Mercurial > public > ostc4
annotate Small_CPU/Src/scheduler.c @ 946:80ae8ea7f0a0 Evo_2_23
GNSS set to full power at startup:
In case of an reset the module would continue in sleep mode if it was in this state. To avoid this the module will now always set to full power at startup of the RTE.
| author | Ideenmodellierer |
|---|---|
| date | Sun, 22 Dec 2024 20:52:08 +0100 |
| parents | 06aaccaf2e02 |
| children | 96cf6c53c934 |
| 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 /* Includes ------------------------------------------------------------------*/ | |
| 25 #include <string.h> | |
| 26 #include "baseCPU2.h" | |
| 27 #include "stm32f4xx_hal.h" | |
| 28 #include "i2c.h" | |
| 29 #include "scheduler.h" | |
| 30 #include "pressure.h" | |
| 31 #include "compass.h" | |
| 32 #include "batteryGasGauge.h" | |
| 33 #include "batteryCharger.h" | |
| 34 #include "spi.h" | |
| 35 #include "rtc.h" | |
| 36 #include "dma.h" | |
| 37 #include "adc.h" | |
| 936 | 38 #include "gpio.h" |
| 38 | 39 #include "calc_crush.h" |
| 40 #include "stm32f4xx_hal_rtc_ex.h" | |
| 41 #include "decom.h" | |
| 42 #include "tm_stm32f4_otp.h" | |
|
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43 #include "externalInterface.h" |
| 662 | 44 #include "uart.h" |
| 932 | 45 #include "uart_Internal.h" |
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46 #include "GNSS.h" |
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47 #include "uartProtocol_GNSS.h" |
| 881 | 48 #include "math.h" |
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49 #include "configuration.h" |
| 38 | 50 |
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51 /* uncomment to enable restoting of last known date in case of a power loss (RTC looses timing data) */ |
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52 /* #define RESTORE_LAST_KNOWN_DATE */ |
| 38 | 53 |
| 475 | 54 #define INVALID_PREASURE_VALUE (0.0f) |
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55 #define START_DIVE_MOUNTAIN_MODE_BAR (0.88f) |
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56 #define START_DIVE_IMMEDIATLY_BAR (1.16f) |
| 135 | 57 |
| 881 | 58 /* Ascent rate calculation */ |
| 59 typedef enum | |
| 60 { | |
| 61 ASCENT_NONE = 0, | |
| 62 ASCENT_RISING, | |
| 63 ASCENT_FALLING, | |
| 64 } AscentStates_t; | |
| 65 | |
| 38 | 66 /* Private types -------------------------------------------------------------*/ |
| 67 const SGas Air = {79,0,0,0,0}; | |
| 68 | |
| 69 /* Exported variables --------------------------------------------------------*/ | |
| 70 SGlobal global; | |
| 71 SDevice DeviceDataFlash; | |
| 72 uint8_t deviceDataFlashValid = 0; | |
| 73 uint8_t deviceDataSubSeconds = 0; | |
| 74 | |
| 75 /* Private variables ---------------------------------------------------------*/ | |
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76 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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77 |
| 38 | 78 /* can be lost while in sleep */ |
| 79 uint8_t clearDecoNow = 0; | |
| 80 uint8_t setButtonsNow = 0; | |
| 81 | |
| 82 /* has to be in SRAM2 */ | |
| 83 uint8_t secondsCount = 0; | |
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84 |
| 207 | 85 static uint8_t dospisync = SPI_SYNC_METHOD_NONE; |
| 86 | |
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87 SScheduleCtrl Scheduler; |
| 38 | 88 |
| 89 /* Private function prototypes -----------------------------------------------*/ | |
| 90 | |
| 91 _Bool vpm_crush2(void); | |
| 92 void scheduleUpdateDeviceData(void); | |
| 93 long get_nofly_time_minutes(void); | |
| 94 void copyActualGas(SGas gas); | |
| 95 void copyPressureData(void); | |
| 96 void copyCnsAndOtuData(void); | |
| 97 void copyTimeData(void); | |
| 98 void copyCompassData(void); | |
| 99 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 100 void copyAmbientLightData(void); | |
| 101 void copyTissueData(void); | |
| 102 void copyVpmCrushingData(void); | |
| 103 void copyDeviceData(void); | |
| 104 void copyPICdata(void); | |
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105 void copyExtADCdata(); |
| 662 | 106 void copyExtCO2data(); |
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107 void copyGNSSdata(void); |
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108 static void schedule_update_timer_helper(int8_t thisSeconds); |
| 881 | 109 static void evaluateAscentSpeed(void); |
| 38 | 110 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
| 111 | |
| 112 void scheduleSetDate(SDeviceLine *line); | |
| 113 | |
| 114 /* Exported functions --------------------------------------------------------*/ | |
| 115 | |
| 116 void initGlobals(void) | |
| 117 { | |
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118 bzero(&global, sizeof(SGlobal)); |
| 38 | 119 |
| 120 global.dataSendToSlavePending = 0; | |
| 121 global.dataSendToSlaveIsValid = 1; | |
| 122 global.dataSendToSlaveIsNotValidCount = 0; | |
| 123 | |
| 124 global.mode = MODE_POWERUP; | |
| 125 global.repetitive_dive = 0; | |
| 126 global.conservatism = 0; | |
| 127 global.whichGas = 0; | |
| 128 global.aktualGas[0] = Air; | |
| 129 global.lifeData.actualGas = global.aktualGas[0]; | |
| 130 | |
| 475 | 131 const uint8_t button_standard_sensitivity = 51; /* 51 equals a percentage of 85% which was the default value before */ |
| 38 | 132 global.ButtonResponsiveness[0] = button_standard_sensitivity; |
| 133 global.ButtonResponsiveness[1] = button_standard_sensitivity; | |
| 134 global.ButtonResponsiveness[2] = button_standard_sensitivity; | |
| 135 global.ButtonResponsiveness[3] = button_standard_sensitivity; | |
| 136 | |
| 137 global.ButtonPICdata[0] = 0xFF; | |
| 138 global.ButtonPICdata[1] = 0xFF; | |
| 139 global.ButtonPICdata[2] = 0xFF; | |
| 140 global.ButtonPICdata[3] = 0xFF; | |
| 141 | |
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142 global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working |
| 38 | 143 |
| 668 | 144 global.lifeData.battery_voltage = BATTERY_DEFAULT_VOLTAGE; |
| 145 | |
| 135 | 146 global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE; |
| 147 global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE; | |
| 38 | 148 decom_reset_with_1000mbar(&global.lifeData); |
| 149 | |
| 150 global.demo_mode = 0; | |
| 151 | |
| 152 for(int i = 0; i < MAX_SENSORS; i++) | |
| 153 { | |
| 154 global.sensorError[i] = HAL_OK; // HAL_OK = 0; | |
| 155 } | |
| 156 | |
| 157 global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;; | |
| 158 global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;; | |
| 859 | 159 global.dataSendToMaster.chargeStatus = CHARGER_off; |
| 38 | 160 |
| 475 | 161 global.dataSendToMaster.power_on_reset = 0; |
| 38 | 162 global.dataSendToMaster.header.checkCode[0] = 0xA1; |
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163 global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE; |
| 38 | 164 global.dataSendToMaster.header.checkCode[2] = 0xA3; |
| 165 global.dataSendToMaster.header.checkCode[3] = 0xA4; | |
| 166 global.dataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 167 global.dataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 168 global.dataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 169 global.dataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 170 global.dataSendToMaster.sensorErrors = 0; | |
| 171 | |
| 942 | 172 global.dataSendToMaster.data[0].gnssInfo.coord.fLat = 0.0; |
| 173 global.dataSendToMaster.data[0].gnssInfo.coord.fLon = 0.0; | |
| 174 global.dataSendToMaster.data[0].gnssInfo.fixType = 0; | |
| 175 global.dataSendToMaster.data[0].gnssInfo.numSat = 0; | |
| 176 | |
| 38 | 177 global.sync_error_count = 0; |
| 178 global.check_sync_not_running = 0; | |
| 179 | |
| 180 global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH; | |
| 181 global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW; | |
| 859 | 182 global.deviceDataSendToMaster.chargeStatus = CHARGER_off; |
| 38 | 183 |
| 475 | 184 global.deviceDataSendToMaster.power_on_reset = 0; |
| 38 | 185 global.deviceDataSendToMaster.header.checkCode[0] = 0xDF; |
| 186 global.deviceDataSendToMaster.header.checkCode[1] = 0xDE; | |
| 187 global.deviceDataSendToMaster.header.checkCode[2] = 0xDD; | |
| 188 global.deviceDataSendToMaster.header.checkCode[3] = 0xDC; | |
| 189 global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 190 global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 191 global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 192 global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 193 | |
| 194 global.dataSendToSlave.getDeviceDataNow = 0; | |
| 195 | |
| 196 global.deviceData.batteryChargeCompleteCycles.value_int32 = 0; | |
| 197 global.deviceData.batteryChargeCycles.value_int32 = 0; | |
| 198 global.deviceData.depthMaximum.value_int32 = 0; | |
| 199 global.deviceData.diveCycles.value_int32 = 0; | |
| 200 global.deviceData.hoursOfOperation.value_int32 = 0; | |
| 201 global.deviceData.temperatureMaximum.value_int32 = INT32_MIN; | |
| 202 global.deviceData.temperatureMinimum.value_int32 = INT32_MAX; | |
| 203 global.deviceData.voltageMinimum.value_int32 = INT32_MAX; | |
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204 |
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205 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
| 207 | 206 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
| 38 | 207 } |
| 208 | |
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209 void reinitGlobals(void) |
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210 { |
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211 global.dataSendToSlavePending = 0; |
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212 global.dataSendToSlaveIsValid = 0; |
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213 global.dataSendToSlaveIsNotValidCount = 0; |
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214 global.sync_error_count = 0; |
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215 global.check_sync_not_running = 0; |
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216 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
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217 } |
| 38 | 218 |
| 219 void scheduleSpecial_Evaluate_DataSendToSlave(void) | |
| 220 { | |
| 104 | 221 //TEMPORARY fix for compass calibration. |
| 222 //TODO: Fix I2C timeout for complete solving problem. | |
| 223 if(global.mode==MODE_CALIB){ | |
| 224 return; | |
| 225 } | |
| 90 | 226 |
| 88 | 227 global.dataSendToSlavePending = 0; |
| 228 if(!global.dataSendToSlaveIsValid) return; | |
| 38 | 229 |
| 230 global.dataSendToMaster.confirmRequest.uw = 0; | |
| 231 | |
| 232 if(TM_OTP_Read(0,0) == 0xFF) | |
| 233 { | |
| 234 if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A)) | |
| 235 TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware); | |
| 236 } | |
| 237 | |
