Mercurial > public > ostc4
annotate Common/Inc/data_central.h @ 756:6de83d8205a0
Added visualization of CO2 during dive:
In the previous version CO2 values were available in sufrace mode only. Now the display of Co2 value has been added to the lower left corner view. In addition a Co2 alarm has been added. Early Co2 warning vaues will be displayed in yellow while critical values are shown in red.
| author | Ideenmodellierer |
|---|---|
| date | Tue, 07 Mar 2023 20:02:05 +0100 |
| parents | 4f19336a3f21 |
| children | 29d9b5bc7946 |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Common/Inc/data_central.h | |
| 5 /// \brief Common Dadatypes Declarations | |
| 6 /// \author Heinrichs Weikamp | |
| 7 /// \date 2018 | |
| 8 /// | |
| 9 /// $Id$ | |
| 10 /////////////////////////////////////////////////////////////////////////////// | |
| 11 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 12 /// | |
| 13 /// This program is free software: you can redistribute it and/or modify | |
| 14 /// it under the terms of the GNU General Public License as published by | |
| 15 /// the Free Software Foundation, either version 3 of the License, or | |
| 16 /// (at your option) any later version. | |
| 17 /// | |
| 18 /// This program is distributed in the hope that it will be useful, | |
| 19 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 20 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 21 /// GNU General Public License for more details. | |
| 22 /// | |
| 23 /// You should have received a copy of the GNU General Public License | |
| 24 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 25 ////////////////////////////////////////////////////////////////////////////// | |
| 26 | |
| 27 #ifndef DATA_CENTRAL_H | |
| 28 #define DATA_CENTRAL_H | |
| 29 | |
| 30 #include <stdint.h> | |
| 31 | |
| 32 #include "settings.h" | |
| 33 #include "stm32f4xx_hal.h" | |
| 672 | 34 #include "configuration.h" |
| 38 | 35 |
| 36 #define BUEHLMANN_STRUCT_MAX_GASES 11 | |
| 37 #define BUEHLMANN_STRUCT_MAX_ASCENDRATES 3 | |
| 38 #define DECOINFO_STRUCT_MAX_STOPS 50 | |
| 39 | |
| 40 #define false 0 | |
| 41 #define true 1 | |
| 42 | |
|
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43 #define EXT_INTERFACE_SENSOR_CNT (5u) /* 5 sensors may be connected to the external interface */ |
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44 |
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45 |
| 38 | 46 /* Helper structs ------------------------------------------------------------*/ |
| 47 | |
| 48 //struct SGas | |
| 49 //contains gasinfos of single gas for deco calculation | |
| 50 typedef struct | |
| 51 { | |
| 52 uint8_t nitrogen_percentage; | |
| 53 uint8_t helium_percentage; | |
| 54 uint8_t setPoint_cbar; | |
| 55 uint8_t change_during_ascent_depth_meter_otherwise_zero; | |
| 56 uint8_t GasIdInSettings; | |
| 662 | 57 uint8_t AppliedDiveMode; |
| 58 float pscr_factor; | |
| 38 | 59 } SGas; |
| 60 | |
| 61 typedef struct | |
| 62 { | |
| 63 float use_from_depth_bar; | |
| 64 float rate_bar_per_minute; | |
| 65 } SAscentrate; | |
| 66 | |
| 67 | |
| 68 typedef struct{ | |
| 69 uint32_t date_rtc_dr; | |
| 70 uint32_t time_rtc_tr; | |
| 71 int32_t value_int32; | |
| 72 } SDeviceLine; | |
| 73 | |
| 74 | |
| 75 typedef struct | |
| 76 { | |
| 77 uint16_t ageInMilliSeconds; | |
| 78 uint8_t numberOfBytes; | |
