annotate Discovery/Src/tCCR.c @ 250:822416168585 bm-2

Buelmann: new implementation for ceiling Since my first functional fix in the ceiling computation in commit ceecabfddb57, I noticed that the computation used a linear search, that became rather computational expensive after that commit. The simple question is: why not a binary search? So, this commit implements the binary search. But there is a long story attached to this. Comparing ceiling results from hwOS and this OSTC4 code were very different. Basically, the original OSTC4 algorithm computed the ceiling using the same GFlow to GFhigh slope, in such a way, that the ceiling was in sync with the presented deco stops, where the hwOS code presents a GFhigh based ceiling. This said, it is more logical when the OSTC4 and hwOS code give similar results. This new recursive algorithm gives very similar results for the ceiling compared to hwOS. To be complete here, the Buelmann ceiling is the depth to which you can ascend, so that the leading tissue reaches GFhigh. This also explains why the deepest deco stop is normally deeper than the ceiling (unless one dives with GF like 80/80). The code implemented here is rather straightforward recursion. Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author Jan Mulder <jlmulder@xs4all.nl>
date Thu, 11 Apr 2019 17:48:48 +0200
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1 ///////////////////////////////////////////////////////////////////////////////
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2 /// -*- coding: UTF-8 -*-
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3 ///
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4 /// \file Discovery/Src/tCCR.c
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5 /// \brief HUD data via optical port
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6 /// \author Heinrichs Weikamp gmbh
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7 /// \date 18-Dec-2014
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8 ///
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9 /// \details
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10 ///
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11 /// $Id$
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12 ///////////////////////////////////////////////////////////////////////////////
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13 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh
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14 ///
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15 /// This program is free software: you can redistribute it and/or modify
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16 /// it under the terms of the GNU General Public License as published by
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17 /// the Free Software Foundation, either version 3 of the License, or
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18 /// (at your option) any later version.
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19 ///
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20 /// This program is distributed in the hope that it will be useful,
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21 /// but WITHOUT ANY WARRANTY; without even the implied warranty of
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22 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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23 /// GNU General Public License for more details.
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24 ///
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25 /// You should have received a copy of the GNU General Public License
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26 /// along with this program. If not, see <http://www.gnu.org/licenses/>.
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27 //////////////////////////////////////////////////////////////////////////////
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28
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29 /* Includes ------------------------------------------------------------------*/
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30 #include <string.h>
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31 #include "tCCR.h"
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32 #include "ostc.h"
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33 #include "data_central.h"
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34 #include "data_exchange.h"
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35 #include "check_warning.h"
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36
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37 /* Private types -------------------------------------------------------------*/
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38 typedef struct
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39 {
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40 uint8_t hud_firmwareVersion;
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41 bit8_Type status_byte;
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42 uint16_t sensor_voltage_100uV[3];
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43 uint8_t sensor_ppo2_cbar[3];
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44 uint8_t temp1;
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45 uint16_t battery_voltage_mV;
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46 uint16_t checksum;
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47 } SIrLink;
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48
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49 /* Private variables ---------------------------------------------------------*/
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50 SIrLink receiveHUD[2];
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51 uint8_t boolHUDdata = 0;
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52 uint8_t data_old__lost_connection_to_HUD = 1;
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53
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54 uint8_t receiveHUDraw[16];
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55
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56 uint8_t StartListeningToUART_HUD = 0;
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57 uint16_t count = 0;
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58
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59 /* Private variables with external access via get_xxx() function -------------*/
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60
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61 /* Private function prototypes -----------------------------------------------*/
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62 void tCCR_fallbackToFixedSetpoint(void);
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63
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64 #ifndef USART_IR_HUD
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65
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66 void tCCR_init(void)
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67 {
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68 }
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69 void tCCR_control(void)
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70 {
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71 }
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72 void tCCR_test(void)
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73 {
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74 }
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75 void tCCR_restart(void)
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76 {
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77 }
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78 float get_ppO2Sensor_bar(uint8_t sensor_id)
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79 {
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80 }
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81 float get_sensorVoltage_mV(uint8_t sensor_id)
