Mercurial > public > ostc4
annotate Discovery/Src/data_central.c @ 542:6960df7ddb09
Added new t3 view showing first deco stop and tts in parallel:
TTS and deco stop may already be shown individually. Now also available in one view where TTS is limited to 99minutes (switch to hours) to avoid string overlap.
| author | Ideenmodellierer |
|---|---|
| date | Sat, 10 Oct 2020 21:02:05 +0200 |
| parents | d784f281833a |
| children | 1b995079c045 |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @copyright heinrichs weikamp | |
| 4 * @file data_central.c | |
| 5 * @author heinrichs weikamp gmbh | |
| 6 * @date 10-November-2014 | |
| 7 * @version V1.0.2 | |
| 8 * @since 10-Nov-2014 | |
| 9 * @brief All the data EXCEPT | |
| 10 * - settings (settings.c) | |
| 11 * feste Werte, die nur an der Oberfl�che ge�ndert werden | |
| 12 * - dataIn and dataOut (data_exchange.h and data_exchange_main.c) | |
| 13 * Austausch mit Small CPU | |
| 14 * @bug | |
| 15 * @warning | |
| 16 @verbatim | |
| 17 ============================================================================== | |
| 18 ##### SDiveState Real and Sim ##### | |
| 19 ============================================================================== | |
| 20 [..] SDiveSettings | |
| 21 copy of parts of Settings that are necessary during the dive | |
| 22 and could be modified during the dive without post dive changes. | |
| 23 | |
| 24 [..] SLifeData | |
| 25 written in DataEX_copy_to_LifeData(); | |
| 26 block 1 "lifedata" set by SmallCPU in stateReal | |
| 27 block 2 "actualGas" set by main CPU from user input and send to Small CPU | |
| 28 block 3 "calculated data" set by main CPU based on "lifedata" | |
| 29 | |
| 30 [..] SVpm | |
| 31 | |
| 32 [..] SEvents | |
| 33 | |
| 34 [..] SDecoinfo | |
| 35 | |
| 36 [..] mode | |
| 37 set by SmallCPU in stateReal, can be surface, dive, ... | |
| 38 | |
| 39 [..] data_old__lost_connection_to_slave | |
| 40 set by DataEX_copy_to_LifeData(); | |
| 41 | |
| 42 ============================================================================== | |
| 43 ##### SDiveState Deco ##### | |
| 44 ============================================================================== | |
| 45 [..] kjbkldafj�lasdfjasdf | |
| 46 | |
| 47 ============================================================================== | |
| 48 ##### decoLock ##### | |
| 49 ============================================================================== | |
| 50 [..] The handler that synchronizes the data between IRQ copy and main deco loop | |
| 51 | |
| 52 | |
| 53 @endverbatim | |
| 54 ****************************************************************************** | |
| 55 * @attention | |
| 56 * | |
| 57 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2> | |
| 58 * | |
| 59 ****************************************************************************** | |
| 60 */ | |
| 61 | |
| 62 /* Includes ------------------------------------------------------------------*/ | |
| 63 #include <string.h> | |
|
539
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
64 #include <math.h> |
| 38 | 65 #include "data_central.h" |
| 66 #include "calc_crush.h" | |
| 67 #include "decom.h" | |
| 68 #include "stm32f4xx_hal.h" | |
| 69 #include "settings.h" | |
| 70 #include "data_exchange_main.h" | |
| 71 #include "ostc.h" // for button adjust on hw testboard 1 | |
| 72 #include "tCCR.h" | |
| 73 #include "crcmodel.h" | |
| 74 | |
|
225
2bb1db22b5f5
cleanup: random set of cleanups
Jan Mulder <jlmulder@xs4all.nl>
parents:
149
diff
changeset
|
75 static SDiveState stateReal = { 0 }; |
| 38 | 76 SDiveState stateSim = { 0 }; |
| 77 SDiveState stateDeco = { 0 }; | |
| 78 | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
79 static SDevice stateDevice = |
| 38 | 80 { |
| 81 /* max is 0x7FFFFFFF, min is 0x80000000 but also defined in stdint.h :-) */ | |
| 82 | |
| 83 /* count, use 0 */ | |
| 84 .batteryChargeCompleteCycles.value_int32 = 0, | |
| 85 .batteryChargeCycles.value_int32 = 0, | |
| 86 .diveCycles.value_int32 = 0, | |
| 87 .hoursOfOperation.value_int32 = 0, | |
| 88 | |
| 89 /* max values, use min. */ | |
| 90 .temperatureMaximum.value_int32 = INT32_MIN, | |
| 91 .depthMaximum.value_int32 = INT32_MIN, | |
| 92 | |
| 93 /* min values, use max. */ | |
| 94 .temperatureMinimum.value_int32 = INT32_MAX, | |
