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annotate Small_CPU/Src/scheduler.c @ 778:74253a41cf80
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| author | heinrichsweikamp |
|---|---|
| date | Mon, 22 May 2023 09:15:09 +0200 |
| parents | aa6006975e76 |
| children | e40790a67165 |
| 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" | |
|
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44 #include "externalInterface.h" |
| 662 | 45 #include "uart.h" |
| 38 | 46 |
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47 /* uncomment to enable restoting of last known date in case of a power loss (RTC looses timing data) */ |
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48 /* #define RESTORE_LAST_KNOWN_DATE */ |
| 38 | 49 |
| 475 | 50 #define INVALID_PREASURE_VALUE (0.0f) |
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51 #define START_DIVE_MOUNTAIN_MODE_BAR (0.88f) |
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52 #define START_DIVE_IMMEDIATLY_BAR (1.16f) |
| 135 | 53 |
| 38 | 54 /* Private types -------------------------------------------------------------*/ |
| 55 const SGas Air = {79,0,0,0,0}; | |
| 56 | |
| 57 /* Exported variables --------------------------------------------------------*/ | |
| 58 SGlobal global; | |
| 59 SDevice DeviceDataFlash; | |
| 60 uint8_t deviceDataFlashValid = 0; | |
| 61 uint8_t deviceDataSubSeconds = 0; | |
| 62 | |
| 63 /* Private variables ---------------------------------------------------------*/ | |
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64 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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65 |
| 38 | 66 /* can be lost while in sleep */ |
| 67 uint8_t clearDecoNow = 0; | |
| 68 uint8_t setButtonsNow = 0; | |
| 69 | |
| 70 /* has to be in SRAM2 */ | |
| 71 uint8_t secondsCount = 0; | |
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72 |
| 207 | 73 static uint8_t dospisync = SPI_SYNC_METHOD_NONE; |
| 74 | |
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75 SScheduleCtrl Scheduler; |
| 38 | 76 |
| 77 /* Private function prototypes -----------------------------------------------*/ | |
| 78 | |
| 79 _Bool vpm_crush2(void); | |
| 80 void scheduleUpdateDeviceData(void); | |
| 81 long get_nofly_time_minutes(void); | |
| 82 void copyActualGas(SGas gas); | |
| 83 void copyPressureData(void); | |
| 84 void copyCnsAndOtuData(void); | |
| 85 void copyTimeData(void); | |
| 86 void copyCompassData(void); | |
| 87 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 88 void copyAmbientLightData(void); | |
| 89 void copyTissueData(void); | |
| 90 void copyVpmCrushingData(void); | |
| 91 void copyDeviceData(void); | |
| 92 void copyPICdata(void); | |
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93 void copyExtADCdata(); |
| 662 | 94 void copyExtCO2data(); |
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95 static void schedule_update_timer_helper(int8_t thisSeconds); |
| 38 | 96 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
| 97 | |
| 98 void scheduleSetDate(SDeviceLine *line); | |
| 99 | |
| 100 /* Exported functions --------------------------------------------------------*/ | |
| 101 | |
| 102 void initGlobals(void) | |
| 103 { | |
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104 bzero(&global, sizeof(SGlobal)); |
| 38 | 105 |
| 106 global.dataSendToSlavePending = 0; | |
| 107 global.dataSendToSlaveIsValid = 1; | |
| 108 global.dataSendToSlaveIsNotValidCount = 0; | |
| 109 | |
| 110 global.mode = MODE_POWERUP; | |
| 111 global.repetitive_dive = 0; | |
| 112 global.conservatism = 0; | |
| 113 global.whichGas = 0; | |
| 114 global.aktualGas[0] = Air; | |
| 115 global.lifeData.actualGas = global.aktualGas[0]; | |
| 116 | |
| 475 | 117 const uint8_t button_standard_sensitivity = 51; /* 51 equals a percentage of 85% which was the default value before */ |
| 38 | 118 global.ButtonResponsiveness[0] = button_standard_sensitivity; |
| 119 global.ButtonResponsiveness[1] = button_standard_sensitivity; | |
| 120 global.ButtonResponsiveness[2] = button_standard_sensitivity; | |
| 121 global.ButtonResponsiveness[3] = button_standard_sensitivity; | |
| 122 | |
| 123 global.ButtonPICdata[0] = 0xFF; | |
| 124 global.ButtonPICdata[1] = 0xFF; | |
| 125 global.ButtonPICdata[2] = 0xFF; | |
| 126 global.ButtonPICdata[3] = 0xFF; | |
| 127 | |
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128 global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working |
| 38 | 129 |
| 668 | 130 global.lifeData.battery_voltage = BATTERY_DEFAULT_VOLTAGE; |
| 131 | |
| 135 | 132 global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE; |
| 133 global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE; | |
| 38 | 134 decom_reset_with_1000mbar(&global.lifeData); |
| 135 | |
| 136 global.demo_mode = 0; | |
| 137 | |
| 138 for(int i = 0; i < MAX_SENSORS; i++) | |
| 139 { | |
| 140 global.sensorError[i] = HAL_OK; // HAL_OK = 0; | |
| 141 } | |
| 142 | |
| 143 global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;; | |
| 144 global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;; | |
| 145 global.dataSendToMaster.chargeStatus = 0; | |
| 146 | |
| 475 | 147 global.dataSendToMaster.power_on_reset = 0; |
| 38 | 148 global.dataSendToMaster.header.checkCode[0] = 0xA1; |
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149 global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE; |
| 38 | 150 global.dataSendToMaster.header.checkCode[2] = 0xA3; |
| 151 global.dataSendToMaster.header.checkCode[3] = 0xA4; | |
| 152 global.dataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 153 global.dataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 154 global.dataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 155 global.dataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 156 global.dataSendToMaster.sensorErrors = 0; | |
| 157 | |
| 158 global.sync_error_count = 0; | |
| 159 global.check_sync_not_running = 0; | |
| 160 | |
| 161 global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH; | |
| 162 global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW; | |
| 163 global.deviceDataSendToMaster.chargeStatus = 0; | |
| 164 | |
| 475 | 165 global.deviceDataSendToMaster.power_on_reset = 0; |
| 38 | 166 global.deviceDataSendToMaster.header.checkCode[0] = 0xDF; |
| 167 global.deviceDataSendToMaster.header.checkCode[1] = 0xDE; | |
| 168 global.deviceDataSendToMaster.header.checkCode[2] = 0xDD; | |
| 169 global.deviceDataSendToMaster.header.checkCode[3] = 0xDC; | |
| 170 global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 171 global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 172 global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 173 global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 174 | |
| 175 global.dataSendToSlave.getDeviceDataNow = 0; | |
| 176 | |
| 177 global.deviceData.batteryChargeCompleteCycles.value_int32 = 0; | |
| 178 global.deviceData.batteryChargeCycles.value_int32 = 0; | |
| 179 global.deviceData.depthMaximum.value_int32 = 0; | |
| 180 global.deviceData.diveCycles.value_int32 = 0; | |
| 181 global.deviceData.hoursOfOperation.value_int32 = 0; | |
| 182 global.deviceData.temperatureMaximum.value_int32 = INT32_MIN; | |
| 183 global.deviceData.temperatureMinimum.value_int32 = INT32_MAX; | |
| 184 global.deviceData.voltageMinimum.value_int32 = INT32_MAX; | |
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185 |
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186 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
| 207 | 187 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
| 38 | 188 } |
| 189 | |
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190 void reinitGlobals(void) |
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191 { |
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192 global.dataSendToSlavePending = 0; |
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193 global.dataSendToSlaveIsValid = 0; |
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194 global.dataSendToSlaveIsNotValidCount = 0; |
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195 global.sync_error_count = 0; |
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196 global.check_sync_not_running = 0; |
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197 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
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198 } |
| 38 | 199 |
| 200 void scheduleSpecial_Evaluate_DataSendToSlave(void) | |
| 201 { | |
| 104 | 202 //TEMPORARY fix for compass calibration. |
| 203 //TODO: Fix I2C timeout for complete solving problem. | |
| 204 if(global.mode==MODE_CALIB){ | |
| 205 return; | |
| 206 } | |
| 90 | 207 |
| 88 | 208 global.dataSendToSlavePending = 0; |
| 209 if(!global.dataSendToSlaveIsValid) return; | |
| 38 | 210 |
| 211 global.dataSendToMaster.confirmRequest.uw = 0; | |
| 212 | |
| 213 if(TM_OTP_Read(0,0) == 0xFF) | |
| 214 { | |
| 215 if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A)) | |
| 216 TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware); | |
| 217 } | |
| 218 | |
| 219 if(global.dataSendToSlave.setAccidentFlag) | |
| 220 { | |
| 221 global.dataSendToMaster.confirmRequest.ub.accident = 1; | |
| 222 global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag; | |
| 223 scheduleSetDate(&global.deviceData.diveAccident); | |
| 224 global.accidentFlag |= global.dataSendToSlave.setAccidentFlag; | |
| 225 if(global.accidentFlag == ACCIDENT_CNS) // LVL1 | |
| 226 global.accidentRemainingSeconds = 2*60*60; | |
| 227 else | |
| 228 global.accidentRemainingSeconds = 24*60*60; | |
| 229 } | |
| 230 | |
| 231 if(global.dataSendToSlave.setTimeNow) | |
| 232 { | |
| 233 global.dataSendToMaster.confirmRequest.ub.time = 1; | |
| 234 RTC_SetTime(global.dataSendToSlave.data.newTime); | |
| 235 schedule_update_timer_helper(0); | |
| 236 } | |
| 237 | |
| 238 if(global.dataSendToSlave.setDateNow) | |
| 239 { | |
| 240 global.dataSendToMaster.confirmRequest.ub.date = 1; | |
| 241 RTC_SetDate(global.dataSendToSlave.data.newDate); | |
| 242 schedule_update_timer_helper(0); | |
| 243 } | |
| 244 | |
| 245 if(global.dataSendToSlave.calibrateCompassNow) | |
| 246 { | |
| 247 global.dataSendToMaster.confirmRequest.ub.compass = 1; | |
| 248 global.mode = MODE_CALIB; | |
| 249 } | |
| 250 | |
| 251 if(global.dataSendToSlave.clearDecoNow) | |
| 252 { | |
| 253 global.dataSendToMaster.confirmRequest.ub.clearDeco = 1; | |
| 254 clearDecoNow = 1; | |
| 255 } | |
| 256 | |
| 257 if(global.dataSendToSlave.setButtonSensitivityNow) | |
| 258 { | |
