Mercurial > public > ostc4
annotate Small_CPU/Src/pressure.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 | 3311b720a072 |
| children |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file pressure.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 2014 | |
| 6 * @version V0.0.2 | |
| 7 * @since 20-Oct-2016 | |
| 8 * @brief | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 V0.0.2 18-Oct-2016 pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015 | |
| 15 | |
| 16 @endverbatim | |
| 17 ****************************************************************************** | |
| 18 * @attention | |
| 19 * | |
| 20 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
| 21 * | |
| 22 ****************************************************************************** | |
| 23 */ | |
| 24 | |
| 25 | |
| 26 | |
| 27 /* surface time | |
| 28 the last 30 minutes will be saved once per minute in a endless loop | |
| 29 at the beginning of a dive the oldest value will be used | |
| 30 */ | |
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31 #include "math.h" |
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32 #include "scheduler.h" |
| 38 | 33 #include "pressure.h" |
| 34 #include "i2c.h" | |
| 35 #include "rtc.h" | |
| 36 | |
| 37 #define CMD_RESET 0x1E // ADC reset command | |
| 38 #define CMD_ADC_READ 0x00 // ADC read command | |
| 39 #define CMD_ADC_CONV 0x40 // ADC conversion command | |
| 40 #define CMD_ADC_D1 0x00 // ADC D1 conversion | |
| 41 #define CMD_ADC_D2 0x10 // ADC D2 conversion | |
| 42 #define CMD_ADC_256 0x00 // ADC OSR=256 | |
| 43 #define CMD_ADC_512 0x02 // ADC OSR=512 | |
| 44 #define CMD_ADC_1024 0x04 // ADC OSR=1024 | |
| 45 #define CMD_ADC_2048 0x06 // ADC OSR=2056 | |
| 46 #define CMD_ADC_4096 0x08 // ADC OSR=4096 | |
| 47 #define CMD_PROM_RD 0xA0 // Prom read command | |
| 48 | |
| 352 | 49 /* remove comment to use a predefined profile for pressure changes instead of real world data */ |
| 50 /* #define SIMULATE_PRESSURE */ | |
| 51 | |
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52 |
| 535 | 53 #define PRESSURE_SURFACE_MAX_MBAR (1060.0f) /* It is unlikely that pressure at surface is greater than this value => clip to it */ |
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54 |
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55 #define PRESSURE_MINIMUM (0.0f) |
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56 #define TEMPERATURE_MINIMUM (-100.0f) |
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57 |
| 352 | 58 #define PRESSURE_SURFACE_QUE (30u) /* history buffer [minutes] for past pressure measurements */ |
| 59 #define PRESSURE_SURFACE_EVA_WINDOW (15u) /* Number of entries evaluated during instability test. Used to avoid detection while dive enters water */ | |
| 60 #define PRESSURE_SURFACE_STABLE_LIMIT (10u) /* Define pressure as stable if delta (mBar) is below this value */ | |
| 61 #define PRESSURE_SURFACE_DETECT_STABLE_CNT (5u) /* Event count to detect stable condition */ | |
| 62 #define PRESSURE_SURFACE_UNSTABLE_LIMIT (50u) /* Define pressure as not stable if delta (mBar) is larger than this value */ | |
| 63 #define PRESSURE_SURFACE_DETECT_UNSTABLE_CNT (3u) /* Event count to detect unstable condition */ | |
| 64 | |
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65 |
| 356 | 66 static uint8_t PRESSURE_ADDRESS = DEVICE_PRESSURE_MS5803; /* Default Address */ |
| 67 | |
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68 static uint16_t get_ci_by_coef_num(uint8_t coef_num); |
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69 //void pressure_calculation_new(void); |
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70 //void pressure_calculation_old(void); |
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71 static void pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(void); |
| 356 | 72 //static uint8_t crc4(uint16_t n_prom[]); |
| 38 | 73 |
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74 static HAL_StatusTypeDef pressure_sensor_get_data(void); |
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75 static uint32_t get_adc(void); |
| 38 | 76 uint8_t pressureSensorInitSuccess = 0; |
| 77 | |
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78 static uint16_t C[8] = { 1 }; |
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79 static uint32_t D1 = 1; |
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80 static uint32_t D2 = 1; |
| 356 | 81 //static uint8_t n_crc; |
| 38 | 82 |
| 83 /* | |
| 84 short C2plus10000 = -1; | |
| 85 short C3plus200 = -1; | |
| 86 short C4minus250 = -1; | |
| 87 short UT1 = -1; | |
| 88 short C6plus100 = -1; | |
| 89 */ | |
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90 static float pressure_offset = 0.0; /* Offset value which may be specified by the user via PC Software */ |
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91 static float temperature_offset = 0.0; /* Offset value which may be specified by the user via PC Software */ |
| 38 | 92 |
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93 static float ambient_temperature = 0; |
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94 static float ambient_pressure_mbar = 1000.0; |
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95 static float surface_pressure_mbar = 1000.0; |