| 238 if(global.dataSendToSlave.setAccidentFlag) | |
| 239 { | |
| 240 global.dataSendToMaster.confirmRequest.ub.accident = 1; | |
| 241 global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag; | |
| 242 scheduleSetDate(&global.deviceData.diveAccident); | |
| 243 global.accidentFlag |= global.dataSendToSlave.setAccidentFlag; | |
| 244 if(global.accidentFlag == ACCIDENT_CNS) // LVL1 | |
| 245 global.accidentRemainingSeconds = 2*60*60; | |
| 246 else | |
| 247 global.accidentRemainingSeconds = 24*60*60; | |
| 248 } | |
| 249 | |
| 250 if(global.dataSendToSlave.setTimeNow) | |
| 251 { | |
| 252 global.dataSendToMaster.confirmRequest.ub.time = 1; | |
| 253 RTC_SetTime(global.dataSendToSlave.data.newTime); | |
| 254 schedule_update_timer_helper(0); | |
| 255 } | |
| 256 | |
| 257 if(global.dataSendToSlave.setDateNow) | |
| 258 { | |
| 259 global.dataSendToMaster.confirmRequest.ub.date = 1; | |
| 260 RTC_SetDate(global.dataSendToSlave.data.newDate); | |
| 261 schedule_update_timer_helper(0); | |
| 262 } | |
| 263 | |
| 264 if(global.dataSendToSlave.calibrateCompassNow) | |
| 265 { | |
| 266 global.dataSendToMaster.confirmRequest.ub.compass = 1; | |
| 267 global.mode = MODE_CALIB; | |
| 268 } | |
| 269 | |
| 270 if(global.dataSendToSlave.clearDecoNow) | |
| 271 { | |
| 272 global.dataSendToMaster.confirmRequest.ub.clearDeco = 1; | |
| 273 clearDecoNow = 1; | |
| 274 } | |
| 275 | |
| 276 if(global.dataSendToSlave.setButtonSensitivityNow) | |
| 277 { | |
| 278 global.dataSendToMaster.confirmRequest.ub.button = 1; | |
| 279 global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0]; | |
| 280 global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1]; | |
| 281 global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2]; | |
| 282 global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3]; | |
| 283 setButtonsNow = 1; | |
| 284 } | |
| 285 | |
| 286 if(global.dataSendToSlave.setBatteryGaugeNow) | |
| 287 { | |
| 104 | 288 if(global.mode!=MODE_CALIB){ |
| 38 | 289 global.dataSendToMaster.confirmRequest.ub.batterygauge = 1; |
| 290 battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat); | |
| 104 | 291 } |
| 38 | 292 } |
| 293 | |
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294 if(global.dataSendToSlave.setEndDive) |
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295 { |
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296 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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297 } |
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298 |
| 38 | 299 if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN)) |
| 300 { | |
| 301 global.mode = MODE_SHUTDOWN; | |
| 302 } | |
| 303 | |
| 304 if(global.mode == MODE_DIVE) | |
| 305 { | |
| 306 copyActualGas(global.dataSendToSlave.data.actualGas); | |
| 307 } | |
| 308 else | |
| 309 { | |
| 310 copyActualGas(Air); | |
| 311 global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook; | |
| 312 global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth; | |
| 313 } | |
| 314 | |
| 315 /* for simulation / testing */ | |
| 316 global.ceiling_from_main_CPU_mbar = global.dataSendToSlave.data.ambient_pressure_mbar_ceiling; | |
| 317 | |
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318 /* Set pressure and temperature offsets */ |
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319 pressure_set_offset (global.dataSendToSlave.data.offsetPressureSensor_mbar, global.dataSendToSlave.data.offsetTemperatureSensor_centiDegree); |
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320 |
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321 |
| 88 | 322 /* for device data updates */ |
| 323 deviceDataFlashValid = 0; | |
| 324 memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice)); | |
| 325 deviceDataFlashValid = 1; | |
| 89 | 326 |
| 662 | 327 |
| 328 /* handle external interface requests */ | |
| 329 | |
| 330 if((global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON) != externalInterface_isEnabledPower33()) | |
| 331 { | |
| 332 externalInterface_SwitchPower33(global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON); | |
| 333 } | |
| 334 | |
| 691 | 335 if(((global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_ADC_ON) != 0) != externalInterface_isEnabledADC()) |
| 336 { | |
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337 externalInterface_SwitchADC(1-externalInterface_isEnabledADC()); |
| 691 | 338 } |
| 339 | |
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340 externalInface_SetSensorMap(global.dataSendToSlave.data.externalInterface_SensorMap); |
| 691 | 341 if(global.dataSendToSlave.data.externalInterface_Cmd & 0x00FF) /* lowest nibble for commands */ |
| 662 | 342 { |
| 343 externalInterface_ExecuteCmd(global.dataSendToSlave.data.externalInterface_Cmd); | |
| 344 } | |
| 345 | |
| 346 | |
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347 #if 0 |
| 104 | 348 //TODO: Temporary placed here. Duration ~210 ms. |
| 349 if (global.I2C_SystemStatus != HAL_OK) { | |
| 350 MX_I2C1_TestAndClear(); | |
| 351 MX_I2C1_Init(); | |
| 352 // init_pressure(); | |
| 353 // compass_init(0, 7); | |
| 354 // accelerator_init(); | |
| 355 } | |
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356 #endif /* already called once a second */ |
| 38 | 357 } |
| 358 | |
| 359 | |
| 360 /** | |
| 361 ****************************************************************************** | |
| 362 * @brief schedule_time_compare_helper. | |
| 363 * @author heinrichs weikamp gmbh | |
| 364 * @version V0.0.1 | |
| 365 * @date 20-Oct-2016 | |
| 366 ****************************************************************************** | |
| 367 */ | |
| 368 | |
| 369 uint8_t RtcBugFixChsw(uint8_t inStupidTime) | |
| 370 { | |
| 371 uint8_t multiplesOf16 = 0; | |
| 372 | |
| 373 multiplesOf16 = inStupidTime / 16; | |
| 374 | |
| 375 inStupidTime -= multiplesOf16 * 16; | |
| 376 | |
| 377 return (10 * multiplesOf16) + inStupidTime; | |
| 378 } | |
| 379 | |
| 380 uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast) | |
| 381 { | |
| 382 uint32_t nowInSeconds; | |
| 383 uint32_t lastInSeconds; | |
| 384 uint32_t resultDiff; | |
| 385 | |
| 386 nowInSeconds = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600; | |
| 387 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60; | |
| 388 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds); | |
| 389 | |
| 390 lastInSeconds = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600; | |
| 391 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60; | |
| 392 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds); | |
| 393 | |
| 394 if(dateNow.Date != dateLast.Date) | |
| 395 { | |
| 396 resultDiff = 86400 + nowInSeconds - lastInSeconds; | |
| 397 } | |
| 398 else | |
| 399 { | |
| 400 resultDiff = nowInSeconds - lastInSeconds; | |
| 401 } | |
| 402 return resultDiff; | |
| 403 } | |
| 404 | |
| 405 | |
| 406 | |
| 407 /** | |
| 408 ****************************************************************************** | |
| 409 * @brief schedule_update_timer_helper. | |
| 410 * @author heinrichs weikamp gmbh | |
| 411 * @version V0.0.1 | |
| 412 * @date 20-Oct-2016 | |
| 413 * @brief use 0 for init | |
| 414 use -1 for RTC controlled | |
| 415 use >= 1 for manual control | |
| 416 ****************************************************************************** | |
| 417 */ | |
| 418 extern RTC_HandleTypeDef RTCHandle; | |
| 419 | |
|
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420 static void schedule_update_timer_helper(int8_t thisSeconds) |
| 38 | 421 { |
| 422 static RTC_TimeTypeDef sTimeLast; | |
| 423 static RTC_DateTypeDef sDateLast; | |
| 424 RTC_TimeTypeDef sTimeNow; | |
| 425 RTC_DateTypeDef sDateNow; | |
| 426 uint32_t secondsPast; | |
| 427 | |
| 428 HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD); | |
| 429 HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD); | |
| 430 | |
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431 if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast |
| 38 | 432 { |
| 433 if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast | |
| 434 { | |
| 435 secondsPast = thisSeconds; | |
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436 } else { |
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437 // thisSeconds < 0 and not <= ! |
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438 secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast); |
| 38 | 439 } |
| 440 | |
| 441 if(global.seconds_since_last_dive) | |
| 442 { | |
| 443 if(secondsPast >= 777900) | |
| 444 { | |
| 445 global.seconds_since_last_dive = 0; | |
| 446 } | |
| 447 else | |
| 448 { | |
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449 uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast; |
| 38 | 450 if(tempNewValue > 777900) // a bit more than nine days [seconds] |
| 451 global.seconds_since_last_dive = 0; | |
| 452 else | |
| 453 global.seconds_since_last_dive = (long)tempNewValue; | |
| 454 } | |
| 455 } | |
| 456 } | |
| 457 | |
| 458 sTimeLast = sTimeNow; | |
| 459 sDateLast = sDateNow; | |
| 460 } | |
| 461 | |
| 462 /** | |
| 463 ****************************************************************************** | |
| 464 * @brief schedule_check_resync. | |
| 465 * @author heinrichs weikamp gmbh | |
| 466 * @version V0.0.2 | |
| 467 * @date 18-June-2015 | |
| 468 ****************************************************************************** | |
| 469 */ | |
| 135 | 470 |
| 38 | 471 void schedule_check_resync(void) |
| 472 { | |
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473 /* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */ |
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474 if((global.check_sync_not_running >= Scheduler.communicationTimeout)) |
| 38 | 475 { |
| 89 | 476 // global.dataSendToSlaveIsNotValidCount = 0; |
| 135 | 477 global.check_sync_not_running = 0; |
| 478 global.sync_error_count++; | |
| 479 | |
| 480 /* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the | |
| 481 * function error handler | |
| 482 */ | |
| 277 | 483 HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE); |
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484 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON; /* Reduce error detection time */ |
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485 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
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486 } |
| 38 | 487 } |
| 488 | |
| 489 | |
| 490 /** | |
| 491 ****************************************************************************** | |
| 492 * @brief scheduleDiveMode. / Dive Mode: Main Loop | |
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493 * @author heinrichs weikamp gmbh |
| 38 | 494 * @version V0.0.1 |
| 495 * @date 22-April-2014 | |
| 496 ****************************************************************************** | |