| 95 .voltageMinimum.value_int32 = INT32_MAX, | |
| 96 }; | |
| 97 | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
98 static SVpmRepetitiveData stateVPM = |
| 38 | 99 { |
| 100 .repetitive_variables_not_valid = 1, | |
| 101 .is_data_from_RTE_CPU = 0, | |
| 102 }; | |
| 103 | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
104 const SDiveState *stateUsed = &stateReal; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
105 SDiveState *stateUsedWrite = &stateReal; |
| 38 | 106 |
|
539
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
107 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
108 #define COMPASS_FRACTION (4.0f) /* delay till value changes to new actual */ |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
109 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
110 static float compass_compensated = 0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
111 |
| 38 | 112 void set_stateUsedToReal(void) |
| 113 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
114 stateUsed = stateUsedWrite = &stateReal; |
| 38 | 115 } |
| 116 | |
| 117 void set_stateUsedToSim(void) | |
| 118 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
119 stateUsed = stateUsedWrite = &stateSim; |
| 38 | 120 } |
| 121 | |
| 122 _Bool is_stateUsedSetToSim(void) | |
| 123 { | |
|
225
2bb1db22b5f5
cleanup: random set of cleanups
Jan Mulder <jlmulder@xs4all.nl>
parents:
149
diff
changeset
|
124 return stateUsed == &stateSim; |
| 38 | 125 } |
| 126 | |
| 127 const SDiveState * stateRealGetPointer(void) | |
| 128 { | |
| 129 return &stateReal; | |
| 130 } | |
| 131 | |
| 132 SDiveState * stateRealGetPointerWrite(void) | |
| 133 { | |
| 134 return &stateReal; | |
| 135 } | |
| 136 | |
| 137 | |
| 138 const SDiveState * stateSimGetPointer(void) | |
| 139 { | |
| 140 return &stateSim; | |
| 141 } | |
| 142 | |
| 143 | |
| 144 SDiveState * stateSimGetPointerWrite(void) | |
| 145 { | |
| 146 return &stateSim; | |
| 147 } | |
| 148 | |
| 149 | |
| 150 const SDevice * stateDeviceGetPointer(void) | |
| 151 { | |
| 152 return &stateDevice; | |
| 153 } | |
| 154 | |
| 155 | |
| 156 SDevice * stateDeviceGetPointerWrite(void) | |
| 157 { | |
| 158 return &stateDevice; | |
| 159 } | |
| 160 | |
| 161 | |
| 162 const SVpmRepetitiveData * stateVpmRepetitiveDataGetPointer(void) | |
| 163 { | |
| 164 return &stateVPM; | |
| 165 } | |
| 166 | |
| 167 | |
| 168 SVpmRepetitiveData * stateVpmRepetitiveDataGetPointerWrite(void) | |
| 169 { | |
| 170 return &stateVPM; | |
| 171 } | |
| 172 | |
| 173 | |
| 174 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) | |
| 175 { | |
| 176 if(ticksstart <= ticksnow) | |
| 177 return ticksnow - ticksstart; | |
| 178 else | |
| 179 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 180 } | |
| 181 | |
| 182 | |
| 183 uint8_t decoLock = DECO_CALC_undefined; | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
184 |
|
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
185 static int descent_rate_meter_per_min = 20; |
|
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
186 static int max_depth = 70; |
|
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
187 static int bottom_time = 10; |
| 38 | 188 |
| 189 _Bool vpm_crush(SDiveState* pDiveState); | |
| 190 void setSimulationValues(int _ascent_rate_meter_per_min, int _descent_rate_meter_per_min, int _max_depth, int _bottom_time ) | |
| 191 { | |
| 192 descent_rate_meter_per_min = _descent_rate_meter_per_min; | |
| 193 max_depth = _max_depth; | |
| 194 bottom_time = _bottom_time; | |
| 195 } | |
| 196 | |
| 197 int current_second(void) { | |
| 198 | |
| 199 return HAL_GetTick() / 1000; | |
| 200 } | |
| 201 | |
| 202 #define OXY_ONE_SIXTIETH_PART 0.0166667f | |
| 203 | |
| 204 uint8_t calc_MOD(uint8_t gasId) | |
| 205 { | |
| 206 int16_t oxygen, maxppO2, result; | |
| 207 SSettings *pSettings; | |
| 208 | |
| 209 pSettings = settingsGetPointer(); | |
| 210 | |
| 211 oxygen = (int16_t)(pSettings->gas[gasId].oxygen_percentage); | |
| 212 | |
| 213 if(pSettings->gas[gasId].note.ub.deco > 0) | |
| 214 maxppO2 =(int16_t)(pSettings->ppO2_max_deco); | |
| 215 else | |
| 216 maxppO2 =(int16_t)(pSettings->ppO2_max_std); | |
| 217 | |
| 218 result = 10 * maxppO2; | |
| 219 result /= oxygen; | |
| 220 result -= 10; | |