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82 {
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83 }
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84 float get_HUD_battery_voltage_V(void)
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85 {
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86 }
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87 void tCCR_tick(void)
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88 {
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89 }
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90
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91 #else
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92 /* Exported functions --------------------------------------------------------*/
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93
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94 float get_ppO2Sensor_bar(uint8_t sensor_id)
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95 {
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96 if((sensor_id > 2) || data_old__lost_connection_to_HUD)
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97 return 0;
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98
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99 return (float)(receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id]) / 100.0f;
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100 }
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101
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102 float get_sensorVoltage_mV(uint8_t sensor_id)
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103 {
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104 if((sensor_id > 2) || data_old__lost_connection_to_HUD)
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105 return 0;
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106
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107 return (float)(receiveHUD[boolHUDdata].sensor_voltage_100uV[sensor_id]) / 10.0f;
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108 }
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109
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110 float get_HUD_battery_voltage_V(void)
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111 {
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112 if(data_old__lost_connection_to_HUD)
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113 return 0;
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114
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115 return (float)(receiveHUD[boolHUDdata].battery_voltage_mV) / 1000.0f;
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116 }
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117
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118
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119 void test_HUD_sensor_values_outOfBounds(int8_t * outOfBouds1, int8_t * outOfBouds2, int8_t * outOfBouds3)
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120 {
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121 uint8_t sensorNotActiveBinary;
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122 uint8_t sensorActive[3];
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123
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124 // test1: user deactivation
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125 sensorNotActiveBinary = stateUsed->diveSettings.ppo2sensors_deactivated;
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126
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127 for(int i=0;i<3;i++)
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128 sensorActive[i] = 1;
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129
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130 if(sensorNotActiveBinary)
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131 {
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132 if(sensorNotActiveBinary & 1)
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133 sensorActive[0] = 0;
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134
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135 if(sensorNotActiveBinary & 2)
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136 sensorActive[1] = 0;
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137
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138 if(sensorNotActiveBinary & 4)
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139 sensorActive[2] = 0;
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140 }
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141
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142 // test2: mV of remaining sensors
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143 for(int i=0;i<3;i++)
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144 {
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145 if(sensorActive[i])
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146 {
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147 if( (receiveHUD[boolHUDdata].sensor_voltage_100uV[i] < 80) ||
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148 (receiveHUD[boolHUDdata].sensor_voltage_100uV[i] > 2500))
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149 {
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150 sensorActive[i] = 0;
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151 switch(i)
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152 {
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153 case 0:
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154 sensorNotActiveBinary |= 1;
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155 break;
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156 case 1:
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157 sensorNotActiveBinary |= 2;
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158 break;
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159 case 2:
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160 sensorNotActiveBinary |= 4;
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161 break;
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162 }
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163 }
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164 }
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165 }
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166
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167 *outOfBouds1 = 0;
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168 *outOfBouds2 = 0;
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169 *outOfBouds3 = 0;
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170
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171 /* with two, one or no sensor, there is nothing to compare anymore
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172 */
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173 if(sensorNotActiveBinary)
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174 {
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175 // set outOfBounds for both tests
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176 if(!sensorActive[0])
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177 *outOfBouds1 = 1;
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178
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179 if(!sensorActive[1])
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180 *outOfBouds2 = 1;
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181
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182 if(!sensorActive[2])
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183 *outOfBouds3 = 1;
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184
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185 return;
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186 }
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187 else
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188 {
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189 uint8_t sensor_id_ordered[3];
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190 uint8_t difference[2];
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191
