |
| 170 | |
| 171 global.deviceData.batteryChargeCompleteCycles.value_int32 = 0; | |
| 172 global.deviceData.batteryChargeCycles.value_int32 = 0; | |
| 173 global.deviceData.depthMaximum.value_int32 = 0; | |
| 174 global.deviceData.diveCycles.value_int32 = 0; | |
| 175 global.deviceData.hoursOfOperation.value_int32 = 0; | |
| 176 global.deviceData.temperatureMaximum.value_int32 = INT32_MIN; | |
| 177 global.deviceData.temperatureMinimum.value_int32 = INT32_MAX; | |
| 178 global.deviceData.voltageMinimum.value_int32 = INT32_MAX; | |
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179 |
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180 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
| 207 | 181 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
| 38 | 182 } |
| 183 | |
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184 void reinitGlobals(void) |
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185 { |
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186 global.dataSendToSlavePending = 0; |
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187 global.dataSendToSlaveIsValid = 0; |
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188 global.dataSendToSlaveIsNotValidCount = 0; |
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189 global.sync_error_count = 0; |
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190 global.check_sync_not_running = 0; |
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191 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
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192 } |
| 38 | 193 |
| 194 void scheduleSpecial_Evaluate_DataSendToSlave(void) | |
| 195 { | |
| 104 | 196 //TEMPORARY fix for compass calibration. |
| 197 //TODO: Fix I2C timeout for complete solving problem. | |
| 198 if(global.mode==MODE_CALIB){ | |
| 199 return; | |
| 200 } | |
| 90 | 201 |
| 88 | 202 global.dataSendToSlavePending = 0; |
| 203 if(!global.dataSendToSlaveIsValid) return; | |
| 38 | 204 |
| 205 global.dataSendToMaster.confirmRequest.uw = 0; | |
| 206 | |
| 207 if(TM_OTP_Read(0,0) == 0xFF) | |
| 208 { | |
| 209 if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A)) | |
| 210 TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware); | |
| 211 } | |
| 212 | |
| 213 if(global.dataSendToSlave.setAccidentFlag) | |
| 214 { | |
| 215 global.dataSendToMaster.confirmRequest.ub.accident = 1; | |
| 216 global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag; | |
| 217 scheduleSetDate(&global.deviceData.diveAccident); | |
| 218 global.accidentFlag |= global.dataSendToSlave.setAccidentFlag; | |
| 219 if(global.accidentFlag == ACCIDENT_CNS) // LVL1 | |
| 220 global.accidentRemainingSeconds = 2*60*60; | |
| 221 else | |
| 222 global.accidentRemainingSeconds = 24*60*60; | |
| 223 } | |
| 224 | |
| 225 if(global.dataSendToSlave.setTimeNow) | |
| 226 { | |
| 227 global.dataSendToMaster.confirmRequest.ub.time = 1; | |
| 228 RTC_SetTime(global.dataSendToSlave.data.newTime); | |
| 229 schedule_update_timer_helper(0); | |
| 230 } | |
| 231 | |
| 232 if(global.dataSendToSlave.setDateNow) | |
| 233 { | |
| 234 global.dataSendToMaster.confirmRequest.ub.date = 1; | |
| 235 RTC_SetDate(global.dataSendToSlave.data.newDate); | |
| 236 schedule_update_timer_helper(0); | |
| 237 } | |
| 238 | |
| 239 if(global.dataSendToSlave.calibrateCompassNow) | |
| 240 { | |
| 241 global.dataSendToMaster.confirmRequest.ub.compass = 1; | |
| 242 global.mode = MODE_CALIB; | |
| 243 } | |
| 244 | |
| 245 if(global.dataSendToSlave.clearDecoNow) | |
| 246 { | |
| 247 global.dataSendToMaster.confirmRequest.ub.clearDeco = 1; | |
| 248 clearDecoNow = 1; | |
| 249 } | |
| 250 | |
| 251 if(global.dataSendToSlave.setButtonSensitivityNow) | |
| 252 { | |
| 253 global.dataSendToMaster.confirmRequest.ub.button = 1; | |
| 254 global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0]; | |
| 255 global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1]; | |
| 256 global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2]; | |
| 257 global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3]; | |
| 258 setButtonsNow = 1; | |
| 259 } | |
| 260 | |
| 261 if(global.dataSendToSlave.setBatteryGaugeNow) | |
| 262 { | |
| 104 | 263 if(global.mode!=MODE_CALIB){ |
| 38 | 264 global.dataSendToMaster.confirmRequest.ub.batterygauge = 1; |
| 265 battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat); | |
| 104 | 266 } |
| 38 | 267 } |
| 268 | |
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269 if(global.dataSendToSlave.setEndDive) |
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270 { |
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271 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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272 } |
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273 |
| 38 | 274 if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN)) |
| 275 { | |
| 276 global.mode = MODE_SHUTDOWN; | |
| 277 } | |
| 278 | |
| 279 if(global.mode == MODE_DIVE) | |
| 280 { | |
| 281 copyActualGas(global.dataSendToSlave.data.actualGas); | |
| 282 } | |
| 283 else | |
| 284 { | |
| 285 copyActualGas(Air); | |
| 286 global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook; | |
| 287 global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth; | |
| 288 } | |
| 289 | |
| 290 /* for simulation / testing */ | |
| 291 global.ceiling_from_main_CPU_mbar = global.dataSendToSlave.data.ambient_pressure_mbar_ceiling; | |
| 292 | |
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293 /* Set pressure and temperature offsets */ |
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294 pressure_set_offset (global.dataSendToSlave.data.offsetPressureSensor_mbar, global.dataSendToSlave.data.offsetTemperatureSensor_centiDegree); |
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295 |
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296 |
| 88 | 297 /* for device data updates */ |
| 298 deviceDataFlashValid = 0; | |
| 299 memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice)); | |
| 300 deviceDataFlashValid = 1; | |
| 89 | 301 |
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302 #if 0 |
| 104 | 303 //TODO: Temporary placed here. Duration ~210 ms. |
| 304 if (global.I2C_SystemStatus != HAL_OK) { | |
| 305 MX_I2C1_TestAndClear(); | |
| 306 MX_I2C1_Init(); | |
| 307 // init_pressure(); | |
| 308 // compass_init(0, 7); | |
| 309 // accelerator_init(); | |
| 310 } | |
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311 #endif /* already called once a second */ |
| 38 | 312 } |
| 313 | |
| 314 | |
| 315 /** | |
| 316 ****************************************************************************** | |
| 317 * @brief schedule_time_compare_helper. | |
| 318 * @author heinrichs weikamp gmbh | |
| 319 * @version V0.0.1 | |
| 320 * @date 20-Oct-2016 | |
| 321 ****************************************************************************** | |
| 322 */ | |
| 323 | |
| 324 uint8_t RtcBugFixChsw(uint8_t inStupidTime) | |
| 325 { | |
| 326 uint8_t multiplesOf16 = 0; | |
| 327 | |
| 328 multiplesOf16 = inStupidTime / 16; | |
| 329 | |
| 330 inStupidTime -= multiplesOf16 * 16; | |
| 331 | |
| 332 return (10 * multiplesOf16) + inStupidTime; | |
| 333 } | |
| 334 | |
| 335 uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast) | |
| 336 { | |
| 337 uint32_t nowInSeconds; | |
| 338 uint32_t lastInSeconds; | |
| 339 uint32_t resultDiff; | |
| 340 | |
| 341 nowInSeconds = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600; | |
| 342 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60; | |
| 343 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds); | |
| 344 | |
| 345 lastInSeconds = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600; | |
| 346 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60; | |
| 347 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds); | |
| 348 | |
| 349 if(dateNow.Date != dateLast.Date) | |
| 350 { | |
| 351 resultDiff = 86400 + nowInSeconds - lastInSeconds; | |
| 352 } | |
| 353 else | |
| 354 { | |
| 355 resultDiff = nowInSeconds - lastInSeconds; | |
| 356 } | |
| 357 return resultDiff; | |
| 358 } | |
| 359 | |
| 360 | |
| 361 | |
| 362 /** | |
| 363 ****************************************************************************** | |
| 364 * @brief schedule_update_timer_helper. | |
| 365 * @author heinrichs weikamp gmbh | |
| 366 * @version V0.0.1 | |
| 367 * @date 20-Oct-2016 | |
| 368 * @brief use 0 for init | |
| 369 use -1 for RTC controlled | |
| 370 use >= 1 for manual control | |