| 221 | |
| 222 if(result < 0) | |
| 223 return 0; | |
| 224 | |
| 225 if(result > 255) | |
| 226 return 255; | |
| 227 | |
| 228 return result; | |
| 229 } | |
| 230 | |
| 231 float get_ambiant_pressure_simulation(long dive_time_seconds, float surface_pressure_bar ) | |
| 232 { | |
| 233 static | |
| 234 long descent_time; | |
| 235 float depth_meter; | |
| 236 | |
| 237 descent_time = 60 * max_depth / descent_rate_meter_per_min; | |
| 238 | |
| 239 if(dive_time_seconds <= descent_time) | |
| 240 { | |
| 241 depth_meter = ((float)(dive_time_seconds * descent_rate_meter_per_min)) / 60; | |
| 242 return surface_pressure_bar + depth_meter / 10; | |
| 243 } | |
| 244 //else if(dive_time_seconds <= (descent_time + bottom_time * 60)) | |
| 245 return surface_pressure_bar + max_depth / 10; | |
| 246 | |
| 247 | |
| 248 | |
| 249 } | |
| 250 | |
| 251 void UpdateLifeDataTest(SDiveState * pDiveState) | |
| 252 { | |
| 253 static int last_second = -1; | |
| 254 int now = current_second(); | |
| 255 if(last_second == now) | |
| 256 return; | |
| 257 last_second = now; | |
| 258 | |
| 259 pDiveState->lifeData.dive_time_seconds += 1; | |
| 260 pDiveState->lifeData.pressure_ambient_bar = get_ambiant_pressure_simulation(pDiveState->lifeData.dive_time_seconds,pDiveState->lifeData.pressure_surface_bar); | |
| 261 | |
| 262 pDiveState->lifeData.depth_meter = (pDiveState->lifeData.pressure_ambient_bar - pDiveState->lifeData.pressure_surface_bar) * 10.0f; | |
| 263 if(pDiveState->lifeData.max_depth_meter < pDiveState->lifeData.depth_meter) | |
| 264 pDiveState->lifeData.max_depth_meter = pDiveState->lifeData.depth_meter; | |
| 265 decom_tissues_exposure(1, &pDiveState->lifeData); | |
| 266 pDiveState->lifeData.ppO2 = decom_calc_ppO2( pDiveState->lifeData.pressure_ambient_bar, &pDiveState->lifeData.actualGas); | |
| 267 decom_oxygen_calculate_cns(& pDiveState->lifeData.cns, pDiveState->lifeData.ppO2); | |
| 268 | |
| 269 vpm_crush(pDiveState); | |
| 270 } | |
| 271 | |
| 272 | |
| 273 _Bool vpm_crush(SDiveState* pDiveState) | |
| 274 { | |
| 275 int i = 0; | |
| 276 static float starting_ambient_pressure = 0; | |
| 277 static float ending_ambient_pressure = 0; | |
| 278 static float time_calc_begin = -1; | |
| 279 static float initial_helium_pressure[16]; | |
| 280 static float initial_nitrogen_pressure[16]; | |
| 281 ending_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 282 | |
| 283 if((pDiveState->lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 284 { | |
| 285 time_calc_begin = pDiveState->lifeData.dive_time_seconds; | |
| 286 starting_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 287 for( i = 0; i < 16; i++) | |
| 288 { | |
| 289 initial_helium_pressure[i] = pDiveState->lifeData.tissue_helium_bar[i] * 10; | |
| 290 initial_nitrogen_pressure[i] = pDiveState->lifeData.tissue_nitrogen_bar[i] * 10; | |
| 291 } | |
| 292 return false; | |
| 293 } | |
| 294 if(pDiveState->lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 295 { | |
| 296 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 297 { | |
| 298 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 299 calc_crushing_pressure(&pDiveState->lifeData, &pDiveState->vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 300 | |
| 301 time_calc_begin = pDiveState->lifeData.dive_time_seconds; | |
| 302 starting_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 303 for( i = 0; i < 16; i++) | |
| 304 { | |
| 305 initial_helium_pressure[i] = pDiveState->lifeData.tissue_helium_bar[i] * 10; | |
| 306 initial_nitrogen_pressure[i] = pDiveState->lifeData.tissue_nitrogen_bar[i] * 10; | |
| 307 } | |
| 308 | |
| 309 return true; | |
| 310 } | |
| 311 | |
| 312 } | |
| 313 return false; | |
| 314 }; | |
| 315 | |
| 316 | |
| 317 void createDiveSettings(void) | |
| 318 { | |
| 319 SSettings* pSettings = settingsGetPointer(); | |
| 320 | |
| 321 setActualGasFirst(&stateReal.lifeData); | |
| 322 | |
| 323 stateReal.diveSettings.compassHeading = pSettings->compassBearing; | |
| 324 stateReal.diveSettings.ascentRate_meterperminute = 10; | |
| 325 | |
| 326 stateReal.diveSettings.diveMode = pSettings->dive_mode; | |
| 327 stateReal.diveSettings.CCR_Mode = pSettings->CCR_Mode; | |
| 328 if(stateReal.diveSettings.diveMode == DIVEMODE_CCR) | |
| 329 stateReal.diveSettings.ccrOption = 1; | |
