Mercurial > public > ostc4
annotate Discovery/Src/tCCR.c @ 891:a7f4451ba69e Evo_2_23
Added hysteresis for ascent speed coloring:
In the previous version acenting with a speed close to the color limits caused a fast changing of the color for depth visiualization. To avoid this "blinking" a hysteresis has been added to the speed evaluation function.
| author | ideenmodellierer |
|---|---|
| date | Tue, 10 Sep 2024 21:16:32 +0200 |
| parents | acf6614dc396 |
| children | 4d98fb2a178e |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Discovery/Src/tCCR.c | |
| 5 /// \brief HUD data via optical port | |
| 6 /// \author Heinrichs Weikamp gmbh | |
| 7 /// \date 18-Dec-2014 | |
| 8 /// | |
| 9 /// \details | |
| 10 /// | |
| 11 /// $Id$ | |
| 12 /////////////////////////////////////////////////////////////////////////////// | |
| 13 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 14 /// | |
| 15 /// This program is free software: you can redistribute it and/or modify | |
| 16 /// it under the terms of the GNU General Public License as published by | |
| 17 /// the Free Software Foundation, either version 3 of the License, or | |
| 18 /// (at your option) any later version. | |
| 19 /// | |
| 20 /// This program is distributed in the hope that it will be useful, | |
| 21 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 22 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 23 /// GNU General Public License for more details. | |
| 24 /// | |
| 25 /// You should have received a copy of the GNU General Public License | |
| 26 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 27 ////////////////////////////////////////////////////////////////////////////// | |
| 28 | |
| 29 /* Includes ------------------------------------------------------------------*/ | |
| 30 #include <string.h> | |
| 31 #include "tCCR.h" | |
| 32 #include "ostc.h" | |
| 33 #include "data_central.h" | |
| 34 #include "data_exchange.h" | |
| 35 #include "check_warning.h" | |
|
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36 #include "configuration.h" |
| 634 | 37 #include <math.h> |
| 38 | 38 |
| 39 /* Private types -------------------------------------------------------------*/ | |
| 40 typedef struct | |
| 41 { | |
| 42 uint8_t hud_firmwareVersion; | |
| 43 bit8_Type status_byte; | |
| 44 uint16_t sensor_voltage_100uV[3]; | |
| 45 uint8_t sensor_ppo2_cbar[3]; | |
| 46 uint8_t temp1; | |
| 47 uint16_t battery_voltage_mV; | |
| 48 uint16_t checksum; | |
| 49 } SIrLink; | |
| 50 | |
| 634 | 51 typedef enum |
| 52 { | |
| 53 sensorOK = 0, | |
| 54 sensorSuspect, | |
| 55 SensorOutOfBounds | |
| 56 } sensorTrustState_t; | |
| 57 | |
| 58 | |
|
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59 #define HUD_BABBLING_IDIOT (30u) /* 30 Bytes received without break */ |
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60 #define HUD_RX_FRAME_LENGTH (15u) /* Length of a HUD data frame */ |
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61 #define HUD_RX_FRAME_BREAK_MS (100u) /* Time used to detect a gap between two byte receptions => frame start */ |
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62 #define HUD_RX_START_DELAY_MS (500u) /* Delay for start of RX function to avoid start of reception while a transmission is ongoing. */ |
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63 /* Based on an assumed cycle time by the sensor of 1 second. Started at time of last RX */ |
| 38 | 64 |
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65 #define BOTTLE_SENSOR_TIMEOUT (6000u) /* signal pressure budget as not received after 10 minutes (6000 * 100ms) */ |
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66 |
| 634 | 67 #define MAX_SENSOR_COMPARE_DEVIATION (0.15f) /* max deviation between two sensors allowed before their results are rated as suspect */ |
| 662 | 68 #define MAX_SENSOR_VOLTAGE_MV (250u) /* max allowed voltage value for a sensor measurement */ |
| 69 | |
| 70 #ifdef ENABLE_ALTERNATIVE_SENSORTYP | |
| 71 #define MIN_SENSOR_VOLTAGE_MV (3u) /* min allowed voltage value for a sensor measurement (Inspiration, Submatix, Sentinel Typ) */ | |
| 72 #else | |
| 73 #define MIN_SENSOR_VOLTAGE_MV (8u) /* min allowed voltage value for a sensor measurement (legacy OSTC TYP) */ | |
| 74 #endif | |
| 634 | 75 |
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76 /* Private variables ---------------------------------------------------------*/ |
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77 static SIrLink receiveHUD[2]; |
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78 static uint8_t boolHUDdata = 0; |
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79 static uint8_t data_old__lost_connection_to_HUD = 1; |
| 38 | 80 |
|