| 371 ****************************************************************************** | |
| 372 */ | |
| 373 extern RTC_HandleTypeDef RTCHandle; | |
| 374 | |
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375 static void schedule_update_timer_helper(int8_t thisSeconds) |
| 38 | 376 { |
| 377 static RTC_TimeTypeDef sTimeLast; | |
| 378 static RTC_DateTypeDef sDateLast; | |
| 379 RTC_TimeTypeDef sTimeNow; | |
| 380 RTC_DateTypeDef sDateNow; | |
| 381 uint32_t secondsPast; | |
| 382 | |
| 383 HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD); | |
| 384 HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD); | |
| 385 | |
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386 if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast |
| 38 | 387 { |
| 388 if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast | |
| 389 { | |
| 390 secondsPast = thisSeconds; | |
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391 } else { |
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392 // thisSeconds < 0 and not <= ! |
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393 secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast); |
| 38 | 394 } |
| 395 | |
| 396 if(global.seconds_since_last_dive) | |
| 397 { | |
| 398 if(secondsPast >= 777900) | |
| 399 { | |
| 400 global.seconds_since_last_dive = 0; | |
| 401 } | |
| 402 else | |
| 403 { | |
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404 uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast; |
| 38 | 405 if(tempNewValue > 777900) // a bit more than nine days [seconds] |
| 406 global.seconds_since_last_dive = 0; | |
| 407 else | |
| 408 global.seconds_since_last_dive = (long)tempNewValue; | |
| 409 } | |
| 410 } | |
| 411 } | |
| 412 | |
| 413 sTimeLast = sTimeNow; | |
| 414 sDateLast = sDateNow; | |
| 415 } | |
| 416 | |
| 417 /** | |
| 418 ****************************************************************************** | |
| 419 * @brief schedule_check_resync. | |
| 420 * @author heinrichs weikamp gmbh | |
| 421 * @version V0.0.2 | |
| 422 * @date 18-June-2015 | |
| 423 ****************************************************************************** | |
| 424 */ | |
| 135 | 425 |
| 38 | 426 void schedule_check_resync(void) |
| 427 { | |
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428 /* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */ |
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429 if((global.check_sync_not_running >= Scheduler.communicationTimeout)) |
| 38 | 430 { |
| 89 | 431 // global.dataSendToSlaveIsNotValidCount = 0; |
| 135 | 432 global.check_sync_not_running = 0; |
| 433 global.sync_error_count++; | |
| 434 | |
| 435 /* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the | |
| 436 * function error handler | |
| 437 */ | |
| 277 | 438 HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE); |
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439 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON; /* Reduce error detection time */ |
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440 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
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441 } |
| 38 | 442 } |
| 443 | |
| 444 | |
| 445 /** | |
| 446 ****************************************************************************** | |
| 447 * @brief scheduleDiveMode. / Dive Mode: Main Loop | |
| 448 * @author Peter Ryser | |
| 449 * @version V0.0.1 | |
| 450 * @date 22-April-2014 | |
| 451 ****************************************************************************** | |
| 452 */ | |
| 453 void scheduleDiveMode(void) | |
| 454 { | |
| 455 uint32_t ticksdiff = 0; | |
| 456 uint32_t lasttick = 0; | |
| 457 uint8_t counterAscentRate = 0; | |
| 458 float lastPressure_bar = 0.0f; | |
| 459 global.dataSendToMaster.mode = MODE_DIVE; | |
| 460 global.deviceDataSendToMaster.mode = MODE_DIVE; | |
| 461 uint8_t counter_exit = 0; | |
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462 |
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463 Scheduler.counterSPIdata100msec = 0; |
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464 Scheduler.counterCompass100msec = 0; |
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465 Scheduler.counterPressure100msec = 0; |
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466 Scheduler.counterAmbientLight100msec = 0; |
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467 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 468 |
| 469 global.deviceData.diveCycles.value_int32++; | |
| 470 scheduleSetDate(&global.deviceData.diveCycles); | |
| 471 global.lifeData.counterSecondsShallowDepth = 0; | |
| 472 | |
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473 /* Get the last stable value in case of an unstable surface history condition */ |
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474 if(!is_surface_pressure_stable()) |
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475 { |
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476 set_last_surface_pressure_stable(); |
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477 } |
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478 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; |
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479 ManualExitDiveCounter = 0; /* reset early exit request */ |
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480 |
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481 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 482 while(global.mode == MODE_DIVE) |
| 483 { | |
| 484 lasttick = HAL_GetTick(); | |
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485 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 486 |
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487 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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488 { |
| 277 | 489 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 490 { | |
| 491 Scheduler.counterSPIdata100msec++; | |
| 492 } | |
| 493 schedule_check_resync(); | |
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494 } |
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495 |
| 38 | 496 //Evaluate pressure at 20 ms, 120 ms, 220 ms,.... |
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497 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 498 { |
| 499 global.check_sync_not_running++; | |
| 277 | 500 pressure_update_alternating(); |
| 135 | 501 scheduleUpdateDeviceData(); |
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502 #ifdef DEMOMODE |
| 38 | 503 if(global.demo_mode) |
| 504 { | |
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505 int turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar); |
| 38 | 506 if(turbo_seconds) |
| 507 { | |
| 508 global.lifeData.dive_time_seconds += turbo_seconds; | |
| 509 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData); | |
| 510 copyTissueData(); | |
| 511 } | |
| 512 if((global.lifeData.counterSecondsShallowDepth > 1) && (global.lifeData.counterSecondsShallowDepth < (global.settings.timeoutDiveReachedZeroDepth - 10))) | |
| 513 global.lifeData.counterSecondsShallowDepth = (global.settings.timeoutDiveReachedZeroDepth - 10); | |
| 514 } | |
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515 #endif |
| 38 | 516 |
| 517 //Calc ascentrate every two second (20 * 100 ms) | |
| 518 counterAscentRate++; | |
| 519 if(counterAscentRate == 20) | |
| 520 { | |
| 521 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 522 if(lastPressure_bar >= 0) | |
| 523 { | |
| 524 //2 seconds * 30 == 1 minute, bar * 10 = meter | |
| 525 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10; | |
| 526 } | |
| 527 lastPressure_bar = global.lifeData.pressure_ambient_bar; | |
| 528 counterAscentRate = 0; | |
| 529 } | |
| 135 | 530 copyPressureData(); |
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531 Scheduler.counterPressure100msec++; |
| 38 | 532 } |
| 533 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... | |
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534 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 535 { |
| 536 compass_read(); | |
| 537 acceleration_read(); | |
| 538 compass_calc(); | |
| 539 copyCompassData(); | |
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540 Scheduler.counterCompass100msec++; |
| 135 | 541 } |
| 38 | 542 |
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543 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 544 { |
| 545 adc_ambient_light_sensor_get_data(); | |