| 79 uint8_t status; | |
| 80 uint8_t data[12]; | |
| 81 } SDataWireless; | |
| 82 | |
| 662 | 83 |
| 84 typedef struct | |
| 85 { | |
| 748 | 86 uint32_t CO2_ppm; |
| 662 | 87 uint16_t signalStrength; |
| 88 } SCO2Sensor; | |
| 89 | |
| 38 | 90 /* Main structs -------------------------------------------------------------*/ |
| 91 | |
| 92 | |
| 93 //struct SDecoinfo | |
| 94 //contains result of deco calculation | |
| 95 typedef struct | |
| 96 { | |
| 97 unsigned short output_stop_length_seconds[DECOINFO_STRUCT_MAX_STOPS]; | |
| 98 int output_time_to_surface_seconds; | |
| 99 int output_ndl_seconds; | |
| 100 float output_ceiling_meter; | |
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101 float super_saturation; |
| 38 | 102 uint32_t tickstamp; |
| 103 } SDecoinfo; | |
| 104 | |
| 105 | |
| 106 typedef struct | |
| 107 { | |
| 108 //crushing pressure | |
| 109 //in/out | |
| 110 float max_crushing_pressure_he[16]; | |
| 111 float max_crushing_pressure_n2[16]; | |
| 112 // | |
| 113 float run_time_start_of_deco_zone_save; | |
| 114 float depth_start_of_deco_zone_save; | |
| 115 float max_first_stop_depth_save; | |
| 116 short decomode_vpm_plus_conservatism_last_dive; | |
| 117 _Bool deco_zone_reached; | |
| 118 //State variables for repetetive dives | |
| 119 _Bool repetitive_variables_not_valid; | |
| 120 float adjusted_crushing_pressure_he[16]; | |
| 121 float adjusted_crushing_pressure_n2[16]; | |
| 122 float adjusted_critical_radius_he[16]; | |
| 123 float adjusted_critical_radius_n2[16]; | |
| 124 float initial_allowable_gradient_he[16]; | |
| 125 float initial_allowable_gradient_n2[16]; | |
| 126 float max_actual_gradient[16]; | |
| 127 } SVpm; | |
| 128 | |
| 129 typedef struct | |
| 130 { | |
| 131 _Bool repetitive_variables_not_valid; | |
| 132 _Bool is_data_from_RTE_CPU; | |
| 133 _Bool spare2; | |
| 134 _Bool spare3; | |
| 135 float adjusted_crushing_pressure_he[16]; | |
| 136 float adjusted_crushing_pressure_n2[16]; | |
| 137 float adjusted_critical_radius_he[16]; | |
| 138 float adjusted_critical_radius_n2[16]; | |
| 139 float initial_allowable_gradient_he[16]; | |
| 140 float initial_allowable_gradient_n2[16]; | |
| 141 float max_actual_gradient[16]; | |
| 142 } SVpmRepetitiveData; | |
| 143 | |
| 144 //struct SDevice | |
| 145 //contains information about usage | |
| 146 typedef struct | |
| 147 { | |
| 148 SDeviceLine batteryChargeCycles; | |
| 149 SDeviceLine batteryChargeCompleteCycles; | |
| 150 SDeviceLine temperatureMinimum; | |
| 151 SDeviceLine temperatureMaximum; | |
| 152 SDeviceLine depthMaximum; | |
| 153 SDeviceLine diveCycles; | |
| 154 SDeviceLine voltageMinimum; | |
| 155 SDeviceLine hoursOfOperation; | |
| 156 SDeviceLine diveAccident; | |
| 157 } SDevice; | |
| 158 | |
| 159 /* | |
| 160 typedef struct | |
| 161 { | |
| 162 SDevice device; | |
| 163 SVpmRepetitiveData vpm; | |
| 164 } SDeviceState; | |
| 165 */ | |
| 166 | |
| 167 /* struct SLifeData | |
| 168 * contains data all actual data (pressure, stuturation, etc. as received from second ship | |
| 169 * and has actualGas to be send to Small CPU (second chip) | |
| 170 * contains data calculated from actual data after receiption from Small CPU | |
| 171 */ | |
| 172 typedef struct | |
| 173 { | |
| 174 /* from Small CPU */ | |