| 330 else | |
| 331 stateReal.diveSettings.ccrOption = 0; | |
| 332 memcpy(stateReal.diveSettings.gas, pSettings->gas,sizeof(pSettings->gas)); | |
| 333 memcpy(stateReal.diveSettings.setpoint, pSettings->setpoint,sizeof(pSettings->setpoint)); | |
| 334 stateReal.diveSettings.gf_high = pSettings->GF_high; | |
| 335 stateReal.diveSettings.gf_low = pSettings->GF_low; | |
| 336 stateReal.diveSettings.input_next_stop_increment_depth_bar = ((float)pSettings->stop_increment_depth_meter) / 10.0f; | |
| 337 stateReal.diveSettings.last_stop_depth_bar = ((float)pSettings->last_stop_depth_meter) / 10.0f; | |
| 338 stateReal.diveSettings.vpm_conservatism = pSettings->VPM_conservatism.ub.standard; | |
| 339 stateReal.diveSettings.deco_type.uw = pSettings->deco_type.uw; | |
| 340 stateReal.diveSettings.fallbackOption = pSettings->fallbackToFixedSetpoint; | |
| 341 stateReal.diveSettings.ppo2sensors_deactivated = pSettings->ppo2sensors_deactivated; | |
| 342 stateReal.diveSettings.future_TTS_minutes = pSettings->future_TTS; | |
| 343 | |
| 344 decom_CreateGasChangeList(&stateReal.diveSettings, &stateReal.lifeData); // decogaslist | |
| 345 stateReal.diveSettings.internal__pressure_first_stop_ambient_bar_as_upper_limit_for_gf_low_otherwise_zero = 0; | |
| 346 | |
| 347 /* for safety */ | |
| 348 stateReal.diveSettings.input_second_to_last_stop_depth_bar = stateReal.diveSettings.last_stop_depth_bar + stateReal.diveSettings.input_next_stop_increment_depth_bar; | |
| 349 /* and the proper calc */ | |
| 350 for(int i = 1; i <10; i++) | |
| 351 { | |
| 352 if(stateReal.diveSettings.input_next_stop_increment_depth_bar * i > stateReal.diveSettings.last_stop_depth_bar) | |
| 353 { | |
| 354 stateReal.diveSettings.input_second_to_last_stop_depth_bar = stateReal.diveSettings.input_next_stop_increment_depth_bar * i; | |
| 355 break; | |
| 356 } | |
| 357 } | |
| 358 } | |
| 359 | |
| 360 | |
| 361 void copyDiveSettingsToSim(void) | |
| 362 { | |
| 363 memcpy(&stateSim, &stateReal, sizeof(stateReal)); | |
| 364 } | |
| 365 | |
| 366 | |
| 367 void copyVpmRepetetiveDataToSim(void) | |
| 368 { | |
| 369 SDiveState * pSimData = stateSimGetPointerWrite(); | |
| 370 const SVpmRepetitiveData * pVpmData = stateVpmRepetitiveDataGetPointer(); | |
| 371 | |
| 372 if(pVpmData->is_data_from_RTE_CPU) | |
| 373 { | |
| 374 for(int i=0; i<16;i++) | |
| 375 { | |
| 376 pSimData->vpm.adjusted_critical_radius_he[i] = pVpmData->adjusted_critical_radius_he[i]; | |
| 377 pSimData->vpm.adjusted_critical_radius_n2[i] = pVpmData->adjusted_critical_radius_n2[i]; | |
| 378 | |
| 379 pSimData->vpm.adjusted_crushing_pressure_he[i] = pVpmData->adjusted_crushing_pressure_he[i]; | |
| 380 pSimData->vpm.adjusted_crushing_pressure_n2[i] = pVpmData->adjusted_crushing_pressure_n2[i]; | |
| 381 | |
| 382 pSimData->vpm.initial_allowable_gradient_he[i] = pVpmData->initial_allowable_gradient_he[i]; | |
| 383 pSimData->vpm.initial_allowable_gradient_n2[i] = pVpmData->initial_allowable_gradient_n2[i]; | |
| 384 | |
| 385 pSimData->vpm.max_actual_gradient[i] = pVpmData->max_actual_gradient[i]; | |
| 386 } | |
| 387 pSimData->vpm.repetitive_variables_not_valid = pVpmData->repetitive_variables_not_valid; | |
| 388 } | |
| 389 } | |
| 390 | |
| 391 | |
| 392 void updateSetpointStateUsed(void) | |
| 393 { | |
| 394 if(stateUsed->diveSettings.diveMode != DIVEMODE_CCR) | |
| 395 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
396 stateUsedWrite->lifeData.actualGas.setPoint_cbar = 0; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
397 stateUsedWrite->lifeData.ppO2 = decom_calc_ppO2(stateUsed->lifeData.pressure_ambient_bar, &stateUsed->lifeData.actualGas); |
| 38 | 398 } |
| 399 else | |
| 400 { | |
| 401 if(stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) | |
| 402 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
403 stateUsedWrite->lifeData.actualGas.setPoint_cbar = get_ppO2SensorWeightedResult_cbar(); |
| 38 | 404 } |
| 405 | |
| 406 if((stateUsed->lifeData.pressure_ambient_bar * 100) < stateUsed->lifeData.actualGas.setPoint_cbar) | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
407 stateUsedWrite->lifeData.ppO2 = stateUsed->lifeData.pressure_ambient_bar; |
| 38 | 408 else |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