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81 static uint8_t receiveHUDraw[16]; |
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82 |
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83 static uint8_t StartListeningToUART_HUD = 0; |
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84 static uint16_t HUDTimeoutCount = 0; |
| 655 | 85 static uint16_t ScrubberTimeoutCount = 0; |
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86 |
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87 static __IO ITStatus UartReadyHUD = RESET; |
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88 static uint32_t LastReceivedTick_HUD = 0; |
| 38 | 89 |
| 90 /* Private variables with external access via get_xxx() function -------------*/ | |
| 91 | |
| 92 /* Private function prototypes -----------------------------------------------*/ | |
| 635 | 93 static uint8_t tCCR_fallbackToFixedSetpoint(void); |
| 38 | 94 |
| 95 #ifndef USART_IR_HUD | |
| 96 | |
| 97 void tCCR_init(void) | |
| 98 { | |
| 99 } | |
| 100 void tCCR_control(void) | |
| 101 { | |
| 102 } | |
| 103 void tCCR_test(void) | |
| 104 { | |
| 105 } | |
| 106 void tCCR_restart(void) | |
| 107 { | |
| 108 } | |
| 109 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 110 { | |
| 111 } | |
| 112 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 113 { | |
| 114 } | |
| 115 float get_HUD_battery_voltage_V(void) | |
| 116 { | |
| 117 } | |
| 118 void tCCR_tick(void) | |
| 119 { | |
| 120 } | |
| 121 | |
| 122 #else | |
| 123 /* Exported functions --------------------------------------------------------*/ | |
| 124 | |
| 125 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 126 { | |
| 127 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 128 return 0; | |
| 129 | |
| 130 return (float)(receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id]) / 100.0f; | |
| 131 } | |
| 132 | |
| 133 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 134 { | |
| 135 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 136 return 0; | |
| 137 | |
| 138 return (float)(receiveHUD[boolHUDdata].sensor_voltage_100uV[sensor_id]) / 10.0f; | |
| 139 } | |
| 140 | |
| 141 float get_HUD_battery_voltage_V(void) | |
| 142 { | |
| 143 if(data_old__lost_connection_to_HUD) | |
| 144 return 0; | |
| 145 | |
| 146 return (float)(receiveHUD[boolHUDdata].battery_voltage_mV) / 1000.0f; | |
| 147 } | |
| 148 | |
| 149 | |
| 563 | 150 void test_O2_sensor_values_outOfBounds(int8_t * outOfBouds1, int8_t * outOfBouds2, int8_t * outOfBouds3) |
| 38 | 151 { |
| 152 uint8_t sensorNotActiveBinary; | |
| 153 uint8_t sensorActive[3]; | |
| 634 | 154 sensorTrustState_t sensorState[3]; |
| 155 uint8_t index; | |
| 156 | |
| 38 | 157 |
| 158 // test1: user deactivation | |
| 159 sensorNotActiveBinary = stateUsed->diveSettings.ppo2sensors_deactivated; | |
| 160 | |
| 161 for(int i=0;i<3;i++) | |
| 162 sensorActive[i] = 1; | |
| 163 | |
| 164 if(sensorNotActiveBinary) | |
| 165 { | |
| 166 if(sensorNotActiveBinary & 1) | |
| 167 sensorActive[0] = 0; | |
| 168 | |
| 169 if(sensorNotActiveBinary & 2) | |
| 170 sensorActive[1] = 0; | |
| 171 | |
| 172 if(sensorNotActiveBinary & 4) | |
| 173 sensorActive[2] = 0; | |
| 174 } | |
| 175 | |
| 176 // test2: mV of remaining sensors | |
| 744 | 177 for(index=0; index<3; index++) |
| 38 | 178 { |
| 744 | 179 sensorState[index] = sensorOK; |
| 634 | 180 |
| 744 | 181 if(sensorActive[index]) |
| 38 | 182 { |
| 797 | 183 if(((stateUsed->lifeData.extIf_sensor_map[index] == SENSOR_DIGO2M) && (((SSensorDataDiveO2*)(stateUsed->lifeData.extIf_sensor_data[index]))->status & DVO2_FATAL_ERROR)) |
| 184 || ((stateUsed->lifeData.extIf_sensor_map[index] != SENSOR_DIGO2M) | |
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185 && (((stateUsed->lifeData.sensorVoltage_mV[index] < MIN_SENSOR_VOLTAGE_MV) || (stateUsed->lifeData.sensorVoltage_mV[index] > MAX_SENSOR_VOLTAGE_MV))))) |
| 744 | 186 { |
| 187 sensorActive[index] = 0; | |
| 188 switch(index) | |
| 189 { | |
| 190 case 0: | |
| 191 sensorNotActiveBinary |= 1; | |
| 192 break; | |
| 193 case 1: | |
| 194 sensorNotActiveBinary |= 2; | |
| 195 break; | |
| 196 case 2: | |
| 197 sensorNotActiveBinary |= 4; | |
| 198 break; | |
| 199 } | |
| 200 } | |
| 38 | 201 } |
| 202 } | |
| 203 | |
| 204 *outOfBouds1 = 0; | |
| 205 *outOfBouds2 = 0; | |
| 206 *outOfBouds3 = 0; | |
| 207 | |
| 208 /* with two, one or no sensor, there is nothing to compare anymore | |
| 209 */ | |
| 210 if(sensorNotActiveBinary) | |
| 211 { | |
| 212 // set outOfBounds for both tests | |
| 213 if(!sensorActive[0]) | |
| 214 *outOfBouds1 = 1; | |
| 215 | |
| 216 if(!sensorActive[1]) | |
| 217 *outOfBouds2 = 1; | |
| 218 | |
| 219 if(!sensorActive[2]) | |
| 220 *outOfBouds3 = 1; | |