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96 static float surface_ring_mbar[PRESSURE_SURFACE_QUE] = { 0 }; |
| 38 | 97 |
| 352 | 98 static uint8_t surface_pressure_writeIndex = 0; |
| 99 static float surface_pressure_stable_value = 0; | |
| 100 static uint8_t surface_pressure_stable = 0; | |
| 101 | |
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102 static uint8_t secondCounterSurfaceRing = 0; |
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103 static uint8_t avgCount = 0; |
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104 static float runningAvg = 0; |
| 38 | 105 |
| 106 float get_temperature(void) | |
| 107 { | |
| 108 return ambient_temperature; | |
| 109 } | |
| 110 | |
| 111 float get_pressure_mbar(void) | |
| 112 { | |
| 113 return ambient_pressure_mbar; | |
| 114 } | |
| 115 | |
| 116 float get_surface_mbar(void) | |
| 117 { | |
| 118 return surface_pressure_mbar; | |
| 119 } | |
| 120 | |
| 121 | |
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122 void init_surface_ring(uint8_t force) |
| 38 | 123 { |
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124 if((surface_ring_mbar[0] == 0) || (force)) /* only initialize once. Keep value in place in case of an i2c recovery */ |
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125 { |
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126 secondCounterSurfaceRing = 0; /* restart calculation */ |
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127 avgCount = 0; |
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128 runningAvg = 0; |
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129 |
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130 for(int i=0; i<PRESSURE_SURFACE_QUE; i++) |
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131 surface_ring_mbar[i] = ambient_pressure_mbar; |
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132 surface_pressure_mbar = ambient_pressure_mbar; |
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133 surface_pressure_stable_value = surface_pressure_mbar; |
| 352 | 134 surface_pressure_writeIndex = 0; /* index of the oldest value in the ring buffer */ |
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135 } |
| 38 | 136 } |
| 137 | |
| 352 | 138 uint8_t is_surface_pressure_stable(void) |
| 139 { | |
| 140 return surface_pressure_stable; | |
| 141 } | |
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142 |
| 352 | 143 float set_last_surface_pressure_stable(void) |
| 144 { | |
| 145 surface_pressure_mbar = surface_pressure_stable_value; | |
| 146 return surface_pressure_stable_value; | |
| 147 } | |
| 148 | |
| 149 /* iterate backward through the history memory and evaluate the changes pressure changes during the last 30 minutes */ | |
| 150 void evaluate_surface_pressure() | |
| 151 { | |
| 152 uint8_t index; | |
| 153 float lastvalue; | |
| 154 uint8_t stablecnt = 0; | |
| 155 uint8_t unstablecnt = 0; | |
| 156 uint8_t EvaluationWindow = PRESSURE_SURFACE_QUE - PRESSURE_SURFACE_EVA_WINDOW; /* do not use the latest 15 values to avoid unstable condition due to something like fin handling */ | |
| 157 uint8_t EvaluatedValues = 0; | |
| 158 | |
| 159 lastvalue = surface_ring_mbar[surface_pressure_writeIndex]; | |
| 160 surface_pressure_stable_value = surface_ring_mbar[surface_pressure_writeIndex]; /* default: if no stable value is found return the oldest value */ | |
| 161 index = surface_pressure_writeIndex; | |
| 162 surface_pressure_stable = 1; | |
| 163 | |
| 164 if(index == 0) | |
| 165 { | |
| 166 index = PRESSURE_SURFACE_QUE - 1; | |
| 167 } | |
| 168 else | |
| 169 { | |
| 170 index = index - 1; | |
| 171 } | |
| 172 do | |
| 173 { | |
| 174 if((EvaluatedValues < EvaluationWindow) && | |
| 175 (fabs(surface_pressure_stable_value - surface_ring_mbar[index]) > PRESSURE_SURFACE_UNSTABLE_LIMIT)) /* unusual change during last 30 minutes */ | |
| 176 { | |
| 177 unstablecnt++; | |
| 178 if(unstablecnt > PRESSURE_SURFACE_DETECT_UNSTABLE_CNT) | |
| 179 { | |
| 180 surface_pressure_stable = 0; | |
| 181 } | |
| 182 } | |
| 183 /* search for a value which does not change for several iterations */ | |
| 184 if (fabs(lastvalue - surface_ring_mbar[index]) < PRESSURE_SURFACE_STABLE_LIMIT) | |
| 185 { | |
| 186 stablecnt++; | |
| 187 } | |
| 188 else | |
| 189 { | |
| 190 stablecnt = 0; | |
| 191 } | |
| 192 if ((stablecnt >= PRESSURE_SURFACE_DETECT_STABLE_CNT) && (surface_pressure_stable == 0)&&(surface_pressure_stable_value == surface_ring_mbar[surface_pressure_writeIndex])) /* pressure is unstable => search for new stable value */ | |
| 193 { | |
| 194 surface_pressure_stable_value = surface_ring_mbar[index]; | |
| 195 unstablecnt = 0; | |
| 196 } | |
| 197 | |
| 198 lastvalue = surface_ring_mbar[index]; | |
| 199 | |
| 200 if(index == 0) | |
| 201 { | |
| 202 index = PRESSURE_SURFACE_QUE - 1; | |
| 203 } | |
| 204 else | |
| 205 { | |
| 206 index = index - 1; | |
| 207 } | |
| 208 EvaluatedValues++; | |
| 209 } while (index != surface_pressure_writeIndex); | |
| 210 } | |
| 38 | 211 void update_surface_pressure(uint8_t call_rhythm_seconds) |
| 212 { | |
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213 if(is_init_pressure_done()) |
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214 { |