| 546 copyAmbientLightData(); | |
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547 Scheduler.counterAmbientLight100msec++; |
| 38 | 548 } |
| 549 | |
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550 //Evaluate tissues, toxic data, vpm, etc. once a second |
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551 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 552 { |
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553 Scheduler.tick_execute1second = 0xFFFFFFFF; /* execute once only in the second cycle */ |
| 38 | 554 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) |
| 555 { | |
| 556 scheduleUpdateLifeData(0); // includes tissues | |
| 557 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too | |
| 558 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); | |
| 559 decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2); | |
| 560 decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2); | |
| 88 | 561 battery_gas_gauge_get_data(); |
| 38 | 562 |
| 563 | |
| 564 /** counter_exit allows safe exit via button for testing | |
| 565 * and demo_mode is exited too if aplicable. | |
| 566 */ | |
| 567 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 568 { | |
| 569 counter_exit++; | |
| 570 if(counter_exit >= 2) | |
| 571 { | |
| 572 global.mode = MODE_SURFACE; | |
| 573 global.demo_mode = 0; | |
| 574 } | |
| 575 } | |
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576 |
| 38 | 577 if(is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 578 { | |
| 579 global.lifeData.counterSecondsShallowDepth++; | |
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580 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0)) |
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581 || (ManualExitDiveCounter)) |
| 38 | 582 { |
| 583 global.seconds_since_last_dive = 1; // start counter | |
| 584 schedule_update_timer_helper(0); // zum starten :-) | |
| 585 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 586 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 587 } | |
| 588 } | |
| 589 else | |
| 590 { | |
| 591 global.lifeData.counterSecondsShallowDepth = 0; | |
| 592 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 593 } | |
| 594 vpm_crush2(); | |
| 595 } | |
| 596 else // DIVEMODE_Apnea | |
| 597 { | |
| 598 global.lifeData.dive_time_seconds++; | |
| 599 | |
| 600 // exit dive mode | |
| 601 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 602 { | |
| 603 counter_exit++; | |
| 604 if(counter_exit >= 2) | |
| 605 { | |
| 606 scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode | |
| 607 global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time | |
| 608 global.mode = MODE_SURFACE; | |
| 609 global.demo_mode = 0; | |
| 610 } | |
| 611 } | |
| 612 | |
| 613 // surface break | |
| 614 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
| 615 { | |
| 616 global.lifeData.counterSecondsShallowDepth++; | |
| 617 if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds | |
| 618 { | |
| 619 global.lifeData.dive_time_seconds = 0; // this apnea dive ends here | |
| 620 } | |
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621 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (ManualExitDiveCounter)) |
| 38 | 622 { |
| 623 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 624 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 625 } | |
| 626 } | |
| 627 else | |
| 628 { | |
| 629 global.lifeData.counterSecondsShallowDepth = 0; | |
| 630 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 631 } | |
| 632 } // standard dive or DIVEMODE_Apnea | |
| 633 | |
| 88 | 634 copyVpmCrushingData(); |
| 635 copyTimeData(); | |
| 636 copyCnsAndOtuData(); | |
| 637 copyBatteryData(); | |
| 38 | 638 |
| 88 | 639 // new hw 170523 |
| 640 if(global.I2C_SystemStatus != HAL_OK) | |
| 641 { | |
| 642 MX_I2C1_TestAndClear(); | |
| 643 MX_I2C1_Init(); | |
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644 init_pressure(); |
| 88 | 645 } |
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646 } |
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647 if(ticksdiff >= 1000) |
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648 { |
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649 /* reset counter */ |
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650 Scheduler.tickstart = HAL_GetTick(); |
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651 Scheduler.counterSPIdata100msec = 0; |
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652 Scheduler.counterCompass100msec = 0; |
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653 Scheduler.counterPressure100msec = 0; |
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654 Scheduler.counterAmbientLight100msec = 0; |
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655 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 656 } |
| 657 } | |
| 658 } | |
| 659 | |
| 660 | |
| 661 /** | |
| 662 ****************************************************************************** | |
| 663 * @brief scheduleSurfaceMode / surface mode: Main Loop | |
| 664 * @author Peter Ryser | |
| 665 * @version V0.0.1 | |
| 666 * @date 22-April-2014 | |
| 667 ****************************************************************************** | |
| 668 */ | |
| 669 | |
| 670 | |
| 671 // =============================================================================== | |
| 672 // scheduleTestMode | |
| 673 /// @brief included for sealed hardware with permanent RTE update message | |
| 674 // =============================================================================== | |
| 675 void scheduleTestMode(void) | |
| 676 { | |
| 677 uint32_t ticksdiff = 0; | |
| 678 uint32_t lasttick = 0; | |
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679 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 680 |
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681 Scheduler.counterPressure100msec = 0; |
| 38 | 682 |
| 683 float temperature_carousel = 0.0f; | |
| 684 float temperature_changer = 0.1f; | |
| 685 | |
| 686 while(global.mode == MODE_TEST) | |
| 687 { | |
| 688 lasttick = HAL_GetTick(); | |
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689 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
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690 |
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691 //Evaluate received data at 10 ms, 110 ms, 210 ms,... |
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692 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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693 { |
| 277 | 694 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 695 { | |
| 696 Scheduler.counterSPIdata100msec++; | |
| 697 } | |
| 698 schedule_check_resync(); | |
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699 } |
| 38 | 700 |
| 701 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... | |
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702 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 703 { |
| 704 global.check_sync_not_running++; | |
| 705 | |
| 277 | 706 pressure_update_alternating(); |
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707 scheduleUpdateDeviceData(); |
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708 global.lifeData.ascent_rate_meter_per_min = 0; |
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709 copyPressureData(); |
| 38 | 710 |
| 711 if(temperature_carousel > 20.0f) | |
| 712 { | |
| 713 temperature_carousel = 20.0f; | |
| 714 temperature_changer = -0.1f; | |
| 715 } | |
| 716 else | |
| 717 if(temperature_carousel < 0) | |
| 718 { | |
| 719 temperature_carousel = 0; | |
| 720 temperature_changer = +0.1f; | |
| 721 } | |
| 722 | |
| 723 temperature_carousel += temperature_changer; | |
| 724 | |
| 725 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; | |
| 726 | |
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727 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); |
| 38 | 728 |
| 729 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; | |
| 730 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 731 global.dataSendToMaster.boolPressureData = boolPressureData; | |
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732 Scheduler.counterPressure100msec++; |
| 38 | 733 } |
| 734 | |
| 735 if(ticksdiff >= 1000) | |
| 736 { | |
| 737 //Set back tick counter | |
|
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738 Scheduler.tickstart = HAL_GetTick(); |
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739 Scheduler.counterPressure100msec = 0; |