409 stateUsedWrite->lifeData.ppO2 = ((float)stateUsed->lifeData.actualGas.setPoint_cbar) / 100; |
| 38 | 410 } |
| 411 } | |
| 412 | |
| 413 void setActualGasFirst(SLifeData *lifeData) | |
| 414 { | |
| 415 SSettings* pSettings = settingsGetPointer(); | |
| 416 uint8_t start = 0; | |
| 417 uint8_t gasId = 0; | |
| 418 uint8_t setpoint_cbar = 0; | |
| 419 | |
| 420 if(pSettings->dive_mode == DIVEMODE_CCR) | |
| 421 { | |
| 422 setpoint_cbar = pSettings->setpoint[1].setpoint_cbar; | |
| 423 start = NUM_OFFSET_DILUENT+1; | |
| 424 } | |
| 425 else | |
| 426 { | |
| 427 setpoint_cbar = 0; | |
| 428 start = 1; | |
| 429 } | |
| 430 | |
| 431 gasId = start; | |
| 432 for(int i=start;i<=NUM_GASES+start;i++) | |
| 433 { | |
| 434 if(pSettings->gas[i].note.ub.first) | |
| 435 { | |
| 436 gasId = i; | |
| 437 break; | |
| 438 } | |
| 439 } | |
| 440 setActualGas(lifeData, gasId, setpoint_cbar); | |
| 441 } | |
| 442 | |
| 443 void setActualGasAir(SLifeData *lifeData) | |
| 444 { | |
| 445 uint8_t nitrogen; | |
| 446 nitrogen = 79; | |
| 447 lifeData->actualGas.GasIdInSettings = 0; | |
| 448 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 449 lifeData->actualGas.helium_percentage =0; | |
| 450 lifeData->actualGas.setPoint_cbar = 0; | |
| 451 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 452 } | |
| 453 | |
| 454 | |
| 455 void setActualGas(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar) | |
| 456 { | |
| 457 SSettings* pSettings = settingsGetPointer(); | |
| 458 uint8_t nitrogen; | |
| 459 | |
| 460 nitrogen = 100; | |
| 461 nitrogen -= pSettings->gas[gasId].oxygen_percentage; | |
| 462 nitrogen -= pSettings->gas[gasId].helium_percentage; | |
| 463 | |
| 464 lifeData->actualGas.GasIdInSettings = gasId; | |
| 465 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 466 lifeData->actualGas.helium_percentage = pSettings->gas[gasId].helium_percentage; | |
| 467 lifeData->actualGas.setPoint_cbar = setpoint_cbar; | |
| 468 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 469 | |
| 470 if((pSettings->dive_mode == DIVEMODE_CCR) && (gasId > NUM_OFFSET_DILUENT)) | |
| 471 lifeData->lastDiluent_GasIdInSettings = gasId; | |
| 472 } | |
| 473 | |
| 474 | |
| 475 void setActualGas_DM(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar) | |
| 476 { | |
| 477 if(stateUsed->diveSettings.ccrOption && gasId < 6) | |
| 478 { | |
| 479 if(lifeData->actualGas.GasIdInSettings != gasId) | |
| 480 { | |
| 481 SSettings* pSettings = settingsGetPointer(); | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
482 stateUsedWrite->events.bailout = 1; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
483 stateUsedWrite->events.info_bailoutO2 = pSettings->gas[gasId].oxygen_percentage; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
484 stateUsedWrite->events.info_bailoutHe = pSettings->gas[gasId].helium_percentage; |
| 38 | 485 } |
| 486 } | |
| 487 else | |
| 488 { | |
| 489 if(lifeData->actualGas.GasIdInSettings != gasId) | |
| 490 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
491 stateUsedWrite->events.gasChange = 1; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
492 stateUsedWrite->events.info_GasChange = gasId; |
| 38 | 493 } |
| 494 if( lifeData->actualGas.setPoint_cbar != setpoint_cbar) | |
| 495 { | |
| 496 // setPoint_cbar = 255 -> change to sensor mode | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
497 stateUsedWrite->events.setpointChange = 1; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
498 stateUsedWrite->events.info_SetpointChange = setpoint_cbar; |
| 38 | 499 } |
| 500 } | |
| 501 setActualGas(lifeData, gasId, setpoint_cbar); | |
| 502 } | |
| 503 | |
| 504 void setActualGas_ExtraGas(SLifeData *lifeData, uint8_t oxygen, uint8_t helium, uint8_t setpoint_cbar) | |
| 505 { | |
| 506 uint8_t nitrogen; | |
| 507 | |
| 508 nitrogen = 100; | |
| 509 nitrogen -= oxygen; | |
| 510 nitrogen -= helium; | |
| 511 | |
| 512 if((lifeData->actualGas.nitrogen_percentage != nitrogen) || (lifeData->actualGas.helium_percentage != helium)) | |
| 513 { | |
| 281 | 514 stateUsedWrite->events.manualGasSet = 1; |
| 515 stateUsedWrite->events.info_manualGasSetHe = helium; | |
| 516 stateUsedWrite->events.info_manualGasSetO2 = oxygen; | |
| 38 | 517 } |
| 518 if( lifeData->actualGas.setPoint_cbar != setpoint_cbar) | |