| 259 global.dataSendToMaster.confirmRequest.ub.button = 1; | |
| 260 global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0]; | |
| 261 global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1]; | |
| 262 global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2]; | |
| 263 global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3]; | |
| 264 setButtonsNow = 1; | |
| 265 } | |
| 266 | |
| 267 if(global.dataSendToSlave.setBatteryGaugeNow) | |
| 268 { | |
| 104 | 269 if(global.mode!=MODE_CALIB){ |
| 38 | 270 global.dataSendToMaster.confirmRequest.ub.batterygauge = 1; |
| 271 battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat); | |
| 104 | 272 } |
| 38 | 273 } |
| 274 | |
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275 if(global.dataSendToSlave.setEndDive) |
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276 { |
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277 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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278 } |
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279 |
| 38 | 280 if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN)) |
| 281 { | |
| 282 global.mode = MODE_SHUTDOWN; | |
| 283 } | |
| 284 | |
| 285 if(global.mode == MODE_DIVE) | |
| 286 { | |
| 287 copyActualGas(global.dataSendToSlave.data.actualGas); | |
| 288 } | |
| 289 else | |
| 290 { | |
| 291 copyActualGas(Air); | |
| 292 global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook; | |
| 293 global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth; | |
| 294 } | |
| 295 | |
| 296 /* for simulation / testing */ | |
| 297 global.ceiling_from_main_CPU_mbar = global.dataSendToSlave.data.ambient_pressure_mbar_ceiling; | |
| 298 | |
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299 /* Set pressure and temperature offsets */ |
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300 pressure_set_offset (global.dataSendToSlave.data.offsetPressureSensor_mbar, global.dataSendToSlave.data.offsetTemperatureSensor_centiDegree); |
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301 |
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302 |
| 88 | 303 /* for device data updates */ |
| 304 deviceDataFlashValid = 0; | |
| 305 memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice)); | |
| 306 deviceDataFlashValid = 1; | |
| 89 | 307 |
| 662 | 308 |
| 309 /* handle external interface requests */ | |
| 310 | |
| 311 if((global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON) != externalInterface_isEnabledPower33()) | |
| 312 { | |
| 313 externalInterface_SwitchPower33(global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON); | |
| 314 } | |
| 315 | |
| 691 | 316 if(((global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_ADC_ON) != 0) != externalInterface_isEnabledADC()) |
| 317 { | |
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318 externalInterface_SwitchADC(1-externalInterface_isEnabledADC()); |
| 691 | 319 } |
| 320 | |
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321 if(((global.dataSendToSlave.data.externalInterface_Cmd >> 8) & 0x0F) != externalInterface_GetUARTProtocol()) |
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322 { |
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323 externalInterface_SwitchUART((global.dataSendToSlave.data.externalInterface_Cmd >> 8) & 0x0F); |
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324 } |
| 691 | 325 |
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326 externalInface_SetSensorMap(global.dataSendToSlave.data.externalInterface_SensorMap); |
| 691 | 327 if(global.dataSendToSlave.data.externalInterface_Cmd & 0x00FF) /* lowest nibble for commands */ |
| 662 | 328 { |
| 329 externalInterface_ExecuteCmd(global.dataSendToSlave.data.externalInterface_Cmd); | |
| 330 } | |
| 331 | |
| 332 | |
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333 #if 0 |
| 104 | 334 //TODO: Temporary placed here. Duration ~210 ms. |
| 335 if (global.I2C_SystemStatus != HAL_OK) { | |
| 336 MX_I2C1_TestAndClear(); | |
| 337 MX_I2C1_Init(); | |
| 338 // init_pressure(); | |
| 339 // compass_init(0, 7); | |
| 340 // accelerator_init(); | |
| 341 } | |
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342 #endif /* already called once a second */ |
| 38 | 343 } |
| 344 | |
| 345 | |
| 346 /** | |
| 347 ****************************************************************************** | |
| 348 * @brief schedule_time_compare_helper. | |
| 349 * @author heinrichs weikamp gmbh | |
| 350 * @version V0.0.1 | |
| 351 * @date 20-Oct-2016 | |
| 352 ****************************************************************************** | |
| 353 */ | |
| 354 | |
| 355 uint8_t RtcBugFixChsw(uint8_t inStupidTime) | |
| 356 { | |
| 357 uint8_t multiplesOf16 = 0; | |
| 358 | |
| 359 multiplesOf16 = inStupidTime / 16; | |
| 360 | |
| 361 inStupidTime -= multiplesOf16 * 16; | |
| 362 | |
| 363 return (10 * multiplesOf16) + inStupidTime; | |
| 364 } | |
| 365 | |
| 366 uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast) | |
| 367 { | |
| 368 uint32_t nowInSeconds; | |
| 369 uint32_t lastInSeconds; | |
| 370 uint32_t resultDiff; | |
| 371 | |
| 372 nowInSeconds = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600; | |
| 373 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60; | |
| 374 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds); | |
| 375 | |
| 376 lastInSeconds = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600; | |
| 377 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60; | |
| 378 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds); | |
| 379 | |
| 380 if(dateNow.Date != dateLast.Date) | |
| 381 { | |
| 382 resultDiff = 86400 + nowInSeconds - lastInSeconds; | |
| 383 } | |
| 384 else | |
| 385 { | |
| 386 resultDiff = nowInSeconds - lastInSeconds; | |
| 387 } | |
| 388 return resultDiff; | |
| 389 } | |
| 390 | |
| 391 | |
| 392 | |
| 393 /** | |
| 394 ****************************************************************************** | |
| 395 * @brief schedule_update_timer_helper. | |
| 396 * @author heinrichs weikamp gmbh | |
| 397 * @version V0.0.1 | |
| 398 * @date 20-Oct-2016 | |
| 399 * @brief use 0 for init | |
| 400 use -1 for RTC controlled | |
| 401 use >= 1 for manual control | |
| 402 ****************************************************************************** | |
| 403 */ | |
| 404 extern RTC_HandleTypeDef RTCHandle; | |
| 405 | |
|
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406 static void schedule_update_timer_helper(int8_t thisSeconds) |
| 38 | 407 { |
| 408 static RTC_TimeTypeDef sTimeLast; | |
| 409 static RTC_DateTypeDef sDateLast; | |
| 410 RTC_TimeTypeDef sTimeNow; | |
| 411 RTC_DateTypeDef sDateNow; | |
| 412 uint32_t secondsPast; | |
| 413 | |
| 414 HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD); | |
| 415 HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD); | |
| 416 | |
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417 if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast |
| 38 | 418 { |
| 419 if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast | |
| 420 { | |
| 421 secondsPast = thisSeconds; | |
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422 } else { |
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423 // thisSeconds < 0 and not <= ! |
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424 secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast); |
| 38 | 425 } |
| 426 | |
| 427 if(global.seconds_since_last_dive) | |
| 428 { | |
| 429 if(secondsPast >= 777900) | |
| 430 { | |
| 431 global.seconds_since_last_dive = 0; | |
| 432 } | |
| 433 else | |
| 434 { | |
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435 uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast; |
| 38 | 436 if(tempNewValue > 777900) // a bit more than nine days [seconds] |
| 437 global.seconds_since_last_dive = 0; | |
| 438 else | |
| 439 global.seconds_since_last_dive = (long)tempNewValue; | |
| 440 } | |
| 441 } | |
| 442 } | |
| 443 | |
| 444 sTimeLast = sTimeNow; | |
| 445 sDateLast = sDateNow; | |
| 446 } | |
| 447 | |
| 448 /** | |
| 449 ****************************************************************************** | |
| 450 * @brief schedule_check_resync. | |
| 451 * @author heinrichs weikamp gmbh | |
| 452 * @version V0.0.2 | |
| 453 * @date 18-June-2015 | |
| 454 ****************************************************************************** | |
| 455 */ | |
| 135 | 456 |
| 38 | 457 void schedule_check_resync(void) |
| 458 { | |
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459 /* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */ |
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460 if((global.check_sync_not_running >= Scheduler.communicationTimeout)) |
| 38 | 461 { |
| 89 | 462 // global.dataSendToSlaveIsNotValidCount = 0; |
| 135 | 463 global.check_sync_not_running = 0; |
| 464 global.sync_error_count++; | |
| 465 | |
| 466 /* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the | |
| 467 * function error handler | |
| 468 */ | |
| 277 | 469 HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE); |
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470 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON; /* Reduce error detection time */ |
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471 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
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472 } |
| 38 | 473 } |
| 474 | |
| 475 | |
| 476 /** | |
| 477 ****************************************************************************** | |
| 478 * @brief scheduleDiveMode. / Dive Mode: Main Loop | |
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479 * @author heinrichs weikamp gmbh |
| 38 | 480 * @version V0.0.1 |
| 481 * @date 22-April-2014 | |
| 482 ****************************************************************************** | |
| 483 */ | |
| 484 void scheduleDiveMode(void) | |
| 485 { | |
| 486 uint32_t ticksdiff = 0; | |
| 487 uint32_t lasttick = 0; | |
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488 uint8_t extAdcChannel = 0; |
| 38 | 489 uint8_t counterAscentRate = 0; |
| 490 float lastPressure_bar = 0.0f; | |
| 491 global.dataSendToMaster.mode = MODE_DIVE; | |
| 492 global.deviceDataSendToMaster.mode = MODE_DIVE; | |
| 493 uint8_t counter_exit = 0; | |
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494 |
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495 Scheduler.counterSPIdata100msec = 0; |
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496 Scheduler.counterCompass100msec = 0; |