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740 Scheduler.counterSPIdata100msec = 0; |
| 38 | 741 } |
| 742 }; | |
| 743 } | |
| 744 | |
| 745 | |
|
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746 |
| 38 | 747 void scheduleSurfaceMode(void) |
| 748 { | |
|
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749 |
| 38 | 750 uint32_t ticksdiff = 0; |
| 751 uint32_t lasttick = 0; | |
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752 Scheduler.tickstart = HAL_GetTick(); |
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753 Scheduler.counterSPIdata100msec = 0; |
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754 Scheduler.counterCompass100msec = 0; |
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755 Scheduler.counterPressure100msec = 0; |
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756 Scheduler.counterAmbientLight100msec = 0; |
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757 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
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758 |
| 38 | 759 global.dataSendToMaster.mode = MODE_SURFACE; |
| 760 global.deviceDataSendToMaster.mode = MODE_SURFACE; | |
| 761 | |
| 762 while(global.mode == MODE_SURFACE) | |
| 763 { | |
| 277 | 764 |
| 38 | 765 lasttick = HAL_GetTick(); |
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766 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 767 |
| 768 if(setButtonsNow == 1) | |
| 769 { | |
| 770 if(scheduleSetButtonResponsiveness()) | |
| 771 setButtonsNow = 0; | |
| 772 } | |
| 773 | |
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774 /* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */ |
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775 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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776 { |
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777 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
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778 { |
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779 Scheduler.counterSPIdata100msec++; |
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780 } |
| 277 | 781 schedule_check_resync(); |
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782 } |
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783 |
|
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784 /* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */ |
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785 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 786 { |
| 787 global.check_sync_not_running++; | |
| 277 | 788 pressure_update_alternating(); |
| 135 | 789 scheduleUpdateDeviceData(); |
| 38 | 790 global.lifeData.ascent_rate_meter_per_min = 0; |
| 135 | 791 copyPressureData(); |
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792 Scheduler.counterPressure100msec++; |
| 135 | 793 |
|
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794 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 38 | 795 global.mode = MODE_DIVE; |
| 796 } | |
| 797 | |
|
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798 /* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */ |
|
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799 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 800 { |
| 801 compass_read(); | |
| 802 acceleration_read(); | |
| 803 compass_calc(); | |
| 804 copyCompassData(); | |
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805 Scheduler.counterCompass100msec++; |
| 135 | 806 } |
| 38 | 807 |
|
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808 /* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */ |
|
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809 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 810 { |
| 811 adc_ambient_light_sensor_get_data(); | |
| 812 copyAmbientLightData(); | |
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813 Scheduler.counterAmbientLight100msec++; |
| 38 | 814 } |
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815 |
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816 |
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817 |
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818 /* Evaluate tissues, toxic data, etc. once a second... duration ~1ms */ |
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819 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 820 { |
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821 Scheduler.tick_execute1second = 0xFFFFFFFF; |
| 38 | 822 if(clearDecoNow) |
| 823 { | |
| 824 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time | |
| 825 // new 160215 hw | |
| 826 global.repetitive_dive = 0; | |
| 827 global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well | |
| 828 global.no_fly_time_minutes = 0; | |
| 829 global.accidentFlag = 0; | |
| 830 global.accidentRemainingSeconds = 0; | |
| 831 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); | |
| 832 clearDecoNow = 0; | |
| 833 } | |
| 89 | 834 |
|
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835 if(ManualExitDiveCounter) |
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836 { |
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837 ManualExitDiveCounter--; |
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838 } |
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839 |
| 38 | 840 if(global.seconds_since_last_dive) |
| 841 { | |
| 842 schedule_update_timer_helper(-1); | |
| 843 } | |
| 89 | 844 |
| 38 | 845 if(global.accidentRemainingSeconds) |
| 846 { | |
| 847 global.accidentRemainingSeconds--; | |
| 848 if(!global.accidentRemainingSeconds) | |
| 849 global.accidentFlag = 0; | |
| 850 } | |
| 851 global.dataSendToMaster.accidentFlags = global.accidentFlag; | |
| 89 | 852 |
| 38 | 853 update_surface_pressure(1); |
| 854 scheduleUpdateLifeData(0); | |
| 855 decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive); | |
| 856 decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive); | |
| 135 | 857 |
| 858 /* start desaturation calculation after first valid measurement has been done */ | |
| 859 if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE) | |
| 860 { | |
| 861 global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar); | |
| 862 } | |
| 863 else | |
| 864 { | |
| 865 global.lifeData.desaturation_time_minutes = 0; | |
| 866 } | |
| 38 | 867 battery_charger_get_status_and_contral_battery_gas_gauge(0); |
| 88 | 868 battery_gas_gauge_get_data(); |
| 89 | 869 |
| 88 | 870 copyCnsAndOtuData(); |
| 871 copyTimeData(); | |
| 872 copyBatteryData(); | |
| 873 copyDeviceData(); | |
| 38 | 874 |
|
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875 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occured during startup */ |
| 88 | 876 if(global.I2C_SystemStatus != HAL_OK) |
| 877 { | |
| 878 MX_I2C1_TestAndClear(); | |
| 879 MX_I2C1_Init(); | |
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880 if(global.I2C_SystemStatus == HAL_OK) |
| 88 | 881 { |
| 882 init_pressure(); | |
|
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883 if(is_init_pressure_done()) /* Init surface data with initial measurement */ |
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884 { |
|
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885 init_surface_ring(0); |
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886 } |
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887 |
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888 if(!battery_gas_gauge_CheckConfigOK()) |
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889 { |
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890 init_battery_gas_gauge(); |
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891 } |
| 88 | 892 } |
| 893 } | |
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894 } |
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895 |
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896 if(ticksdiff >= 1000) |
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897 { |
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898 //Set back tick counter |
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899 Scheduler.tickstart = HAL_GetTick(); |
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900 Scheduler.counterSPIdata100msec = 0; |
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901 Scheduler.counterCompass100msec = 0; |
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902 Scheduler.counterPressure100msec = 0; |