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215 runningAvg = (runningAvg * avgCount + ambient_pressure_mbar) / (avgCount +1); |
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216 avgCount++; |
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217 secondCounterSurfaceRing += call_rhythm_seconds; |
| 38 | 218 |
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219 if(secondCounterSurfaceRing >= 60) |
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220 { |
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221 if(runningAvg < PRESSURE_SURFACE_MAX_MBAR) |
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222 { |
| 352 | 223 surface_ring_mbar[surface_pressure_writeIndex] = runningAvg; |
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224 } |
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225 else |
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226 { |
| 352 | 227 surface_ring_mbar[surface_pressure_writeIndex] = PRESSURE_SURFACE_MAX_MBAR; |
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228 } |
| 352 | 229 surface_pressure_writeIndex++; /* the write index is now pointing to the oldest value in the buffer which will be overwritten next time */ |
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230 |
| 352 | 231 if(surface_pressure_writeIndex == PRESSURE_SURFACE_QUE) |
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232 { |
| 352 | 233 surface_pressure_writeIndex = 0; |
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234 } |
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235 |
| 352 | 236 surface_pressure_mbar = surface_ring_mbar[surface_pressure_writeIndex]; /* 30 minutes old measurement */ |
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237 |
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238 secondCounterSurfaceRing = 0; |
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239 avgCount = 1; /* use the current value as starting point but restart the weight decrement of the measurements */ |
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240 |
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241 evaluate_surface_pressure(); |
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242 } |
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243 } |
| 38 | 244 } |
| 245 | |
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246 #ifdef DEMOMODE |
| 38 | 247 float demo_modify_temperature_helper(float bottom_mbar_diff_to_surface) |
| 248 { | |
| 249 const float temperature_surface = 31.0; | |
| 250 const float temperature_bottom = 14.0; | |
| 251 | |
| 252 const float temperature_difference = temperature_bottom - temperature_surface; | |
| 253 | |
| 254 // range 0.0 - 1.0 | |
| 255 float position_now = (ambient_pressure_mbar - surface_pressure_mbar) / bottom_mbar_diff_to_surface; | |
| 256 | |
| 257 if(position_now <= 0) | |
| 258 return temperature_surface; | |
| 259 | |
| 260 if(position_now >= 1) | |
| 261 return temperature_bottom; | |
| 262 | |
| 263 return temperature_surface + (temperature_difference * position_now); | |
| 264 } | |
| 265 | |
| 266 | |
| 267 uint32_t demo_modify_temperature_and_pressure(int32_t divetime_in_seconds, uint8_t subseconds, float ceiling_mbar) | |
| 268 { | |
| 269 | |
| 270 const float descent_rate = 4000/60; | |
| 271 const float ascent_rate = 1000/60; | |
| 272 const uint32_t seconds_descend = (1 * 60) + 30; | |
| 273 const uint32_t turbo_seconds_at_bottom_start = (0 * 60) + 0; | |
| 274 const uint32_t seconds_descend_and_bottomtime = seconds_descend + turbo_seconds_at_bottom_start + (2 * 60) + 0; | |
| 275 uint32_t time_elapsed_in_seconds; | |
| 276 static float ambient_pressure_mbar_memory = 0; | |
| 277 static uint32_t time_last_call = 0; | |
| 278 | |
| 279 if(divetime_in_seconds <= seconds_descend) | |
| 280 { | |
| 281 ambient_pressure_mbar = (divetime_in_seconds * descent_rate) + ((float)(subseconds) * descent_rate) + surface_pressure_mbar; | |
| 282 ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend); | |
| 283 | |
| 284 time_last_call = divetime_in_seconds; | |
| 285 return 0; | |
| 286 } | |
| 287 else | |
| 288 if(divetime_in_seconds <= seconds_descend + turbo_seconds_at_bottom_start) | |
| 289 { | |
| 290 ambient_pressure_mbar = (seconds_descend * descent_rate) + surface_pressure_mbar; | |
| 291 ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend); | |
| 292 ambient_pressure_mbar_memory = ambient_pressure_mbar; | |
| 293 time_last_call = divetime_in_seconds; | |
| 294 return turbo_seconds_at_bottom_start; | |
| 295 } | |
| 296 else | |
| 297 if(divetime_in_seconds <= seconds_descend_and_bottomtime) | |
| 298 { | |
| 299 ambient_pressure_mbar = (seconds_descend * descent_rate) + surface_pressure_mbar; | |
| 300 ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend); | |
| 301 ambient_pressure_mbar_memory = ambient_pressure_mbar; | |
| 302 time_last_call = divetime_in_seconds; | |
| 303 return 0; | |
| 304 } | |
| 305 else | |
| 306 { | |
| 307 time_elapsed_in_seconds = divetime_in_seconds - time_last_call; | |
| 308 ambient_pressure_mbar = ambient_pressure_mbar_memory - time_elapsed_in_seconds * ascent_rate; | |
| 309 | |
| 310 if(ambient_pressure_mbar < surface_pressure_mbar) | |
| 311 ambient_pressure_mbar = surface_pressure_mbar; | |
| 312 else if(ambient_pressure_mbar < ceiling_mbar) | |