| 221 } | |
| 222 else | |
| 223 { | |
| 634 | 224 /* Check two or more of Three */ |
| 225 /* compare every sensor with each other. If there is only one mismatch the value might be OK. In case both comparisons fail the sensor is out of bounds */ | |
| 226 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[0] - stateUsed->lifeData.ppO2Sensor_bar[1]) > MAX_SENSOR_COMPARE_DEVIATION) | |
| 38 | 227 { |
| 634 | 228 sensorState[0]++; |
| 229 sensorState[1]++; | |
| 38 | 230 } |
| 634 | 231 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[0] - stateUsed->lifeData.ppO2Sensor_bar[2]) > MAX_SENSOR_COMPARE_DEVIATION) |
| 38 | 232 { |
| 634 | 233 sensorState[0]++; |
| 234 sensorState[2]++; | |
| 235 } | |
| 236 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[1] - stateUsed->lifeData.ppO2Sensor_bar[2]) > MAX_SENSOR_COMPARE_DEVIATION) | |
| 237 { | |
| 238 sensorState[1]++; | |
| 239 sensorState[2]++; | |
| 38 | 240 } |
| 634 | 241 for(index = 0; index < 3; index++) |
| 38 | 242 { |
| 634 | 243 if(sensorState[index] == SensorOutOfBounds) |
| 244 { | |
| 245 switch(index) | |
| 246 { | |
| 247 case 0: | |
| 248 *outOfBouds1 = 1; | |
| 249 break; | |
| 250 case 1: | |
| 251 *outOfBouds2 = 1; | |
| 252 break; | |
| 253 case 2: | |
| 254 *outOfBouds3 = 1; | |
| 255 break; | |
| 256 default: | |
| 257 break; | |
| 258 } | |
| 259 } | |
| 38 | 260 } |
| 261 } | |
| 262 } | |
| 263 | |
| 635 | 264 /* this function is called out of the 100ms callback => to be considered for debouncing */ |
| 38 | 265 uint8_t get_ppO2SensorWeightedResult_cbar(void) |
| 266 { | |
| 634 | 267 static uint8_t lastValidValue = 0; |
| 38 | 268 int8_t sensorOutOfBound[3]; |
| 269 uint16_t result = 0; | |
| 270 uint8_t count = 0; | |
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271 uint8_t retVal = 0; |
| 38 | 272 |
| 563 | 273 test_O2_sensor_values_outOfBounds(&sensorOutOfBound[0], &sensorOutOfBound[1], &sensorOutOfBound[2]); |
| 38 | 274 |
| 275 for(int i=0;i<3;i++) | |
| 276 { | |
| 277 if(!sensorOutOfBound[i]) | |
| 278 { | |
| 563 | 279 result += stateUsed->lifeData.ppO2Sensor_bar[i] * 100.0; /* convert centibar used by HUB */ |
| 38 | 280 count++; |
| 281 } | |
| 282 } | |
| 634 | 283 if(count == 0) /* all sensors out of bounds! => return last valid value as workaround till diver takes action */ |
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284 { |
| 635 | 285 if(debounce_warning_fallback(100)) |
| 286 { | |
| 287 set_warning_fallback(); | |
| 288 retVal = tCCR_fallbackToFixedSetpoint(); /* this function only changes setpoint if option is enabled */ | |
| 289 } | |
| 290 if(retVal == 0) | |
| 291 { | |
| 292 retVal = lastValidValue; | |
| 293 } | |
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294 } |
| 38 | 295 else |
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296 { |
| 635 | 297 reset_debounce_warning_fallback(); |
| 298 retVal = (uint8_t)(result / count); | |
| 299 lastValidValue = retVal; | |
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300 } |
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301 return retVal; |
| 38 | 302 } |
| 303 | |
| 304 | |
| 305 void tCCR_init(void) | |
| 306 { | |
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307 uint8_t loop; |
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308 |
| 38 | 309 StartListeningToUART_HUD = 1; |
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310 |
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311 SDiveState* pDiveData = stateRealGetPointerWrite(); |
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312 for(loop=0;loop<(2*NUM_GASES+1);loop++) |
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313 { |
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314 pDiveData->lifeData.bottle_bar_age_MilliSeconds[loop] = BOTTLE_SENSOR_TIMEOUT; |
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315 } |
| 38 | 316 } |
| 317 | |
| 318 | |
| 319 /* after 3 seconds without update from HUD | |
| 320 * data is considered old | |
| 321 */ | |
| 322 void tCCR_tick(void) | |
| 323 { | |
| 655 | 324 SSettings* pSettings = settingsGetPointer(); |
| 325 | |
| 326 if(pSettings->ppo2sensors_source == O2_SENSOR_SOURCE_OPTIC) | |
| 563 | 327 { |
| 328 if(HUDTimeoutCount < 3 * 10) | |
| 329 HUDTimeoutCount++; | |
| 330 else | |
| 331 { | |
| 332 data_old__lost_connection_to_HUD = 1; | |
| 333 if(HUDTimeoutCount < 20 * 10) | |
| 334 HUDTimeoutCount++; | |
| 335 else | |
| 336 tCCR_fallbackToFixedSetpoint(); | |
| 337 } | |
| 338 } | |
| 655 | 339 |
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340 /* decrease scrubber timer only in real dive mode, and if we are not bailed out */ |