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903 Scheduler.counterAmbientLight100msec = 0; |
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904 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 905 } |
| 906 } | |
| 907 } | |
| 908 | |
| 207 | 909 inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod) |
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910 { |
| 207 | 911 if( SyncMethod < SPI_SYNC_METHOD_INVALID) |
| 912 { | |
| 913 dospisync = SyncMethod; | |
| 914 } | |
| 915 } | |
| 916 | |
|
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917 void Scheduler_SyncToSPI(uint8_t TXtick) |
| 207 | 918 { |
| 919 uint32_t deltatick = 0; | |
|
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920 int8_t TXcompensation; |
| 207 | 921 |
| 922 switch(dospisync) | |
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923 { |
| 207 | 924 case SPI_SYNC_METHOD_HARD: |
| 925 //Set back tick counter | |
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926 Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */ |
| 207 | 927 Scheduler.counterSPIdata100msec = 0; |
| 928 Scheduler.counterCompass100msec = 0; | |
| 929 Scheduler.counterPressure100msec = 0; | |
| 930 Scheduler.counterAmbientLight100msec = 0; | |
| 931 dospisync = SPI_SYNC_METHOD_NONE; | |
| 932 break; | |
| 933 case SPI_SYNC_METHOD_SOFT: | |
| 934 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); | |
| 935 deltatick %= 100; /* clip to 100ms window */ | |
| 936 if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */ | |
| 937 { | |
| 938 Scheduler.tickstart -= deltatick; | |
| 939 } | |
| 940 else | |
| 941 { | |
| 942 Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart); | |
| 943 } | |
| 944 dospisync = SPI_SYNC_METHOD_NONE; | |
| 945 break; | |
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946 default: /* continous sync activity */ |
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947 if(TXtick < 100) /* do not handle unexpected jump length > 100ms */ |
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948 { |
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949 TXtick += 4; /* add 4ms TX time to offset of 100ms time stamp */ |
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950 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); |
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951 deltatick %= 100; |
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952 if(deltatick > 50) |
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953 { |
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954 TXcompensation = deltatick - 100; /* neg drift */ |
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955 } |
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956 else |
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957 { |
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958 TXcompensation = deltatick; /* pos drift */ |
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959 } |
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960 TXcompensation = TXtick - TXcompensation; |
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961 Scheduler.tickstart -= TXcompensation; |
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962 } |
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963 else |
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964 { |
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965 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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966 } |
| 207 | 967 break; |
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968 } |
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969 } |
| 38 | 970 |
| 971 /** | |
| 972 ****************************************************************************** | |
| 973 * @brief scheduleCompassCalibrationMode | |
| 974 * @author heinrichs weikamp gmbh | |
| 975 * @version V0.0.1 | |
| 976 * @since 31-March-2015 | |
| 977 * @date 31-March-2015 | |
| 978 ****************************************************************************** | |
| 979 */ | |
| 980 void scheduleCompassCalibrationMode(void) | |
| 981 { | |
| 982 compass_init(1,7); // fast mode, max gain | |
| 983 compass_calib(); // duration : 1 minute! | |
| 984 compass_init(0,7); // back to normal mode | |
| 985 | |
| 986 if(global.seconds_since_last_dive) | |
| 987 { | |
| 988 schedule_update_timer_helper(-1); | |
| 989 } | |
| 990 | |
| 991 scheduleUpdateLifeData(0); | |
| 992 global.mode = MODE_SURFACE; | |
| 993 } | |
| 994 | |
| 995 | |
| 996 /** | |
| 997 ****************************************************************************** | |
| 998 * @brief scheduleSleepMode / sleep mode: Main Loop | |
| 999 * @author heinrichs weikamp gmbh | |
| 1000 * @version V0.0.2 | |
| 1001 * @since 31-March-2015 | |
| 1002 * @date 22-April-2014 | |
| 1003 ****************************************************************************** | |
| 1004 */ | |
| 1005 | |
| 1006 void scheduleSleepMode(void) | |
| 1007 { | |
| 1008 global.dataSendToMaster.mode = 0; | |
| 1009 global.deviceDataSendToMaster.mode = 0; | |
| 1010 | |
| 1011 /* prevent button wake up problem while in sleep_prepare | |
| 1012 * sleep prepare does I2C_DeInit() | |
| 1013 */ | |
| 1014 if(global.mode != MODE_SLEEP) | |
| 1015 MX_I2C1_Init(); | |
| 1016 else | |
| 1017 do | |
| 1018 { | |
| 1019 I2C_DeInit(); | |
| 1020 | |
| 1021 #ifdef DEBUGMODE | |
| 1022 HAL_Delay(2000); | |
| 1023 #else | |
| 1024 RTC_StopMode_2seconds(); | |
| 1025 #endif | |
| 1026 | |
| 1027 | |
| 1028 | |
| 1029 if(global.mode == MODE_SLEEP) | |
| 1030 secondsCount += 2; | |
| 1031 | |
| 1032 MX_I2C1_Init(); | |
| 1033 pressure_sensor_get_pressure_raw(); | |
| 1034 | |
| 356 | 1035 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occurred during startup */ |
|
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1036 if(global.I2C_SystemStatus != HAL_OK) |
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1037 { |
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1038 MX_I2C1_TestAndClear(); |
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1039 MX_I2C1_Init(); |
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1040 if(global.I2C_SystemStatus == HAL_OK) |
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1041 { |
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1042 init_pressure(); |
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1043 } |
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1044 } |
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1045 |
| 38 | 1046 if(secondsCount >= 30) |
| 1047 { | |
| 1048 pressure_sensor_get_temperature_raw(); | |
| 1049 battery_gas_gauge_get_data(); | |
| 1050 // ReInit_battery_charger_status_pins(); | |
| 1051 battery_charger_get_status_and_contral_battery_gas_gauge(1); | |
| 1052 // DeInit_battery_charger_status_pins(); | |
| 1053 secondsCount = 0; | |
| 1054 } | |
| 1055 | |
| 1056 pressure_calculation(); | |
| 1057 | |
| 1058 scheduleUpdateDeviceData(); | |
| 1059 update_surface_pressure(2); | |
| 1060 | |
| 1061 if(global.seconds_since_last_dive) | |
| 1062 { | |
| 1063 schedule_update_timer_helper(-1); | |
| 1064 } | |
| 1065 | |
| 1066 if(global.accidentRemainingSeconds) | |
| 1067 { | |
| 1068 if(global.accidentRemainingSeconds > 2) | |
| 1069 global.accidentRemainingSeconds -= 2; | |
| 1070 else | |
| 1071 { | |
| 1072 global.accidentRemainingSeconds = 0; | |
| 1073 global.accidentFlag = 0; | |
| 1074 } | |
| 1075 } | |
| 1076 | |
|
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1077 if (((!is_ambient_pressure_close_to_surface(&global.lifeData)) && (global.lifeData.pressure_surface_bar > START_DIVE_MOUNTAIN_MODE_BAR )) |
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1078 || (global.lifeData.pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR)) |
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1079 { |
| 38 | 1080 global.mode = MODE_BOOT; |
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1081 } |
| 38 | 1082 scheduleUpdateLifeData(2000); |
| 1083 } | |
| 1084 while(global.mode == MODE_SLEEP); | |
| 1085 /* new section for system after Standby */ | |
| 1086 scheduleUpdateLifeData(-1); | |
| 1087 clearDecoNow = 0; | |
| 1088 setButtonsNow = 0; | |
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1089 reinitGlobals(); |
| 38 | 1090 } |
| 1091 | |
| 1092 | |
| 1093 | |
| 1094 /* Private functions ---------------------------------------------------------*/ | |
| 1095 | |
| 1096 /** | |
| 1097 ****************************************************************************** | |