| 313 ambient_pressure_mbar = ceiling_mbar; | |
| 314 | |
| 315 ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend); | |
| 316 ambient_pressure_mbar_memory = ambient_pressure_mbar; | |
| 317 time_last_call = divetime_in_seconds; | |
| 318 return 0; | |
| 319 } | |
| 320 } | |
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321 #endif |
| 38 | 322 |
| 323 uint8_t is_init_pressure_done(void) | |
| 324 { | |
| 325 return pressureSensorInitSuccess; | |
| 326 } | |
| 327 | |
| 328 uint8_t init_pressure(void) | |
| 329 { | |
| 330 uint8_t buffer[1]; | |
| 356 | 331 buffer[0] = 0x1E; // Reset Command |
| 38 | 332 uint8_t retValue = 0xFF; |
| 333 | |
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334 pressureSensorInitSuccess = false; |
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335 |
| 356 | 336 /* Probe new sensor first */ |
| 337 retValue = I2C_Master_Transmit( DEVICE_PRESSURE_MS5837, buffer, 1); | |
| 338 if(retValue != HAL_OK) | |
| 339 { | |
| 340 PRESSURE_ADDRESS = DEVICE_PRESSURE_MS5803; // use old sensor | |
| 341 HAL_Delay(100); | |
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342 I2C_DeInit(); |
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343 HAL_Delay(100); |
| 356 | 344 MX_I2C1_Init(); |
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345 HAL_Delay(100); |
| 356 | 346 } |
| 347 else | |
| 348 { | |
| 349 PRESSURE_ADDRESS = DEVICE_PRESSURE_MS5837; // Success, use new sensor | |
| 350 } | |
| 351 HAL_Delay(3); //2.8ms according to datasheet | |
| 352 | |
| 353 buffer[0] = 0x1E; // Reset Command | |
| 354 retValue = 0xFF; | |
| 355 | |
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356 /* Send reset request to pressure sensor */ |
| 356 | 357 retValue = I2C_Master_Transmit( PRESSURE_ADDRESS, buffer, 1); |
| 38 | 358 if(retValue != HAL_OK) |
| 359 { | |
| 360 return (HAL_StatusTypeDef)retValue; | |
| 361 } | |
| 356 | 362 HAL_Delay(3); //2.8ms according to datasheet |
| 38 | 363 |
| 356 | 364 for(uint8_t i=0;i<7;i++) |
| 38 | 365 { |
| 366 C[i] = get_ci_by_coef_num(i); | |
| 367 } | |
| 356 | 368 // n_crc = crc4(C); // no evaluation at the moment hw 151026 |
| 38 | 369 |
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370 if(global.I2C_SystemStatus == HAL_OK) |
| 38 | 371 { |
| 372 pressureSensorInitSuccess = 1; | |
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373 retValue = pressure_update(); |
| 38 | 374 } |
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375 return retValue; |
| 38 | 376 } |
| 377 | |
| 378 | |
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379 static uint32_t get_adc(void) |
| 38 | 380 { |
| 381 uint8_t buffer[1]; | |
| 382 uint8_t resivebuf[4]; | |
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383 uint32_t answer = 0xFFFFFFFF; |
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384 |
| 38 | 385 buffer[0] = 0x00; // Get ADC |
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386 if(I2C_Master_Transmit( PRESSURE_ADDRESS, buffer, 1) == HAL_OK) |
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387 { |
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388 if(I2C_Master_Receive( PRESSURE_ADDRESS, resivebuf, 4) == HAL_OK) |
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389 { |
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390 resivebuf[3] = 0; |
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391 answer = 256*256 *(uint32_t)resivebuf[0] + 256 * (uint32_t)resivebuf[1] + (uint32_t)resivebuf[2]; |
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392 } |
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393 } |
| 38 | 394 return answer; |
| 395 } | |
| 396 | |
| 397 | |
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398 static uint16_t get_ci_by_coef_num(uint8_t coef_num) |
| 38 | 399 { |
| 400 uint8_t resivebuf[2]; | |
| 401 | |
| 402 uint8_t cmd = CMD_PROM_RD+coef_num*2; | |
| 356 | 403 I2C_Master_Transmit( PRESSURE_ADDRESS, &cmd, 1); |
| 404 I2C_Master_Receive( PRESSURE_ADDRESS, resivebuf, 2); | |
| 38 | 405 return (256*(uint16_t)resivebuf[0]) + (uint16_t)resivebuf[1]; |
| 406 } | |
| 407 | |
| 408 | |
| 409 | |
| 410 uint8_t pressure_update(void) | |
| 411 { | |
| 412 HAL_StatusTypeDef statusReturn = HAL_TIMEOUT; | |
| 413 | |
| 414 statusReturn = pressure_sensor_get_data(); | |
| 415 pressure_calculation(); | |
| 416 return (uint8_t)statusReturn; | |
| 417 } | |
| 418 | |
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419 /* Switch between pressure and temperature measurement with every successful read operation */ |
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420 void pressure_update_alternating(void) |
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421 { |
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422 static uint8_t getTemperature= 0; |
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423 |
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424 if(getTemperature) |
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425 { |
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426 if(pressure_sensor_get_temperature_raw() == HAL_OK) |
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427 { |
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428 getTemperature = 0; |