| 497 */ | |
| 498 void scheduleDiveMode(void) | |
| 499 { | |
| 500 uint32_t ticksdiff = 0; | |
| 501 uint32_t lasttick = 0; | |
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502 uint8_t extAdcChannel = 0; |
| 38 | 503 uint8_t counterAscentRate = 0; |
| 504 global.dataSendToMaster.mode = MODE_DIVE; | |
| 505 global.deviceDataSendToMaster.mode = MODE_DIVE; | |
| 506 uint8_t counter_exit = 0; | |
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507 |
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508 Scheduler.counterSPIdata100msec = 0; |
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509 Scheduler.counterCompass100msec = 0; |
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510 Scheduler.counterPressure100msec = 0; |
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511 Scheduler.counterAmbientLight100msec = 0; |
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512 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 513 |
| 514 global.deviceData.diveCycles.value_int32++; | |
| 515 scheduleSetDate(&global.deviceData.diveCycles); | |
| 516 global.lifeData.counterSecondsShallowDepth = 0; | |
| 517 | |
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518 /* Get the last stable value in case of an unstable surface history condition */ |
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519 if(!is_surface_pressure_stable()) |
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520 { |
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521 set_last_surface_pressure_stable(); |
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522 } |
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523 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; |
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524 ManualExitDiveCounter = 0; /* reset early exit request */ |
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525 |
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526 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 527 while(global.mode == MODE_DIVE) |
| 528 { | |
| 529 lasttick = HAL_GetTick(); | |
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530 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 531 |
| 802 | 532 externalInterface_HandleUART(); |
| 942 | 533 #ifdef ENABLE_GPIO_V2 |
| 534 UART6_HandleUART(); | |
| 535 #endif | |
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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 |
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576 |
| 38 | 577 counterAscentRate++; |
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578 if(counterAscentRate == 4) |
| 38 | 579 { |
| 881 | 580 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; |
| 581 evaluateAscentSpeed(); | |
| 38 | 582 counterAscentRate = 0; |
| 583 } | |
| 135 | 584 copyPressureData(); |
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585 Scheduler.counterPressure100msec++; |
| 38 | 586 } |
| 587 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... | |
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588 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 589 { |
| 590 compass_read(); | |
| 591 acceleration_read(); | |
| 592 compass_calc(); | |
| 593 copyCompassData(); | |
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594 Scheduler.counterCompass100msec++; |
| 135 | 595 } |
| 38 | 596 |
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597 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 598 { |
| 599 adc_ambient_light_sensor_get_data(); | |
| 600 copyAmbientLightData(); | |
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601 Scheduler.counterAmbientLight100msec++; |
| 38 | 602 } |
| 603 | |
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604 //Evaluate tissues, toxic data, vpm, etc. once a second |
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605 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 606 { |
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607 Scheduler.tick_execute1second = 0xFFFFFFFF; /* execute once only in the second cycle */ |
| 38 | 608 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) |
| 609 { | |
| 610 scheduleUpdateLifeData(0); // includes tissues | |
| 611 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too | |
| 612 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); | |
| 613 decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2); | |
| 614 decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2); | |
| 88 | 615 battery_gas_gauge_get_data(); |
| 38 | 616 |
| 617 | |
| 618 /** counter_exit allows safe exit via button for testing | |
| 881 | 619 * and demo_mode is exited too if applicable. |
| 38 | 620 */ |
| 621 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 622 { | |
| 623 counter_exit++; | |
| 624 if(counter_exit >= 2) | |
| 625 { | |
| 626 global.mode = MODE_SURFACE; | |
| 627 global.demo_mode = 0; | |
| 628 } | |
| 629 } | |
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630 |
| 38 | 631 if(is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 632 { | |
| 881 | 633 |
| 38 | 634 global.lifeData.counterSecondsShallowDepth++; |
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635 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0)) |
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636 || (ManualExitDiveCounter)) |
| 38 | 637 { |
| 638 global.seconds_since_last_dive = 1; // start counter | |
| 639 schedule_update_timer_helper(0); // zum starten :-) | |
| 640 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 641 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 642 } | |
| 643 } | |
| 644 else | |
| 645 { | |
| 646 global.lifeData.counterSecondsShallowDepth = 0; | |
| 647 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 648 } | |
| 649 vpm_crush2(); | |
| 650 } | |
| 651 else // DIVEMODE_Apnea | |
| 652 { | |
| 653 global.lifeData.dive_time_seconds++; | |
| 654 | |
| 655 // exit dive mode | |
| 656 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 657 { | |
| 658 counter_exit++; | |
| 659 if(counter_exit >= 2) | |
| 660 { | |
| 661 scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode | |
| 662 global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time | |
| 663 global.mode = MODE_SURFACE; | |
| 664 global.demo_mode = 0; | |
| 665 } | |
| 666 } | |
| 667 | |
| 668 // surface break | |
| 669 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
| 670 { | |
| 881 | 671 global.lifeData.ascent_rate_meter_per_min = 0; |
| 38 | 672 global.lifeData.counterSecondsShallowDepth++; |
| 673 if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds | |
| 674 { | |
| 675 global.lifeData.dive_time_seconds = 0; // this apnea dive ends here | |
| 676 } | |
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677 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (ManualExitDiveCounter)) |
| 38 | 678 { |
| 679 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 680 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 681 } | |
| 682 } | |
| 683 else | |
| 684 { | |
| 685 global.lifeData.counterSecondsShallowDepth = 0; | |
| 686 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 687 } | |
| 688 } // standard dive or DIVEMODE_Apnea | |
| 689 | |
| 88 | 690 copyVpmCrushingData(); |
| 691 copyTimeData(); | |
| 692 copyCnsAndOtuData(); | |
| 693 copyBatteryData(); | |
| 38 | 694 |
| 88 | 695 // new hw 170523 |
| 696 if(global.I2C_SystemStatus != HAL_OK) | |
| 697 { | |
| 698 MX_I2C1_TestAndClear(); | |
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699 HAL_Delay(100); |
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700 I2C_DeInit(); |
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701 HAL_Delay(100); |
| 88 | 702 MX_I2C1_Init(); |
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703 HAL_Delay(100); |
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704 |
|
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705 init_pressure(); |
| 88 | 706 } |
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707 } |
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708 if(ticksdiff >= 1000) |
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709 { |
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710 /* reset counter */ |
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711 Scheduler.tickstart = HAL_GetTick(); |
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712 Scheduler.counterSPIdata100msec = 0; |
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713 Scheduler.counterCompass100msec = 0; |
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714 Scheduler.counterPressure100msec = 0; |
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715 Scheduler.counterAmbientLight100msec = 0; |
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716 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 717 } |
| 718 } | |
| 719 } | |
| 720 | |
| 721 | |
| 722 /** | |
| 723 ****************************************************************************** | |
| 724 * @brief scheduleSurfaceMode / surface mode: Main Loop | |
|
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725 * @author heinrichs weikamp gmbh |
| 38 | 726 * @version V0.0.1 |
| 727 * @date 22-April-2014 | |
| 728 ****************************************************************************** | |
| 729 */ | |
| 730 | |
| 731 | |
| 732 // =============================================================================== | |
| 733 // scheduleTestMode | |
| 734 /// @brief included for sealed hardware with permanent RTE update message | |
| 735 // =============================================================================== | |
| 736 void scheduleTestMode(void) | |
| 737 { | |
| 738 uint32_t ticksdiff = 0; | |
| 739 uint32_t lasttick = 0; | |
|
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740 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 741 |
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742 Scheduler.counterPressure100msec = 0; |
| 38 | 743 |
| 744 float temperature_carousel = 0.0f; | |
| 745 float temperature_changer = 0.1f; | |
| 746 | |
| 747 while(global.mode == MODE_TEST) | |
| 748 { | |
| 749 lasttick = HAL_GetTick(); | |
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750 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
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751 |
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752 //Evaluate received data at 10 ms, 110 ms, 210 ms,... |
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753 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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754 { |
| 277 | 755 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 756 { | |
| 757 Scheduler.counterSPIdata100msec++; | |
| 758 } | |
| 759 schedule_check_resync(); | |
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760 } |
| 38 | 761 |
| 762 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... | |