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192 if((receiveHUD[boolHUDdata].sensor_ppo2_cbar[1]) > (receiveHUD[boolHUDdata].sensor_ppo2_cbar[0]))
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193 {
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194 sensor_id_ordered[0] = 0;
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195 sensor_id_ordered[1] = 1;
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196 }
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197 else
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198 {
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199 sensor_id_ordered[0] = 1;
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200 sensor_id_ordered[1] = 0;
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201 }
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202 if(receiveHUD[boolHUDdata].sensor_ppo2_cbar[2] > receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[1]])
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203 {
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204 sensor_id_ordered[2] = 2;
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205 }
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206 else
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207 {
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208 sensor_id_ordered[2] = sensor_id_ordered[1];
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209 if(receiveHUD[boolHUDdata].sensor_ppo2_cbar[2] > receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[0]])
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210 {
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211 sensor_id_ordered[1] = 2;
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212 }
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213 else
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214 {
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215 sensor_id_ordered[1] = sensor_id_ordered[0];
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216 sensor_id_ordered[0] = 2;
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217 }
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218 }
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219
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220 difference[0] = receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[1]]- receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[0]];
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221 difference[1] = receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[2]]- receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[1]];
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222
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223 if((difference[0] > difference[1]) && (difference[0] > 15))
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224 {
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225 switch(sensor_id_ordered[0])
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226 {
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227 case 0:
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228 *outOfBouds1 = 1;
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229 break;
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230 case 1:
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231 *outOfBouds2 = 1;
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232 break;
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233 case 2:
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234 *outOfBouds3 = 1;
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235 break;
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236 }
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237 }
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238 else
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239 if((difference[0] < difference[1]) && (difference[1] > 15))
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240 {
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241 switch(sensor_id_ordered[2])
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242 {
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243 case 0:
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244 *outOfBouds1 = 1;
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245 break;
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246 case 1:
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247 *outOfBouds2 = 1;
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248 break;
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249 case 2:
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250 *outOfBouds3 = 1;
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251 break;
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parents:
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252 }
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heinrichsweikamp
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253 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
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254 }
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heinrichsweikamp
parents:
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255 }
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heinrichsweikamp
parents:
diff changeset
256
5f11787b4f42 include in ostc4 repository
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257
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258 uint8_t get_ppO2SensorWeightedResult_cbar(void)
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259 {
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260 int8_t sensorOutOfBound[3];
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261 uint16_t result = 0;
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262 uint8_t count = 0;
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263
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264 test_HUD_sensor_values_outOfBounds(&sensorOutOfBound[0], &sensorOutOfBound[1], &sensorOutOfBound[2]);
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265
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266 for(int i=0;i<3;i++)
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267 {
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parents:
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268 if(!sensorOutOfBound[i])
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269 {
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270 result += receiveHUD[boolHUDdata].sensor_ppo2_cbar[i];
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271 count++;
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parents:
diff changeset
272 }
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273 }
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274 if(count == 0) // all sensors out of bounds!
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275 return 0;
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276 else
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277 return (uint8_t)(result / count);
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parents:
diff changeset
278 }
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279
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280
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281 void tCCR_init(void)
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parents:
diff changeset
282 {
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283 StartListeningToUART_HUD = 1;
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diff changeset
284 }
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285
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286
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diff changeset
287 /* after 3 seconds without update from HUD
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parents:
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288 * data is considered old
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289 */
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heinrichsweikamp
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290 void tCCR_tick(void)
