Mercurial > public > ostc4
annotate Small_CPU/Src/scheduler.c @ 407:b11e50415982 Improment_NVM
Bugfix parallel call of external flash functions:
read / write calls to external flash were performed from main loop as well as from timer callback. As result the update of devicedata (every10 minutes) could colidate with the writing of log samples during dive (if logging takes longer then 100ms (clear page). To avoid this raise condition logging of devicedata has been moved to background loop
| author | ideenmodellierer |
|---|---|
| date | Sun, 12 Jan 2020 18:06:59 +0100 |
| parents | cb3870f79e9d |
| children | 2e2d34c1cc99 |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file scheduler.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.0.6 | |
| 7 * @since 18-June-2015 | |
| 8 * @brief the main part except for base.c | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 @endverbatim | |
| 15 ****************************************************************************** | |
| 16 * @attention | |
| 17 * | |
| 18 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2> | |
| 19 * | |
| 20 ****************************************************************************** | |
| 21 */ | |
| 22 | |
| 23 | |
| 24 //#define DEBUGMODE | |
| 25 | |
| 26 /* Includes ------------------------------------------------------------------*/ | |
| 27 #include <string.h> | |
| 28 #include "baseCPU2.h" | |
| 29 #include "stm32f4xx_hal.h" | |
| 30 #include "i2c.h" | |
| 31 #include "scheduler.h" | |
| 32 #include "pressure.h" | |
| 33 #include "compass.h" | |
| 34 #include "batteryGasGauge.h" | |
| 35 #include "batteryCharger.h" | |
| 36 #include "spi.h" | |
| 37 #include "rtc.h" | |
| 38 #include "dma.h" | |
| 39 #include "adc.h" | |
| 40 #include "calc_crush.h" | |
| 41 #include "stm32f4xx_hal_rtc_ex.h" | |
| 42 #include "decom.h" | |
| 43 #include "tm_stm32f4_otp.h" | |
| 44 | |
| 45 | |
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46 #define INVALID_PREASURE_VALUE (100.0f) |
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47 #define START_DIVE_MOUNTAIN_MODE_BAR (0.88f) |
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48 #define START_DIVE_IMMEDIATLY_BAR (1.16f) |
| 135 | 49 |
| 38 | 50 /* Private types -------------------------------------------------------------*/ |
| 51 const SGas Air = {79,0,0,0,0}; | |
| 52 | |
| 53 /* Exported variables --------------------------------------------------------*/ | |
| 54 SGlobal global; | |
| 55 SDevice DeviceDataFlash; | |
| 56 uint8_t deviceDataFlashValid = 0; | |
| 57 uint8_t deviceDataSubSeconds = 0; | |
| 58 | |
| 59 /* Private variables ---------------------------------------------------------*/ | |
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60 static uint16_t ManualExitDiveCounter = 0; /* The computer will exit dive mode in shallow area immediately. Increase depth to restart dive while counter is active */ |
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61 |
| 38 | 62 /* can be lost while in sleep */ |
| 63 uint8_t clearDecoNow = 0; | |
| 64 uint8_t setButtonsNow = 0; | |
| 65 | |
| 66 /* has to be in SRAM2 */ | |
| 67 uint8_t secondsCount = 0; | |
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68 |
| 207 | 69 static uint8_t dospisync = SPI_SYNC_METHOD_NONE; |
| 70 | |
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71 SScheduleCtrl Scheduler; |
| 38 | 72 |
| 73 /* Private function prototypes -----------------------------------------------*/ | |
| 74 | |
| 75 _Bool vpm_crush2(void); | |
| 76 void scheduleUpdateDeviceData(void); | |
| 77 long get_nofly_time_minutes(void); | |
| 78 void copyActualGas(SGas gas); | |
| 79 void copyPressureData(void); | |
| 80 void copyCnsAndOtuData(void); | |
| 81 void copyTimeData(void); | |
| 82 void copyCompassData(void); | |
| 83 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 84 void copyAmbientLightData(void); | |
| 85 void copyTissueData(void); | |
| 86 void copyVpmCrushingData(void); | |
| 87 void copyDeviceData(void); | |
| 88 void copyPICdata(void); | |
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89 static void schedule_update_timer_helper(int8_t thisSeconds); |
| 38 | 90 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
| 91 | |
| 92 void scheduleSetDate(SDeviceLine *line); | |
| 93 | |
| 94 /* Exported functions --------------------------------------------------------*/ | |
| 95 | |
| 96 void initGlobals(void) | |
| 97 { | |
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98 bzero(&global, sizeof(SGlobal)); |
| 38 | 99 |
| 100 global.dataSendToSlavePending = 0; | |
| 101 global.dataSendToSlaveIsValid = 1; | |
| 102 global.dataSendToSlaveIsNotValidCount = 0; | |
| 103 | |
| 104 global.mode = MODE_POWERUP; | |
| 105 global.repetitive_dive = 0; | |
| 106 global.conservatism = 0; | |
| 107 global.whichGas = 0; | |
| 108 global.aktualGas[0] = Air; | |
| 109 global.lifeData.actualGas = global.aktualGas[0]; | |
| 110 | |
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111 const uint8_t button_standard_sensitivity = 85; |
| 38 | 112 global.ButtonResponsiveness[0] = button_standard_sensitivity; |
| 113 global.ButtonResponsiveness[1] = button_standard_sensitivity; | |
| 114 global.ButtonResponsiveness[2] = button_standard_sensitivity; | |
| 115 global.ButtonResponsiveness[3] = button_standard_sensitivity; | |
| 116 | |
| 117 global.ButtonPICdata[0] = 0xFF; | |
| 118 global.ButtonPICdata[1] = 0xFF; | |
| 119 global.ButtonPICdata[2] = 0xFF; | |
| 120 global.ButtonPICdata[3] = 0xFF; | |
| 121 | |
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122 global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working |
| 38 | 123 |
| 135 | 124 global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE; |
| 125 global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE; | |
| 38 | 126 decom_reset_with_1000mbar(&global.lifeData); |
| 127 | |
| 128 global.demo_mode = 0; | |
| 129 | |
| 130 for(int i = 0; i < MAX_SENSORS; i++) | |
| 131 { | |
| 132 global.sensorError[i] = HAL_OK; // HAL_OK = 0; | |
| 133 } | |
| 134 | |
| 135 global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;; | |
| 136 global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;; | |
| 137 global.dataSendToMaster.chargeStatus = 0; | |
| 138 | |
| 139 global.dataSendToMaster.power_on_reset = 1; | |
| 140 global.dataSendToMaster.header.checkCode[0] = 0xA1; | |
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141 global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE; |
| 38 | 142 global.dataSendToMaster.header.checkCode[2] = 0xA3; |
| 143 global.dataSendToMaster.header.checkCode[3] = 0xA4; | |
| 144 global.dataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 145 global.dataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 146 global.dataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 147 global.dataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 148 global.dataSendToMaster.sensorErrors = 0; | |
| 149 | |
| 150 global.sync_error_count = 0; | |
| 151 global.check_sync_not_running = 0; | |
| 152 | |
| 153 global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH; | |
| 154 global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW; | |
| 155 global.deviceDataSendToMaster.chargeStatus = 0; | |
| 156 | |
| 157 global.deviceDataSendToMaster.power_on_reset = 1; | |
| 158 global.deviceDataSendToMaster.header.checkCode[0] = 0xDF; | |
| 159 global.deviceDataSendToMaster.header.checkCode[1] = 0xDE; | |
| 160 global.deviceDataSendToMaster.header.checkCode[2] = 0xDD; | |
| 161 global.deviceDataSendToMaster.header.checkCode[3] = 0xDC; | |
| 162 global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 163 global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 164 global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 165 global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 166 | |
| 167 global.dataSendToSlave.getDeviceDataNow = 0; | |
| 168 | |
| 169 global.deviceData.batteryChargeCompleteCycles.value_int32 = 0; | |
| 170 global.deviceData.batteryChargeCycles.value_int32 = 0; | |
| 171 global.deviceData.depthMaximum.value_int32 = 0; | |
| 172 global.deviceData.diveCycles.value_int32 = 0; | |
| 173 global.deviceData.hoursOfOperation.value_int32 = 0; | |
| 174 global.deviceData.temperatureMaximum.value_int32 = INT32_MIN; | |
| 175 global.deviceData.temperatureMinimum.value_int32 = INT32_MAX; | |
| 176 global.deviceData.voltageMinimum.value_int32 = INT32_MAX; | |
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177 |
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178 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
| 207 | 179 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
| 38 | 180 } |
| 181 | |
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182 void reinitGlobals(void) |
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183 { |
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184 global.dataSendToSlavePending = 0; |
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185 global.dataSendToSlaveIsValid = 0; |