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763 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 764 { |
| 765 global.check_sync_not_running++; | |
| 766 | |
| 277 | 767 pressure_update_alternating(); |
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768 scheduleUpdateDeviceData(); |
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769 global.lifeData.ascent_rate_meter_per_min = 0; |
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770 copyPressureData(); |
| 38 | 771 |
| 772 if(temperature_carousel > 20.0f) | |
| 773 { | |
| 774 temperature_carousel = 20.0f; | |
| 775 temperature_changer = -0.1f; | |
| 776 } | |
| 777 else | |
| 778 if(temperature_carousel < 0) | |
| 779 { | |
| 780 temperature_carousel = 0; | |
| 781 temperature_changer = +0.1f; | |
| 782 } | |
| 783 | |
| 784 temperature_carousel += temperature_changer; | |
| 785 | |
| 786 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; | |
| 787 | |
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788 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); |
| 38 | 789 |
| 790 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; | |
| 791 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 792 global.dataSendToMaster.boolPressureData = boolPressureData; | |
|
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793 Scheduler.counterPressure100msec++; |
| 38 | 794 } |
| 795 | |
| 796 if(ticksdiff >= 1000) | |
| 797 { | |
| 798 //Set back tick counter | |
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799 Scheduler.tickstart = HAL_GetTick(); |
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800 Scheduler.counterPressure100msec = 0; |
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801 Scheduler.counterSPIdata100msec = 0; |
| 38 | 802 } |
| 803 }; | |
| 804 } | |
| 805 | |
| 806 | |
|
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807 |
| 38 | 808 void scheduleSurfaceMode(void) |
| 809 { | |
| 810 uint32_t ticksdiff = 0; | |
| 811 uint32_t lasttick = 0; | |
|
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812 uint8_t extAdcChannel = 0; |
| 662 | 813 uint8_t batteryToggle = 0; /* ADC is operating in automatic 2 second cycles => consider for battery charge function call */ |
| 814 | |
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815 Scheduler.tickstart = HAL_GetTick(); |
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816 Scheduler.counterSPIdata100msec = 0; |
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817 Scheduler.counterCompass100msec = 0; |
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818 Scheduler.counterPressure100msec = 0; |
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819 Scheduler.counterAmbientLight100msec = 0; |
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820 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
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821 |
| 38 | 822 global.dataSendToMaster.mode = MODE_SURFACE; |
| 823 global.deviceDataSendToMaster.mode = MODE_SURFACE; | |
| 824 | |
| 825 while(global.mode == MODE_SURFACE) | |
| 826 { | |
| 277 | 827 |
| 38 | 828 lasttick = HAL_GetTick(); |
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829 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 830 |
| 831 if(setButtonsNow == 1) | |
| 832 { | |
| 833 if(scheduleSetButtonResponsiveness()) | |
| 834 setButtonsNow = 0; | |
| 835 } | |
| 691 | 836 |
| 802 | 837 externalInterface_HandleUART(); |
| 922 | 838 #ifdef ENABLE_GPIO_V2 |
| 839 UART6_HandleUART(); | |
| 840 #endif | |
|
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841 |
|
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842 /* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */ |
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843 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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844 { |
|
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845 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
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846 { |
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847 Scheduler.counterSPIdata100msec++; |
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848 } |
| 277 | 849 schedule_check_resync(); |
| 691 | 850 if(externalInterface_isEnabledADC()) |
|
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851 { |
| 691 | 852 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 853 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 854 { | |
| 855 externalInterface_CalculateADCValue(extAdcChannel); | |
| 856 | |
| 857 } | |
|
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858 } |
| 691 | 859 copyExtADCdata(); |
| 662 | 860 copyExtCO2data(); |
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861 } |
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862 |
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863 /* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */ |
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864 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 865 { |
| 866 global.check_sync_not_running++; | |
| 277 | 867 pressure_update_alternating(); |
| 135 | 868 scheduleUpdateDeviceData(); |
| 38 | 869 global.lifeData.ascent_rate_meter_per_min = 0; |
| 135 | 870 copyPressureData(); |
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871 Scheduler.counterPressure100msec++; |
| 135 | 872 |
|
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873 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 38 | 874 global.mode = MODE_DIVE; |
| 875 } | |
| 876 | |
|
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877 /* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */ |
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878 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 879 { |
| 880 compass_read(); | |
| 881 acceleration_read(); | |
| 882 compass_calc(); | |
| 883 copyCompassData(); | |
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884 Scheduler.counterCompass100msec++; |
| 135 | 885 } |
| 38 | 886 |
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887 /* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */ |
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888 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 889 { |
| 890 adc_ambient_light_sensor_get_data(); | |
| 891 copyAmbientLightData(); | |
| 928 | 892 |
| 893 #if defined ENABLE_GNSS_SUPPORT || defined ENABLE_GPIO_V2 | |
|
899
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894 copyGNSSdata(); |
| 919 | 895 #endif |
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896 Scheduler.counterAmbientLight100msec++; |
| 38 | 897 } |
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898 |
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899 |
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900 |
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901 /* Evaluate tissues, toxic data, etc. once a second... duration ~1ms */ |
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902 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 903 { |
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904 Scheduler.tick_execute1second = 0xFFFFFFFF; |
| 38 | 905 if(clearDecoNow) |
| 906 { | |
| 907 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time | |
| 908 // new 160215 hw | |
| 909 global.repetitive_dive = 0; | |
| 910 global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well | |
| 911 global.no_fly_time_minutes = 0; | |
| 912 global.accidentFlag = 0; | |
| 913 global.accidentRemainingSeconds = 0; | |
| 914 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); | |
| 915 clearDecoNow = 0; | |
| 916 } | |
| 89 | 917 |
|
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918 if(ManualExitDiveCounter) |
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919 { |
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920 ManualExitDiveCounter--; |
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921 } |
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922 |
| 38 | 923 if(global.seconds_since_last_dive) |
| 924 { | |
| 925 schedule_update_timer_helper(-1); | |
| 926 } | |
| 89 | 927 |
| 38 | 928 if(global.accidentRemainingSeconds) |
| 929 { | |
| 930 global.accidentRemainingSeconds--; | |
| 931 if(!global.accidentRemainingSeconds) | |
| 932 global.accidentFlag = 0; | |
| 933 } | |
| 934 global.dataSendToMaster.accidentFlags = global.accidentFlag; | |
| 89 | 935 |
| 38 | 936 update_surface_pressure(1); |
| 937 scheduleUpdateLifeData(0); | |
| 938 decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive); | |
| 939 decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive); | |
| 135 | 940 |
| 941 /* start desaturation calculation after first valid measurement has been done */ | |
| 942 if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE) | |
| 943 { | |
| 944 global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar); | |
| 945 } | |
| 946 else | |
| 947 { | |
| 948 global.lifeData.desaturation_time_minutes = 0; | |
| 949 } | |
| 662 | 950 |
| 951 if(!batteryToggle) | |
| 952 { | |
| 953 battery_gas_gauge_get_data(); | |
| 954 battery_charger_get_status_and_contral_battery_gas_gauge(2); | |
| 955 batteryToggle = 1; | |
| 956 } | |
| 957 else | |
| 958 { | |
| 959 batteryToggle = 0; | |
| 960 } | |
| 89 | 961 |
| 88 | 962 copyCnsAndOtuData(); |
| 963 copyTimeData(); | |
| 964 copyBatteryData(); | |
| 965 copyDeviceData(); | |
| 38 | 966 |
| 691 | 967 |
|
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968 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occured during startup */ |
| 88 | 969 if(global.I2C_SystemStatus != HAL_OK) |
| 970 { | |
| 971 MX_I2C1_TestAndClear(); | |
|
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972 HAL_Delay(100); |
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973 I2C_DeInit(); |
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974 HAL_Delay(100); |
| 88 | 975 MX_I2C1_Init(); |
|
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976 HAL_Delay(100); |
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977 |
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978 if(global.I2C_SystemStatus == HAL_OK) |
| 88 | 979 { |
| 980 init_pressure(); | |
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981 if(is_init_pressure_done()) /* Init surface data with initial measurement */ |
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982 { |
|
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983 init_surface_ring(0); |
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984 } |
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985 |
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986 if(!battery_gas_gauge_CheckConfigOK()) |
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987 { |
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988 init_battery_gas_gauge(); |