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341 if((pSettings->scrubTimerMode != SCRUB_TIMER_OFF) && (isLoopMode(pSettings->dive_mode)) && (stateUsed->mode == MODE_DIVE) && isLoopMode(stateUsed->diveSettings.diveMode)) // && (stateUsed == stateRealGetPointer())) |
| 655 | 342 { |
| 343 ScrubberTimeoutCount++; | |
| 344 if(ScrubberTimeoutCount >= 600) /* resolution is minutes */ | |
| 345 { | |
| 346 ScrubberTimeoutCount = 0; | |
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347 if(pSettings->scrubberData[pSettings->scubberActiveId].TimerCur > MIN_SCRUBBER_TIME) |
| 655 | 348 { |
| 710 | 349 pSettings->scrubberData[pSettings->scubberActiveId].TimerCur--; |
| 655 | 350 } |
| 710 | 351 translateDate(stateUsed->lifeData.dateBinaryFormat, &pSettings->scrubberData[pSettings->scubberActiveId].lastDive); |
| 655 | 352 } |
| 353 } | |
| 38 | 354 } |
| 355 | |
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356 void tCCR_SetRXIndication(void) |
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357 { |
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358 static uint8_t floatingRXCount = 0; |
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359 |
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360 if((UartIR_HUD_Handle.RxXferSize == HUD_RX_FRAME_LENGTH) || (UartIR_HUD_Handle.RxXferSize == HUD_RX_FRAME_LENGTH - 1)) /* we expected a complete frame */ |
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361 { |
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362 UartReadyHUD = SET; |
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363 LastReceivedTick_HUD = HAL_GetTick(); |
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364 floatingRXCount = 0; |
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365 } |
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366 else /* follow up of error handling */ |
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367 { |
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368 if(time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_FRAME_BREAK_MS) /* Reception took a while => frame start detected */ |
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369 { |
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370 HAL_UART_Receive_IT(&UartIR_HUD_Handle, &receiveHUDraw[1], 14); /* We have already the first byte => get the missing 14 */ |
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371 } |
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372 else |
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373 { |
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374 if(floatingRXCount++ < HUD_BABBLING_IDIOT) |
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375 { |
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376 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); /* Start polling of incoming bytes */ |
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377 } |
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378 else /* Significant amount of data comming in without break => disable input */ |
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379 { /* by not reactivation HUD RX, no recovery fromthis state */ |
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380 stateUsedWrite->diveSettings.ppo2sensors_deactivated = 0x07; /* Display deactivation */ |
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381 } |
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382 } |
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383 } |
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384 |
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385 } |
| 38 | 386 |
| 387 void tCCR_restart(void) | |
| 388 { | |
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389 HAL_UART_AbortReceive_IT(&UartIR_HUD_Handle); /* Called by the error handler. RX will be restarted by control function */ |
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390 StartListeningToUART_HUD = 1; |
| 38 | 391 } |
| 392 | |
| 393 | |
| 394 void tCCR_control(void) | |
| 395 { | |
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446
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396 uint16_t checksum = 0; |
| 457 | 397 #ifdef ENABLE_BOTTLE_SENSOR |
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446
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398 SDiveState *pLivedata = stateRealGetPointerWrite(); |
| 457 | 399 #endif |
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400 |
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401 if((UartReadyHUD == RESET) && StartListeningToUART_HUD && (time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_START_DELAY_MS)) |
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402 { |
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403 StartListeningToUART_HUD = 0; |