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429 } |
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430 } |
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431 else |
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432 { |
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433 if(pressure_sensor_get_pressure_raw() == HAL_OK) |
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434 { |
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435 getTemperature = 1; |
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436 } |
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437 } |
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438 pressure_calculation(); |
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439 return; |
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440 } |
| 38 | 441 |
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442 static uint32_t pressure_sensor_get_one_value(uint8_t cmd, HAL_StatusTypeDef *statusReturn) |
| 38 | 443 { |
| 444 uint8_t command = CMD_ADC_CONV + cmd; | |
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445 uint32_t adcValue = 0; |
| 38 | 446 HAL_StatusTypeDef statusReturnTemp = HAL_TIMEOUT; |
| 447 | |
| 356 | 448 statusReturnTemp = I2C_Master_Transmit( PRESSURE_ADDRESS, &command, 1); |
| 38 | 449 |
| 450 if(statusReturn) | |
| 451 { | |
| 452 *statusReturn = statusReturnTemp; | |
| 453 } | |
| 479 | 454 |
| 455 switch (cmd & 0x0f) // wait necessary conversion time | |
| 38 | 456 { |
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457 case CMD_ADC_256 : HAL_Delay(2); break; |
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458 case CMD_ADC_512 : HAL_Delay(4); break; |
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459 case CMD_ADC_1024: HAL_Delay(5); break; |
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460 case CMD_ADC_2048: HAL_Delay(7); break; |
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461 case CMD_ADC_4096: HAL_Delay(11); break; |
| 479 | 462 default: |
| 463 break; | |
| 464 } | |
| 465 adcValue = get_adc(); | |
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466 /* if(adcValue == 0xFFFFFFFF) |
| 479 | 467 { |
| 468 if(statusReturn) | |
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469 { |
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470 *statusReturn = HAL_ERROR; |
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471 } |
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472 }*/ |
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473 |
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474 return adcValue; |
| 38 | 475 } |
| 476 | |
| 477 | |
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478 static HAL_StatusTypeDef pressure_sensor_get_data(void) |
| 38 | 479 { |
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480 uint32_t requestedValue = 0; |
| 38 | 481 HAL_StatusTypeDef statusReturn1 = HAL_TIMEOUT; |
| 482 HAL_StatusTypeDef statusReturn2 = HAL_TIMEOUT; | |
| 483 | |
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484 |
| 38 | 485 |
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486 requestedValue = pressure_sensor_get_one_value(CMD_ADC_D2 + CMD_ADC_4096, &statusReturn2); |
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487 if (statusReturn2 == HAL_OK) |
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488 { |
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489 D2 = requestedValue; |
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490 } |
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491 |
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492 requestedValue = pressure_sensor_get_one_value(CMD_ADC_D1 + CMD_ADC_4096, &statusReturn1); |
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493 if (statusReturn1 == HAL_OK) |
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494 { |
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495 D1 = requestedValue; |
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496 } |
| 38 | 497 if(statusReturn2 > statusReturn1) // if anything is not HAL_OK (0x00) or worse |
| 498 return statusReturn2; | |
| 499 else | |
| 500 return statusReturn1; | |
| 501 } | |
| 502 | |
| 503 | |
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504 HAL_StatusTypeDef pressure_sensor_get_pressure_raw(void) |
| 38 | 505 { |
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506 uint32_t requestedValue = 0; |
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507 HAL_StatusTypeDef statusReturn = HAL_TIMEOUT; |
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508 |
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509 requestedValue = pressure_sensor_get_one_value(CMD_ADC_D1 + CMD_ADC_4096, &statusReturn); |
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510 if (statusReturn == HAL_OK) |
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511 { |
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512 D1 = requestedValue; |
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513 } |
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514 |
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515 return statusReturn; |
| 38 | 516 } |
| 517 | |
| 518 | |
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519 HAL_StatusTypeDef pressure_sensor_get_temperature_raw(void) |