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186 global.dataSendToSlaveIsNotValidCount = 0; |
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187 global.sync_error_count = 0; |
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188 global.check_sync_not_running = 0; |
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189 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
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190 } |
| 38 | 191 |
| 192 void scheduleSpecial_Evaluate_DataSendToSlave(void) | |
| 193 { | |
| 104 | 194 //TEMPORARY fix for compass calibration. |
| 195 //TODO: Fix I2C timeout for complete solving problem. | |
| 196 if(global.mode==MODE_CALIB){ | |
| 197 return; | |
| 198 } | |
| 90 | 199 |
| 88 | 200 global.dataSendToSlavePending = 0; |
| 201 if(!global.dataSendToSlaveIsValid) return; | |
| 38 | 202 |
| 203 global.dataSendToMaster.confirmRequest.uw = 0; | |
| 204 | |
| 205 if(TM_OTP_Read(0,0) == 0xFF) | |
| 206 { | |
| 207 if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A)) | |
| 208 TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware); | |
| 209 } | |
| 210 | |
| 211 if(global.dataSendToSlave.setAccidentFlag) | |
| 212 { | |
| 213 global.dataSendToMaster.confirmRequest.ub.accident = 1; | |
| 214 global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag; | |
| 215 scheduleSetDate(&global.deviceData.diveAccident); | |
| 216 global.accidentFlag |= global.dataSendToSlave.setAccidentFlag; | |
| 217 if(global.accidentFlag == ACCIDENT_CNS) // LVL1 | |
| 218 global.accidentRemainingSeconds = 2*60*60; | |
| 219 else | |
| 220 global.accidentRemainingSeconds = 24*60*60; | |
| 221 } | |
| 222 | |
| 223 if(global.dataSendToSlave.setTimeNow) | |
| 224 { | |
| 225 global.dataSendToMaster.confirmRequest.ub.time = 1; | |
| 226 RTC_SetTime(global.dataSendToSlave.data.newTime); | |
| 227 schedule_update_timer_helper(0); | |
| 228 } | |
| 229 | |
| 230 if(global.dataSendToSlave.setDateNow) | |
| 231 { | |
| 232 global.dataSendToMaster.confirmRequest.ub.date = 1; | |
| 233 RTC_SetDate(global.dataSendToSlave.data.newDate); | |
| 234 schedule_update_timer_helper(0); | |
| 235 } | |
| 236 | |
| 237 if(global.dataSendToSlave.calibrateCompassNow) | |
| 238 { | |
| 239 global.dataSendToMaster.confirmRequest.ub.compass = 1; | |
| 240 global.mode = MODE_CALIB; | |
| 241 } | |
| 242 | |
| 243 if(global.dataSendToSlave.clearDecoNow) | |
| 244 { | |
| 245 global.dataSendToMaster.confirmRequest.ub.clearDeco = 1; | |
| 246 clearDecoNow = 1; | |
| 247 } | |
| 248 | |
| 249 if(global.dataSendToSlave.setButtonSensitivityNow) | |
| 250 { | |
| 251 global.dataSendToMaster.confirmRequest.ub.button = 1; | |
| 252 global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0]; | |
| 253 global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1]; | |
| 254 global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2]; | |
| 255 global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3]; | |
| 256 setButtonsNow = 1; | |
| 257 } | |
| 258 | |
| 259 if(global.dataSendToSlave.setBatteryGaugeNow) | |
| 260 { | |
| 104 | 261 if(global.mode!=MODE_CALIB){ |
| 38 | 262 global.dataSendToMaster.confirmRequest.ub.batterygauge = 1; |
| 263 battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat); | |
| 104 | 264 } |
| 38 | 265 } |
| 266 | |
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267 if(global.dataSendToSlave.setEndDive) |
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268 { |
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269 ManualExitDiveCounter = 30 * 60; /* This will cause the computer to leave dive mode if in shallow area and increase the depth to enter dive mode for the next 30 minutes */ |
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270 } |
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271 |
| 38 | 272 if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN)) |
| 273 { | |
| 274 global.mode = MODE_SHUTDOWN; | |
| 275 } | |
| 276 | |
| 277 if(global.mode == MODE_DIVE) | |
| 278 { | |
| 279 copyActualGas(global.dataSendToSlave.data.actualGas); | |
| 280 } | |
| 281 else | |
| 282 { | |
| 283 copyActualGas(Air); | |
| 284 global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook; | |
| 285 global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth; | |
| 286 } | |
| 287 | |
| 288 /* for simulation / testing */ | |
| 289 global.ceiling_from_main_CPU_mbar = global.dataSendToSlave.data.ambient_pressure_mbar_ceiling; | |
| 290 | |
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291 /* Set pressure and temperature offsets */ |
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292 pressure_set_offset (global.dataSendToSlave.data.offsetPressureSensor_mbar, global.dataSendToSlave.data.offsetTemperatureSensor_centiDegree); |
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293 |
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294 |
| 88 | 295 /* for device data updates */ |
| 296 deviceDataFlashValid = 0; | |
| 297 memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice)); | |
| 298 deviceDataFlashValid = 1; | |
| 89 | 299 |
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300 #if 0 |
| 104 | 301 //TODO: Temporary placed here. Duration ~210 ms. |
| 302 if (global.I2C_SystemStatus != HAL_OK) { | |
| 303 MX_I2C1_TestAndClear(); | |
| 304 MX_I2C1_Init(); | |
| 305 // init_pressure(); | |
| 306 // compass_init(0, 7); | |
| 307 // accelerator_init(); | |
| 308 } | |
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309 #endif /* already called once a second */ |
| 38 | 310 } |
| 311 | |
| 312 | |
| 313 /** | |
| 314 ****************************************************************************** | |
| 315 * @brief schedule_time_compare_helper. | |
| 316 * @author heinrichs weikamp gmbh | |
| 317 * @version V0.0.1 | |
| 318 * @date 20-Oct-2016 | |
| 319 ****************************************************************************** | |
| 320 */ | |
| 321 | |
| 322 uint8_t RtcBugFixChsw(uint8_t inStupidTime) | |
| 323 { | |
| 324 uint8_t multiplesOf16 = 0; | |
| 325 | |
| 326 multiplesOf16 = inStupidTime / 16; | |
| 327 | |
| 328 inStupidTime -= multiplesOf16 * 16; | |
| 329 | |
| 330 return (10 * multiplesOf16) + inStupidTime; | |
| 331 } | |
| 332 | |
| 333 uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast) | |
| 334 { | |
| 335 uint32_t nowInSeconds; | |
| 336 uint32_t lastInSeconds; | |
| 337 uint32_t resultDiff; | |
| 338 | |
| 339 nowInSeconds = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600; | |
| 340 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60; | |
| 341 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds); | |
| 342 | |
| 343 lastInSeconds = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600; | |
| 344 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60; | |
| 345 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds); | |
| 346 | |
| 347 if(dateNow.Date != dateLast.Date) | |
| 348 { | |
| 349 resultDiff = 86400 + nowInSeconds - lastInSeconds; | |
| 350 } | |
| 351 else | |
| 352 { | |
| 353 resultDiff = nowInSeconds - lastInSeconds; | |
| 354 } | |
| 355 return resultDiff; | |
| 356 } | |
| 357 | |
| 358 | |
| 359 | |
| 360 /** | |
| 361 ****************************************************************************** | |
| 362 * @brief schedule_update_timer_helper. | |
| 363 * @author heinrichs weikamp gmbh | |
| 364 * @version V0.0.1 | |
| 365 * @date 20-Oct-2016 | |
| 366 * @brief use 0 for init | |
| 367 use -1 for RTC controlled | |
| 368 use >= 1 for manual control | |
| 369 ****************************************************************************** | |
| 370 */ | |
| 371 extern RTC_HandleTypeDef RTCHandle; | |
| 372 | |
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373 static void schedule_update_timer_helper(int8_t thisSeconds) |
| 38 | 374 { |
| 375 static RTC_TimeTypeDef sTimeLast; | |
| 376 static RTC_DateTypeDef sDateLast; | |
| 377 RTC_TimeTypeDef sTimeNow; | |
| 378 RTC_DateTypeDef sDateNow; | |
| 379 uint32_t secondsPast; | |
| 380 | |
| 381 HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD); | |
| 382 HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD); | |
| 383 | |
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384 if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast |
| 38 | 385 { |
| 386 if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast | |
| 387 { | |
| 388 secondsPast = thisSeconds; | |
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389 } else { |
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390 // thisSeconds < 0 and not <= ! |
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391 secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast); |
| 38 | 392 } |
| 393 | |
| 394 if(global.seconds_since_last_dive) | |
| 395 { | |
| 396 if(secondsPast >= 777900) | |
| 397 { | |
| 398 global.seconds_since_last_dive = 0; | |
| 399 } | |
| 400 else | |
| 401 { | |
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402 uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast; |