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497 Scheduler.counterPressure100msec = 0; |
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498 Scheduler.counterAmbientLight100msec = 0; |
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499 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 500 |
| 501 global.deviceData.diveCycles.value_int32++; | |
| 502 scheduleSetDate(&global.deviceData.diveCycles); | |
| 503 global.lifeData.counterSecondsShallowDepth = 0; | |
| 504 | |
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505 /* Get the last stable value in case of an unstable surface history condition */ |
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506 if(!is_surface_pressure_stable()) |
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507 { |
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508 set_last_surface_pressure_stable(); |
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509 } |
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510 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; |
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511 ManualExitDiveCounter = 0; /* reset early exit request */ |
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512 |
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513 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 514 while(global.mode == MODE_DIVE) |
| 515 { | |
| 516 lasttick = HAL_GetTick(); | |
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517 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 518 |
| 691 | 519 #ifdef ENABLE_CO2_SUPPORT |
| 742 | 520 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_CO2 >> 8)) |
| 691 | 521 { |
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522 UART_HandleCO2Data(); |
| 691 | 523 } |
| 524 #endif | |
| 525 #ifdef ENABLE_SENTINEL_MODE | |
| 742 | 526 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_SENTINEL >> 8)) |
| 691 | 527 { |
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528 UART_HandleSentinelData(); |
| 691 | 529 } |
| 530 #endif | |
| 742 | 531 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_O2 >> 8)) |
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532 { |
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533 UART_HandleDigitalO2(); |
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534 } |
| 691 | 535 |
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536 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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537 { |
| 277 | 538 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 539 { | |
| 540 Scheduler.counterSPIdata100msec++; | |
| 541 } | |
| 542 schedule_check_resync(); | |
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543 |
| 691 | 544 if(externalInterface_isEnabledADC()) |
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545 { |
| 691 | 546 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 547 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 548 { | |
| 549 externalInterface_CalculateADCValue(extAdcChannel); | |
| 550 } | |
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551 } |
| 691 | 552 copyExtADCdata(); |
| 662 | 553 copyExtCO2data(); |
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554 } |
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555 |
| 38 | 556 //Evaluate pressure at 20 ms, 120 ms, 220 ms,.... |
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557 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 558 { |
| 559 global.check_sync_not_running++; | |
| 277 | 560 pressure_update_alternating(); |
| 135 | 561 scheduleUpdateDeviceData(); |
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562 #ifdef DEMOMODE |
| 38 | 563 if(global.demo_mode) |
| 564 { | |
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565 int turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar); |
| 38 | 566 if(turbo_seconds) |
| 567 { | |
| 568 global.lifeData.dive_time_seconds += turbo_seconds; | |
| 569 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData); | |
| 570 copyTissueData(); | |
| 571 } | |
| 572 if((global.lifeData.counterSecondsShallowDepth > 1) && (global.lifeData.counterSecondsShallowDepth < (global.settings.timeoutDiveReachedZeroDepth - 10))) | |
| 573 global.lifeData.counterSecondsShallowDepth = (global.settings.timeoutDiveReachedZeroDepth - 10); | |
| 574 } | |
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575 #endif |
| 38 | 576 |
| 577 //Calc ascentrate every two second (20 * 100 ms) | |
| 578 counterAscentRate++; | |
| 579 if(counterAscentRate == 20) | |
| 580 { | |
| 581 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 582 if(lastPressure_bar >= 0) | |
| 583 { | |
| 584 //2 seconds * 30 == 1 minute, bar * 10 = meter | |
| 585 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10; | |
| 586 } | |
| 587 lastPressure_bar = global.lifeData.pressure_ambient_bar; | |
| 588 counterAscentRate = 0; | |
| 589 } | |
| 135 | 590 copyPressureData(); |
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591 Scheduler.counterPressure100msec++; |
| 38 | 592 } |
| 593 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... | |
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594 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 595 { |
| 596 compass_read(); | |
| 597 acceleration_read(); | |
| 598 compass_calc(); | |
| 599 copyCompassData(); | |
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600 Scheduler.counterCompass100msec++; |
| 135 | 601 } |
| 38 | 602 |
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603 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 604 { |
| 605 adc_ambient_light_sensor_get_data(); | |
| 606 copyAmbientLightData(); | |
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607 Scheduler.counterAmbientLight100msec++; |
| 38 | 608 } |
| 609 | |
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610 //Evaluate tissues, toxic data, vpm, etc. once a second |
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611 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 612 { |
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613 Scheduler.tick_execute1second = 0xFFFFFFFF; /* execute once only in the second cycle */ |
| 38 | 614 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) |
| 615 { | |
| 616 scheduleUpdateLifeData(0); // includes tissues | |
| 617 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too | |
| 618 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); | |
| 619 decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2); | |
| 620 decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2); | |
| 88 | 621 battery_gas_gauge_get_data(); |
| 38 | 622 |
| 623 | |
| 624 /** counter_exit allows safe exit via button for testing | |
| 625 * and demo_mode is exited too if aplicable. | |
| 626 */ | |
| 627 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 628 { | |
| 629 counter_exit++; | |
| 630 if(counter_exit >= 2) | |
| 631 { | |
| 632 global.mode = MODE_SURFACE; | |
| 633 global.demo_mode = 0; | |
| 634 } | |
| 635 } | |
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636 |
| 38 | 637 if(is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 638 { | |
| 639 global.lifeData.counterSecondsShallowDepth++; | |
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640 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0)) |
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641 || (ManualExitDiveCounter)) |
| 38 | 642 { |
| 643 global.seconds_since_last_dive = 1; // start counter | |
| 644 schedule_update_timer_helper(0); // zum starten :-) | |
| 645 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 646 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 647 } | |
| 648 } | |
| 649 else | |
| 650 { | |
| 651 global.lifeData.counterSecondsShallowDepth = 0; | |
| 652 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 653 } | |
| 654 vpm_crush2(); | |
| 655 } | |
| 656 else // DIVEMODE_Apnea | |
| 657 { | |
| 658 global.lifeData.dive_time_seconds++; | |
| 659 | |
| 660 // exit dive mode | |
| 661 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 662 { | |
| 663 counter_exit++; | |
| 664 if(counter_exit >= 2) | |
| 665 { | |
| 666 scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode | |
| 667 global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time | |
| 668 global.mode = MODE_SURFACE; | |
| 669 global.demo_mode = 0; | |
| 670 } | |
| 671 } | |
| 672 | |
| 673 // surface break | |
| 674 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
| 675 { | |
| 676 global.lifeData.counterSecondsShallowDepth++; | |
| 677 if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds | |
| 678 { | |
| 679 global.lifeData.dive_time_seconds = 0; // this apnea dive ends here | |
| 680 } | |
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681 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (ManualExitDiveCounter)) |
| 38 | 682 { |
| 683 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 684 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 685 } | |
| 686 } | |
| 687 else | |
| 688 { | |
| 689 global.lifeData.counterSecondsShallowDepth = 0; | |
| 690 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 691 } | |
| 692 } // standard dive or DIVEMODE_Apnea | |
| 693 | |
| 88 | 694 copyVpmCrushingData(); |
| 695 copyTimeData(); | |
| 696 copyCnsAndOtuData(); | |
| 697 copyBatteryData(); | |
| 38 | 698 |
| 88 | 699 // new hw 170523 |
| 700 if(global.I2C_SystemStatus != HAL_OK) | |
| 701 { | |
| 702 MX_I2C1_TestAndClear(); | |
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703 HAL_Delay(100); |
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704 I2C_DeInit(); |
|
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705 HAL_Delay(100); |
| 88 | 706 MX_I2C1_Init(); |
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707 HAL_Delay(100); |
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708 |
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709 init_pressure(); |
| 88 | 710 } |
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711 } |
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712 if(ticksdiff >= 1000) |
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713 { |
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714 /* reset counter */ |
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715 Scheduler.tickstart = HAL_GetTick(); |
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716 Scheduler.counterSPIdata100msec = 0; |
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717 Scheduler.counterCompass100msec = 0; |