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404 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, HUD_RX_FRAME_LENGTH); |
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405 } |
| 38 | 406 |
| 407 if(UartReadyHUD == SET) | |
| 408 { | |
| 409 UartReadyHUD = RESET; | |
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410 StartListeningToUART_HUD = 1; |
| 38 | 411 |
|
446
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412 /* check if received package is valid */ |
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413 for(int i=0;i<13;i++) |
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414 { |
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415 checksum += receiveHUDraw[i]; |
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416 } |
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417 receiveHUD[!boolHUDdata].checksum = receiveHUDraw[13] + (256 * receiveHUDraw[14]); |
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418 if(checksum == receiveHUD[!boolHUDdata].checksum) |
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419 { |
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420 #ifdef ENABLE_BOTTLE_SENSOR |
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421 if(receiveHUDraw[0] == 0xA5) /* code for pressure sensor */ |
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422 { |
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423 pLivedata->lifeData.bottle_bar[pLivedata->lifeData.actualGas.GasIdInSettings] = receiveHUDraw[10]; |
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424 pLivedata->lifeData.bottle_bar_age_MilliSeconds[pLivedata->lifeData.actualGas.GasIdInSettings] = 0; |
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425 } |
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426 else |
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427 #endif |
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428 /* handle O2 sensor data */ |
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429 { |
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430 memcpy(&receiveHUD[!boolHUDdata], receiveHUDraw, 11); |
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431 receiveHUD[!boolHUDdata].battery_voltage_mV = receiveHUDraw[11] + (256 * receiveHUDraw[12]); |
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432 } |
| 38 | 433 |
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446
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434 boolHUDdata = !boolHUDdata; |
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435 HUDTimeoutCount = 0; |
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436 data_old__lost_connection_to_HUD = 0; |
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437 } |
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438 else |
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439 { |
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440 if(data_old__lost_connection_to_HUD) /* we lost connection, maybe due to RX shift => start single byte read to resynchronize */ |
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441 { |
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442 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); |
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443 StartListeningToUART_HUD = 0; |
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444 } |
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445 } |
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446 memset(receiveHUDraw,0,sizeof(receiveHUDraw)); |
| 38 | 447 } |
| 448 } | |
| 449 | |
| 450 #endif | |
| 451 /* Private functions ---------------------------------------------------------*/ | |
| 452 | |
| 635 | 453 static uint8_t tCCR_fallbackToFixedSetpoint(void) |
| 38 | 454 { |
| 635 | 455 uint8_t retVal = 0; |
| 662 | 456 uint8_t setpointCbar, actualGasID; |
| 38 | 457 |
| 662 | 458 if((stateUsed->mode == MODE_DIVE) && (stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) && (stateUsed->diveSettings.fallbackOption)) |
| 459 { | |
| 460 if(stateUsed->diveSettings.diveMode == DIVEMODE_CCR) | |
| 461 { | |
| 462 setpointCbar = stateUsed->diveSettings.setpoint[1].setpoint_cbar; | |
| 463 stateUsedWrite->diveSettings.CCR_Mode = CCRMODE_FixedSetpoint; | |
| 464 } | |
| 465 else | |
| 466 { | |
| 467 setpointCbar = stateUsed->lifeData.ppo2Simulated_bar * 100; | |
| 468 stateUsedWrite->diveSettings.CCR_Mode = CCRMODE_Simulation; | |
| 469 } | |
| 470 actualGasID = stateUsed->lifeData.actualGas.GasIdInSettings; | |
| 471 setActualGas_DM(&stateUsedWrite->lifeData,actualGasID,setpointCbar); | |
| 38 | 472 |
| 662 | 473 set_warning_fallback(); |
| 474 retVal = setpointCbar; | |
| 38 | 475 } |
| 635 | 476 return retVal; |
| 38 | 477 } |