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175 uint8_t extIf_sensor_data[32]; /* The external sensor may contain a 64 bit ID. It has been placed at the beginning of the structure to avoid problems in alignment */ |
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176 uint8_t extIf_sensor_map[EXT_INTERFACE_SENSOR_CNT]; |
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177 |
| 38 | 178 int32_t dive_time_seconds; |
| 179 int32_t dive_time_seconds_without_surface_time; | |
| 180 uint32_t surface_time_seconds; | |
| 181 float pressure_ambient_bar; | |
| 182 float pressure_surface_bar; | |
| 183 float tissue_nitrogen_bar[16]; | |
| 184 float tissue_helium_bar[16]; | |
| 185 float cns; | |
| 186 float otu; | |
| 187 uint16_t desaturation_time_minutes; | |
| 188 uint16_t no_fly_time_minutes; | |
| 189 float temperature_celsius; | |
| 190 float compass_heading; | |
| 191 float compass_roll; | |
| 192 float compass_pitch; | |
| 193 int16_t compass_DX_f; | |
| 194 int16_t compass_DY_f; | |
| 195 int16_t compass_DZ_f; | |
| 196 uint16_t counterSecondsShallowDepth; | |
| 197 float ascent_rate_meter_per_min; | |
| 198 uint32_t timeBinaryFormat; | |
| 199 uint32_t dateBinaryFormat; | |
| 200 float battery_voltage; | |
| 201 float battery_charge; | |
| 202 uint16_t ambient_light_level; | |
| 203 SDataWireless wireless_data[4]; | |
| 204 uint8_t buttonPICdata[4]; | |
| 662 | 205 SCO2Sensor CO2_data; |
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206 uint8_t extIf_sensor_Id; |
| 38 | 207 |
| 208 /* by create DiveSettings() and by setActualGas() | |
| 209 * is send to Small CPU2 for nitrogen calculation | |
| 210 * includes setpoint information | |
| 211 */ | |
| 212 SGas actualGas; | |
| 213 uint8_t lastDiluent_GasIdInSettings; | |
| 214 uint8_t gas_temp2; | |
| 215 | |
| 216 /* calculated by DataEX_copy_to_LifeData() | |
| 217 bottle_bar array size is made like this to have multiples of 32bit | |
| 218 */ | |
| 219 float ppO2; | |
| 220 float depth_meter; | |
| 221 float max_depth_meter; | |
| 222 float average_depth_meter; | |
| 223 float apnea_total_max_depth_meter; | |
| 224 float apnea_last_max_depth_meter; | |
| 225 int32_t apnea_last_dive_time_seconds; | |
| 226 uint16_t bottle_bar[2 * NUM_GASES +1]; | |
| 227 uint16_t bottle_bar_age_MilliSeconds[2 * NUM_GASES + 1]; | |
| 228 uint16_t apnea_total_counter; | |
| 229 | |
| 230 /* control of DataEX_copy_to_LifeData() | |
| 231 */ | |
| 232 uint8_t boolResetAverageDepth; | |
| 233 uint8_t bool_temp1; | |
| 234 uint8_t bool_temp2; | |
| 235 | |
| 236 /* from local sensor or direct HUD communication */ | |
| 237 //pp O2 Sensor | |
| 238 float ppO2Sensor_bar[3]; | |
| 239 float sensorVoltage_mV[3]; | |
| 240 float HUD_battery_voltage_V; | |
| 662 | 241 |
| 242 /* for PSCR Mode */ | |
| 243 float ppo2Simulated_bar; | |
| 38 | 244 } SLifeData; |
| 245 | |
| 246 | |
| 247 typedef struct | |
| 248 { | |
| 249 uint16_t tissue_nitrogen_desaturation_time_minutes[16]; | |
| 250 uint16_t tissue_helium_desaturation_time_minutes[16]; | |
| 251 } SLifeData2; | |
| 252 | |
| 253 | |
| 254 typedef struct | |
| 255 { | |
| 256 //warnings | |
| 257 int8_t decoMissed; | |
| 258 int8_t aGf; | |
| 259 int8_t ascentRateHigh; | |
| 260 int8_t ppO2Low; | |
| 261 int8_t ppO2High; | |
| 262 int8_t cnsHigh; | |
| 263 int8_t slowWarning; | |
| 264 int8_t lowBattery; | |
| 265 int8_t numWarnings; | |
| 266 int8_t sensorLinkLost; | |
| 267 int8_t sensorOutOfBounds[3]; | |