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718 Scheduler.counterPressure100msec = 0; |
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719 Scheduler.counterAmbientLight100msec = 0; |
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720 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 721 } |
| 722 } | |
| 723 } | |
| 724 | |
| 725 | |
| 726 /** | |
| 727 ****************************************************************************** | |
| 728 * @brief scheduleSurfaceMode / surface mode: Main Loop | |
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729 * @author heinrichs weikamp gmbh |
| 38 | 730 * @version V0.0.1 |
| 731 * @date 22-April-2014 | |
| 732 ****************************************************************************** | |
| 733 */ | |
| 734 | |
| 735 | |
| 736 // =============================================================================== | |
| 737 // scheduleTestMode | |
| 738 /// @brief included for sealed hardware with permanent RTE update message | |
| 739 // =============================================================================== | |
| 740 void scheduleTestMode(void) | |
| 741 { | |
| 742 uint32_t ticksdiff = 0; | |
| 743 uint32_t lasttick = 0; | |
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744 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 745 |
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746 Scheduler.counterPressure100msec = 0; |
| 38 | 747 |
| 748 float temperature_carousel = 0.0f; | |
| 749 float temperature_changer = 0.1f; | |
| 750 | |
| 751 while(global.mode == MODE_TEST) | |
| 752 { | |
| 753 lasttick = HAL_GetTick(); | |
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754 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
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755 |
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756 //Evaluate received data at 10 ms, 110 ms, 210 ms,... |
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757 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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758 { |
| 277 | 759 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 760 { | |
| 761 Scheduler.counterSPIdata100msec++; | |
| 762 } | |
| 763 schedule_check_resync(); | |
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764 } |
| 38 | 765 |
| 766 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... | |
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767 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 768 { |
| 769 global.check_sync_not_running++; | |
| 770 | |
| 277 | 771 pressure_update_alternating(); |
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772 scheduleUpdateDeviceData(); |
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773 global.lifeData.ascent_rate_meter_per_min = 0; |
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774 copyPressureData(); |
| 38 | 775 |
| 776 if(temperature_carousel > 20.0f) | |
| 777 { | |
| 778 temperature_carousel = 20.0f; | |
| 779 temperature_changer = -0.1f; | |
| 780 } | |
| 781 else | |
| 782 if(temperature_carousel < 0) | |
| 783 { | |
| 784 temperature_carousel = 0; | |
| 785 temperature_changer = +0.1f; | |
| 786 } | |
| 787 | |
| 788 temperature_carousel += temperature_changer; | |
| 789 | |
| 790 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; | |
| 791 | |
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792 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); |
| 38 | 793 |
| 794 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; | |
| 795 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 796 global.dataSendToMaster.boolPressureData = boolPressureData; | |
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797 Scheduler.counterPressure100msec++; |
| 38 | 798 } |
| 799 | |
| 800 if(ticksdiff >= 1000) | |
| 801 { | |
| 802 //Set back tick counter | |
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803 Scheduler.tickstart = HAL_GetTick(); |
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804 Scheduler.counterPressure100msec = 0; |
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805 Scheduler.counterSPIdata100msec = 0; |
| 38 | 806 } |
| 807 }; | |
| 808 } | |
| 809 | |
| 810 | |
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811 |
| 38 | 812 void scheduleSurfaceMode(void) |
| 813 { | |
| 814 uint32_t ticksdiff = 0; | |
| 815 uint32_t lasttick = 0; | |
|
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816 uint8_t extAdcChannel = 0; |
| 662 | 817 uint8_t batteryToggle = 0; /* ADC is operating in automatic 2 second cycles => consider for battery charge function call */ |
| 818 | |
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819 Scheduler.tickstart = HAL_GetTick(); |
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820 Scheduler.counterSPIdata100msec = 0; |
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821 Scheduler.counterCompass100msec = 0; |
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822 Scheduler.counterPressure100msec = 0; |
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823 Scheduler.counterAmbientLight100msec = 0; |
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824 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
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825 |
| 38 | 826 global.dataSendToMaster.mode = MODE_SURFACE; |
| 827 global.deviceDataSendToMaster.mode = MODE_SURFACE; | |
| 828 | |
| 829 while(global.mode == MODE_SURFACE) | |
| 830 { | |
| 277 | 831 |
| 38 | 832 lasttick = HAL_GetTick(); |
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833 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 834 |
| 835 if(setButtonsNow == 1) | |
| 836 { | |
| 837 if(scheduleSetButtonResponsiveness()) | |
| 838 setButtonsNow = 0; | |
| 839 } | |
| 691 | 840 |
| 841 #ifdef ENABLE_CO2_SUPPORT | |
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842 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_CO2 >> 8)) |
| 691 | 843 { |
|
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844 UART_HandleCO2Data(); |
| 691 | 845 } |
| 846 #endif | |
| 847 #ifdef ENABLE_SENTINEL_MODE | |
| 742 | 848 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_SENTINEL >> 8)) |
| 691 | 849 { |
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850 UART_HandleSentinelData(); |
| 691 | 851 } |
| 852 #endif | |
| 662 | 853 |
|
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854 if(externalInterface_GetUARTProtocol() & (EXT_INTERFACE_UART_O2 >> 8)) |
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855 { |
|
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856 UART_HandleDigitalO2(); |
|
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857 } |
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858 |
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859 /* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */ |
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860 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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861 { |
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862 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
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863 { |
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864 Scheduler.counterSPIdata100msec++; |
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865 } |
| 277 | 866 schedule_check_resync(); |
| 691 | 867 if(externalInterface_isEnabledADC()) |
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868 { |
| 691 | 869 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 870 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 871 { | |
| 872 externalInterface_CalculateADCValue(extAdcChannel); | |
| 873 | |
| 874 } | |
|
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875 } |
| 691 | 876 copyExtADCdata(); |
| 662 | 877 copyExtCO2data(); |
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878 } |
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879 |
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880 /* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */ |
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881 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 882 { |
| 883 global.check_sync_not_running++; | |
| 277 | 884 pressure_update_alternating(); |
| 135 | 885 scheduleUpdateDeviceData(); |
| 38 | 886 global.lifeData.ascent_rate_meter_per_min = 0; |
| 135 | 887 copyPressureData(); |
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888 Scheduler.counterPressure100msec++; |
| 135 | 889 |
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890 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 38 | 891 global.mode = MODE_DIVE; |
| 892 } | |
| 893 | |
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894 /* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */ |
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895 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 896 { |
| 897 compass_read(); | |
| 898 acceleration_read(); | |
| 899 compass_calc(); | |
| 900 copyCompassData(); | |
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901 Scheduler.counterCompass100msec++; |
| 135 | 902 } |
| 38 | 903 |
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904 /* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */ |
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905 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 906 { |
| 907 adc_ambient_light_sensor_get_data(); | |
| 908 copyAmbientLightData(); | |
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909 Scheduler.counterAmbientLight100msec++; |
| 38 | 910 } |
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911 |
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912 |
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913 |
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914 /* Evaluate tissues, toxic data, etc. once a second... duration ~1ms */ |
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915 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 916 { |
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917 Scheduler.tick_execute1second = 0xFFFFFFFF; |
| 38 | 918 if(clearDecoNow) |
| 919 { | |
| 920 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time | |
| 921 // new 160215 hw | |
| 922 global.repetitive_dive = 0; | |
| 923 global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well | |
| 924 global.no_fly_time_minutes = 0; | |
| 925 global.accidentFlag = 0; | |
| 926 global.accidentRemainingSeconds = 0; | |
| 927 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); | |
| 928 clearDecoNow = 0; | |
| 929 } | |
| 89 | 930 |
|