| 1098 * @brief scheduleUpdateLifeData / calculates tissues | |
| 1099 * @author Peter Ryser | |
| 1100 * @version V0.0.1 | |
| 1101 * @date 22-April-2014 | |
| 1102 ****************************************************************************** | |
| 1103 */ | |
| 1104 | |
| 1105 | |
| 1106 void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last) | |
| 1107 { | |
| 1108 static _Bool first = 1; | |
| 1109 static uint32_t tickstart = 0; | |
| 1110 static uint32_t ticksrest = 0; | |
| 1111 | |
| 1112 uint32_t ticksdiff = 0; | |
| 1113 uint32_t ticksnow = 0; | |
| 1114 uint32_t time_seconds = 0; | |
| 1115 uint8_t whichGasTmp = 0; | |
| 1116 | |
| 135 | 1117 uint8_t updateTissueData = 0; |
| 1118 | |
| 1119 | |
| 1120 if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE) | |
| 1121 { | |
| 1122 updateTissueData = 1; | |
| 1123 } | |
| 1124 | |
| 38 | 1125 if(asynchron_milliseconds_since_last < 0) |
| 1126 { | |
| 1127 first = 1; | |
| 1128 tickstart = 0; | |
| 1129 ticksrest = 0; | |
| 1130 return; | |
| 1131 } | |
| 1132 | |
| 1133 if(!asynchron_milliseconds_since_last && first) | |
| 1134 { | |
| 1135 tickstart = HAL_GetTick(); | |
| 1136 first = 0; | |
| 1137 return; | |
| 1138 } | |
| 1139 | |
| 1140 whichGasTmp = global.whichGas; | |
| 1141 global.lifeData.actualGas = global.aktualGas[whichGasTmp]; | |
| 1142 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 1143 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; | |
| 1144 | |
| 135 | 1145 if(updateTissueData) |
| 1146 { | |
| 1147 decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData); | |
| 1148 } | |
| 1149 | |
| 38 | 1150 if(!asynchron_milliseconds_since_last) |
| 1151 { | |
| 1152 ticksnow = HAL_GetTick(); | |
| 1153 ticksdiff = time_elapsed_ms(tickstart,ticksnow); | |
| 1154 } | |
| 1155 else | |
| 1156 { | |
| 1157 first = 1; | |
| 1158 ticksdiff = asynchron_milliseconds_since_last; | |
| 1159 } | |
| 1160 | |
| 1161 if(ticksrest > 1000) // whatever happens after standby with STM32L476 | |
| 1162 ticksrest = 0; // maybe move static to SRAM2 | |
| 1163 | |
| 1164 ticksdiff += ticksrest; | |
| 1165 time_seconds = ticksdiff/ 1000; | |
| 1166 ticksrest = ticksdiff - time_seconds * 1000; | |
| 1167 tickstart = ticksnow; | |
| 1168 | |
| 1169 decom_tissues_exposure((int)time_seconds, &global.lifeData); | |
| 1170 if(global.demo_mode) | |
| 1171 decom_tissues_exposure((int)(3*time_seconds), &global.lifeData); | |
| 1172 copyTissueData(); | |
| 1173 } | |
| 1174 | |
| 1175 | |
| 1176 /** | |
| 1177 ****************************************************************************** | |
| 1178 * @brief scheduleUpdateDeviceData | |
| 1179 * @author heinrichs weikamp gmbh | |
| 1180 * @version V0.0.1 | |
| 1181 * @date 16-March-2015 | |
| 1182 * | |
| 1183 * two step process | |
| 1184 * first compare with data from main CPU == externalLogbookFlash | |
| 1185 * second update with new sensor data | |
| 1186 ****************************************************************************** | |
| 1187 */ | |
| 1188 void scheduleSetDate(SDeviceLine *line) | |
| 1189 { | |
| 1190 extern RTC_HandleTypeDef RTCHandle; | |
| 1191 | |
| 1192 line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1193 line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1194 } | |
| 1195 | |
| 1196 | |
| 1197 void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead) | |
| 1198 { | |
| 1199 lineWrite->date_rtc_dr = lineRead->date_rtc_dr; | |
| 1200 lineWrite->time_rtc_tr = lineRead->time_rtc_tr; | |
| 1201 lineWrite->value_int32 = lineRead->value_int32; | |
| 1202 } | |
| 1203 | |
| 1204 | |
|
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1205 void scheduletranslateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) |
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1206 { |
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1207 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); |
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1208 |
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1209 /* Fill the structure fields with the read parameters */ |
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1210 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); |
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1211 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); |
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1212 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); |
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1213 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); |
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1214 |
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1215 /* Convert the date structure parameters to Binary format */ |
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1216 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); |
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1217 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); |
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1218 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); |
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1219 } |
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1220 |
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1221 void scheduleCheckDate(void) |
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1222 { |
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1223 uint32_t localdate; |
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1224 RTC_DateTypeDef sDate; |
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1225 localdate = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); |
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1226 scheduletranslateDate(localdate, &sDate); |
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1227 |
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1228 /* 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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1229 if(sDate.Year < 15) |
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1230 { |
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1231 scheduletranslateDate(DeviceDataFlash.hoursOfOperation.date_rtc_dr, &sDate); |
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1232 if(sDate.Year > 16) |
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1233 { |
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1234 RTC_SetDate(sDate); |
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1235 } |
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1236 } |
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1237 |
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1238 } |
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|
1239 |
| 38 | 1240 void scheduleUpdateDeviceData(void) |
| 1241 { | |
| 1242 /* first step, main CPU */ | |
| 1243 | |
| 1244 if(deviceDataFlashValid) | |
| 1245 { | |
| 1246 /* max values */ | |
|
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1247 if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32) |
|
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|
1248 { |
|
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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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|
1249 scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation); |
|
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|
1250 #ifdef RESTORE_LAST_KNOWN_DATE |
|
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1251 scheduleCheckDate(); |
|
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|
1252 #endif |
|
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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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|
1253 } |
| 38 | 1254 if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32) |
| 1255 { | |
| 1256 scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles); | |
| 1257 } | |
| 1258 if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32) | |
| 1259 { | |
| 1260 scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles); | |
| 1261 } | |
| 1262 if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32) | |
| 1263 { | |
| 1264 scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum); | |
| 1265 } | |
| 1266 if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32) | |
| 1267 { | |
| 1268 scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum); | |
| 1269 } | |
| 1270 if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32) | |
| 1271 { | |