| 519 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
520 stateUsedWrite->events.setpointChange = 1; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
521 stateUsedWrite->events.info_SetpointChange = setpoint_cbar; |
| 38 | 522 } |
| 523 lifeData->actualGas.GasIdInSettings = 0; | |
| 524 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 525 lifeData->actualGas.helium_percentage = helium; | |
| 526 lifeData->actualGas.setPoint_cbar = setpoint_cbar; | |
| 527 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 528 | |
| 529 } | |
| 530 | |
| 531 void setButtonResponsiveness(uint8_t *ButtonSensitivyList) | |
| 532 { | |
| 533 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 534 | |
| 535 for(int i=0; i<4; i++) | |
| 536 { | |
| 537 pDataOut->data.buttonResponsiveness[i] = settingsHelperButtonSens_translate_percentage_to_hwOS_values(ButtonSensitivyList[i]); | |
| 538 } | |
| 539 pDataOut->setButtonSensitivityNow = 1; | |
| 540 } | |
| 541 | |
| 542 | |
| 543 void setDate(RTC_DateTypeDef Sdate) | |
| 544 { | |
| 545 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 546 | |
| 547 pDataOut->data.newDate = Sdate; | |
| 548 pDataOut->setDateNow = 1; | |
| 549 } | |
| 550 | |
| 551 | |
| 552 void setTime(RTC_TimeTypeDef Stime) | |
| 553 { | |
| 554 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 555 | |
| 556 pDataOut->data.newTime = Stime; | |
| 557 pDataOut->setTimeNow = 1; | |
| 558 } | |
| 559 | |
| 560 | |
| 561 void setBatteryPercentage(uint8_t newChargePercentage) | |
| 562 { | |
| 563 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 564 | |
| 565 pDataOut->data.newBatteryGaugePercentageFloat = settingsGetPointer()->lastKnownBatteryPercentage; | |
| 566 pDataOut->setBatteryGaugeNow = 1; | |
| 567 } | |
| 568 | |
| 569 | |
| 570 void calibrateCompass(void) | |
| 571 { | |
| 572 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 573 pDataOut->calibrateCompassNow = 1; | |
| 574 } | |
| 575 | |
| 576 | |
| 577 void clearDeco(void) | |
| 578 { | |
| 579 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 580 pDataOut->clearDecoNow = 1; | |
| 581 | |
| 582 stateRealGetPointerWrite()->cnsHigh_at_the_end_of_dive = 0; | |
| 583 stateRealGetPointerWrite()->decoMissed_at_the_end_of_dive = 0; | |
| 584 } | |
| 585 | |
| 586 | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
587 static int32_t helper_days_from_civil(int32_t y, uint32_t m, uint32_t d) |
| 38 | 588 { |
| 589 y += 2000; | |
| 590 y -= m <= 2; | |
| 591 int32_t era = (y >= 0 ? y : y-399) / 400; | |
| 592 uint32_t yoe = (uint32_t)(y - era * 400); // [0, 399] | |
| 593 uint32_t doy = (153*(m + (m > 2 ? -3 : 9)) + 2)/5 + d-1; // [0, 365] | |
| 594 uint32_t doe = yoe * 365 + yoe/4 - yoe/100 + doy; // [0, 146096] | |
| 595 return era * 146097 + (int32_t)(doe) - 719468; | |
| 596 } | |
| 597 | |
| 598 | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
599 static uint8_t helper_weekday_from_days(int32_t z) |
| 38 | 600 { |
| 601 return (uint8_t)(z >= -4 ? (z+4) % 7 : (z+5) % 7 + 6); | |
| 602 } | |
| 603 | |
| 604 | |
| 605 void setWeekday(RTC_DateTypeDef *sDate) | |
| 606 { | |
| 607 uint8_t day; | |
| 608 // [0, 6] -> [Sun, Sat] | |
| 609 day = helper_weekday_from_days(helper_days_from_civil(sDate->Year, sDate->Month, sDate->Date)); | |
| 610 // [1, 7] -> [Mon, Sun] | |
| 611 if(day == 0) | |
| 612 day = 7; | |
| 613 sDate->WeekDay = day; | |
| 614 } | |
| 615 | |
| 616 | |
| 617 void translateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) | |
| 618 { | |
| 619 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); | |
| 620 | |
| 621 /* Fill the structure fields with the read parameters */ | |
| 622 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); | |
| 623 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); | |
| 624 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); | |
| 625 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); | |
| 626 | |
| 627 /* Convert the date structure parameters to Binary format */ | |
| 628 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); | |
| 629 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); | |
| 630 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); | |
| 631 } | |
| 632 | |
| 633 void translateTime(uint32_t tmpreg, RTC_TimeTypeDef *sTime) | |