| 38 | 403 if(tempNewValue > 777900) // a bit more than nine days [seconds] |
| 404 global.seconds_since_last_dive = 0; | |
| 405 else | |
| 406 global.seconds_since_last_dive = (long)tempNewValue; | |
| 407 } | |
| 408 } | |
| 409 } | |
| 410 | |
| 411 sTimeLast = sTimeNow; | |
| 412 sDateLast = sDateNow; | |
| 413 } | |
| 414 | |
| 415 /** | |
| 416 ****************************************************************************** | |
| 417 * @brief schedule_check_resync. | |
| 418 * @author heinrichs weikamp gmbh | |
| 419 * @version V0.0.2 | |
| 420 * @date 18-June-2015 | |
| 421 ****************************************************************************** | |
| 422 */ | |
| 135 | 423 |
| 38 | 424 void schedule_check_resync(void) |
| 425 { | |
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426 /* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */ |
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427 if((global.check_sync_not_running >= Scheduler.communicationTimeout)) |
| 38 | 428 { |
| 89 | 429 // global.dataSendToSlaveIsNotValidCount = 0; |
| 135 | 430 global.check_sync_not_running = 0; |
| 431 global.sync_error_count++; | |
| 432 | |
| 433 /* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the | |
| 434 * function error handler | |
| 435 */ | |
| 277 | 436 HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE); |
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437 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON; /* Reduce error detection time */ |
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438 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
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439 } |
| 38 | 440 } |
| 441 | |
| 442 | |
| 443 /** | |
| 444 ****************************************************************************** | |
| 445 * @brief scheduleDiveMode. / Dive Mode: Main Loop | |
| 446 * @author Peter Ryser | |
| 447 * @version V0.0.1 | |
| 448 * @date 22-April-2014 | |
| 449 ****************************************************************************** | |
| 450 */ | |
| 451 void scheduleDiveMode(void) | |
| 452 { | |
| 453 uint32_t ticksdiff = 0; | |
| 454 uint32_t lasttick = 0; | |
| 455 uint8_t counterAscentRate = 0; | |
| 456 float lastPressure_bar = 0.0f; | |
| 457 global.dataSendToMaster.mode = MODE_DIVE; | |
| 458 global.deviceDataSendToMaster.mode = MODE_DIVE; | |
| 459 uint8_t counter_exit = 0; | |
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460 |
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461 Scheduler.counterSPIdata100msec = 0; |
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462 Scheduler.counterCompass100msec = 0; |
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463 Scheduler.counterPressure100msec = 0; |
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464 Scheduler.counterAmbientLight100msec = 0; |
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465 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 466 |
| 467 global.deviceData.diveCycles.value_int32++; | |
| 468 scheduleSetDate(&global.deviceData.diveCycles); | |
| 469 global.lifeData.counterSecondsShallowDepth = 0; | |
| 470 | |
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471 /* Get the last stable value in case of an unstable surface history condition */ |
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472 if(!is_surface_pressure_stable()) |
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473 { |
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474 set_last_surface_pressure_stable(); |
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475 } |
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476 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; |
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477 ManualExitDiveCounter = 0; /* reset early exit request */ |
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478 |
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479 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 480 while(global.mode == MODE_DIVE) |
| 481 { | |
| 482 lasttick = HAL_GetTick(); | |
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483 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 484 |
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485 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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486 { |
| 277 | 487 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 488 { | |
| 489 Scheduler.counterSPIdata100msec++; | |
| 490 } | |
| 491 schedule_check_resync(); | |
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492 } |
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493 |
| 38 | 494 //Evaluate pressure at 20 ms, 120 ms, 220 ms,.... |
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495 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 496 { |
| 497 global.check_sync_not_running++; | |
| 277 | 498 pressure_update_alternating(); |
| 135 | 499 scheduleUpdateDeviceData(); |
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500 #ifdef DEMOMODE |
| 38 | 501 if(global.demo_mode) |
| 502 { | |
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503 int turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar); |
| 38 | 504 if(turbo_seconds) |
| 505 { | |
| 506 global.lifeData.dive_time_seconds += turbo_seconds; | |
| 507 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData); | |
| 508 copyTissueData(); | |
| 509 } | |
| 510 if((global.lifeData.counterSecondsShallowDepth > 1) && (global.lifeData.counterSecondsShallowDepth < (global.settings.timeoutDiveReachedZeroDepth - 10))) | |
| 511 global.lifeData.counterSecondsShallowDepth = (global.settings.timeoutDiveReachedZeroDepth - 10); | |
| 512 } | |
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513 #endif |
| 38 | 514 |
| 515 //Calc ascentrate every two second (20 * 100 ms) | |
| 516 counterAscentRate++; | |
| 517 if(counterAscentRate == 20) | |
| 518 { | |
| 519 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 520 if(lastPressure_bar >= 0) | |
| 521 { | |
| 522 //2 seconds * 30 == 1 minute, bar * 10 = meter | |
| 523 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10; | |
| 524 } | |
| 525 lastPressure_bar = global.lifeData.pressure_ambient_bar; | |
| 526 counterAscentRate = 0; | |
| 527 } | |
| 135 | 528 copyPressureData(); |
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529 Scheduler.counterPressure100msec++; |
| 38 | 530 } |
| 531 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... | |
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532 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 533 { |
| 534 compass_read(); | |
| 535 acceleration_read(); | |
| 536 compass_calc(); | |
| 537 copyCompassData(); | |
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538 Scheduler.counterCompass100msec++; |
| 135 | 539 } |
| 38 | 540 |
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541 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 542 { |
| 543 adc_ambient_light_sensor_get_data(); | |
| 544 copyAmbientLightData(); | |
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545 Scheduler.counterAmbientLight100msec++; |
| 38 | 546 } |
| 547 | |
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548 //Evaluate tissues, toxic data, vpm, etc. once a second |
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549 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 550 { |
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551 Scheduler.tick_execute1second = 0xFFFFFFFF; /* execute once only in the second cycle */ |
| 38 | 552 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) |
| 553 { | |
| 554 scheduleUpdateLifeData(0); // includes tissues | |
| 555 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too | |
| 556 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); | |
| 557 decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2); | |
| 558 decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2); | |
| 88 | 559 battery_gas_gauge_get_data(); |
| 38 | 560 |
| 561 | |
| 562 /** counter_exit allows safe exit via button for testing | |
| 563 * and demo_mode is exited too if aplicable. | |
| 564 */ | |
| 565 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 566 { | |
| 567 counter_exit++; | |
| 568 if(counter_exit >= 2) | |
| 569 { | |
| 570 global.mode = MODE_SURFACE; | |
| 571 global.demo_mode = 0; | |
| 572 } | |
| 573 } | |
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574 |
| 38 | 575 if(is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 576 { | |
| 577 global.lifeData.counterSecondsShallowDepth++; | |
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578 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0)) |
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579 || (ManualExitDiveCounter)) |
| 38 | 580 { |
| 581 global.seconds_since_last_dive = 1; // start counter | |
| 582 schedule_update_timer_helper(0); // zum starten :-) | |
| 583 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 584 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 585 } | |