| 1272 scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles); | |
| 1273 } | |
| 1274 | |
| 1275 /* min values */ | |
| 1276 if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32) | |
| 1277 { | |
| 1278 scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum); | |
| 1279 } | |
| 1280 if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32) | |
| 1281 { | |
| 1282 scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum); | |
| 1283 } | |
| 1284 } | |
| 1285 | |
| 1286 /* second step, sensor data */ | |
| 1287 int32_t temperature_centigrad_int32; | |
| 1288 int32_t pressure_mbar_int32; | |
| 1289 int32_t voltage_mvolt_int32; | |
| 1290 | |
| 1291 temperature_centigrad_int32 = (int32_t)(get_temperature() * 100); | |
| 1292 if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32) | |
| 1293 { | |
| 1294 global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1295 scheduleSetDate(&global.deviceData.temperatureMinimum); |
| 38 | 1296 } |
| 1297 | |
| 1298 if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32) | |
| 1299 { | |
| 1300 global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1301 scheduleSetDate(&global.deviceData.temperatureMaximum); |
| 38 | 1302 } |
| 1303 | |
| 1304 pressure_mbar_int32 = (int32_t)get_pressure_mbar(); | |
| 1305 if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32) | |
| 1306 { | |
| 1307 global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32; | |
| 88 | 1308 scheduleSetDate(&global.deviceData.depthMaximum); |
| 38 | 1309 } |
| 1310 | |
| 1311 voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000); | |
| 1312 if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32) | |
| 1313 { | |
| 1314 global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32; | |
| 88 | 1315 scheduleSetDate(&global.deviceData.voltageMinimum); |
| 38 | 1316 } |
| 1317 | |
| 1318 /* third step, counter */ | |
| 1319 switch (global.mode) | |
| 1320 { | |
| 1321 case MODE_SURFACE: | |
| 1322 case MODE_DIVE: | |
| 1323 default: | |
| 1324 deviceDataSubSeconds++; | |
| 1325 if(deviceDataSubSeconds > 10) | |
| 1326 { | |
| 1327 deviceDataSubSeconds = 0; | |
| 1328 global.deviceData.hoursOfOperation.value_int32++; | |
|
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diff
changeset
|
1329 scheduleSetDate(&global.deviceData.hoursOfOperation); |
| 38 | 1330 } |
| 1331 break; | |
| 1332 | |
| 1333 case MODE_SLEEP: | |
| 1334 case MODE_SHUTDOWN: | |
| 1335 break; | |
| 1336 } | |
| 1337 } | |
| 1338 | |
| 1339 | |
| 1340 void scheduleUpdateDeviceDataChargerFull(void) | |
| 1341 { | |
| 1342 global.deviceData.batteryChargeCompleteCycles.value_int32++; | |
| 88 | 1343 scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles); |
| 38 | 1344 } |
| 1345 | |
| 1346 | |
| 1347 void scheduleUpdateDeviceDataChargerCharging(void) | |
| 1348 { | |
| 1349 global.deviceData.batteryChargeCycles.value_int32++; | |
| 88 | 1350 scheduleSetDate(&global.deviceData.batteryChargeCycles); |
| 38 | 1351 } |
| 1352 | |
| 1353 | |
| 1354 /** | |
| 1355 ****************************************************************************** | |
| 1356 * @brief vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend | |
| 1357 * @author Peter Ryser | |
| 1358 * @version V0.0.1 | |
| 1359 * @date 22-April-2014 | |
| 1360 ****************************************************************************** | |
| 1361 */ | |
| 1362 _Bool vpm_crush2(void) | |
| 1363 { | |
| 1364 int i = 0; | |
| 1365 static float starting_ambient_pressure = 0; | |
| 1366 static float ending_ambient_pressure = 0; | |
| 1367 static float time_calc_begin = -1; | |
| 1368 static float initial_helium_pressure[16]; | |
| 1369 static float initial_nitrogen_pressure[16]; | |
| 1370 ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1371 | |
| 1372 if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 1373 { | |
| 1374 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1375 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1376 for( i = 0; i < 16; i++) | |
| 1377 { | |
| 1378 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1379 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1380 } | |
| 1381 return 0; | |
| 1382 } | |
| 1383 if(global.lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 1384 { | |
| 1385 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 1386 { | |
| 1387 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 1388 calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 1389 | |
| 1390 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1391 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1392 for( i = 0; i < 16; i++) | |
| 1393 { | |
| 1394 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1395 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1396 } | |
| 1397 | |
| 1398 return 1; | |
| 1399 } | |
| 1400 | |
| 1401 } | |
| 1402 return 0; | |
| 1403 } | |
| 1404 | |
| 1405 | |
| 1406 long get_nofly_time_minutes(void) | |
| 1407 { | |
| 1408 | |
| 1409 if(global.no_fly_time_minutes <= 0) | |
| 1410 return 0; | |
| 1411 | |
| 1412 long minutes_since_last_dive = global.seconds_since_last_dive/60; | |
| 1413 | |
| 1414 if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive)) | |
| 1415 { | |
| 1416 return (global.no_fly_time_minutes - minutes_since_last_dive); | |
| 1417 } | |
| 1418 else | |
| 1419 { | |
| 1420 global.no_fly_time_minutes = 0; | |
| 1421 return 0; | |
| 1422 } | |
| 1423 } | |
| 1424 | |
| 1425 | |
| 1426 //Supports threadsave copying!!! | |
| 1427 void copyActualGas(SGas gas) | |
| 1428 { | |
| 1429 uint8_t whichGas = !global.whichGas; | |
| 1430 global.aktualGas[whichGas] = gas; | |
| 1431 global.whichGas = whichGas; | |
| 1432 } | |
| 1433 | |
| 1434 | |
| 1435 //Supports threadsave copying!!! | |
| 1436 void copyPressureData(void) | |
| 1437 { | |
|
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|
1438 global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus; |
| 38 | 1439 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; |
| 1440 global.dataSendToMaster.data[boolPressureData].temperature = get_temperature(); | |
| 1441 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); | |
| 1442 global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar(); | |
| 1443 global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min; | |
| 1444 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 1445 global.dataSendToMaster.boolPressureData = boolPressureData; | |
|
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|
1446 global.dataSendToMaster.data[boolPressureData].SPARE1 = is_surface_pressure_stable(); |
| 38 | 1447 } |
| 1448 | |
| 1449 | |
| 1450 //Supports threadsave copying!!! | |
| 1451 void copyCnsAndOtuData(void) | |
| 1452 { | |
| 1453 //uint8_t dataSendToMaster. | |
| 1454 uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData; | |
| 1455 global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns; | |
| 1456 global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu; | |
| 1457 global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes; | |
| 1458 global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes(); | |
| 1459 global.dataSendToMaster.boolToxicData = boolToxicData; | |
| 1460 } | |
| 1461 | |
| 1462 | |
| 1463 //Supports threadsave copying!!! | |
| 1464 void copyTimeData(void) | |
| 1465 { | |
| 1466 extern RTC_HandleTypeDef RTCHandle; | |
| 1467 | |
| 1468 uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData; | |
| 1469 global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1470 global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1471 global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds; | |
| 1472 global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time; | |
| 1473 global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive; | |
| 1474 global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth; | |
| 1475 global.dataSendToMaster.boolTimeData = boolTimeData; | |
| 1476 } | |
| 1477 | |
| 1478 | |
| 1479 //Supports threadsave copying!!! | |
| 1480 void copyCompassData(void) | |
| 1481 { | |
| 1482 extern float compass_heading; | |
| 1483 extern float compass_roll; | |
| 1484 extern float compass_pitch; | |
| 1485 //uint8_t dataSendToMaster. | |
| 1486 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1487 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1488 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1489 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1490 global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0; | |