| 38 | 520 { |
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521 uint32_t requestedValue = 0; |
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522 HAL_StatusTypeDef statusReturn = HAL_TIMEOUT; |
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523 |
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524 requestedValue = pressure_sensor_get_one_value(CMD_ADC_D2 + CMD_ADC_4096, &statusReturn); |
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525 if (statusReturn == HAL_OK) |
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526 { |
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527 D2 = requestedValue; |
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528 } |
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529 return statusReturn; |
| 38 | 530 } |
| 531 | |
| 532 | |
| 352 | 533 #ifdef SIMULATE_PRESSURE |
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534 |
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535 #define SECDIV 10 /* update every 100ms */ |
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536 |
| 352 | 537 void pressure_simulation() |
| 538 { | |
| 539 static uint32_t tickstart = 0; | |
| 540 static float pressure_sim_mbar = 0; | |
| 541 static uint32_t passedSecond = 0; | |
| 542 static uint32_t secondtick = 0; | |
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543 static uint32_t lastsecondtick = 0; |
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544 static float delta_mbar = 0.0; |
| 352 | 545 |
| 546 uint32_t lasttick = 0; | |
| 547 | |
| 548 | |
| 549 | |
| 550 if( tickstart == 0) | |
| 551 { | |
| 552 tickstart = HAL_GetTick(); /* init time stamp */ | |
| 553 secondtick = tickstart; | |
| 554 pressure_sim_mbar = 1000; | |
| 555 } | |
| 556 | |
| 557 lasttick = HAL_GetTick(); | |
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558 if(time_elapsed_ms(secondtick,lasttick) >= (1000 / SECDIV)) /* one second passed since last tick */ |
| 352 | 559 { |
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560 if(time_elapsed_ms(lastsecondtick,lasttick) > 1000) |
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561 { |
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562 passedSecond++; |
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563 lastsecondtick = lasttick; |
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564 } |
| 352 | 565 secondtick = lasttick; |
| 566 | |
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567 #define DIVE_AT_SPEED 1 |
| 352 | 568 #ifdef DIVE_AFTER_LANDING |
| 569 if(passedSecond < 10) pressure_sim_mbar = 1000.0; /* stay stable for 10 seconds */ | |
| 570 else if(passedSecond < 300) pressure_sim_mbar -= 1.0; /* decrease pressure in 5 minutes target 770mbar => delta 330 */ | |
| 571 else if(passedSecond < 900) pressure_sim_mbar += 0.0; /*stay stable 10 minutes*/ | |
| 572 else if(passedSecond < 1500) pressure_sim_mbar += 0.5; /* return to 1 bar in 10 Minutes*/ | |
| 573 else if(passedSecond < 1800) pressure_sim_mbar += 0.0; /* 5 minutes break */ | |
| 574 else if(passedSecond < 2000) pressure_sim_mbar += 10.0; /* start dive */ | |
| 575 else if(passedSecond < 2300) pressure_sim_mbar += 0.0; /* stay on depth */ | |
| 576 else if(passedSecond < 2500) pressure_sim_mbar -= 10.0; /* return to surface */ | |
| 577 else pressure_sim_mbar = 1000.0; /* final state */ | |
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578 #endif |
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579 #ifdef DIVE_AT_SPEED |
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580 if(passedSecond < 10) pressure_sim_mbar = 1000.0; /* stay stable for 10 seconds */ |
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581 else if(passedSecond < 20) delta_mbar = 200.0 / SECDIV; /* Start dive */ |
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582 else if(passedSecond < 30) delta_mbar = 0.0; /*stay on depth*/ |
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583 else if(passedSecond < 45) delta_mbar -= 0.2 / SECDIV; /* return to surface */ |
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584 else if(passedSecond < 40) delta_mbar -= 0.4 / SECDIV; /* stay */ |
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585 else if(passedSecond < 50) delta_mbar += 0.3 / SECDIV; /* get ready for second dive */ |
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586 else if(passedSecond < 60) delta_mbar -= 0.4; /*stay on depth*/ |
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587 else if(passedSecond < 70) delta_mbar = 0.2; |
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588 else if(passedSecond < 1060) pressure_sim_mbar -= 10.0/ SECDIV; /* return to surface */ |
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589 else if(passedSecond < 1200) pressure_sim_mbar += 0.0; /* stay */ |
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590 else { pressure_sim_mbar = 1000.0; delta_mbar = 0.0;} /* final state */ |
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591 |
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592 pressure_sim_mbar += delta_mbar; |
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593 if(pressure_sim_mbar < surface_pressure_mbar) |
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594 { |