| 586 } | |
| 587 else | |
| 588 { | |
| 589 global.lifeData.counterSecondsShallowDepth = 0; | |
| 590 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 591 } | |
| 592 vpm_crush2(); | |
| 593 } | |
| 594 else // DIVEMODE_Apnea | |
| 595 { | |
| 596 global.lifeData.dive_time_seconds++; | |
| 597 | |
| 598 // exit dive mode | |
| 599 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 600 { | |
| 601 counter_exit++; | |
| 602 if(counter_exit >= 2) | |
| 603 { | |
| 604 scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode | |
| 605 global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time | |
| 606 global.mode = MODE_SURFACE; | |
| 607 global.demo_mode = 0; | |
| 608 } | |
| 609 } | |
| 610 | |
| 611 // surface break | |
| 612 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
| 613 { | |
| 614 global.lifeData.counterSecondsShallowDepth++; | |
| 615 if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds | |
| 616 { | |
| 617 global.lifeData.dive_time_seconds = 0; // this apnea dive ends here | |
| 618 } | |
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619 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (ManualExitDiveCounter)) |
| 38 | 620 { |
| 621 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 622 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 623 } | |
| 624 } | |
| 625 else | |
| 626 { | |
| 627 global.lifeData.counterSecondsShallowDepth = 0; | |
| 628 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 629 } | |
| 630 } // standard dive or DIVEMODE_Apnea | |
| 631 | |
| 88 | 632 copyVpmCrushingData(); |
| 633 copyTimeData(); | |
| 634 copyCnsAndOtuData(); | |
| 635 copyBatteryData(); | |
| 38 | 636 |
| 88 | 637 // new hw 170523 |
| 638 if(global.I2C_SystemStatus != HAL_OK) | |
| 639 { | |
| 640 MX_I2C1_TestAndClear(); | |
| 641 MX_I2C1_Init(); | |
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642 init_pressure(); |
| 88 | 643 } |
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644 } |
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645 if(ticksdiff >= 1000) |
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646 { |
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647 /* reset counter */ |
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648 Scheduler.tickstart = HAL_GetTick(); |
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649 Scheduler.counterSPIdata100msec = 0; |
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650 Scheduler.counterCompass100msec = 0; |
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651 Scheduler.counterPressure100msec = 0; |
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652 Scheduler.counterAmbientLight100msec = 0; |
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653 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 654 } |
| 655 } | |
| 656 } | |
| 657 | |
| 658 | |
| 659 /** | |
| 660 ****************************************************************************** | |
| 661 * @brief scheduleSurfaceMode / surface mode: Main Loop | |
| 662 * @author Peter Ryser | |
| 663 * @version V0.0.1 | |
| 664 * @date 22-April-2014 | |
| 665 ****************************************************************************** | |
| 666 */ | |
| 667 | |
| 668 | |
| 669 // =============================================================================== | |
| 670 // scheduleTestMode | |
| 671 /// @brief included for sealed hardware with permanent RTE update message | |
| 672 // =============================================================================== | |
| 673 void scheduleTestMode(void) | |
| 674 { | |
| 675 uint32_t ticksdiff = 0; | |
| 676 uint32_t lasttick = 0; | |
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677 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 678 |
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679 Scheduler.counterPressure100msec = 0; |
| 38 | 680 |
| 681 float temperature_carousel = 0.0f; | |
| 682 float temperature_changer = 0.1f; | |
| 683 | |
| 684 while(global.mode == MODE_TEST) | |
| 685 { | |
| 686 lasttick = HAL_GetTick(); | |
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687 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
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688 |
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689 //Evaluate received data at 10 ms, 110 ms, 210 ms,... |
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690 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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691 { |
| 277 | 692 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 693 { | |
| 694 Scheduler.counterSPIdata100msec++; | |
| 695 } | |
| 696 schedule_check_resync(); | |
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697 } |
| 38 | 698 |
| 699 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... | |
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700 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 701 { |
| 702 global.check_sync_not_running++; | |
| 703 | |
| 277 | 704 pressure_update_alternating(); |
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705 scheduleUpdateDeviceData(); |
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706 global.lifeData.ascent_rate_meter_per_min = 0; |
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707 copyPressureData(); |
| 38 | 708 |
| 709 if(temperature_carousel > 20.0f) | |
| 710 { | |
| 711 temperature_carousel = 20.0f; | |
| 712 temperature_changer = -0.1f; | |
| 713 } | |
| 714 else | |
| 715 if(temperature_carousel < 0) | |
| 716 { | |
| 717 temperature_carousel = 0; | |
| 718 temperature_changer = +0.1f; | |
| 719 } | |
| 720 | |
| 721 temperature_carousel += temperature_changer; | |
| 722 | |
| 723 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; | |
| 724 | |
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725 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); |
| 38 | 726 |
| 727 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; | |
| 728 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 729 global.dataSendToMaster.boolPressureData = boolPressureData; | |
|
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730 Scheduler.counterPressure100msec++; |
| 38 | 731 } |
| 732 | |
| 733 if(ticksdiff >= 1000) | |
| 734 { | |
| 735 //Set back tick counter | |
|
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736 Scheduler.tickstart = HAL_GetTick(); |
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737 Scheduler.counterPressure100msec = 0; |
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738 Scheduler.counterSPIdata100msec = 0; |
| 38 | 739 } |
| 740 }; | |
| 741 } | |
| 742 | |
| 743 | |
|
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744 |
| 38 | 745 void scheduleSurfaceMode(void) |
| 746 { | |
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747 |
| 38 | 748 uint32_t ticksdiff = 0; |
| 749 uint32_t lasttick = 0; | |
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750 Scheduler.tickstart = HAL_GetTick(); |
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751 Scheduler.counterSPIdata100msec = 0; |
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752 Scheduler.counterCompass100msec = 0; |
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753 Scheduler.counterPressure100msec = 0; |
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754 Scheduler.counterAmbientLight100msec = 0; |
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755 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
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756 |
| 38 | 757 global.dataSendToMaster.mode = MODE_SURFACE; |
| 758 global.deviceDataSendToMaster.mode = MODE_SURFACE; | |
| 759 | |
| 760 while(global.mode == MODE_SURFACE) | |
| 761 { | |
| 277 | 762 |
| 38 | 763 lasttick = HAL_GetTick(); |
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764 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 765 |
| 766 if(setButtonsNow == 1) | |
| 767 { | |
| 768 if(scheduleSetButtonResponsiveness()) | |
| 769 setButtonsNow = 0; | |
| 770 } | |
| 771 | |
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772 /* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */ |
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773 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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774 { |
|
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775 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
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776 { |
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777 Scheduler.counterSPIdata100msec++; |
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778 } |
| 277 | 779 schedule_check_resync(); |
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780 } |
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781 |
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782 /* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */ |
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783 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 784 { |