| 268 int8_t betterGas; | |
| 269 int8_t fallback; | |
| 270 int8_t betterSetpoint; | |
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271 int8_t co2High; |
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272 #ifdef ENABLE_BOTTLE_SENSOR |
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273 int8_t newPressure; |
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274 #endif |
| 38 | 275 } SWarnings; |
| 276 | |
| 277 | |
| 278 typedef struct | |
| 279 { | |
| 280 //Events logbook only | |
| 281 int16_t manualMarker; | |
| 282 int16_t gasChange; | |
| 283 int16_t info_GasChange; | |
| 284 int16_t setpointChange; | |
| 285 int16_t info_SetpointChange; | |
| 281 | 286 int16_t manualGasSet; |
| 287 int16_t info_manualGasSetHe; | |
| 288 int16_t info_manualGasSetO2; | |
| 38 | 289 int16_t bailout; |
| 290 int16_t info_bailoutHe; | |
| 291 int16_t info_bailoutO2; | |
| 292 } SEvents; | |
| 293 | |
| 294 | |
| 295 | |
| 296 //struct SDiveSettings | |
| 297 //contains settings necessary for deco calculation | |
| 298 typedef struct | |
| 299 { | |
| 300 float last_stop_depth_bar; | |
| 301 float input_next_stop_increment_depth_bar; | |
| 302 float input_second_to_last_stop_depth_bar; | |
| 303 float ascentRate_meterperminute; | |
| 304 uint8_t diveMode; /* OC, CC, .. */ | |
| 305 uint8_t CCR_Mode; | |
| 306 uint8_t future_TTS_minutes; | |
| 307 | |
| 308 /* If beginning of dive is CCR than ccrOption is set true | |
| 309 * true allows returning from bailout (OC) back to CCR | |
| 310 * true activates CC gas and setpoint pages in dive menu | |
| 311 */ | |
| 312 uint8_t ccrOption; | |
| 313 uint8_t fallbackOption; | |
| 314 uint8_t ppo2sensors_deactivated; | |
| 315 | |
| 316 split2x4_Type deco_type; /* GF or VPM for standard and alternative seperate */ | |
| 317 | |
| 318 /* VPM conservatism, do not change during dive!!! | |
| 319 * do not change in between dives otherwise repetitve dive is not possible | |
| 320 */ | |
| 321 uint8_t vpm_conservatism; | |
| 322 | |
| 323 /* B�hlmann GF | |
| 324 * and a variable that is used by Buehlmann during the dive | |
| 325 * to remember the position of GF low during ascend | |
| 326 */ | |
| 327 uint8_t gf_high; | |
| 328 uint8_t gf_low; | |
| 329 | |
| 330 /* copy of the Settings GasList and SetpintList | |
| 331 * that can be modified during the dive | |
| 332 * especially gases can be actived and deactivated | |
| 333 * gas[0] and setpoint[0] are the special ones configurable during the dive | |
| 334 */ | |
| 335 SGasLine gas[1 + (2*NUM_GASES)]; | |
| 336 SSetpointLine setpoint[1 + NUM_GASES]; | |
| 337 | |
| 338 /* List of GasChanges in the actual order | |
| 339 * this is necessary for VPM and Buehlmann and will be created on start of each calculation | |
| 340 */ | |
| 341 SGas decogaslist[BUEHLMANN_STRUCT_MAX_GASES]; // unused filled with 0xFF | |
| 342 | |
| 343 /* | |
| 344 */ | |
| 345 float internal__pressure_first_stop_ambient_bar_as_upper_limit_for_gf_low_otherwise_zero; | |
| 346 uint16_t compassHeading; | |
| 662 | 347 |
| 348 uint8_t pscr_o2_drop; | |
| 349 uint8_t pscr_lung_ratio; | |
| 38 | 350 } SDiveSettings; |
| 351 | |
| 352 enum CHARGE_STATUS{ | |
| 353 CHARGER_off = 0, | |
| 354 CHARGER_running, | |
| 355 CHARGER_complete, | |
| 356 CHARGER_lostConnection | |
| 357 }; | |
| 358 | |
| 359 typedef struct | |
| 360 { | |