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595 pressure_sim_mbar = surface_pressure_mbar; |
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596 } |
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597 |
| 352 | 598 #else /* short dive */ |
| 599 if(passedSecond < 10) pressure_sim_mbar = 1000.0; /* stay stable for 10 seconds */ | |
| 600 else if(passedSecond < 180) pressure_sim_mbar += 10.0; /* Start dive */ | |
| 601 else if(passedSecond < 300) pressure_sim_mbar += 0.0; /*stay on depth*/ | |
| 602 else if(passedSecond < 460) pressure_sim_mbar -= 10.0; /* return to surface */ | |
| 603 else if(passedSecond < 600) pressure_sim_mbar += 0.0; /* stay */ | |
| 604 else if(passedSecond < 610) pressure_sim_mbar = 1000.0; /* get ready for second dive */ | |
| 605 else if(passedSecond < 780) pressure_sim_mbar += 10.0; /* Start dive */ | |
| 606 else if(passedSecond < 900) pressure_sim_mbar += 0.0; /*stay on depth*/ | |
| 607 else if(passedSecond < 1060) pressure_sim_mbar -= 10.0; /* return to surface */ | |
| 608 else if(passedSecond < 1200) pressure_sim_mbar += 0.0; /* stay */ | |
| 609 else pressure_sim_mbar = 1000.0; /* final state */ | |
| 610 #endif | |
| 611 } | |
| 612 | |
| 613 | |
| 614 ambient_pressure_mbar = pressure_sim_mbar; | |
| 615 ambient_temperature = 25.0; | |
| 616 return; | |
| 617 } | |
| 618 | |
| 619 #endif | |
| 620 | |
| 38 | 621 void pressure_calculation(void) |
| 622 { | |
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623 if(global.I2C_SystemStatus != HAL_OK) |
| 38 | 624 return; |
| 352 | 625 |
| 626 #ifdef SIMULATE_PRESSURE | |
| 627 pressure_simulation(); | |
| 628 #else | |
| 38 | 629 pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(); |
| 352 | 630 #endif |
| 38 | 631 } |
| 632 | |
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633 static void pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(void) |
| 38 | 634 { |
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635 static float runningAvg = 0; |
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636 static uint8_t avgCnt = 0; |
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637 |
| 38 | 638 uint32_t local_D1; // ADC value of the pressure conversion |
| 639 uint32_t local_D2; // ADC value of the temperature conversion | |
| 640 int32_t local_Px10; // compensated pressure value | |
| 641 int32_t local_Tx100; // compensated temperature value | |
| 642 int64_t local_dT; // int32_t, difference between actual and measured temperature | |
| 643 int64_t local_OFF; // offset at actual temperature | |
| 644 int64_t local_SENS; // sensitivity at actual temperature | |
| 645 | |
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646 float calc_pressure; |
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647 |
| 38 | 648 int64_t T2; |
| 649 int64_t OFF2; | |
| 650 int64_t SENS2; | |
| 651 | |
| 652 local_D1 = D1; | |
| 653 local_D2 = D2; | |
| 654 | |
| 655 local_dT = ((int64_t)local_D2) - ((int64_t)C[5]) * 256; //pow(2,8); | |
| 656 local_OFF = ((int64_t)C[2]) * 65536 + local_dT * ((int64_t)C[4]) / 128; // pow(2,16), pow(2,7) | |
| 657 local_SENS = ((int64_t)C[1]) * 32768 + local_dT * ((int64_t)C[3]) / 256; // pow(2,15), pow(2,8) | |
| 658 | |
| 659 local_Tx100 = (int32_t)(2000 + (local_dT * ((int64_t)C[6])) / 8388608);// pow(2,23) | |
| 660 | |
| 661 | |
| 662 if(local_Tx100 < 2000) // low temperature | |
| 663 { | |
| 664 T2 = 3 * local_dT; | |
| 665 T2 *= local_dT; | |
| 666 T2 /= 8589934592; | |
| 667 | |
| 668 OFF2 = ((int64_t)local_Tx100) - 2000; | |
| 669 OFF2 *= OFF2; | |
| 670 OFF2 *= 3; | |
| 671 OFF2 /= 2; | |
| 672 | |
| 673 SENS2 = ((int64_t)local_Tx100) - 2000; | |
| 674 SENS2 *= SENS2; | |
| 675 SENS2 *= 5; | |
| 676 SENS2 /= 8; | |
| 677 | |
| 678 local_Tx100 -= (int32_t)T2; | |
| 679 local_OFF -= OFF2; | |
| 680 local_SENS -= SENS2; | |
| 681 } | |
| 682 else | |
| 683 { | |
| 684 T2 = 7 * local_dT; | |
| 685 T2 *= local_dT; | |
| 686 T2 /= 137438953472; | |
| 687 | |
| 688 OFF2 = ((int64_t)local_Tx100) - 2000; | |
| 689 OFF2 *= OFF2; | |
| 690 OFF2 /= 16; | |
| 691 | |
| 692 local_Tx100 -= (int32_t)T2; | |
| 693 local_OFF -= OFF2; | |
| 694 } | |
| 695 | |
| 696 local_Px10 = (int32_t)( | |
| 697 (((int64_t)((local_D1 * local_SENS) / 2097152)) - local_OFF) | |
| 698 / 8192 );// )) / 10; // pow(2,21), pow(2,13) | |
| 699 | |
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700 ambient_temperature = ((float)local_Tx100) / 100; |
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701 ambient_temperature += temperature_offset; |
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702 |
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703 if(ambient_temperature < TEMPERATURE_MINIMUM) |
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704 { |
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705 ambient_temperature = 20.0; |
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706 } |
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707 |
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708 calc_pressure = ((float)local_Px10) / 10; |
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709 calc_pressure += pressure_offset; |
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710 |
| 480 | 711 runningAvg = (avgCnt * runningAvg + calc_pressure) / (avgCnt + 1); |