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989 } |
| 88 | 990 } |
| 991 } | |
|
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992 externalInterface_AutodetectSensor(); |
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993 } |
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994 |
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995 if(ticksdiff >= 1000) |
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996 { |
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997 //Set back tick counter |
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998 Scheduler.tickstart = HAL_GetTick(); |
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999 Scheduler.counterSPIdata100msec = 0; |
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1000 Scheduler.counterCompass100msec = 0; |
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1001 Scheduler.counterPressure100msec = 0; |
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1002 Scheduler.counterAmbientLight100msec = 0; |
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1003 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 1004 } |
| 1005 } | |
| 1006 } | |
| 1007 | |
| 207 | 1008 inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod) |
|
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1009 { |
| 207 | 1010 if( SyncMethod < SPI_SYNC_METHOD_INVALID) |
| 1011 { | |
| 1012 dospisync = SyncMethod; | |
| 1013 } | |
| 1014 } | |
| 1015 | |
|
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1016 void Scheduler_SyncToSPI(uint8_t TXtick) |
| 207 | 1017 { |
| 1018 uint32_t deltatick = 0; | |
|
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1019 int8_t TXcompensation; |
| 207 | 1020 |
| 1021 switch(dospisync) | |
|
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1022 { |
| 207 | 1023 case SPI_SYNC_METHOD_HARD: |
| 1024 //Set back tick counter | |
|
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1025 Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */ |
| 207 | 1026 Scheduler.counterSPIdata100msec = 0; |
| 1027 Scheduler.counterCompass100msec = 0; | |
| 1028 Scheduler.counterPressure100msec = 0; | |
| 1029 Scheduler.counterAmbientLight100msec = 0; | |
| 1030 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1031 break; | |
| 1032 case SPI_SYNC_METHOD_SOFT: | |
| 1033 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); | |
| 1034 deltatick %= 100; /* clip to 100ms window */ | |
| 1035 if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */ | |
| 1036 { | |
| 1037 Scheduler.tickstart -= deltatick; | |
| 1038 } | |
| 1039 else | |
| 1040 { | |
| 1041 Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart); | |
| 1042 } | |
| 1043 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1044 break; | |
|
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1045 default: /* continous sync activity */ |
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1046 if(TXtick < 100) /* do not handle unexpected jump length > 100ms */ |
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1047 { |
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1048 TXtick += 4; /* add 4ms TX time to offset of 100ms time stamp */ |
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1049 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); |
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1050 deltatick %= 100; |
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1051 if(deltatick > 50) |
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1052 { |
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1053 TXcompensation = deltatick - 100; /* neg drift */ |
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1054 } |
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1055 else |
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1056 { |
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1057 TXcompensation = deltatick; /* pos drift */ |
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1058 } |
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1059 TXcompensation = TXtick - TXcompensation; |
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1060 Scheduler.tickstart -= TXcompensation; |
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1061 } |
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1062 else |
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1063 { |
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1064 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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1065 } |
| 207 | 1066 break; |
|
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1067 } |
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1068 } |
| 38 | 1069 |
| 1070 /** | |
| 1071 ****************************************************************************** | |
| 1072 * @brief scheduleCompassCalibrationMode | |
| 1073 * @author heinrichs weikamp gmbh | |
| 1074 * @version V0.0.1 | |
| 1075 * @since 31-March-2015 | |
| 1076 * @date 31-March-2015 | |
| 1077 ****************************************************************************** | |
| 1078 */ | |
| 1079 void scheduleCompassCalibrationMode(void) | |
| 1080 { | |
| 1081 compass_init(1,7); // fast mode, max gain | |
| 1082 compass_calib(); // duration : 1 minute! | |
| 1083 compass_init(0,7); // back to normal mode | |
| 1084 | |
| 1085 if(global.seconds_since_last_dive) | |
| 1086 { | |
| 1087 schedule_update_timer_helper(-1); | |
| 1088 } | |
| 1089 | |
| 1090 scheduleUpdateLifeData(0); | |
| 1091 global.mode = MODE_SURFACE; | |
| 1092 } | |
| 1093 | |
| 1094 | |
| 1095 /** | |
| 1096 ****************************************************************************** | |
| 1097 * @brief scheduleSleepMode / sleep mode: Main Loop | |
| 1098 * @author heinrichs weikamp gmbh | |
| 1099 * @version V0.0.2 | |
| 1100 * @since 31-March-2015 | |
| 1101 * @date 22-April-2014 | |
| 1102 ****************************************************************************** | |
| 1103 */ | |
| 1104 | |
| 1105 void scheduleSleepMode(void) | |
| 1106 { | |
| 1107 global.dataSendToMaster.mode = 0; | |
| 1108 global.deviceDataSendToMaster.mode = 0; | |
| 668 | 1109 secondsCount = 0; |
| 936 | 1110 #ifdef ENABLE_GPIO_V2 |
| 1111 uint16_t deepSleepCntDwn = 21600; /* 12 hours in 2 second steps */ | |
| 1112 GPIO_InitTypeDef GPIO_InitStruct; | |
| 1113 #endif | |
| 38 | 1114 /* prevent button wake up problem while in sleep_prepare |
| 1115 * sleep prepare does I2C_DeInit() | |
| 1116 */ | |
| 1117 if(global.mode != MODE_SLEEP) | |
| 1118 MX_I2C1_Init(); | |
| 1119 else | |
| 1120 do | |
| 1121 { | |
| 1122 I2C_DeInit(); | |
| 1123 | |
| 937 | 1124 #ifdef ENABLE_SLEEP_DEBUG |
| 38 | 1125 HAL_Delay(2000); |
| 1126 #else | |
| 1127 RTC_StopMode_2seconds(); | |
| 1128 #endif | |
| 1129 | |
| 1130 if(global.mode == MODE_SLEEP) | |
| 1131 secondsCount += 2; | |
| 1132 | |
| 662 | 1133 externalInterface_InitPower33(); |
| 38 | 1134 MX_I2C1_Init(); |
| 1135 pressure_sensor_get_pressure_raw(); | |
| 1136 | |
| 475 | 1137 /* 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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1138 if(global.I2C_SystemStatus != HAL_OK) |
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1139 { |
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1140 MX_I2C1_TestAndClear(); |
|
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1141 HAL_Delay(100); |
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1142 I2C_DeInit(); |
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1143 HAL_Delay(100); |
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1144 MX_I2C1_Init(); |
|
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1145 HAL_Delay(100); |
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1146 |
| 475 | 1147 if((global.I2C_SystemStatus == HAL_OK) && (!is_init_pressure_done())) |
|
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1148 { |
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1149 init_pressure(); |
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1150 } |
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1151 } |
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1152 |
| 691 | 1153 if((secondsCount >= 30) || (global.mode != MODE_SLEEP)) /* Service battery charge state in case sleep is left */ |
| 38 | 1154 { |
| 1155 pressure_sensor_get_temperature_raw(); | |
| 1156 battery_gas_gauge_get_data(); | |
| 662 | 1157 ReInit_battery_charger_status_pins(); |
| 691 | 1158 battery_charger_get_status_and_contral_battery_gas_gauge(secondsCount); |
| 38 | 1159 // DeInit_battery_charger_status_pins(); |
| 1160 secondsCount = 0; | |
| 1161 } | |
| 1162 | |
| 1163 pressure_calculation(); | |
| 1164 | |
| 1165 scheduleUpdateDeviceData(); | |
| 1166 update_surface_pressure(2); | |
| 1167 | |
| 1168 if(global.seconds_since_last_dive) | |
| 1169 { | |
| 1170 schedule_update_timer_helper(-1); | |
| 1171 } | |
| 1172 | |
| 1173 if(global.accidentRemainingSeconds) | |
| 1174 { | |
| 1175 if(global.accidentRemainingSeconds > 2) | |
| 1176 global.accidentRemainingSeconds -= 2; | |
| 1177 else | |
| 1178 { | |
| 1179 global.accidentRemainingSeconds = 0; | |
| 1180 global.accidentFlag = 0; | |
| 1181 } | |
| 1182 } | |
| 1183 | |
|
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1184 if (((!is_ambient_pressure_close_to_surface(&global.lifeData)) && (global.lifeData.pressure_surface_bar > START_DIVE_MOUNTAIN_MODE_BAR )) |
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1185 || (global.lifeData.pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR)) |
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1186 { |
| 38 | 1187 global.mode = MODE_BOOT; |
|
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1188 } |
| 38 | 1189 scheduleUpdateLifeData(2000); |
| 936 | 1190 #ifdef ENABLE_GPIO_V2 |
| 1191 if(deepSleepCntDwn) | |
| 1192 { | |
| 1193 deepSleepCntDwn--; | |
| 1194 if(deepSleepCntDwn == 0) | |
| 1195 { | |
| 937 | 1196 GPIO_GPS_OFF(); |
| 936 | 1197 GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; |
| 1198 GPIO_InitStruct.Speed = GPIO_SPEED_LOW; | |
| 1199 GPIO_InitStruct.Pull = GPIO_NOPULL; | |
| 942 | 1200 GPIO_InitStruct.Pin = GPIO_PIN_All ^ (GPS_POWER_CONTROL_PIN); |
| 1201 HAL_GPIO_Init( GPIOB, &GPIO_InitStruct); | |
| 1202 | |
| 1203 uartGnss_SetState(UART_GNSS_INIT); | |
| 1204 } | |
| 1205 } | |
| 1206 else | |
| 1207 { | |
| 1208 if(global.lifeData.battery_voltage < 3.5) /* switch off backup voltage if battery gets low */ | |
| 1209 { | |
| 1210 GPIO_GPS_BCKP_OFF(); | |
| 1211 GPIO_InitStruct.Pin = GPIO_PIN_All ^ (GPS_BCKP_CONTROL_PIN); | |
| 936 | 1212 HAL_GPIO_Init( GPIOB, &GPIO_InitStruct); |
| 937 | 1213 __HAL_RCC_GPIOB_CLK_DISABLE(); |
| 936 | 1214 } |
| 1215 } | |
| 1216 #endif | |
| 38 | 1217 } |
| 1218 while(global.mode == MODE_SLEEP); | |
| 1219 /* new section for system after Standby */ | |
| 1220 scheduleUpdateLifeData(-1); | |