| 361 SDiveSettings diveSettings; | |
| 362 SLifeData lifeData; | |
| 363 SVpm vpm; | |
| 364 SEvents events; | |
| 365 SWarnings warnings; | |
| 366 SDecoinfo decolistVPM; | |
| 367 SDecoinfo decolistFutureVPM; | |
| 368 SDecoinfo decolistBuehlmann; // | |
| 369 SDecoinfo decolistFutureBuehlmann; | |
| 370 uint8_t mode; /* hw for sleep, surface, dive, .. */ | |
| 371 uint8_t chargeStatus; | |
| 372 uint8_t data_old__lost_connection_to_slave; | |
| 373 | |
| 374 uint32_t pressure_uTick_new; | |
| 375 uint32_t compass_uTick_new; | |
| 376 | |
| 377 uint32_t pressure_uTick_old; | |
| 378 uint32_t compass_uTick_old; | |
| 379 | |
| 380 uint32_t pressure_uTick_local_new; | |
| 381 uint32_t compass_uTick_local_new; | |
| 382 | |
| 383 uint8_t cnsHigh_at_the_end_of_dive; | |
| 384 uint8_t decoMissed_at_the_end_of_dive; | |
| 385 | |
| 386 uint8_t sensorErrorsRTE; | |
| 387 | |
| 388 uint8_t lastKnownBatteryPercentage; | |
| 389 } SDiveState; | |
| 390 | |
| 391 | |
| 392 typedef struct{ | |
| 393 uint8_t bit0:1; | |
| 394 uint8_t bit1:1; | |
| 395 uint8_t bit2:1; | |
| 396 uint8_t bit3:1; | |
| 397 uint8_t bit4:1; | |
| 398 uint8_t bit5:1; | |
| 399 uint8_t bit6:1; | |
| 400 uint8_t bit7:1; | |
| 401 } ubit8_t; | |
| 402 | |
| 403 typedef union{ | |
| 404 ubit8_t ub; | |
| 405 uint8_t uw; | |
| 406 } bit8_Type; | |
| 407 | |
| 408 extern SDiveState stateSim; | |
| 409 extern SDiveState stateDeco; | |
| 410 extern uint8_t decoLock; | |
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411 extern const SDiveState *stateUsed; |
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412 extern SDiveState *stateUsedWrite; |
| 38 | 413 |
| 414 enum DECO_LOCK{ | |
| 415 DECO_CALC_running, | |
| 416 DECO_CALC_ready, | |
| 417 DECO_CALC_FINSHED_Buehlmann, | |
| 418 DECO_CALC_FINSHED_vpm, | |
| 419 DECO_CALC_FINSHED_FutureBuehlmann, | |
| 420 DECO_CALC_FINSHED_Futurevpm, | |
| 421 DECO_CALC_init_as_is_start_of_dive, | |
| 422 DECO_CALC_undefined | |
| 423 }; | |
| 424 | |
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425 typedef enum |
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426 { |
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427 SENSOR_NONE, |
| 745 | 428 SENSOR_SEARCH, |
| 733 | 429 SENSOR_OPTIC, |
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430 SENSOR_ANALOG, |
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431 SENSOR_DIGO2, |
| 745 | 432 SENSOR_SENTINEL, |
| 433 SENSOR_TYPE_O2_END, | |
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434 SENSOR_CO2, |
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435 SENSOR_END |
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436 } externalInterfaceSensorType; |
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437 |
| 745 | 438 #define DVO2_FATAL_INTENSITY_LOW (0x00000001) |
| 439 #define DVO2_FATAL_AMBIENT_HIGH (0x00000002) | |
| 440 #define DVO2_FATAL_REFINT_LOW (0x00000004) | |
| 441 #define DVO2_FATAL_REFAMB_HIGH (0x00000008) | |
| 442 #define DVO2_FATAL_TEMPERATURE (0x00000010) | |
| 443 | |
| 444 #define DVO2_FATAL_ERROR (DVO2_FATAL_INTENSITY_LOW | DVO2_FATAL_AMBIENT_HIGH | DVO2_FATAL_REFINT_LOW | DVO2_FATAL_REFAMB_HIGH | DVO2_FATAL_TEMPERATURE) | |
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445 |
| 38 | 446 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
| 447 | |
| 448 void set_stateUsedToSim(void); | |