| 634 { | |
| 635 tmpreg = (uint32_t)(tmpreg & RTC_TR_RESERVED_MASK); | |
| 636 | |
| 637 /* Fill the structure fields with the read parameters */ | |
| 638 sTime->Hours = (uint8_t)((tmpreg & (RTC_TR_HT | RTC_TR_HU)) >> 16); | |
| 639 sTime->Minutes = (uint8_t)((tmpreg & (RTC_TR_MNT | RTC_TR_MNU)) >>8); | |
| 640 sTime->Seconds = (uint8_t)(tmpreg & (RTC_TR_ST | RTC_TR_SU)); | |
| 641 sTime->TimeFormat = (uint8_t)((tmpreg & (RTC_TR_PM)) >> 16); | |
| 642 | |
| 643 /* Convert the time structure parameters to Binary format */ | |
| 644 sTime->Hours = (uint8_t)RTC_Bcd2ToByte(sTime->Hours); | |
| 645 sTime->Minutes = (uint8_t)RTC_Bcd2ToByte(sTime->Minutes); | |
| 646 sTime->Seconds = (uint8_t)RTC_Bcd2ToByte(sTime->Seconds); | |
| 647 sTime->SubSeconds = 0; | |
| 648 } | |
| 649 | |
|
270
2e58a4094770
feature, debug: make simulator write a logbook entry
Jan Mulder <jlmulder@xs4all.nl>
parents:
225
diff
changeset
|
650 void resetEvents(const SDiveState *pStateUsed) |
| 38 | 651 { |
|
270
2e58a4094770
feature, debug: make simulator write a logbook entry
Jan Mulder <jlmulder@xs4all.nl>
parents:
225
diff
changeset
|
652 memset((void *)&pStateUsed->events, 0, sizeof(SEvents)); |
| 38 | 653 } |
| 654 | |
| 655 | |
| 656 uint32_t CRC_CalcBlockCRC_moreThan768000(uint32_t *buffer1, uint32_t *buffer2, uint32_t words) | |
| 657 { | |
| 658 cm_t crc_model; | |
| 659 uint32_t word_to_do; | |
| 660 uint8_t byte_to_do; | |
| 661 int i; | |
| 662 | |
| 663 // Values for the STM32F generator. | |
| 664 | |
| 665 crc_model.cm_width = 32; // 32-bit CRC | |
| 666 crc_model.cm_poly = 0x04C11DB7; // CRC-32 polynomial | |
| 667 crc_model.cm_init = 0xFFFFFFFF; // CRC initialized to 1's | |
| 668 crc_model.cm_refin = FALSE; // CRC calculated MSB first | |
| 669 crc_model.cm_refot = FALSE; // Final result is not bit-reversed | |
| 670 crc_model.cm_xorot = 0x00000000; // Final result XOR'ed with this | |
| 671 | |
| 672 cm_ini(&crc_model); | |
| 673 | |
| 674 while (words--) | |
| 675 { | |
| 676 // The STM32F10x hardware does 32-bit words at a time!!! | |
| 677 if(words > (768000/4)) | |
| 678 word_to_do = *buffer2++; | |
| 679 else | |
| 680 word_to_do = *buffer1++; | |
| 681 | |
| 682 // Do all bytes in the 32-bit word. | |
| 683 | |
| 684 for (i = 0; i < sizeof(word_to_do); i++) | |
| 685 { | |
| 686 // We calculate a *byte* at a time. If the CRC is MSB first we | |
| 687 // do the next MS byte and vica-versa. | |
| 688 | |
| 689 if (crc_model.cm_refin == FALSE) | |
| 690 { | |
| 691 // MSB first. Do the next MS byte. | |
| 692 | |
| 693 byte_to_do = (uint8_t) ((word_to_do & 0xFF000000) >> 24); | |
| 694 word_to_do <<= 8; | |
| 695 } | |
| 696 else | |
| 697 { | |
| 698 // LSB first. Do the next LS byte. | |
| 699 | |
| 700 byte_to_do = (uint8_t) (word_to_do & 0x000000FF); | |
| 701 word_to_do >>= 8; | |
| 702 } | |
| 703 | |
| 704 cm_nxt(&crc_model, byte_to_do); | |
| 705 } | |
| 706 } | |
| 707 | |
| 708 // Return the final result. | |
| 709 | |
| 710 return (cm_crc(&crc_model)); | |
| 711 } | |
| 712 | |
| 713 | |
| 714 uint32_t CRC_CalcBlockCRC(uint32_t *buffer, uint32_t words) | |
| 715 { | |
| 716 cm_t crc_model; | |
| 717 uint32_t word_to_do; | |
| 718 uint8_t byte_to_do; | |
| 719 int i; | |
| 720 | |
| 721 // Values for the STM32F generator. | |
| 722 | |
| 723 crc_model.cm_width = 32; // 32-bit CRC | |
| 724 crc_model.cm_poly = 0x04C11DB7; // CRC-32 polynomial | |
| 725 crc_model.cm_init = 0xFFFFFFFF; // CRC initialized to 1's | |
| 726 crc_model.cm_refin = FALSE; // CRC calculated MSB first | |
| 727 crc_model.cm_refot = FALSE; // Final result is not bit-reversed | |
| 728 crc_model.cm_xorot = 0x00000000; // Final result XOR'ed with this | |
| 729 | |
| 730 cm_ini(&crc_model); | |
| 731 | |
| 732 while (words--) | |
| 733 { | |
| 734 // The STM32F10x hardware does 32-bit words at a time!!! | |
| 735 | |
| 736 word_to_do = *buffer++; | |
| 737 | |
| 738 // Do all bytes in the 32-bit word. | |
| 739 | |
| 740 for (i = 0; i < sizeof(word_to_do); i++) | |
| 741 { | |
| 742 // We calculate a *byte* at a time. If the CRC is MSB first we | |
| 743 // do the next MS byte and vica-versa. | |
| 744 | |
| 745 if (crc_model.cm_refin == FALSE) | |
| 746 { | |
| 747 // MSB first. Do the next MS byte. | |
| 748 | |