| 1221 clearDecoNow = 0; | |
| 1222 setButtonsNow = 0; | |
|
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1223 reinitGlobals(); |
| 668 | 1224 ReInit_battery_charger_status_pins(); |
| 942 | 1225 #ifdef ENABLE_GPIO_V2 |
| 940 | 1226 if(deepSleepCntDwn == 0) |
| 1227 { | |
| 1228 GPIO_GNSS_Init(); | |
| 1229 } | |
| 942 | 1230 #endif |
| 38 | 1231 } |
| 1232 | |
| 1233 | |
| 1234 | |
| 1235 /* Private functions ---------------------------------------------------------*/ | |
| 1236 | |
| 1237 /** | |
| 1238 ****************************************************************************** | |
| 1239 * @brief scheduleUpdateLifeData / calculates tissues | |
|
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1240 * @author heinrichs weikamp gmbh |
| 38 | 1241 * @version V0.0.1 |
| 1242 * @date 22-April-2014 | |
| 1243 ****************************************************************************** | |
| 1244 */ | |
| 1245 | |
| 1246 | |
| 1247 void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last) | |
| 1248 { | |
| 1249 static _Bool first = 1; | |
| 1250 static uint32_t tickstart = 0; | |
| 1251 static uint32_t ticksrest = 0; | |
| 1252 | |
| 1253 uint32_t ticksdiff = 0; | |
| 1254 uint32_t ticksnow = 0; | |
| 1255 uint32_t time_seconds = 0; | |
| 1256 uint8_t whichGasTmp = 0; | |
| 1257 | |
| 135 | 1258 uint8_t updateTissueData = 0; |
| 1259 | |
| 1260 | |
| 1261 if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE) | |
| 1262 { | |
| 1263 updateTissueData = 1; | |
| 1264 } | |
| 1265 | |
| 38 | 1266 if(asynchron_milliseconds_since_last < 0) |
| 1267 { | |
| 1268 first = 1; | |
| 1269 tickstart = 0; | |
| 1270 ticksrest = 0; | |
| 1271 return; | |
| 1272 } | |
| 1273 | |
| 1274 if(!asynchron_milliseconds_since_last && first) | |
| 1275 { | |
| 1276 tickstart = HAL_GetTick(); | |
| 1277 first = 0; | |
| 1278 return; | |
| 1279 } | |
| 1280 | |
| 1281 whichGasTmp = global.whichGas; | |
| 1282 global.lifeData.actualGas = global.aktualGas[whichGasTmp]; | |
| 1283 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 1284 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; | |
| 1285 | |
| 135 | 1286 if(updateTissueData) |
| 1287 { | |
| 1288 decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData); | |
| 1289 } | |
| 1290 | |
| 38 | 1291 if(!asynchron_milliseconds_since_last) |
| 1292 { | |
| 1293 ticksnow = HAL_GetTick(); | |
| 1294 ticksdiff = time_elapsed_ms(tickstart,ticksnow); | |
| 1295 } | |
| 1296 else | |
| 1297 { | |
| 1298 first = 1; | |
| 1299 ticksdiff = asynchron_milliseconds_since_last; | |
| 1300 } | |
| 1301 | |
| 1302 if(ticksrest > 1000) // whatever happens after standby with STM32L476 | |
| 1303 ticksrest = 0; // maybe move static to SRAM2 | |
| 1304 | |
| 1305 ticksdiff += ticksrest; | |
| 1306 time_seconds = ticksdiff/ 1000; | |
| 1307 ticksrest = ticksdiff - time_seconds * 1000; | |
| 1308 tickstart = ticksnow; | |
| 1309 | |
| 1310 decom_tissues_exposure((int)time_seconds, &global.lifeData); | |
| 1311 if(global.demo_mode) | |
| 1312 decom_tissues_exposure((int)(3*time_seconds), &global.lifeData); | |
| 1313 copyTissueData(); | |
| 1314 } | |
| 1315 | |
| 1316 | |
| 1317 /** | |
| 1318 ****************************************************************************** | |
| 1319 * @brief scheduleUpdateDeviceData | |
| 1320 * @author heinrichs weikamp gmbh | |
| 1321 * @version V0.0.1 | |
| 1322 * @date 16-March-2015 | |
| 1323 * | |
| 1324 * two step process | |
| 1325 * first compare with data from main CPU == externalLogbookFlash | |
| 1326 * second update with new sensor data | |
| 1327 ****************************************************************************** | |
| 1328 */ | |
| 1329 void scheduleSetDate(SDeviceLine *line) | |
| 1330 { | |
| 1331 extern RTC_HandleTypeDef RTCHandle; | |
| 1332 | |
| 1333 line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1334 line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1335 } | |
| 1336 | |
| 1337 | |
| 1338 void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead) | |
| 1339 { | |
| 1340 lineWrite->date_rtc_dr = lineRead->date_rtc_dr; | |
| 1341 lineWrite->time_rtc_tr = lineRead->time_rtc_tr; | |
| 1342 lineWrite->value_int32 = lineRead->value_int32; | |
| 1343 } | |
| 1344 | |
| 1345 | |
|
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1346 void scheduletranslateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) |
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1347 { |
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1348 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); |
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1349 |
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1350 /* Fill the structure fields with the read parameters */ |
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1351 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); |
|
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1352 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); |
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1353 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); |
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1354 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); |
|
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1355 |
|
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1356 /* Convert the date structure parameters to Binary format */ |
|
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1357 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); |
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1358 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); |
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1359 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); |
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1360 } |
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1361 |
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1362 void scheduleCheckDate(void) |
|
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1363 { |
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1364 uint32_t localdate; |
|
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1365 RTC_DateTypeDef sDate; |
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Restore last known date: After a power off RTC looses time data and restarts in the year 2000. Code will fix this date to the year 2016. This change will set the date to the last known date of the operation hour counter
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1366 localdate = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); |
|
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1367 scheduletranslateDate(localdate, &sDate); |
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1368 |
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1369 /* 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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1370 if(sDate.Year < 15) |
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1371 { |
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1372 scheduletranslateDate(DeviceDataFlash.hoursOfOperation.date_rtc_dr, &sDate); |
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1373 if(sDate.Year > 16) |
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1374 { |
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1375 RTC_SetDate(sDate); |
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1376 } |
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1377 } |
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1378 |
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1379 } |
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1380 |
| 38 | 1381 void scheduleUpdateDeviceData(void) |
| 1382 { | |
| 1383 /* first step, main CPU */ | |
| 1384 | |
| 1385 if(deviceDataFlashValid) | |
| 1386 { | |
| 1387 /* max values */ | |
|
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1388 if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32) |
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1389 { |
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1390 scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation); |
|
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1391 #ifdef RESTORE_LAST_KNOWN_DATE |
|
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1392 scheduleCheckDate(); |
|
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1393 #endif |
|
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1394 } |
| 38 | 1395 if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32) |
| 1396 { | |
| 1397 scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles); | |
| 1398 } | |
| 1399 if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32) | |
| 1400 { | |
| 1401 scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles); | |
| 1402 } | |
| 1403 if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32) | |
| 1404 { | |
| 1405 scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum); | |
| 1406 } | |
| 1407 if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32) | |
| 1408 { | |
| 1409 scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum); | |
| 1410 } | |
| 1411 if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32) | |
| 1412 { | |
| 1413 scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles); | |
| 1414 } | |
| 1415 | |
| 1416 /* min values */ | |
| 1417 if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32) | |
| 1418 { | |
| 1419 scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum); | |
| 1420 } | |
| 1421 if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32) | |
| 1422 { | |
| 1423 scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum); | |
| 1424 } | |
| 1425 } | |
| 1426 | |
| 1427 /* second step, sensor data */ | |
| 1428 int32_t temperature_centigrad_int32; | |
| 1429 int32_t pressure_mbar_int32; | |
| 1430 int32_t voltage_mvolt_int32; | |
| 1431 | |
| 1432 temperature_centigrad_int32 = (int32_t)(get_temperature() * 100); | |
| 1433 if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32) | |
| 1434 { | |
| 1435 global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1436 scheduleSetDate(&global.deviceData.temperatureMinimum); |
| 38 | 1437 } |
| 1438 | |
| 1439 if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32) | |
| 1440 { | |
| 1441 global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1442 scheduleSetDate(&global.deviceData.temperatureMaximum); |
| 38 | 1443 } |
| 1444 | |
| 1445 pressure_mbar_int32 = (int32_t)get_pressure_mbar(); | |
| 1446 if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32) | |
| 1447 { | |
| 1448 global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32; | |
| 88 | 1449 scheduleSetDate(&global.deviceData.depthMaximum); |
| 38 | 1450 } |
| 1451 | |
| 1452 voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000); | |
| 1453 if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32) | |