| 1491 global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0; | |
| 1492 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0; | |
| 1493 global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick(); | |
| 1494 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1495 } | |
| 1496 | |
| 1497 | |
| 1498 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz) | |
| 1499 { | |
| 1500 extern float compass_heading; | |
| 1501 extern float compass_roll; | |
| 1502 extern float compass_pitch; | |
| 1503 //uint8_t dataSendToMaster. | |
| 1504 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1505 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1506 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1507 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1508 global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx; | |
| 1509 global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy; | |
| 1510 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz; | |
| 1511 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1512 } | |
| 1513 | |
| 1514 | |
| 1515 //Supports threadsave copying!!! | |
| 1516 void copyBatteryData(void) | |
| 1517 { | |
| 1518 uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData; | |
| 1519 global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage(); | |
| 1520 global.dataSendToMaster.data[boolBatteryData].battery_charge= get_charge(); | |
| 1521 global.dataSendToMaster.boolBatteryData = boolBatteryData; | |
| 1522 } | |
| 1523 | |
| 1524 | |
| 1525 //Supports threadsave copying!!! | |
| 1526 void copyAmbientLightData(void) | |
| 1527 { | |
| 1528 uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData; | |
| 1529 global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level(); | |
| 1530 global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData; | |
| 1531 } | |
| 1532 | |
| 1533 | |
| 1534 //Supports threadsave copying!!! | |
| 1535 void copyTissueData(void) | |
| 1536 { | |
| 1537 //uint8_t dataSendToMaster. | |
| 1538 uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData; | |
| 1539 for(int i = 0; i < 16; i++) | |
| 1540 { | |
| 1541 global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i]; | |
| 1542 global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i]; | |
| 1543 } | |
| 1544 global.dataSendToMaster.boolTisssueData = boolTisssueData; | |
| 1545 } | |
| 1546 | |
| 1547 | |
| 1548 //Supports threadsave copying!!! | |
| 1549 void copyVpmCrushingData(void) | |
| 1550 { | |
| 1551 //uint8_t dataSendToMaster. | |
| 1552 uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData; | |
| 1553 for(int i = 0; i < 16; i++) | |
| 1554 { | |
| 1555 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i]; | |
| 1556 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i]; | |
| 1557 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i]; | |
| 1558 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i]; | |
| 1559 } | |
| 1560 global.dataSendToMaster.boolCrushingData = boolCrushingData; | |
| 1561 } | |
| 1562 | |
| 1563 | |
| 1564 void copyDeviceData(void) | |
| 1565 { | |
| 1566 uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData; | |
| 1567 memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice)); | |
| 1568 global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; | |
| 1569 | |
| 1570 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0; | |
| 1571 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, &global.vpm.adjusted_critical_radius_he, sizeof(16*4)); | |
| 1572 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, &global.vpm.adjusted_critical_radius_n2, sizeof(16*4)); | |
| 1573 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he, &global.vpm.adjusted_crushing_pressure_he, sizeof(16*4)); | |
| 1574 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2, &global.vpm.adjusted_crushing_pressure_n2, sizeof(16*4)); | |
| 1575 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he, &global.vpm.initial_allowable_gradient_he, sizeof(16*4)); | |
| 1576 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2, &global.vpm.initial_allowable_gradient_n2, sizeof(16*4)); | |
| 1577 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, &global.vpm.max_actual_gradient, sizeof(16*4)); | |
| 1578 global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid; | |
| 1579 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1; | |
| 1580 } | |
| 1581 | |
| 1582 /* copyPICdata(); is used in spi.c */ | |
| 1583 void copyPICdata(void) | |
| 1584 { | |
| 1585 uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata; | |
| 1586 for(int i = 0; i < 3; i++) | |
| 1587 { | |
| 1588 global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i]; | |
| 1589 } | |
| 1590 global.dataSendToMaster.boolPICdata = boolPICdata; | |
| 1591 } | |
| 1592 | |
| 1593 | |
| 1594 typedef enum | |
| 1595 { | |
| 1596 SPI3_OK = 0x00, | |
| 1597 SPI3_DEINIT = 0x01, | |
| 1598 } SPI3_StatusTypeDef; | |
| 1599 /* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine | |
| 1600 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit | |
| 1601 and will be init the next call of scheduleSetButtonResponsiveness() | |
| 1602 and data will be send again on the third call | |
| 1603 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active | |
| 1604 */ | |
| 1605 uint8_t scheduleSetButtonResponsiveness(void) | |
| 1606 { | |
| 1607 static uint8_t SPI3status = SPI3_OK; | |
| 1608 | |
| 1609 if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata))) | |
| 1610 { | |
| 1611 copyPICdata(); | |
| 1612 return 1; | |
| 1613 } | |
| 1614 else | |
| 1615 { | |
| 1616 for(int i=0;i<3;i++) | |
| 1617 { | |
| 1618 global.ButtonPICdata[i] = 0xFF; | |
| 1619 } | |
| 1620 copyPICdata(); | |
| 1621 | |
| 1622 if(SPI3status == SPI3_OK) | |
| 1623 { | |
| 1624 MX_SPI3_DeInit(); | |
| 1625 SPI3status = SPI3_DEINIT; | |
| 1626 } | |
| 1627 else | |
| 1628 { | |
| 1629 MX_SPI3_Init(); | |
| 1630 SPI3status = SPI3_OK; | |
| 1631 } | |
| 1632 return 0; | |
| 1633 } | |
| 1634 } | |
| 1635 | |
| 1636 | |
|
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parents:
181
diff
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|
1637 //save time difference |
| 38 | 1638 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) |
| 1639 { | |
| 1640 if(ticksstart <= ticksnow) | |
| 1641 { | |
| 1642 return ticksnow - ticksstart; | |
| 1643 } | |
| 1644 else | |
| 1645 { | |
| 1646 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 1647 } | |
| 1648 } | |
| 1649 | |
| 1650 /* same as in data_central.c */ | |
|
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1651 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 38 | 1652 { |
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1653 _Bool retval = true; |
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1654 |
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1655 if(lifeData->pressure_ambient_bar != INVALID_PREASURE_VALUE) /* as long as no valid data is available expect we are close to surface */ |
|
331
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1656 { |
|
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1657 /* 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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1658 if (lifeData->pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR) |
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1659 { |
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1660 retval = false; |
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1661 } |
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1662 else if(is_surface_pressure_stable()) /* this is the expected start condition */ |
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1663 { |
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1664 if((lifeData->pressure_ambient_bar >= (lifeData->pressure_surface_bar + 0.1f)) |
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1665 && (ManualExitDiveCounter == 0)) /* only if diver did not request to exit dive mode */ |
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1666 { |
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1667 retval = false; |
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1668 } |
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1669 } |
|
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|
1670 } |
|
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1671 return retval; |
| 38 | 1672 } |
| 1673 | |
| 1674 | |
| 1675 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/ | |
| 1676 |