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931 if(ManualExitDiveCounter) |
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932 { |
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933 ManualExitDiveCounter--; |
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934 } |
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935 |
| 38 | 936 if(global.seconds_since_last_dive) |
| 937 { | |
| 938 schedule_update_timer_helper(-1); | |
| 939 } | |
| 89 | 940 |
| 38 | 941 if(global.accidentRemainingSeconds) |
| 942 { | |
| 943 global.accidentRemainingSeconds--; | |
| 944 if(!global.accidentRemainingSeconds) | |
| 945 global.accidentFlag = 0; | |
| 946 } | |
| 947 global.dataSendToMaster.accidentFlags = global.accidentFlag; | |
| 89 | 948 |
| 38 | 949 update_surface_pressure(1); |
| 950 scheduleUpdateLifeData(0); | |
| 951 decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive); | |
| 952 decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive); | |
| 135 | 953 |
| 954 /* start desaturation calculation after first valid measurement has been done */ | |
| 955 if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE) | |
| 956 { | |
| 957 global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar); | |
| 958 } | |
| 959 else | |
| 960 { | |
| 961 global.lifeData.desaturation_time_minutes = 0; | |
| 962 } | |
| 662 | 963 |
| 964 if(!batteryToggle) | |
| 965 { | |
| 966 battery_gas_gauge_get_data(); | |
| 967 battery_charger_get_status_and_contral_battery_gas_gauge(2); | |
| 968 batteryToggle = 1; | |
| 969 } | |
| 970 else | |
| 971 { | |
| 972 batteryToggle = 0; | |
| 973 } | |
| 89 | 974 |
| 88 | 975 copyCnsAndOtuData(); |
| 976 copyTimeData(); | |
| 977 copyBatteryData(); | |
| 978 copyDeviceData(); | |
| 38 | 979 |
| 691 | 980 |
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981 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occured during startup */ |
| 88 | 982 if(global.I2C_SystemStatus != HAL_OK) |
| 983 { | |
| 984 MX_I2C1_TestAndClear(); | |
|
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985 HAL_Delay(100); |
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986 I2C_DeInit(); |
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987 HAL_Delay(100); |
| 88 | 988 MX_I2C1_Init(); |
|
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989 HAL_Delay(100); |
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990 |
|
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991 if(global.I2C_SystemStatus == HAL_OK) |
| 88 | 992 { |
| 993 init_pressure(); | |
|
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994 if(is_init_pressure_done()) /* Init surface data with initial measurement */ |
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995 { |
|
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996 init_surface_ring(0); |
|
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997 } |
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998 |
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999 if(!battery_gas_gauge_CheckConfigOK()) |
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1000 { |
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1001 init_battery_gas_gauge(); |
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1002 } |
| 88 | 1003 } |
| 1004 } | |
|
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1005 externalInterface_AutodetectSensor(); |
|
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1006 } |
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1007 |
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1008 if(ticksdiff >= 1000) |
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1009 { |
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1010 //Set back tick counter |
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1011 Scheduler.tickstart = HAL_GetTick(); |
|
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1012 Scheduler.counterSPIdata100msec = 0; |
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1013 Scheduler.counterCompass100msec = 0; |
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1014 Scheduler.counterPressure100msec = 0; |
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1015 Scheduler.counterAmbientLight100msec = 0; |
|
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1016 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 1017 } |
| 1018 } | |
| 1019 } | |
| 1020 | |
| 207 | 1021 inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod) |
|
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1022 { |
| 207 | 1023 if( SyncMethod < SPI_SYNC_METHOD_INVALID) |
| 1024 { | |
| 1025 dospisync = SyncMethod; | |
| 1026 } | |
| 1027 } | |
| 1028 | |
|
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1029 void Scheduler_SyncToSPI(uint8_t TXtick) |
| 207 | 1030 { |
| 1031 uint32_t deltatick = 0; | |
|
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1032 int8_t TXcompensation; |
| 207 | 1033 |
| 1034 switch(dospisync) | |
|
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1035 { |
| 207 | 1036 case SPI_SYNC_METHOD_HARD: |
| 1037 //Set back tick counter | |
|
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1038 Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */ |
| 207 | 1039 Scheduler.counterSPIdata100msec = 0; |
| 1040 Scheduler.counterCompass100msec = 0; | |
| 1041 Scheduler.counterPressure100msec = 0; | |
| 1042 Scheduler.counterAmbientLight100msec = 0; | |
| 1043 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1044 break; | |
| 1045 case SPI_SYNC_METHOD_SOFT: | |
| 1046 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); | |
| 1047 deltatick %= 100; /* clip to 100ms window */ | |
| 1048 if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */ | |
| 1049 { | |
| 1050 Scheduler.tickstart -= deltatick; | |
| 1051 } | |
| 1052 else | |
| 1053 { | |
| 1054 Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart); | |
| 1055 } | |
| 1056 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1057 break; | |
|
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1058 default: /* continous sync activity */ |
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1059 if(TXtick < 100) /* do not handle unexpected jump length > 100ms */ |
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1060 { |
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1061 TXtick += 4; /* add 4ms TX time to offset of 100ms time stamp */ |
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1062 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); |
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1063 deltatick %= 100; |
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1064 if(deltatick > 50) |
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1065 { |
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1066 TXcompensation = deltatick - 100; /* neg drift */ |
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1067 } |
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1068 else |
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1069 { |
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1070 TXcompensation = deltatick; /* pos drift */ |
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1071 } |
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1072 TXcompensation = TXtick - TXcompensation; |
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1073 Scheduler.tickstart -= TXcompensation; |
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1074 } |
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1075 else |
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1076 { |
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1077 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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1078 } |
| 207 | 1079 break; |
|
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1080 } |
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1081 } |
| 38 | 1082 |
| 1083 /** | |
| 1084 ****************************************************************************** | |
| 1085 * @brief scheduleCompassCalibrationMode | |
| 1086 * @author heinrichs weikamp gmbh | |
| 1087 * @version V0.0.1 | |
| 1088 * @since 31-March-2015 | |
| 1089 * @date 31-March-2015 | |
| 1090 ****************************************************************************** | |
| 1091 */ | |
| 1092 void scheduleCompassCalibrationMode(void) | |
| 1093 { | |
| 1094 compass_init(1,7); // fast mode, max gain | |
| 1095 compass_calib(); // duration : 1 minute! | |
| 1096 compass_init(0,7); // back to normal mode | |
| 1097 | |
| 1098 if(global.seconds_since_last_dive) | |
| 1099 { | |
| 1100 schedule_update_timer_helper(-1); | |
| 1101 } | |
| 1102 | |
| 1103 scheduleUpdateLifeData(0); | |
| 1104 global.mode = MODE_SURFACE; | |
| 1105 } | |
| 1106 | |
| 1107 | |
| 1108 /** | |
| 1109 ****************************************************************************** | |
| 1110 * @brief scheduleSleepMode / sleep mode: Main Loop | |
| 1111 * @author heinrichs weikamp gmbh | |
| 1112 * @version V0.0.2 | |
| 1113 * @since 31-March-2015 | |
| 1114 * @date 22-April-2014 | |
| 1115 ****************************************************************************** | |
| 1116 */ | |
| 1117 | |
| 1118 void scheduleSleepMode(void) | |
| 1119 { | |
| 1120 global.dataSendToMaster.mode = 0; | |
| 1121 global.deviceDataSendToMaster.mode = 0; | |
| 668 | 1122 secondsCount = 0; |
| 38 | 1123 |
| 1124 /* prevent button wake up problem while in sleep_prepare | |
| 1125 * sleep prepare does I2C_DeInit() | |
| 1126 */ | |
| 1127 if(global.mode != MODE_SLEEP) | |
| 1128 MX_I2C1_Init(); | |
| 1129 else | |
| 1130 do | |
| 1131 { | |
| 1132 I2C_DeInit(); | |
| 1133 | |
| 1134 #ifdef DEBUGMODE | |
| 1135 HAL_Delay(2000); | |
| 1136 #else | |
| 1137 RTC_StopMode_2seconds(); | |
| 1138 #endif | |
| 1139 | |
| 1140 | |
| 1141 | |
| 1142 if(global.mode == MODE_SLEEP) | |
| 1143 secondsCount += 2; | |
| 1144 | |
| 662 | 1145 externalInterface_InitPower33(); |
| 38 | 1146 MX_I2C1_Init(); |
| 1147 pressure_sensor_get_pressure_raw(); | |
| 1148 | |
| 475 | 1149 /* check if I2C is not up and running and try to reactivate if necessary. Also do initialization if problem occurred during startup */ |
|
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1150 if(global.I2C_SystemStatus != HAL_OK) |
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1151 { |
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1152 MX_I2C1_TestAndClear(); |
|
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1153 HAL_Delay(100); |
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1154 I2C_DeInit(); |