| 785 global.check_sync_not_running++; | |
| 277 | 786 pressure_update_alternating(); |
| 135 | 787 scheduleUpdateDeviceData(); |
| 38 | 788 global.lifeData.ascent_rate_meter_per_min = 0; |
| 135 | 789 copyPressureData(); |
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790 Scheduler.counterPressure100msec++; |
| 135 | 791 |
|
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792 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 38 | 793 global.mode = MODE_DIVE; |
| 794 } | |
| 795 | |
|
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796 /* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */ |
|
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797 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 798 { |
| 799 compass_read(); | |
| 800 acceleration_read(); | |
| 801 compass_calc(); | |
| 802 copyCompassData(); | |
|
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803 Scheduler.counterCompass100msec++; |
| 135 | 804 } |
| 38 | 805 |
|
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806 /* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */ |
|
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807 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 808 { |
| 809 adc_ambient_light_sensor_get_data(); | |
| 810 copyAmbientLightData(); | |
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811 Scheduler.counterAmbientLight100msec++; |
| 38 | 812 } |
|
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813 |
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814 |
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815 |
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816 /* Evaluate tissues, toxic data, etc. once a second... duration ~1ms */ |
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817 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 818 { |
|
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819 Scheduler.tick_execute1second = 0xFFFFFFFF; |
| 38 | 820 if(clearDecoNow) |
| 821 { | |
| 822 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time | |
| 823 // new 160215 hw | |
| 824 global.repetitive_dive = 0; | |
| 825 global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well | |
| 826 global.no_fly_time_minutes = 0; | |
| 827 global.accidentFlag = 0; | |
| 828 global.accidentRemainingSeconds = 0; | |
| 829 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); | |
| 830 clearDecoNow = 0; | |
| 831 } | |
| 89 | 832 |
|
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833 if(ManualExitDiveCounter) |
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834 { |
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835 ManualExitDiveCounter--; |
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836 } |
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837 |
| 38 | 838 if(global.seconds_since_last_dive) |
| 839 { | |
| 840 schedule_update_timer_helper(-1); | |
| 841 } | |
| 89 | 842 |
| 38 | 843 if(global.accidentRemainingSeconds) |
| 844 { | |
| 845 global.accidentRemainingSeconds--; | |
| 846 if(!global.accidentRemainingSeconds) | |
| 847 global.accidentFlag = 0; | |
| 848 } | |
| 849 global.dataSendToMaster.accidentFlags = global.accidentFlag; | |
| 89 | 850 |
| 38 | 851 update_surface_pressure(1); |
| 852 scheduleUpdateLifeData(0); | |
| 853 decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive); | |
| 854 decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive); | |
| 135 | 855 |
| 856 /* start desaturation calculation after first valid measurement has been done */ | |
| 857 if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE) | |
| 858 { | |
| 859 global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar); | |
| 860 } | |
| 861 else | |
| 862 { | |
| 863 global.lifeData.desaturation_time_minutes = 0; | |
| 864 } | |
| 38 | 865 battery_charger_get_status_and_contral_battery_gas_gauge(0); |
| 88 | 866 battery_gas_gauge_get_data(); |
| 89 | 867 |
| 88 | 868 copyCnsAndOtuData(); |
| 869 copyTimeData(); | |
| 870 copyBatteryData(); | |
| 871 copyDeviceData(); | |
| 38 | 872 |
|
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873 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occured during startup */ |
| 88 | 874 if(global.I2C_SystemStatus != HAL_OK) |
| 875 { | |
| 876 MX_I2C1_TestAndClear(); | |
| 877 MX_I2C1_Init(); | |
|
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878 if(global.I2C_SystemStatus == HAL_OK) |
| 88 | 879 { |
| 880 init_pressure(); | |
|
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881 if(is_init_pressure_done()) /* Init surface data with initial measurement */ |
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882 { |
|
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883 init_surface_ring(0); |
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884 } |
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885 |
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886 if(!battery_gas_gauge_CheckConfigOK()) |
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887 { |
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888 init_battery_gas_gauge(); |
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889 } |
| 88 | 890 } |
| 891 } | |
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892 } |
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893 |
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894 if(ticksdiff >= 1000) |
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895 { |
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896 //Set back tick counter |
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897 Scheduler.tickstart = HAL_GetTick(); |
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898 Scheduler.counterSPIdata100msec = 0; |
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899 Scheduler.counterCompass100msec = 0; |
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900 Scheduler.counterPressure100msec = 0; |
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901 Scheduler.counterAmbientLight100msec = 0; |
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902 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 903 } |
| 904 } | |
| 905 } | |
| 906 | |
| 207 | 907 inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod) |
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908 { |
| 207 | 909 if( SyncMethod < SPI_SYNC_METHOD_INVALID) |
| 910 { | |
| 911 dospisync = SyncMethod; | |
| 912 } | |
| 913 } | |
| 914 | |
|
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915 void Scheduler_SyncToSPI(uint8_t TXtick) |
| 207 | 916 { |
| 917 uint32_t deltatick = 0; | |
|
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918 int8_t TXcompensation; |
| 207 | 919 |
| 920 switch(dospisync) | |
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921 { |
| 207 | 922 case SPI_SYNC_METHOD_HARD: |
| 923 //Set back tick counter | |
|
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924 Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */ |
| 207 | 925 Scheduler.counterSPIdata100msec = 0; |
| 926 Scheduler.counterCompass100msec = 0; | |
| 927 Scheduler.counterPressure100msec = 0; | |
| 928 Scheduler.counterAmbientLight100msec = 0; | |
| 929 dospisync = SPI_SYNC_METHOD_NONE; | |
| 930 break; | |
| 931 case SPI_SYNC_METHOD_SOFT: | |
| 932 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); | |
| 933 deltatick %= 100; /* clip to 100ms window */ | |
| 934 if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */ | |
| 935 { | |
| 936 Scheduler.tickstart -= deltatick; | |
| 937 } | |
| 938 else | |
| 939 { | |
| 940 Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart); | |
| 941 } | |
| 942 dospisync = SPI_SYNC_METHOD_NONE; | |
| 943 break; | |
|
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944 default: /* continous sync activity */ |
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945 if(TXtick < 100) /* do not handle unexpected jump length > 100ms */ |
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946 { |
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947 TXtick += 4; /* add 4ms TX time to offset of 100ms time stamp */ |
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948 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); |
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949 deltatick %= 100; |
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950 if(deltatick > 50) |
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951 { |
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952 TXcompensation = deltatick - 100; /* neg drift */ |
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953 } |
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954 else |
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955 { |
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956 TXcompensation = deltatick; /* pos drift */ |
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957 } |
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958 TXcompensation = TXtick - TXcompensation; |
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959 Scheduler.tickstart -= TXcompensation; |