| 712 if (avgCnt < 10) /* build an average considering the last measurements to have a weight "1 of 10" */ | |
| 713 { /* Main reason for this is the jitter of up to +-10 HPa in surface mode which is caused */ | |
| 714 avgCnt++; /* by the measurement range of the sensor which is focused on under water pressure measurement */ | |
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715 } |
| 480 | 716 ambient_pressure_mbar = runningAvg; |
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717 |
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718 if(ambient_pressure_mbar < PRESSURE_MINIMUM) |
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719 { |
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720 ambient_pressure_mbar = 1000.0 + pressure_offset; |
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721 } |
| 38 | 722 } |
| 723 | |
| 724 | |
| 725 /* taken from AN520 by meas-spec.com dated 9. Aug. 2011 | |
| 726 * short and int are both 16bit according to AVR/GCC google results | |
| 727 */ | |
| 356 | 728 /*static uint8_t crc4(uint16_t n_prom[]) |
| 38 | 729 { |
| 730 uint16_t cnt; // simple counter | |
| 731 uint16_t n_rem; // crc reminder | |
| 732 uint16_t crc_read; // original value of the crc | |
| 733 uint8_t n_bit; | |
| 734 n_rem = 0x00; | |
| 735 crc_read=n_prom[7]; //save read CRC | |
| 736 n_prom[7]=(0xFF00 & (n_prom[7])); //CRC byte is replaced by 0 | |
| 737 for (cnt = 0; cnt < 16; cnt++) // operation is performed on bytes | |
| 738 { // choose LSB or MSB | |
| 739 if (cnt%2==1) n_rem ^= (uint16_t) ((n_prom[cnt>>1]) & 0x00FF); | |
| 740 else n_rem ^= (uint16_t) (n_prom[cnt>>1]>>8); | |
| 741 for (n_bit = 8; n_bit > 0; n_bit--) | |
| 742 { | |
| 743 if (n_rem & (0x8000)) | |
| 744 { | |
| 745 n_rem = (n_rem << 1) ^ 0x3000; | |
| 746 } | |
| 747 else | |
| 748 { | |
| 749 n_rem = (n_rem << 1); | |
| 750 } | |
| 751 } | |
| 752 } | |
| 753 n_rem= (0x000F & (n_rem >> 12)); // // final 4-bit reminder is CRC code | |
| 754 n_prom[7]=crc_read; // restore the crc_read to its original place | |
| 755 return (n_rem ^ 0x00); | |
| 756 } | |
| 356 | 757 |
| 38 | 758 void test_calculation(void) |
| 759 { | |
| 760 C1 = 29112; | |
| 761 C2 = 26814; | |
| 762 C3 = 19125; | |
| 763 C4 = 17865; | |
| 764 C5 = 32057; | |
| 765 C6 = 31305; | |
| 766 | |
| 767 C2_x_2p16 = C2 * 65536; | |
| 768 C1_x_2p15 = C1 * 32768; | |
| 769 | |
| 770 D1 = 4944364; | |
| 771 D2 = 8198974; | |
| 772 pressure_calculation() ; | |
| 773 }; | |
| 774 */ | |
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Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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775 void pressure_set_offset (float pressureOffset, float temperatureOffset) |
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Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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776 { |
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37f45300bc2e
Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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777 if(pressure_offset != pressureOffset) /* we received a new value => reinit surface que */ |
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Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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778 { |
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37f45300bc2e
Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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779 ambient_pressure_mbar -= pressure_offset; /* revert old value */ |
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Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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780 ambient_pressure_mbar += pressureOffset; /* apply new offset */ |
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Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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781 init_surface_ring(1); |
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37f45300bc2e
Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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782 } |
| 38 | 783 |
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Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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784 pressure_offset = pressureOffset; |
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37f45300bc2e
Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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785 temperature_offset = temperatureOffset; |
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37f45300bc2e
Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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786 } |
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37f45300bc2e
Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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787 |
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37f45300bc2e
Apply averaging to pressure measurement: In pre versions calculated pressure value jittered +/-10hPa. Since we measure the pressure several time a second but only use one value a second, calc average including not used values
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788 |