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1155 HAL_Delay(100); |
|
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1156 MX_I2C1_Init(); |
|
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1157 HAL_Delay(100); |
|
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1158 |
| 475 | 1159 if((global.I2C_SystemStatus == HAL_OK) && (!is_init_pressure_done())) |
|
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1160 { |
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1161 init_pressure(); |
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1162 } |
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1163 } |
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1164 |
| 691 | 1165 if((secondsCount >= 30) || (global.mode != MODE_SLEEP)) /* Service battery charge state in case sleep is left */ |
| 38 | 1166 { |
| 1167 pressure_sensor_get_temperature_raw(); | |
| 1168 battery_gas_gauge_get_data(); | |
| 662 | 1169 ReInit_battery_charger_status_pins(); |
| 691 | 1170 battery_charger_get_status_and_contral_battery_gas_gauge(secondsCount); |
| 38 | 1171 // DeInit_battery_charger_status_pins(); |
| 1172 secondsCount = 0; | |
| 1173 } | |
| 1174 | |
| 1175 pressure_calculation(); | |
| 1176 | |
| 1177 scheduleUpdateDeviceData(); | |
| 1178 update_surface_pressure(2); | |
| 1179 | |
| 1180 if(global.seconds_since_last_dive) | |
| 1181 { | |
| 1182 schedule_update_timer_helper(-1); | |
| 1183 } | |
| 1184 | |
| 1185 if(global.accidentRemainingSeconds) | |
| 1186 { | |
| 1187 if(global.accidentRemainingSeconds > 2) | |
| 1188 global.accidentRemainingSeconds -= 2; | |
| 1189 else | |
| 1190 { | |
| 1191 global.accidentRemainingSeconds = 0; | |
| 1192 global.accidentFlag = 0; | |
| 1193 } | |
| 1194 } | |
| 1195 | |
|
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1196 if (((!is_ambient_pressure_close_to_surface(&global.lifeData)) && (global.lifeData.pressure_surface_bar > START_DIVE_MOUNTAIN_MODE_BAR )) |
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1197 || (global.lifeData.pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR)) |
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1198 { |
| 38 | 1199 global.mode = MODE_BOOT; |
|
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1200 } |
| 38 | 1201 scheduleUpdateLifeData(2000); |
| 1202 } | |
| 1203 while(global.mode == MODE_SLEEP); | |
| 1204 /* new section for system after Standby */ | |
| 1205 scheduleUpdateLifeData(-1); | |
| 1206 clearDecoNow = 0; | |
| 1207 setButtonsNow = 0; | |
|
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1208 reinitGlobals(); |
| 668 | 1209 ReInit_battery_charger_status_pins(); |
| 38 | 1210 } |
| 1211 | |
| 1212 | |
| 1213 | |
| 1214 /* Private functions ---------------------------------------------------------*/ | |
| 1215 | |
| 1216 /** | |
| 1217 ****************************************************************************** | |
| 1218 * @brief scheduleUpdateLifeData / calculates tissues | |
|
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1219 * @author heinrichs weikamp gmbh |
| 38 | 1220 * @version V0.0.1 |
| 1221 * @date 22-April-2014 | |
| 1222 ****************************************************************************** | |
| 1223 */ | |
| 1224 | |
| 1225 | |
| 1226 void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last) | |
| 1227 { | |
| 1228 static _Bool first = 1; | |
| 1229 static uint32_t tickstart = 0; | |
| 1230 static uint32_t ticksrest = 0; | |
| 1231 | |
| 1232 uint32_t ticksdiff = 0; | |
| 1233 uint32_t ticksnow = 0; | |
| 1234 uint32_t time_seconds = 0; | |
| 1235 uint8_t whichGasTmp = 0; | |
| 1236 | |
| 135 | 1237 uint8_t updateTissueData = 0; |
| 1238 | |
| 1239 | |
| 1240 if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE) | |
| 1241 { | |
| 1242 updateTissueData = 1; | |
| 1243 } | |
| 1244 | |
| 38 | 1245 if(asynchron_milliseconds_since_last < 0) |
| 1246 { | |
| 1247 first = 1; | |
| 1248 tickstart = 0; | |
| 1249 ticksrest = 0; | |
| 1250 return; | |
| 1251 } | |
| 1252 | |
| 1253 if(!asynchron_milliseconds_since_last && first) | |
| 1254 { | |
| 1255 tickstart = HAL_GetTick(); | |
| 1256 first = 0; | |
| 1257 return; | |
| 1258 } | |
| 1259 | |
| 1260 whichGasTmp = global.whichGas; | |
| 1261 global.lifeData.actualGas = global.aktualGas[whichGasTmp]; | |
| 1262 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 1263 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; | |
| 1264 | |
| 135 | 1265 if(updateTissueData) |
| 1266 { | |
| 1267 decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData); | |
| 1268 } | |
| 1269 | |
| 38 | 1270 if(!asynchron_milliseconds_since_last) |
| 1271 { | |
| 1272 ticksnow = HAL_GetTick(); | |
| 1273 ticksdiff = time_elapsed_ms(tickstart,ticksnow); | |
| 1274 } | |
| 1275 else | |
| 1276 { | |
| 1277 first = 1; | |
| 1278 ticksdiff = asynchron_milliseconds_since_last; | |
| 1279 } | |
| 1280 | |
| 1281 if(ticksrest > 1000) // whatever happens after standby with STM32L476 | |
| 1282 ticksrest = 0; // maybe move static to SRAM2 | |
| 1283 | |
| 1284 ticksdiff += ticksrest; | |
| 1285 time_seconds = ticksdiff/ 1000; | |
| 1286 ticksrest = ticksdiff - time_seconds * 1000; | |
| 1287 tickstart = ticksnow; | |
| 1288 | |
| 1289 decom_tissues_exposure((int)time_seconds, &global.lifeData); | |
| 1290 if(global.demo_mode) | |
| 1291 decom_tissues_exposure((int)(3*time_seconds), &global.lifeData); | |
| 1292 copyTissueData(); | |
| 1293 } | |
| 1294 | |
| 1295 | |
| 1296 /** | |
| 1297 ****************************************************************************** | |
| 1298 * @brief scheduleUpdateDeviceData | |
| 1299 * @author heinrichs weikamp gmbh | |
| 1300 * @version V0.0.1 | |
| 1301 * @date 16-March-2015 | |
| 1302 * | |
| 1303 * two step process | |
| 1304 * first compare with data from main CPU == externalLogbookFlash | |
| 1305 * second update with new sensor data | |
| 1306 ****************************************************************************** | |
| 1307 */ | |
| 1308 void scheduleSetDate(SDeviceLine *line) | |
| 1309 { | |
| 1310 extern RTC_HandleTypeDef RTCHandle; | |
| 1311 | |
| 1312 line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1313 line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1314 } | |
| 1315 | |
| 1316 | |
| 1317 void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead) | |
| 1318 { | |
| 1319 lineWrite->date_rtc_dr = lineRead->date_rtc_dr; | |
| 1320 lineWrite->time_rtc_tr = lineRead->time_rtc_tr; | |
| 1321 lineWrite->value_int32 = lineRead->value_int32; | |
| 1322 } | |
| 1323 | |
| 1324 | |
|
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1325 void scheduletranslateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) |
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1326 { |
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1327 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); |
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1328 |
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1329 /* Fill the structure fields with the read parameters */ |
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1330 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); |
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1331 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); |
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1332 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); |
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1333 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); |
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1334 |
|
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1335 /* Convert the date structure parameters to Binary format */ |
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1336 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); |
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1337 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); |
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1338 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); |
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1339 } |
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1340 |
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1341 void scheduleCheckDate(void) |
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1342 { |
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1343 uint32_t localdate; |
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1344 RTC_DateTypeDef sDate; |
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1345 localdate = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); |
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1346 scheduletranslateDate(localdate, &sDate); |
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1347 |
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1348 /* 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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1349 if(sDate.Year < 15) |
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1350 { |
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1351 scheduletranslateDate(DeviceDataFlash.hoursOfOperation.date_rtc_dr, &sDate); |
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1352 if(sDate.Year > 16) |
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1353 { |
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1354 RTC_SetDate(sDate); |
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1355 } |
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1356 } |
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1357 |
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1358 } |
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1359 |
| 38 | 1360 void scheduleUpdateDeviceData(void) |
| 1361 { | |
| 1362 /* first step, main CPU */ | |
| 1363 | |
| 1364 if(deviceDataFlashValid) | |
| 1365 { | |
| 1366 /* max values */ | |
|
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1367 if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32) |
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1368 { |
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1369 scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation); |
|
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1370 #ifdef RESTORE_LAST_KNOWN_DATE |
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1371 scheduleCheckDate(); |
|
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1372 #endif |
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1373 } |
| 38 | 1374 if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32) |
| 1375 { | |
| 1376 scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles); | |