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960 } |
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961 else |
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962 { |
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963 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_SOFT); /* A large shift in 100ms cycle occured => clip to 100ms in next sync call */ |
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964 } |
| 207 | 965 break; |
|
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966 } |
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967 } |
| 38 | 968 |
| 969 /** | |
| 970 ****************************************************************************** | |
| 971 * @brief scheduleCompassCalibrationMode | |
| 972 * @author heinrichs weikamp gmbh | |
| 973 * @version V0.0.1 | |
| 974 * @since 31-March-2015 | |
| 975 * @date 31-March-2015 | |
| 976 ****************************************************************************** | |
| 977 */ | |
| 978 void scheduleCompassCalibrationMode(void) | |
| 979 { | |
| 980 compass_init(1,7); // fast mode, max gain | |
| 981 compass_calib(); // duration : 1 minute! | |
| 982 compass_init(0,7); // back to normal mode | |
| 983 | |
| 984 if(global.seconds_since_last_dive) | |
| 985 { | |
| 986 schedule_update_timer_helper(-1); | |
| 987 } | |
| 988 | |
| 989 scheduleUpdateLifeData(0); | |
| 990 global.mode = MODE_SURFACE; | |
| 991 } | |
| 992 | |
| 993 | |
| 994 /** | |
| 995 ****************************************************************************** | |
| 996 * @brief scheduleSleepMode / sleep mode: Main Loop | |
| 997 * @author heinrichs weikamp gmbh | |
| 998 * @version V0.0.2 | |
| 999 * @since 31-March-2015 | |
| 1000 * @date 22-April-2014 | |
| 1001 ****************************************************************************** | |
| 1002 */ | |
| 1003 | |
| 1004 void scheduleSleepMode(void) | |
| 1005 { | |
| 1006 global.dataSendToMaster.mode = 0; | |
| 1007 global.deviceDataSendToMaster.mode = 0; | |
| 1008 | |
| 1009 /* prevent button wake up problem while in sleep_prepare | |
| 1010 * sleep prepare does I2C_DeInit() | |
| 1011 */ | |
| 1012 if(global.mode != MODE_SLEEP) | |
| 1013 MX_I2C1_Init(); | |
| 1014 else | |
| 1015 do | |
| 1016 { | |
| 1017 I2C_DeInit(); | |
| 1018 | |
| 1019 #ifdef DEBUGMODE | |
| 1020 HAL_Delay(2000); | |
| 1021 #else | |
| 1022 RTC_StopMode_2seconds(); | |
| 1023 #endif | |
| 1024 | |
| 1025 | |
| 1026 | |
| 1027 if(global.mode == MODE_SLEEP) | |
| 1028 secondsCount += 2; | |
| 1029 | |
| 1030 MX_I2C1_Init(); | |
| 1031 pressure_sensor_get_pressure_raw(); | |
| 1032 | |
| 356 | 1033 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occurred during startup */ |
|
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1034 if(global.I2C_SystemStatus != HAL_OK) |
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1035 { |
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1036 MX_I2C1_TestAndClear(); |
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1037 MX_I2C1_Init(); |
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1038 if(global.I2C_SystemStatus == HAL_OK) |
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1039 { |
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1040 init_pressure(); |
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1041 } |
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1042 } |
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1043 |
| 38 | 1044 if(secondsCount >= 30) |
| 1045 { | |
| 1046 pressure_sensor_get_temperature_raw(); | |
| 1047 battery_gas_gauge_get_data(); | |
| 1048 // ReInit_battery_charger_status_pins(); | |
| 1049 battery_charger_get_status_and_contral_battery_gas_gauge(1); | |
| 1050 // DeInit_battery_charger_status_pins(); | |
| 1051 secondsCount = 0; | |
| 1052 } | |
| 1053 | |
| 1054 pressure_calculation(); | |
| 1055 | |
| 1056 scheduleUpdateDeviceData(); | |
| 1057 update_surface_pressure(2); | |
| 1058 | |
| 1059 if(global.seconds_since_last_dive) | |
| 1060 { | |
| 1061 schedule_update_timer_helper(-1); | |
| 1062 } | |
| 1063 | |
| 1064 if(global.accidentRemainingSeconds) | |
| 1065 { | |
| 1066 if(global.accidentRemainingSeconds > 2) | |
| 1067 global.accidentRemainingSeconds -= 2; | |
| 1068 else | |
| 1069 { | |
| 1070 global.accidentRemainingSeconds = 0; | |
| 1071 global.accidentFlag = 0; | |
| 1072 } | |
| 1073 } | |
| 1074 | |
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1075 if (((!is_ambient_pressure_close_to_surface(&global.lifeData)) && (global.lifeData.pressure_surface_bar > START_DIVE_MOUNTAIN_MODE_BAR )) |
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1076 || (global.lifeData.pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR)) |
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1077 { |
| 38 | 1078 global.mode = MODE_BOOT; |
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1079 } |
| 38 | 1080 scheduleUpdateLifeData(2000); |
| 1081 } | |
| 1082 while(global.mode == MODE_SLEEP); | |
| 1083 /* new section for system after Standby */ | |
| 1084 scheduleUpdateLifeData(-1); | |
| 1085 clearDecoNow = 0; | |
| 1086 setButtonsNow = 0; | |
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1087 reinitGlobals(); |
| 38 | 1088 } |
| 1089 | |
| 1090 | |
| 1091 | |
| 1092 /* Private functions ---------------------------------------------------------*/ | |
| 1093 | |
| 1094 /** | |
| 1095 ****************************************************************************** | |
| 1096 * @brief scheduleUpdateLifeData / calculates tissues | |
| 1097 * @author Peter Ryser | |
| 1098 * @version V0.0.1 | |
| 1099 * @date 22-April-2014 | |
| 1100 ****************************************************************************** | |
| 1101 */ | |
| 1102 | |
| 1103 | |
| 1104 void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last) | |
| 1105 { | |
| 1106 static _Bool first = 1; | |
| 1107 static uint32_t tickstart = 0; | |
| 1108 static uint32_t ticksrest = 0; | |
| 1109 | |
| 1110 uint32_t ticksdiff = 0; | |
| 1111 uint32_t ticksnow = 0; | |
| 1112 uint32_t time_seconds = 0; | |
| 1113 uint8_t whichGasTmp = 0; | |
| 1114 | |
| 135 | 1115 uint8_t updateTissueData = 0; |
| 1116 | |
| 1117 | |
| 1118 if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE) | |
| 1119 { | |
| 1120 updateTissueData = 1; | |
| 1121 } | |
| 1122 | |
| 38 | 1123 if(asynchron_milliseconds_since_last < 0) |
| 1124 { | |
| 1125 first = 1; | |
| 1126 tickstart = 0; | |
| 1127 ticksrest = 0; | |
| 1128 return; | |
| 1129 } | |
| 1130 | |
| 1131 if(!asynchron_milliseconds_since_last && first) | |
| 1132 { | |
| 1133 tickstart = HAL_GetTick(); | |
| 1134 first = 0; | |
| 1135 return; | |
| 1136 } | |
| 1137 | |
| 1138 whichGasTmp = global.whichGas; | |
| 1139 global.lifeData.actualGas = global.aktualGas[whichGasTmp]; | |
| 1140 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 1141 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; | |
| 1142 | |
| 135 | 1143 if(updateTissueData) |
| 1144 { | |
| 1145 decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData); | |
| 1146 } | |
| 1147 | |
| 38 | 1148 if(!asynchron_milliseconds_since_last) |
| 1149 { | |
| 1150 ticksnow = HAL_GetTick(); | |
| 1151 ticksdiff = time_elapsed_ms(tickstart,ticksnow); | |
| 1152 } | |
| 1153 else | |
| 1154 { | |
| 1155 first = 1; | |
| 1156 ticksdiff = asynchron_milliseconds_since_last; | |
| 1157 } | |
| 1158 | |
| 1159 if(ticksrest > 1000) // whatever happens after standby with STM32L476 | |
| 1160 ticksrest = 0; // maybe move static to SRAM2 | |
| 1161 | |
| 1162 ticksdiff += ticksrest; | |
| 1163 time_seconds = ticksdiff/ 1000; | |
| 1164 ticksrest = ticksdiff - time_seconds * 1000; | |
| 1165 tickstart = ticksnow; | |
| 1166 | |
| 1167 decom_tissues_exposure((int)time_seconds, &global.lifeData); | |
| 1168 if(global.demo_mode) | |
| 1169 decom_tissues_exposure((int)(3*time_seconds), &global.lifeData); | |
| 1170 copyTissueData(); | |
| 1171 } | |
| 1172 | |
| 1173 | |
| 1174 /** | |
| 1175 ****************************************************************************** | |
| 1176 * @brief scheduleUpdateDeviceData | |
| 1177 * @author heinrichs weikamp gmbh | |
| 1178 * @version V0.0.1 | |
| 1179 * @date 16-March-2015 | |
| 1180 * | |
| 1181 * two step process | |
| 1182 * first compare with data from main CPU == externalLogbookFlash | |
| 1183 * second update with new sensor data | |
| 1184 ****************************************************************************** | |
| 1185 */ | |
| 1186 void scheduleSetDate(SDeviceLine *line) | |
| 1187 { | |
| 1188 extern RTC_HandleTypeDef RTCHandle; | |
| 1189 | |
| 1190 line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1191 line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1192 } | |
| 1193 | |
| 1194 | |
| 1195 void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead) | |
| 1196 { | |
| 1197 lineWrite->date_rtc_dr = lineRead->date_rtc_dr; | |
| 1198 lineWrite->time_rtc_tr = lineRead->time_rtc_tr; | |