| 1454 { | |
| 1455 global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32; | |
| 88 | 1456 scheduleSetDate(&global.deviceData.voltageMinimum); |
| 38 | 1457 } |
| 1458 | |
| 1459 /* third step, counter */ | |
| 1460 switch (global.mode) | |
| 1461 { | |
| 1462 case MODE_SURFACE: | |
| 1463 case MODE_DIVE: | |
| 1464 default: | |
| 1465 deviceDataSubSeconds++; | |
| 1466 if(deviceDataSubSeconds > 10) | |
| 1467 { | |
| 1468 deviceDataSubSeconds = 0; | |
| 1469 global.deviceData.hoursOfOperation.value_int32++; | |
|
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1470 scheduleSetDate(&global.deviceData.hoursOfOperation); |
| 38 | 1471 } |
| 1472 break; | |
| 1473 | |
| 662 | 1474 case MODE_SLEEP: |
| 38 | 1475 case MODE_SHUTDOWN: |
| 1476 break; | |
| 1477 } | |
| 1478 } | |
| 1479 | |
| 1480 | |
| 1481 void scheduleUpdateDeviceDataChargerFull(void) | |
| 1482 { | |
| 1483 global.deviceData.batteryChargeCompleteCycles.value_int32++; | |
| 88 | 1484 scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles); |
| 38 | 1485 } |
| 1486 | |
| 1487 | |
| 1488 void scheduleUpdateDeviceDataChargerCharging(void) | |
| 1489 { | |
| 1490 global.deviceData.batteryChargeCycles.value_int32++; | |
| 88 | 1491 scheduleSetDate(&global.deviceData.batteryChargeCycles); |
| 38 | 1492 } |
| 1493 | |
| 1494 | |
| 1495 /** | |
| 1496 ****************************************************************************** | |
| 1497 * @brief vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend | |
|
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1498 * @author heinrichs weikamp gmbh |
| 38 | 1499 * @version V0.0.1 |
| 1500 * @date 22-April-2014 | |
| 1501 ****************************************************************************** | |
| 1502 */ | |
| 1503 _Bool vpm_crush2(void) | |
| 1504 { | |
| 1505 int i = 0; | |
| 1506 static float starting_ambient_pressure = 0; | |
| 1507 static float ending_ambient_pressure = 0; | |
| 1508 static float time_calc_begin = -1; | |
| 1509 static float initial_helium_pressure[16]; | |
| 1510 static float initial_nitrogen_pressure[16]; | |
| 1511 ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1512 | |
| 1513 if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 1514 { | |
| 1515 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1516 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1517 for( i = 0; i < 16; i++) | |
| 1518 { | |
| 1519 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1520 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1521 } | |
| 1522 return 0; | |
| 1523 } | |
| 1524 if(global.lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 1525 { | |
| 1526 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 1527 { | |
| 1528 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 1529 calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 1530 | |
| 1531 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1532 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1533 for( i = 0; i < 16; i++) | |
| 1534 { | |
| 1535 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1536 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1537 } | |
| 1538 | |
| 1539 return 1; | |
| 1540 } | |
| 1541 | |
| 1542 } | |
| 1543 return 0; | |
| 1544 } | |
| 1545 | |
| 1546 | |
| 1547 long get_nofly_time_minutes(void) | |
| 1548 { | |
| 1549 | |
| 1550 if(global.no_fly_time_minutes <= 0) | |
| 1551 return 0; | |
| 1552 | |
| 1553 long minutes_since_last_dive = global.seconds_since_last_dive/60; | |
| 1554 | |
| 1555 if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive)) | |
| 1556 { | |
| 1557 return (global.no_fly_time_minutes - minutes_since_last_dive); | |
| 1558 } | |
| 1559 else | |
| 1560 { | |
| 1561 global.no_fly_time_minutes = 0; | |
| 1562 return 0; | |
| 1563 } | |
| 1564 } | |
| 1565 | |
| 1566 | |
| 1567 //Supports threadsave copying!!! | |
| 1568 void copyActualGas(SGas gas) | |
| 1569 { | |
| 1570 uint8_t whichGas = !global.whichGas; | |
| 1571 global.aktualGas[whichGas] = gas; | |
| 1572 global.whichGas = whichGas; | |
| 1573 } | |
| 1574 | |
| 1575 | |
| 1576 //Supports threadsave copying!!! | |
| 1577 void copyPressureData(void) | |
| 1578 { | |
|
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Improvement SPI stability/recoverability
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1579 global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus; |
| 38 | 1580 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; |
| 1581 global.dataSendToMaster.data[boolPressureData].temperature = get_temperature(); | |
| 1582 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); | |
| 1583 global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar(); | |
| 1584 global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min; | |
| 1585 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 1586 global.dataSendToMaster.boolPressureData = boolPressureData; | |
|
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1587 global.dataSendToMaster.data[boolPressureData].SPARE1 = is_surface_pressure_stable(); |
| 38 | 1588 } |
| 1589 | |
| 1590 | |
| 1591 //Supports threadsave copying!!! | |
| 1592 void copyCnsAndOtuData(void) | |
| 1593 { | |
| 1594 //uint8_t dataSendToMaster. | |
| 1595 uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData; | |
| 1596 global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns; | |
| 1597 global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu; | |
| 1598 global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes; | |
| 1599 global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes(); | |
| 1600 global.dataSendToMaster.boolToxicData = boolToxicData; | |
| 1601 } | |
| 1602 | |
| 1603 | |
| 1604 //Supports threadsave copying!!! | |
| 1605 void copyTimeData(void) | |
| 1606 { | |
| 1607 extern RTC_HandleTypeDef RTCHandle; | |
| 1608 | |
| 1609 uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData; | |
| 1610 global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1611 global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1612 global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds; | |
| 1613 global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time; | |
| 1614 global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive; | |
| 1615 global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth; | |
| 1616 global.dataSendToMaster.boolTimeData = boolTimeData; | |
| 1617 } | |
| 1618 | |
| 1619 | |
| 1620 //Supports threadsave copying!!! | |
| 1621 void copyCompassData(void) | |
| 1622 { | |
| 1623 extern float compass_heading; | |
| 1624 extern float compass_roll; | |
| 1625 extern float compass_pitch; | |
| 1626 //uint8_t dataSendToMaster. | |
| 1627 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1628 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1629 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1630 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1631 global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0; | |
| 1632 global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0; | |
| 1633 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0; | |
| 1634 global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick(); | |
| 1635 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1636 } | |
| 1637 | |
| 1638 | |
| 1639 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz) | |
| 1640 { | |
| 1641 extern float compass_heading; | |
| 1642 extern float compass_roll; | |
| 1643 extern float compass_pitch; | |
| 1644 //uint8_t dataSendToMaster. | |
| 1645 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1646 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1647 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1648 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1649 global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx; | |
| 1650 global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy; | |
| 1651 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz; | |
| 1652 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1653 } | |
| 1654 | |
| 1655 | |
| 1656 //Supports threadsave copying!!! | |
| 1657 void copyBatteryData(void) | |
| 1658 { | |
| 1659 uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData; | |
| 668 | 1660 global.lifeData.battery_charge = get_charge(); |
| 38 | 1661 global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage(); |
| 668 | 1662 |
| 1663 if(battery_gas_gauge_isChargeValueValid()) | |
| 1664 { | |
| 1665 global.dataSendToMaster.data[boolBatteryData].battery_charge= global.lifeData.battery_charge; | |
| 1666 } | |
| 1667 else | |
| 1668 { | |
| 1669 global.dataSendToMaster.data[boolBatteryData].battery_charge = global.lifeData.battery_charge * -1.0; /* negate value to show that this is just an assumption */ | |
| 1670 } | |
| 38 | 1671 global.dataSendToMaster.boolBatteryData = boolBatteryData; |
| 1672 } | |
| 1673 | |
| 1674 | |
| 1675 //Supports threadsave copying!!! | |
| 1676 void copyAmbientLightData(void) | |
| 1677 { | |
| 1678 uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData; | |
| 1679 global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level(); | |
| 1680 global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData; | |
| 1681 } | |
| 1682 | |
| 1683 | |
| 1684 //Supports threadsave copying!!! | |
| 1685 void copyTissueData(void) | |
| 1686 { | |
| 1687 //uint8_t dataSendToMaster. | |
| 1688 uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData; | |
| 1689 for(int i = 0; i < 16; i++) | |
| 1690 { | |
| 1691 global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i]; | |
| 1692 global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i]; | |
| 1693 } | |
| 1694 global.dataSendToMaster.boolTisssueData = boolTisssueData; | |
| 1695 } | |
| 1696 | |
| 1697 | |
| 1698 //Supports threadsave copying!!! | |
| 1699 void copyVpmCrushingData(void) | |
| 1700 { | |
| 1701 //uint8_t dataSendToMaster. | |
| 1702 uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData; | |
| 1703 for(int i = 0; i < 16; i++) | |
| 1704 { | |
| 1705 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i]; | |
| 1706 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i]; | |
| 1707 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i]; | |
| 1708 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i]; | |
| 1709 } | |
| 1710 global.dataSendToMaster.boolCrushingData = boolCrushingData; | |
| 1711 } | |
| 1712 | |
| 1713 | |
| 1714 void copyDeviceData(void) | |
| 1715 { | |
| 1716 uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData; | |
| 1717 memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice)); | |
| 1718 global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; | |
| 1719 | |
| 1720 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0; | |
| 1721 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, &global.vpm.adjusted_critical_radius_he, sizeof(16*4)); | |