| 1377 } | |
| 1378 if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32) | |
| 1379 { | |
| 1380 scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles); | |
| 1381 } | |
| 1382 if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32) | |
| 1383 { | |
| 1384 scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum); | |
| 1385 } | |
| 1386 if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32) | |
| 1387 { | |
| 1388 scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum); | |
| 1389 } | |
| 1390 if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32) | |
| 1391 { | |
| 1392 scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles); | |
| 1393 } | |
| 1394 | |
| 1395 /* min values */ | |
| 1396 if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32) | |
| 1397 { | |
| 1398 scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum); | |
| 1399 } | |
| 1400 if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32) | |
| 1401 { | |
| 1402 scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum); | |
| 1403 } | |
| 1404 } | |
| 1405 | |
| 1406 /* second step, sensor data */ | |
| 1407 int32_t temperature_centigrad_int32; | |
| 1408 int32_t pressure_mbar_int32; | |
| 1409 int32_t voltage_mvolt_int32; | |
| 1410 | |
| 1411 temperature_centigrad_int32 = (int32_t)(get_temperature() * 100); | |
| 1412 if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32) | |
| 1413 { | |
| 1414 global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1415 scheduleSetDate(&global.deviceData.temperatureMinimum); |
| 38 | 1416 } |
| 1417 | |
| 1418 if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32) | |
| 1419 { | |
| 1420 global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1421 scheduleSetDate(&global.deviceData.temperatureMaximum); |
| 38 | 1422 } |
| 1423 | |
| 1424 pressure_mbar_int32 = (int32_t)get_pressure_mbar(); | |
| 1425 if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32) | |
| 1426 { | |
| 1427 global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32; | |
| 88 | 1428 scheduleSetDate(&global.deviceData.depthMaximum); |
| 38 | 1429 } |
| 1430 | |
| 1431 voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000); | |
| 1432 if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32) | |
| 1433 { | |
| 1434 global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32; | |
| 88 | 1435 scheduleSetDate(&global.deviceData.voltageMinimum); |
| 38 | 1436 } |
| 1437 | |
| 1438 /* third step, counter */ | |
| 1439 switch (global.mode) | |
| 1440 { | |
| 1441 case MODE_SURFACE: | |
| 1442 case MODE_DIVE: | |
| 1443 default: | |
| 1444 deviceDataSubSeconds++; | |
| 1445 if(deviceDataSubSeconds > 10) | |
| 1446 { | |
| 1447 deviceDataSubSeconds = 0; | |
| 1448 global.deviceData.hoursOfOperation.value_int32++; | |
|
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1449 scheduleSetDate(&global.deviceData.hoursOfOperation); |
| 38 | 1450 } |
| 1451 break; | |
| 1452 | |
| 662 | 1453 case MODE_SLEEP: |
| 38 | 1454 case MODE_SHUTDOWN: |
| 1455 break; | |
| 1456 } | |
| 1457 } | |
| 1458 | |
| 1459 | |
| 1460 void scheduleUpdateDeviceDataChargerFull(void) | |
| 1461 { | |
| 1462 global.deviceData.batteryChargeCompleteCycles.value_int32++; | |
| 88 | 1463 scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles); |
| 38 | 1464 } |
| 1465 | |
| 1466 | |
| 1467 void scheduleUpdateDeviceDataChargerCharging(void) | |
| 1468 { | |
| 1469 global.deviceData.batteryChargeCycles.value_int32++; | |
| 88 | 1470 scheduleSetDate(&global.deviceData.batteryChargeCycles); |
| 38 | 1471 } |
| 1472 | |
| 1473 | |
| 1474 /** | |
| 1475 ****************************************************************************** | |
| 1476 * @brief vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend | |
|
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1477 * @author heinrichs weikamp gmbh |
| 38 | 1478 * @version V0.0.1 |
| 1479 * @date 22-April-2014 | |
| 1480 ****************************************************************************** | |
| 1481 */ | |
| 1482 _Bool vpm_crush2(void) | |
| 1483 { | |
| 1484 int i = 0; | |
| 1485 static float starting_ambient_pressure = 0; | |
| 1486 static float ending_ambient_pressure = 0; | |
| 1487 static float time_calc_begin = -1; | |
| 1488 static float initial_helium_pressure[16]; | |
| 1489 static float initial_nitrogen_pressure[16]; | |
| 1490 ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1491 | |
| 1492 if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 1493 { | |
| 1494 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1495 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1496 for( i = 0; i < 16; i++) | |
| 1497 { | |
| 1498 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1499 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1500 } | |
| 1501 return 0; | |
| 1502 } | |
| 1503 if(global.lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 1504 { | |
| 1505 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 1506 { | |
| 1507 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 1508 calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 1509 | |
| 1510 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1511 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1512 for( i = 0; i < 16; i++) | |
| 1513 { | |
| 1514 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1515 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1516 } | |
| 1517 | |
| 1518 return 1; | |
| 1519 } | |
| 1520 | |
| 1521 } | |
| 1522 return 0; | |
| 1523 } | |
| 1524 | |
| 1525 | |
| 1526 long get_nofly_time_minutes(void) | |
| 1527 { | |
| 1528 | |
| 1529 if(global.no_fly_time_minutes <= 0) | |
| 1530 return 0; | |
| 1531 | |
| 1532 long minutes_since_last_dive = global.seconds_since_last_dive/60; | |
| 1533 | |
| 1534 if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive)) | |
| 1535 { | |
| 1536 return (global.no_fly_time_minutes - minutes_since_last_dive); | |
| 1537 } | |
| 1538 else | |
| 1539 { | |
| 1540 global.no_fly_time_minutes = 0; | |
| 1541 return 0; | |
| 1542 } | |
| 1543 } | |
| 1544 | |
| 1545 | |
| 1546 //Supports threadsave copying!!! | |
| 1547 void copyActualGas(SGas gas) | |
| 1548 { | |
| 1549 uint8_t whichGas = !global.whichGas; | |
| 1550 global.aktualGas[whichGas] = gas; | |
| 1551 global.whichGas = whichGas; | |
| 1552 } | |
| 1553 | |
| 1554 | |
| 1555 //Supports threadsave copying!!! | |
| 1556 void copyPressureData(void) | |
| 1557 { | |
|
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625d20070261
Improvement SPI stability/recoverability
Jan Mulder <jlmulder@xs4all.nl>
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1558 global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus; |
| 38 | 1559 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; |
| 1560 global.dataSendToMaster.data[boolPressureData].temperature = get_temperature(); | |
| 1561 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); | |
| 1562 global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar(); | |
| 1563 global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min; | |
| 1564 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 1565 global.dataSendToMaster.boolPressureData = boolPressureData; | |
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1566 global.dataSendToMaster.data[boolPressureData].SPARE1 = is_surface_pressure_stable(); |
| 38 | 1567 } |
| 1568 | |
| 1569 | |
| 1570 //Supports threadsave copying!!! | |
| 1571 void copyCnsAndOtuData(void) | |
| 1572 { | |
| 1573 //uint8_t dataSendToMaster. | |
| 1574 uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData; | |
| 1575 global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns; | |
| 1576 global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu; | |
| 1577 global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes; | |
| 1578 global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes(); | |
| 1579 global.dataSendToMaster.boolToxicData = boolToxicData; | |
| 1580 } | |
| 1581 | |
| 1582 | |
| 1583 //Supports threadsave copying!!! | |
| 1584 void copyTimeData(void) | |
| 1585 { | |
| 1586 extern RTC_HandleTypeDef RTCHandle; | |
| 1587 | |
| 1588 uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData; | |
| 1589 global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1590 global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1591 global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds; | |
| 1592 global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time; | |
| 1593 global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive; | |
| 1594 global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth; | |
| 1595 global.dataSendToMaster.boolTimeData = boolTimeData; | |
| 1596 } | |
| 1597 | |
| 1598 | |
| 1599 //Supports threadsave copying!!! | |
| 1600 void copyCompassData(void) | |
| 1601 { | |
| 1602 extern float compass_heading; | |
| 1603 extern float compass_roll; | |
| 1604 extern float compass_pitch; | |
| 1605 //uint8_t dataSendToMaster. | |
| 1606 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1607 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1608 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1609 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1610 global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0; | |
| 1611 global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0; | |
| 1612 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0; | |
| 1613 global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick(); | |
| 1614 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1615 } | |
| 1616 | |
| 1617 | |
| 1618 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz) | |
| 1619 { | |
| 1620 extern float compass_heading; | |
| 1621 extern float compass_roll; | |
| 1622 extern float compass_pitch; | |
| 1623 //uint8_t dataSendToMaster. | |
| 1624 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1625 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1626 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1627 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1628 global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx; | |
| 1629 global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy; | |
| 1630 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz; | |
| 1631 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1632 } | |
| 1633 | |
| 1634 | |
| 1635 //Supports threadsave copying!!! | |
| 1636 void copyBatteryData(void) | |
| 1637 { | |
| 1638 uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData; | |