| 1199 lineWrite->value_int32 = lineRead->value_int32; | |
| 1200 } | |
| 1201 | |
| 1202 | |
| 1203 void scheduleUpdateDeviceData(void) | |
| 1204 { | |
| 1205 /* first step, main CPU */ | |
| 1206 | |
| 1207 if(deviceDataFlashValid) | |
| 1208 { | |
| 1209 /* max values */ | |
| 1210 if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32) | |
| 1211 { | |
| 1212 scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles); | |
| 1213 } | |
| 1214 if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32) | |
| 1215 { | |
| 1216 scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles); | |
| 1217 } | |
| 1218 if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32) | |
| 1219 { | |
| 1220 scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum); | |
| 1221 } | |
| 1222 if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32) | |
| 1223 { | |
| 1224 scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum); | |
| 1225 } | |
| 1226 if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32) | |
| 1227 { | |
| 1228 scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles); | |
| 1229 } | |
| 1230 if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32) | |
| 1231 { | |
| 1232 scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation); | |
| 1233 } | |
| 1234 | |
| 1235 /* min values */ | |
| 1236 if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32) | |
| 1237 { | |
| 1238 scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum); | |
| 1239 } | |
| 1240 if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32) | |
| 1241 { | |
| 1242 scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum); | |
| 1243 } | |
| 1244 } | |
| 1245 | |
| 1246 /* second step, sensor data */ | |
| 1247 int32_t temperature_centigrad_int32; | |
| 1248 int32_t pressure_mbar_int32; | |
| 1249 int32_t voltage_mvolt_int32; | |
| 1250 | |
| 1251 temperature_centigrad_int32 = (int32_t)(get_temperature() * 100); | |
| 1252 if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32) | |
| 1253 { | |
| 1254 global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1255 scheduleSetDate(&global.deviceData.temperatureMinimum); |
| 38 | 1256 } |
| 1257 | |
| 1258 if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32) | |
| 1259 { | |
| 1260 global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1261 scheduleSetDate(&global.deviceData.temperatureMaximum); |
| 38 | 1262 } |
| 1263 | |
| 1264 pressure_mbar_int32 = (int32_t)get_pressure_mbar(); | |
| 1265 if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32) | |
| 1266 { | |
| 1267 global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32; | |
| 88 | 1268 scheduleSetDate(&global.deviceData.depthMaximum); |
| 38 | 1269 } |
| 1270 | |
| 1271 voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000); | |
| 1272 if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32) | |
| 1273 { | |
| 1274 global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32; | |
| 88 | 1275 scheduleSetDate(&global.deviceData.voltageMinimum); |
| 38 | 1276 } |
| 1277 | |
| 1278 /* third step, counter */ | |
| 1279 switch (global.mode) | |
| 1280 { | |
| 1281 case MODE_SURFACE: | |
| 1282 case MODE_DIVE: | |
| 1283 default: | |
| 1284 deviceDataSubSeconds++; | |
| 1285 if(deviceDataSubSeconds > 10) | |
| 1286 { | |
| 1287 deviceDataSubSeconds = 0; | |
| 1288 global.deviceData.hoursOfOperation.value_int32++; | |
| 1289 } | |
| 1290 break; | |
| 1291 | |
| 1292 case MODE_SLEEP: | |
| 1293 case MODE_SHUTDOWN: | |
| 1294 break; | |
| 1295 } | |
| 1296 } | |
| 1297 | |
| 1298 | |
| 1299 void scheduleUpdateDeviceDataChargerFull(void) | |
| 1300 { | |
| 1301 global.deviceData.batteryChargeCompleteCycles.value_int32++; | |
| 88 | 1302 scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles); |
| 38 | 1303 } |
| 1304 | |
| 1305 | |
| 1306 void scheduleUpdateDeviceDataChargerCharging(void) | |
| 1307 { | |
| 1308 global.deviceData.batteryChargeCycles.value_int32++; | |
| 88 | 1309 scheduleSetDate(&global.deviceData.batteryChargeCycles); |
| 38 | 1310 } |
| 1311 | |
| 1312 | |
| 1313 /** | |
| 1314 ****************************************************************************** | |
| 1315 * @brief vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend | |
| 1316 * @author Peter Ryser | |
| 1317 * @version V0.0.1 | |
| 1318 * @date 22-April-2014 | |
| 1319 ****************************************************************************** | |
| 1320 */ | |
| 1321 _Bool vpm_crush2(void) | |
| 1322 { | |
| 1323 int i = 0; | |
| 1324 static float starting_ambient_pressure = 0; | |
| 1325 static float ending_ambient_pressure = 0; | |
| 1326 static float time_calc_begin = -1; | |
| 1327 static float initial_helium_pressure[16]; | |
| 1328 static float initial_nitrogen_pressure[16]; | |
| 1329 ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1330 | |
| 1331 if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 1332 { | |
| 1333 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1334 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1335 for( i = 0; i < 16; i++) | |
| 1336 { | |
| 1337 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1338 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1339 } | |
| 1340 return 0; | |
| 1341 } | |
| 1342 if(global.lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 1343 { | |
| 1344 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 1345 { | |
| 1346 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 1347 calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 1348 | |
| 1349 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1350 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1351 for( i = 0; i < 16; i++) | |
| 1352 { | |
| 1353 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1354 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1355 } | |
| 1356 | |
| 1357 return 1; | |
| 1358 } | |
| 1359 | |
| 1360 } | |
| 1361 return 0; | |
| 1362 } | |
| 1363 | |
| 1364 | |
| 1365 long get_nofly_time_minutes(void) | |
| 1366 { | |
| 1367 | |
| 1368 if(global.no_fly_time_minutes <= 0) | |
| 1369 return 0; | |
| 1370 | |
| 1371 long minutes_since_last_dive = global.seconds_since_last_dive/60; | |
| 1372 | |
| 1373 if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive)) | |
| 1374 { | |
| 1375 return (global.no_fly_time_minutes - minutes_since_last_dive); | |
| 1376 } | |
| 1377 else | |
| 1378 { | |
| 1379 global.no_fly_time_minutes = 0; | |
| 1380 return 0; | |
| 1381 } | |
| 1382 } | |
| 1383 | |
| 1384 | |
| 1385 //Supports threadsave copying!!! | |
| 1386 void copyActualGas(SGas gas) | |
| 1387 { | |
| 1388 uint8_t whichGas = !global.whichGas; | |
| 1389 global.aktualGas[whichGas] = gas; | |
| 1390 global.whichGas = whichGas; | |
| 1391 } | |
| 1392 | |
| 1393 | |
| 1394 //Supports threadsave copying!!! | |
| 1395 void copyPressureData(void) | |
| 1396 { | |
|
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1397 global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus; |
| 38 | 1398 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; |
| 1399 global.dataSendToMaster.data[boolPressureData].temperature = get_temperature(); | |
| 1400 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); | |
| 1401 global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar(); | |
| 1402 global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min; | |
| 1403 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 1404 global.dataSendToMaster.boolPressureData = boolPressureData; | |
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1405 global.dataSendToMaster.data[boolPressureData].SPARE1 = is_surface_pressure_stable(); |
| 38 | 1406 } |
| 1407 | |
| 1408 | |
| 1409 //Supports threadsave copying!!! | |
| 1410 void copyCnsAndOtuData(void) | |
| 1411 { | |
| 1412 //uint8_t dataSendToMaster. | |
| 1413 uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData; | |
| 1414 global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns; | |
| 1415 global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu; | |
| 1416 global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes; | |
| 1417 global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes(); | |
| 1418 global.dataSendToMaster.boolToxicData = boolToxicData; | |
| 1419 } | |
| 1420 | |
| 1421 | |
| 1422 //Supports threadsave copying!!! | |
| 1423 void copyTimeData(void) | |
| 1424 { | |
| 1425 extern RTC_HandleTypeDef RTCHandle; | |
| 1426 | |
| 1427 uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData; | |
| 1428 global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1429 global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1430 global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds; | |
| 1431 global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time; | |
| 1432 global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive; | |
| 1433 global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth; | |
| 1434 global.dataSendToMaster.boolTimeData = boolTimeData; | |
| 1435 } | |
| 1436 | |
| 1437 | |
| 1438 //Supports threadsave copying!!! | |