| 449 void set_stateUsedToReal(void); | |
| 450 | |
| 451 _Bool is_stateUsedSetToSim(void); | |
| 452 | |
| 453 const SDiveState * stateRealGetPointer(void); | |
| 454 const SDiveState * stateSimGetPointer(void); | |
| 455 SDiveState * stateRealGetPointerWrite(void); | |
| 456 SDiveState * stateSimGetPointerWrite(void); | |
| 457 const SDevice * stateDeviceGetPointer(void); | |
| 458 SDevice * stateDeviceGetPointerWrite(void); | |
| 459 const SVpmRepetitiveData * stateVpmRepetitiveDataGetPointer(void); | |
| 460 SVpmRepetitiveData * stateVpmRepetitiveDataGetPointerWrite(void); | |
| 461 | |
| 462 void UpdateLifeDataTest(SDiveState * diveState); | |
| 463 | |
| 464 void setSimulationValues(int _ascent_rate_meter_per_min, int _descent_rate_meter_per_min, int _max_depth, int _bottom_time ); | |
| 465 | |
| 466 void createDiveSettings(void); | |
| 467 void copyDiveSettingsToSim(void); | |
| 468 void copyVpmRepetetiveDataToSim(void); | |
| 469 //void fallbackToFixedSetpoints(SLifeData *lifeData); | |
| 470 void setActualGasFirst(SLifeData *lifeData); | |
| 471 void setActualGasAir(SLifeData *lifeData); | |
| 472 void setActualGas(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar); | |
| 473 void setActualGas_ExtraGas(SLifeData *lifeData, uint8_t oxygen, uint8_t helium, uint8_t setpoint_cbar); | |
| 474 void setActualGas_DM(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar); | |
| 475 void setWeekday(RTC_DateTypeDef *sDate); | |
| 476 void setDate(RTC_DateTypeDef Sdate); | |
| 477 void setTime(RTC_TimeTypeDef Stime); | |
| 478 void setBatteryPercentage(uint8_t newChargePercentage); | |
| 479 void setButtonResponsiveness(uint8_t *ButtonSensitivyList); | |
| 480 void calibrateCompass(void); | |
|
539
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
478
diff
changeset
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481 void compass_Inertia(float newHeading); |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
478
diff
changeset
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482 float compass_getCompensated(); |
| 38 | 483 void clearDeco(void); |
| 484 void translateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate); | |
| 485 void translateTime(uint32_t tmpreg, RTC_TimeTypeDef *sTime); | |
| 486 void updateSetpointStateUsed(void); | |
| 487 | |
| 488 uint8_t calc_MOD(uint8_t gasId); | |
| 489 uint8_t calc_MinOD(uint8_t gasId); | |
| 490 //float calc_ppO2(float input_ambient_pressure_bar, SGas* pGas); | |
| 491 int current_second(void); | |
| 492 _Bool vpm_crush(SDiveState* pDiveState); | |
| 493 _Bool deco_zone_reached(void); | |
|
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2e58a4094770
feature, debug: make simulator write a logbook entry
Jan Mulder <jlmulder@xs4all.nl>
parents:
247
diff
changeset
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494 void resetEvents(const SDiveState *pStateUsed); |
| 38 | 495 |
| 496 uint32_t crc32c_checksum(uint8_t* message, uint16_t length, uint8_t* message2, uint16_t length2); | |
| 497 uint32_t CRC_CalcBlockCRC(uint32_t *buffer, uint32_t words); | |
| 498 uint32_t CRC_CalcBlockCRC_moreThan768000(uint32_t *buffer1, uint32_t *buffer2, uint32_t words); | |
| 499 | |
| 500 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData); | |
| 501 | |
| 662 | 502 uint8_t isLoopMode(uint8_t Mode); |
| 503 | |
| 38 | 504 #endif // DATA_CENTRAL_H |