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parents:
diff changeset
291 {
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heinrichsweikamp
parents:
diff changeset
292 if(count < 3 * 10)
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parents:
diff changeset
293 count++;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
294 else
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heinrichsweikamp
parents:
diff changeset
295 {
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parents:
diff changeset
296 data_old__lost_connection_to_HUD = 1;
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heinrichsweikamp
parents:
diff changeset
297 if(count < 20 * 10)
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heinrichsweikamp
parents:
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298 count++;
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299 else
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300 tCCR_fallbackToFixedSetpoint();
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parents:
diff changeset
301 }
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heinrichsweikamp
parents:
diff changeset
302 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
303
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
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304
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
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diff changeset
305 void tCCR_restart(void)
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parents:
diff changeset
306 {
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307 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 15);/* 15*/
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parents:
diff changeset
308 }
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diff changeset
309
5f11787b4f42 include in ostc4 repository
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310
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diff changeset
311 void tCCR_control(void)
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diff changeset
312 {
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313 if((UartReadyHUD == RESET) && StartListeningToUART_HUD)
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heinrichsweikamp
parents:
diff changeset
314 {
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315 StartListeningToUART_HUD = 0;
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diff changeset
316 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 15);/* 15*/
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diff changeset
317 }
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heinrichsweikamp
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318
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heinrichsweikamp
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diff changeset
319 if(UartReadyHUD == SET)
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heinrichsweikamp
parents:
diff changeset
320 {
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parents:
diff changeset
321 UartReadyHUD = RESET;
5f11787b4f42 include in ostc4 repository
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diff changeset
322
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323 memcpy(&receiveHUD[!boolHUDdata], receiveHUDraw, 11);
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heinrichsweikamp
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diff changeset
324 receiveHUD[!boolHUDdata].battery_voltage_mV = receiveHUDraw[11] + (256 * receiveHUDraw[12]);
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heinrichsweikamp
parents:
diff changeset
325 receiveHUD[!boolHUDdata].checksum = receiveHUDraw[13] + (256 * receiveHUDraw[14]);
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heinrichsweikamp
parents:
diff changeset
326
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heinrichsweikamp
parents:
diff changeset
327 uint16_t checksum = 0;
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heinrichsweikamp
parents:
diff changeset
328
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heinrichsweikamp
parents:
diff changeset
329 for(int i=0;i<13;i++)
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parents:
diff changeset
330 {
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parents:
diff changeset
331 checksum += receiveHUDraw[i];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
332 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
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333 if(checksum == receiveHUD[!boolHUDdata].checksum)
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heinrichsweikamp
parents:
diff changeset
334 {
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heinrichsweikamp
parents:
diff changeset
335 boolHUDdata = !boolHUDdata;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
336 count = 0;
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parents:
diff changeset
337 data_old__lost_connection_to_HUD = 0;
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heinrichsweikamp
parents:
diff changeset
338 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
339 StartListeningToUART_HUD = 1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
340 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
341 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
342
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
343 #endif
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heinrichsweikamp
parents:
diff changeset
344 /* Private functions ---------------------------------------------------------*/
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parents:
diff changeset
345
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parents:
diff changeset
346 void tCCR_fallbackToFixedSetpoint(void)
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heinrichsweikamp
parents:
diff changeset
347 {
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heinrichsweikamp
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diff changeset
348 if((stateUsed->mode == MODE_DIVE) && (stateUsed->diveSettings.diveMode == DIVEMODE_CCR) && (stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) && (stateUsed->diveSettings.fallbackOption))
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
349 {
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parents:
diff changeset
350 uint8_t setpointCbar, actualGasID;
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heinrichsweikamp
parents:
diff changeset
351 SDiveState *pState;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
352
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
353 if(stateUsed == stateRealGetPointer())
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heinrichsweikamp
parents:
diff changeset
354 pState = stateRealGetPointerWrite();
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
355 else
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heinrichsweikamp
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diff changeset
356 pState = stateSimGetPointerWrite();
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
357
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heinrichsweikamp
parents:
diff changeset
358 setpointCbar = pState->diveSettings.setpoint[1].setpoint_cbar;
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heinrichsweikamp
parents:
diff changeset
359 pState->diveSettings.CCR_Mode = CCRMODE_FixedSetpoint;
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heinrichsweikamp
parents:
diff changeset
360
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heinrichsweikamp
parents:
diff changeset
361 actualGasID = pState->lifeData.actualGas.GasIdInSettings;
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heinrichsweikamp
parents:
diff changeset
362 setActualGas_DM(&pState->lifeData,actualGasID,setpointCbar);
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heinrichsweikamp
parents:
diff changeset
363
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
364 set_warning_fallback();
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
365 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
366 }