| 1439 void copyCompassData(void) | |
| 1440 { | |
| 1441 extern float compass_heading; | |
| 1442 extern float compass_roll; | |
| 1443 extern float compass_pitch; | |
| 1444 //uint8_t dataSendToMaster. | |
| 1445 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1446 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1447 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1448 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1449 global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0; | |
| 1450 global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0; | |
| 1451 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0; | |
| 1452 global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick(); | |
| 1453 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1454 } | |
| 1455 | |
| 1456 | |
| 1457 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz) | |
| 1458 { | |
| 1459 extern float compass_heading; | |
| 1460 extern float compass_roll; | |
| 1461 extern float compass_pitch; | |
| 1462 //uint8_t dataSendToMaster. | |
| 1463 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1464 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1465 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1466 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1467 global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx; | |
| 1468 global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy; | |
| 1469 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz; | |
| 1470 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1471 } | |
| 1472 | |
| 1473 | |
| 1474 //Supports threadsave copying!!! | |
| 1475 void copyBatteryData(void) | |
| 1476 { | |
| 1477 uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData; | |
| 1478 global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage(); | |
| 1479 global.dataSendToMaster.data[boolBatteryData].battery_charge= get_charge(); | |
| 1480 global.dataSendToMaster.boolBatteryData = boolBatteryData; | |
| 1481 } | |
| 1482 | |
| 1483 | |
| 1484 //Supports threadsave copying!!! | |
| 1485 void copyAmbientLightData(void) | |
| 1486 { | |
| 1487 uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData; | |
| 1488 global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level(); | |
| 1489 global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData; | |
| 1490 } | |
| 1491 | |
| 1492 | |
| 1493 //Supports threadsave copying!!! | |
| 1494 void copyTissueData(void) | |
| 1495 { | |
| 1496 //uint8_t dataSendToMaster. | |
| 1497 uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData; | |
| 1498 for(int i = 0; i < 16; i++) | |
| 1499 { | |
| 1500 global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i]; | |
| 1501 global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i]; | |
| 1502 } | |
| 1503 global.dataSendToMaster.boolTisssueData = boolTisssueData; | |
| 1504 } | |
| 1505 | |
| 1506 | |
| 1507 //Supports threadsave copying!!! | |
| 1508 void copyVpmCrushingData(void) | |
| 1509 { | |
| 1510 //uint8_t dataSendToMaster. | |
| 1511 uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData; | |
| 1512 for(int i = 0; i < 16; i++) | |
| 1513 { | |
| 1514 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i]; | |
| 1515 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i]; | |
| 1516 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i]; | |
| 1517 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i]; | |
| 1518 } | |
| 1519 global.dataSendToMaster.boolCrushingData = boolCrushingData; | |
| 1520 } | |
| 1521 | |
| 1522 | |
| 1523 void copyDeviceData(void) | |
| 1524 { | |
| 1525 uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData; | |
| 1526 memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice)); | |
| 1527 global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; | |
| 1528 | |
| 1529 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0; | |
| 1530 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, &global.vpm.adjusted_critical_radius_he, sizeof(16*4)); | |
| 1531 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, &global.vpm.adjusted_critical_radius_n2, sizeof(16*4)); | |
| 1532 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he, &global.vpm.adjusted_crushing_pressure_he, sizeof(16*4)); | |
| 1533 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2, &global.vpm.adjusted_crushing_pressure_n2, sizeof(16*4)); | |
| 1534 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he, &global.vpm.initial_allowable_gradient_he, sizeof(16*4)); | |
| 1535 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2, &global.vpm.initial_allowable_gradient_n2, sizeof(16*4)); | |
| 1536 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, &global.vpm.max_actual_gradient, sizeof(16*4)); | |
| 1537 global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid; | |
| 1538 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1; | |
| 1539 } | |
| 1540 | |
| 1541 /* copyPICdata(); is used in spi.c */ | |
| 1542 void copyPICdata(void) | |
| 1543 { | |
| 1544 uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata; | |
| 1545 for(int i = 0; i < 3; i++) | |
| 1546 { | |
| 1547 global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i]; | |
| 1548 } | |
| 1549 global.dataSendToMaster.boolPICdata = boolPICdata; | |
| 1550 } | |
| 1551 | |
| 1552 | |
| 1553 typedef enum | |
| 1554 { | |
| 1555 SPI3_OK = 0x00, | |
| 1556 SPI3_DEINIT = 0x01, | |
| 1557 } SPI3_StatusTypeDef; | |
| 1558 /* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine | |
| 1559 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit | |
| 1560 and will be init the next call of scheduleSetButtonResponsiveness() | |
| 1561 and data will be send again on the third call | |
| 1562 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active | |
| 1563 */ | |
| 1564 uint8_t scheduleSetButtonResponsiveness(void) | |
| 1565 { | |
| 1566 static uint8_t SPI3status = SPI3_OK; | |
| 1567 | |
| 1568 if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata))) | |
| 1569 { | |
| 1570 copyPICdata(); | |
| 1571 return 1; | |
| 1572 } | |
| 1573 else | |
| 1574 { | |
| 1575 for(int i=0;i<3;i++) | |
| 1576 { | |
| 1577 global.ButtonPICdata[i] = 0xFF; | |
| 1578 } | |
| 1579 copyPICdata(); | |
| 1580 | |
| 1581 if(SPI3status == SPI3_OK) | |
| 1582 { | |
| 1583 MX_SPI3_DeInit(); | |
| 1584 SPI3status = SPI3_DEINIT; | |
| 1585 } | |
| 1586 else | |
| 1587 { | |
| 1588 MX_SPI3_Init(); | |
| 1589 SPI3status = SPI3_OK; | |
| 1590 } | |
| 1591 return 0; | |
| 1592 } | |
| 1593 } | |
| 1594 | |
| 1595 | |
|
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1596 //save time difference |
| 38 | 1597 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) |
| 1598 { | |
| 1599 if(ticksstart <= ticksnow) | |
| 1600 { | |
| 1601 return ticksnow - ticksstart; | |
| 1602 } | |
| 1603 else | |
| 1604 { | |
| 1605 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 1606 } | |
| 1607 } | |
| 1608 | |
| 1609 /* same as in data_central.c */ | |
|
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1610 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 38 | 1611 { |
|
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1612 _Bool retval = true; |
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1613 |
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1614 if(lifeData->pressure_ambient_bar != INVALID_PREASURE_VALUE) /* as long as no valid data is available expect we are close to surface */ |
|
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1615 { |
|
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1616 /* this will e.g. apply in case of a significant pressure change during last 30 minutes => use increased offset for surface detection */ |
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1617 if (lifeData->pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR) |
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1618 { |
|
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1619 retval = false; |
|
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1620 } |
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1621 else if(is_surface_pressure_stable()) /* this is the expected start condition */ |
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1622 { |
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1623 if((lifeData->pressure_ambient_bar >= (lifeData->pressure_surface_bar + 0.1f)) |
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1624 && (ManualExitDiveCounter == 0)) /* only if diver did not request to exit dive mode */ |
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1625 { |
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1626 retval = false; |
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1627 } |
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1628 } |
|
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1629 } |
|
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|
1630 return retval; |
| 38 | 1631 } |
| 1632 | |
| 1633 | |
| 1634 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/ | |
| 1635 |