| 749 byte_to_do = (uint8_t) ((word_to_do & 0xFF000000) >> 24); | |
| 750 word_to_do <<= 8; | |
| 751 } | |
| 752 else | |
| 753 { | |
| 754 // LSB first. Do the next LS byte. | |
| 755 | |
| 756 byte_to_do = (uint8_t) (word_to_do & 0x000000FF); | |
| 757 word_to_do >>= 8; | |
| 758 } | |
| 759 | |
| 760 cm_nxt(&crc_model, byte_to_do); | |
| 761 } | |
| 762 } | |
| 763 | |
| 764 // Return the final result. | |
| 765 | |
| 766 return (cm_crc(&crc_model)); | |
| 767 } | |
| 768 | |
|
302
eba8d1eb5bef
bugfix, cleanup: keep both is_ambient_pressure_close_to_surface in sync
Jan Mulder <jlmulder@xs4all.nl>
parents:
300
diff
changeset
|
769 // This code is also in RTE. Keep it in sync when editing |
| 38 | 770 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 771 { | |
|
310
95928ef3986f
Make dive mode detection more advanced
Jan Mulder <jlmulder@xs4all.nl>
parents:
302
diff
changeset
|
772 if (lifeData->pressure_ambient_bar > 1.16) |
|
95928ef3986f
Make dive mode detection more advanced
Jan Mulder <jlmulder@xs4all.nl>
parents:
302
diff
changeset
|
773 return false; |
|
95928ef3986f
Make dive mode detection more advanced
Jan Mulder <jlmulder@xs4all.nl>
parents:
302
diff
changeset
|
774 else if(lifeData->pressure_ambient_bar < (lifeData->pressure_surface_bar + 0.1f)) |
| 38 | 775 return true; |
| 776 else | |
| 777 return false; | |
| 778 } | |
|
539
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
779 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
780 void compass_Inertia(float newHeading) |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
781 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
782 float newTarget = newHeading; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
783 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
784 if(settingsGetPointer()->compassInertia == 0) |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
785 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
786 compass_compensated = newHeading; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
787 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
788 else |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
789 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
790 if((compass_compensated > 270.0) && (newHeading < 90.0)) /* transition passing 0 clockwise */ |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
791 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
792 newTarget = newHeading + 360.0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
793 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
794 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
795 if((compass_compensated < 90.0) && (newHeading > 270.0)) /* transition passing 0 counter clockwise */ |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
796 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
797 newTarget = newHeading - 360.0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
798 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
799 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
800 compass_compensated = compass_compensated + ((newTarget - compass_compensated) / (COMPASS_FRACTION * (settingsGetPointer()->compassInertia))); |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
801 if(compass_compensated < 0.0) |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
802 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
803 compass_compensated += 360.0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
804 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
805 if(compass_compensated >= 360.0) |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
806 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
807 compass_compensated -= 360.0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
808 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
809 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
810 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
811 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
812 float compass_getCompensated() |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
813 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
814 return compass_compensated; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
815 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
816 |