| 668 | 1639 global.lifeData.battery_charge = get_charge(); |
| 38 | 1640 global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage(); |
| 668 | 1641 |
| 1642 if(battery_gas_gauge_isChargeValueValid()) | |
| 1643 { | |
| 1644 global.dataSendToMaster.data[boolBatteryData].battery_charge= global.lifeData.battery_charge; | |
| 1645 } | |
| 1646 else | |
| 1647 { | |
| 1648 global.dataSendToMaster.data[boolBatteryData].battery_charge = global.lifeData.battery_charge * -1.0; /* negate value to show that this is just an assumption */ | |
| 1649 } | |
| 38 | 1650 global.dataSendToMaster.boolBatteryData = boolBatteryData; |
| 1651 } | |
| 1652 | |
| 1653 | |
| 1654 //Supports threadsave copying!!! | |
| 1655 void copyAmbientLightData(void) | |
| 1656 { | |
| 1657 uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData; | |
| 1658 global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level(); | |
| 1659 global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData; | |
| 1660 } | |
| 1661 | |
| 1662 | |
| 1663 //Supports threadsave copying!!! | |
| 1664 void copyTissueData(void) | |
| 1665 { | |
| 1666 //uint8_t dataSendToMaster. | |
| 1667 uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData; | |
| 1668 for(int i = 0; i < 16; i++) | |
| 1669 { | |
| 1670 global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i]; | |
| 1671 global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i]; | |
| 1672 } | |
| 1673 global.dataSendToMaster.boolTisssueData = boolTisssueData; | |
| 1674 } | |
| 1675 | |
| 1676 | |
| 1677 //Supports threadsave copying!!! | |
| 1678 void copyVpmCrushingData(void) | |
| 1679 { | |
| 1680 //uint8_t dataSendToMaster. | |
| 1681 uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData; | |
| 1682 for(int i = 0; i < 16; i++) | |
| 1683 { | |
| 1684 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i]; | |
| 1685 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i]; | |
| 1686 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i]; | |
| 1687 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i]; | |
| 1688 } | |
| 1689 global.dataSendToMaster.boolCrushingData = boolCrushingData; | |
| 1690 } | |
| 1691 | |
| 1692 | |
| 1693 void copyDeviceData(void) | |
| 1694 { | |
| 1695 uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData; | |
| 1696 memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice)); | |
| 1697 global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; | |
| 1698 | |
| 1699 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0; | |
| 1700 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, &global.vpm.adjusted_critical_radius_he, sizeof(16*4)); | |
| 1701 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, &global.vpm.adjusted_critical_radius_n2, sizeof(16*4)); | |
| 1702 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he, &global.vpm.adjusted_crushing_pressure_he, sizeof(16*4)); | |
| 1703 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2, &global.vpm.adjusted_crushing_pressure_n2, sizeof(16*4)); | |
| 1704 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he, &global.vpm.initial_allowable_gradient_he, sizeof(16*4)); | |
| 1705 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2, &global.vpm.initial_allowable_gradient_n2, sizeof(16*4)); | |
| 1706 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, &global.vpm.max_actual_gradient, sizeof(16*4)); | |
| 1707 global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid; | |
| 1708 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1; | |
| 1709 } | |
| 1710 | |
| 1711 /* copyPICdata(); is used in spi.c */ | |
| 1712 void copyPICdata(void) | |
| 1713 { | |
| 1714 uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata; | |
| 1715 for(int i = 0; i < 3; i++) | |
| 1716 { | |
| 1717 global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i]; | |
| 1718 } | |
| 1719 global.dataSendToMaster.boolPICdata = boolPICdata; | |
| 1720 } | |
| 1721 | |
|
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Added external ADC interface functionality (MCP3424):
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1722 void copyExtADCdata() |
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1723 { |
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1724 float value; |
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1725 |
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1726 uint8_t channel = 0; |
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1727 |
| 691 | 1728 uint8_t boolADCBuffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_ADC); |
| 1729 | |
| 1730 boolADCBuffer &= DATA_BUFFER_ADC; | |
| 1731 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_ADC; | |
| 1732 | |
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1733 for(channel = 0; channel < MAX_ADC_CHANNEL; channel++) |
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1734 { |
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1735 value = getExternalInterfaceChannel(channel); |
| 691 | 1736 global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].extADC_voltage[channel] = value; |
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1737 } |
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1738 global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].externalInterface_SensorID = externalInterface_GetSensorData((uint8_t*)&global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].sensor_data); |
| 731 | 1739 memcpy(global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].sensor_map,externalInterface_GetSensorMapPointer(1),EXT_INTERFACE_SENSOR_CNT); |
| 691 | 1740 global.dataSendToMaster.boolADCO2Data |= boolADCBuffer; |
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1741 } |
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1742 |
| 662 | 1743 void copyExtCO2data() |
| 1744 { | |
| 1745 uint16_t value; | |
| 691 | 1746 uint8_t boolCO2Buffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_CO2); |
| 1747 | |
| 1748 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_CO2; | |
| 1749 boolCO2Buffer &= DATA_BUFFER_CO2; | |
| 662 | 1750 |
| 1751 if(externalInterface_GetCO2State()) | |
| 1752 { | |
| 1753 value = externalInterface_GetCO2Value(); | |
| 691 | 1754 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = value; |
| 662 | 1755 value = externalInterface_GetCO2SignalStrength(); |
| 691 | 1756 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = value; |
| 1757 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = externalInterface_GetCO2State(); | |
| 662 | 1758 externalInterface_SetCO2State(EXT_INTERFACE_33V_ON); /* clear command responses */ |
| 1759 } | |
| 1760 else | |
| 1761 { | |
| 691 | 1762 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = 0; |
| 1763 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = 0; | |
| 1764 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = 0; | |
| 662 | 1765 } |
| 691 | 1766 global.dataSendToMaster.boolADCO2Data |= boolCO2Buffer; |
| 662 | 1767 } |
| 38 | 1768 |
| 1769 typedef enum | |
| 1770 { | |
| 1771 SPI3_OK = 0x00, | |
| 1772 SPI3_DEINIT = 0x01, | |
| 1773 } SPI3_StatusTypeDef; | |
| 1774 /* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine | |
| 1775 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit | |
| 1776 and will be init the next call of scheduleSetButtonResponsiveness() | |
| 1777 and data will be send again on the third call | |
| 1778 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active | |
| 1779 */ | |
| 1780 uint8_t scheduleSetButtonResponsiveness(void) | |
| 1781 { | |
| 1782 static uint8_t SPI3status = SPI3_OK; | |
| 1783 | |
| 1784 if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata))) | |
| 1785 { | |
| 1786 copyPICdata(); | |
| 1787 return 1; | |
| 1788 } | |
| 1789 else | |
| 1790 { | |
| 1791 for(int i=0;i<3;i++) | |
| 1792 { | |
| 1793 global.ButtonPICdata[i] = 0xFF; | |
| 1794 } | |
| 1795 copyPICdata(); | |
| 1796 | |
| 1797 if(SPI3status == SPI3_OK) | |
| 1798 { | |
| 1799 MX_SPI3_DeInit(); | |
| 1800 SPI3status = SPI3_DEINIT; | |
| 1801 } | |
| 1802 else | |
| 1803 { | |
| 1804 MX_SPI3_Init(); | |
| 1805 SPI3status = SPI3_OK; | |
| 1806 } | |
| 1807 return 0; | |
| 1808 } | |
| 1809 } | |
| 1810 | |
| 1811 | |
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1812 //save time difference |
| 38 | 1813 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) |
| 1814 { | |
| 1815 if(ticksstart <= ticksnow) | |
| 1816 { | |
| 1817 return ticksnow - ticksstart; | |
| 1818 } | |
| 1819 else | |
| 1820 { | |
| 1821 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 1822 } | |
| 1823 } | |
| 1824 | |
| 1825 /* same as in data_central.c */ | |
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1826 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 38 | 1827 { |
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1828 _Bool retval = true; |
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1829 |
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1830 if(lifeData->pressure_ambient_bar != INVALID_PREASURE_VALUE) /* as long as no valid data is available expect we are close to surface */ |
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1831 { |
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1832 /* 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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1833 if (lifeData->pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR) |
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1834 { |
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1835 retval = false; |
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1836 } |
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1837 else if(is_surface_pressure_stable()) /* this is the expected start condition */ |
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1838 { |
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1839 if((lifeData->pressure_ambient_bar >= (lifeData->pressure_surface_bar + 0.1f)) |
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1840 && (ManualExitDiveCounter == 0)) /* only if diver did not request to exit dive mode */ |
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1841 { |
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1842 retval = false; |
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1843 } |
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1844 } |
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1845 } |
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1846 return retval; |
| 38 | 1847 } |
| 1848 | |
| 1849 | |
| 1850 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/ | |
| 1851 |