| 1722 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, &global.vpm.adjusted_critical_radius_n2, sizeof(16*4)); | |
| 1723 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he, &global.vpm.adjusted_crushing_pressure_he, sizeof(16*4)); | |
| 1724 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2, &global.vpm.adjusted_crushing_pressure_n2, sizeof(16*4)); | |
| 1725 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he, &global.vpm.initial_allowable_gradient_he, sizeof(16*4)); | |
| 1726 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2, &global.vpm.initial_allowable_gradient_n2, sizeof(16*4)); | |
| 1727 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, &global.vpm.max_actual_gradient, sizeof(16*4)); | |
| 1728 global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid; | |
| 1729 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1; | |
| 1730 } | |
| 1731 | |
| 1732 /* copyPICdata(); is used in spi.c */ | |
| 1733 void copyPICdata(void) | |
| 1734 { | |
| 1735 uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata; | |
| 1736 for(int i = 0; i < 3; i++) | |
| 1737 { | |
| 1738 global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i]; | |
| 1739 } | |
| 1740 global.dataSendToMaster.boolPICdata = boolPICdata; | |
| 1741 } | |
| 1742 | |
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1743 void copyExtADCdata() |
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1744 { |
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1745 float value; |
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1746 |
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1747 uint8_t channel = 0; |
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1748 |
| 691 | 1749 uint8_t boolADCBuffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_ADC); |
| 1750 | |
| 1751 boolADCBuffer &= DATA_BUFFER_ADC; | |
| 1752 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_ADC; | |
| 1753 | |
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1754 for(channel = 0; channel < MAX_ADC_CHANNEL; channel++) |
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1755 { |
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1756 value = getExternalInterfaceChannel(channel); |
| 691 | 1757 global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].extADC_voltage[channel] = value; |
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1758 } |
| 786 | 1759 global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].externalInterface_SensorID = externalInterface_GetSensorData(0xFF, (uint8_t*)&global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].sensor_data); |
| 731 | 1760 memcpy(global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].sensor_map,externalInterface_GetSensorMapPointer(1),EXT_INTERFACE_SENSOR_CNT); |
| 691 | 1761 global.dataSendToMaster.boolADCO2Data |= boolADCBuffer; |
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1762 } |
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1763 |
| 662 | 1764 void copyExtCO2data() |
| 1765 { | |
| 1766 uint16_t value; | |
| 691 | 1767 uint8_t boolCO2Buffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_CO2); |
| 1768 | |
| 1769 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_CO2; | |
| 1770 boolCO2Buffer &= DATA_BUFFER_CO2; | |
| 662 | 1771 |
| 1772 if(externalInterface_GetCO2State()) | |
| 1773 { | |
| 1774 value = externalInterface_GetCO2Value(); | |
| 691 | 1775 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = value; |
| 662 | 1776 value = externalInterface_GetCO2SignalStrength(); |
| 691 | 1777 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = value; |
| 1778 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = externalInterface_GetCO2State(); | |
| 662 | 1779 externalInterface_SetCO2State(EXT_INTERFACE_33V_ON); /* clear command responses */ |
| 1780 } | |
| 1781 else | |
| 1782 { | |
| 691 | 1783 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = 0; |
| 1784 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = 0; | |
| 1785 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = 0; | |
| 662 | 1786 } |
| 691 | 1787 global.dataSendToMaster.boolADCO2Data |= boolCO2Buffer; |
| 662 | 1788 } |
| 38 | 1789 |
|
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1790 void copyGNSSdata(void) |
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1791 { |
| 942 | 1792 global.dataSendToMaster.data[0].gnssInfo.coord.fLat = GNSS_Handle.fLat; |
| 1793 global.dataSendToMaster.data[0].gnssInfo.coord.fLon = GNSS_Handle.fLon; | |
| 931 | 1794 global.dataSendToMaster.data[0].gnssInfo.fixType = GNSS_Handle.fixType; |
| 1795 global.dataSendToMaster.data[0].gnssInfo.numSat = GNSS_Handle.numSat; | |
| 940 | 1796 global.dataSendToMaster.data[0].gnssInfo.alive = GNSS_Handle.alive; |
| 1797 | |
| 931 | 1798 memcpy(&global.dataSendToMaster.data[0].gnssInfo.signalQual,&GNSS_Handle.statSat, sizeof(GNSS_Handle.statSat)); |
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1799 } |
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1800 |
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1801 |
| 38 | 1802 typedef enum |
| 1803 { | |
| 1804 SPI3_OK = 0x00, | |
| 1805 SPI3_DEINIT = 0x01, | |
| 1806 } SPI3_StatusTypeDef; | |
| 1807 /* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine | |
| 1808 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit | |
| 1809 and will be init the next call of scheduleSetButtonResponsiveness() | |
| 1810 and data will be send again on the third call | |
| 1811 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active | |
| 1812 */ | |
| 1813 uint8_t scheduleSetButtonResponsiveness(void) | |
| 1814 { | |
| 1815 static uint8_t SPI3status = SPI3_OK; | |
| 1816 | |
| 1817 if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata))) | |
| 1818 { | |
| 1819 copyPICdata(); | |
| 1820 return 1; | |
| 1821 } | |
| 1822 else | |
| 1823 { | |
| 1824 for(int i=0;i<3;i++) | |
| 1825 { | |
| 1826 global.ButtonPICdata[i] = 0xFF; | |
| 1827 } | |
| 1828 copyPICdata(); | |
| 1829 | |
| 1830 if(SPI3status == SPI3_OK) | |
| 1831 { | |
| 1832 MX_SPI3_DeInit(); | |
| 1833 SPI3status = SPI3_DEINIT; | |
| 1834 } | |
| 1835 else | |
| 1836 { | |
| 1837 MX_SPI3_Init(); | |
| 1838 SPI3status = SPI3_OK; | |
| 1839 } | |
| 1840 return 0; | |
| 1841 } | |
| 1842 } | |
| 1843 | |
| 1844 | |
|
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1845 //save time difference |
| 38 | 1846 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) |
| 1847 { | |
| 1848 if(ticksstart <= ticksnow) | |
| 1849 { | |
| 1850 return ticksnow - ticksstart; | |
| 1851 } | |
| 1852 else | |
| 1853 { | |
| 1854 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 1855 } | |
| 1856 } | |
| 1857 | |
| 1858 /* same as in data_central.c */ | |
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1859 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 38 | 1860 { |
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1861 _Bool retval = true; |
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1862 |
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1863 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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1864 { |
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1865 /* 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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1866 if (lifeData->pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR) |
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1867 { |
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1868 retval = false; |
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1869 } |
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1870 else if(is_surface_pressure_stable()) /* this is the expected start condition */ |
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1871 { |
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1872 if((lifeData->pressure_ambient_bar >= (lifeData->pressure_surface_bar + 0.1f)) |
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1873 && (ManualExitDiveCounter == 0)) /* only if diver did not request to exit dive mode */ |
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1874 { |
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1875 retval = false; |
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1876 } |
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1877 } |
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1878 } |
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1879 return retval; |
| 38 | 1880 } |
| 1881 | |
| 881 | 1882 void evaluateAscentSpeed() |
| 1883 { | |
| 1884 static uint32_t lastPressureTick = 0; | |
| 1885 static float lastPressure_bar = 0.0f; | |
| 1886 static AscentStates_t ascentState = ASCENT_NONE; | |
| 1887 static uint8_t ascentStableCnt = 0; | |
| 1888 uint32_t tickPressureDiff = 0; | |
| 1889 uint32_t lasttick = HAL_GetTick(); | |
| 1890 float localAscentRate = 0.0; | |
| 1891 | |
| 1892 tickPressureDiff = time_elapsed_ms(lastPressureTick,lasttick); /* Calculate ascent rate every 400ms use timer to take care for small time shifts */ | |
| 1893 if(tickPressureDiff != 0) | |
| 1894 { | |
| 1895 if(lastPressure_bar >= 0) | |
| 1896 { | |
| 1897 localAscentRate = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * (60000.0 / tickPressureDiff) * 10; /* bar * 10 = meter */ | |
| 904 | 1898 if((fabs(localAscentRate) < 1.0) || (global.lifeData.pressure_ambient_bar < START_DIVE_IMMEDIATLY_BAR)) |
| 881 | 1899 { |
| 1900 ascentState = ASCENT_NONE; | |
| 1901 ascentStableCnt = 0; | |
| 1902 } | |
| 1903 else if(localAscentRate > 0.0) | |
| 1904 { | |
| 1905 if(ascentState != ASCENT_FALLING) | |
| 1906 { | |
| 1907 if(ascentStableCnt < 5) | |
| 1908 { | |
| 1909 ascentStableCnt++; | |
| 1910 } | |
| 1911 else | |
| 1912 { | |
| 1913 ascentState = ASCENT_RISING; | |
| 1914 } | |
| 1915 } | |
| 1916 else | |
| 1917 { | |
| 1918 ascentState = ASCENT_NONE; | |
| 1919 ascentStableCnt = 0; | |
| 1920 } | |
| 1921 } | |
| 1922 else /* must be falling */ | |
| 1923 { | |
| 1924 if(ascentState != ASCENT_RISING) | |
| 1925 { | |
| 1926 if(ascentStableCnt < 5) | |
| 1927 { | |
| 1928 ascentStableCnt++; | |
| 1929 } | |
| 1930 else | |
| 1931 { | |
| 1932 ascentState = ASCENT_FALLING; | |
| 1933 } | |
| 1934 } | |
| 1935 else | |
| 1936 { | |
| 1937 ascentState = ASCENT_NONE; | |
| 1938 ascentStableCnt = 0; | |
| 1939 } | |
| 1940 } | |
| 1941 if(ascentState != ASCENT_NONE) | |
| 1942 { | |
| 1943 global.lifeData.ascent_rate_meter_per_min = localAscentRate; | |
| 1944 } | |
| 1945 else | |
| 1946 { | |
| 1947 global.lifeData.ascent_rate_meter_per_min = 0; | |
| 1948 } | |
| 1949 } | |
| 1950 } | |
| 1951 lastPressure_bar = global.lifeData.pressure_ambient_bar; | |
| 1952 lastPressureTick = lasttick; | |
| 1953 } | |
| 38 | 1954 |
| 1955 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/ | |
| 1956 |