Mercurial > public > ostc4
annotate Discovery/Src/tCCR.c @ 642:c737cf5d9067
Do not show focus indicator in case motion detection is suspended:
Motion detection will be suspended in case the diver is operating the OSTC using the buttons. In previous versions the focus indicator was shown even the motion detection was not active => may cause confusion. The indicator is now only shown in case the detection is active
Added hystresis for switching between sector views:
In previous versions small jitter at the angle signal could cause fast switching of the custom view. An offset has now been added to avoid this scenario
| author | Ideenmodellierer |
|---|---|
| date | Wed, 24 Mar 2021 21:28:41 +0100 |
| parents | 66c8a4ff9fc4 |
| children | 980b4aa60a0e |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Discovery/Src/tCCR.c | |
| 5 /// \brief HUD data via optical port | |
| 6 /// \author Heinrichs Weikamp gmbh | |
| 7 /// \date 18-Dec-2014 | |
| 8 /// | |
| 9 /// \details | |
| 10 /// | |
| 11 /// $Id$ | |
| 12 /////////////////////////////////////////////////////////////////////////////// | |
| 13 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 14 /// | |
| 15 /// This program is free software: you can redistribute it and/or modify | |
| 16 /// it under the terms of the GNU General Public License as published by | |
| 17 /// the Free Software Foundation, either version 3 of the License, or | |
| 18 /// (at your option) any later version. | |
| 19 /// | |
| 20 /// This program is distributed in the hope that it will be useful, | |
| 21 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 22 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 23 /// GNU General Public License for more details. | |
| 24 /// | |
| 25 /// You should have received a copy of the GNU General Public License | |
| 26 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 27 ////////////////////////////////////////////////////////////////////////////// | |
| 28 | |
| 29 /* Includes ------------------------------------------------------------------*/ | |
| 30 #include <string.h> | |
| 31 #include "tCCR.h" | |
| 32 #include "ostc.h" | |
| 33 #include "data_central.h" | |
| 34 #include "data_exchange.h" | |
| 35 #include "check_warning.h" | |
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36 #include "configuration.h" |
| 634 | 37 #include <math.h> |
| 38 | 38 |
| 39 /* Private types -------------------------------------------------------------*/ | |
| 40 typedef struct | |
| 41 { | |
| 42 uint8_t hud_firmwareVersion; | |
| 43 bit8_Type status_byte; | |
| 44 uint16_t sensor_voltage_100uV[3]; | |
| 45 uint8_t sensor_ppo2_cbar[3]; | |
| 46 uint8_t temp1; | |
| 47 uint16_t battery_voltage_mV; | |
| 48 uint16_t checksum; | |
| 49 } SIrLink; | |
| 50 | |
| 634 | 51 typedef enum |
| 52 { | |
| 53 sensorOK = 0, | |
| 54 sensorSuspect, | |
| 55 SensorOutOfBounds | |
| 56 } sensorTrustState_t; | |
| 57 | |
| 58 | |
|
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59 #define HUD_BABBLING_IDIOT (30u) /* 30 Bytes received without break */ |
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60 #define HUD_RX_FRAME_LENGTH (15u) /* Length of a HUD data frame */ |
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61 #define HUD_RX_FRAME_BREAK_MS (100u) /* Time used to detect a gap between two byte receptions => frame start */ |
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62 #define HUD_RX_START_DELAY_MS (500u) /* Delay for start of RX function to avoid start of reception while a transmission is ongoing. */ |
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63 /* Based on an assumed cycle time by the sensor of 1 second. Started at time of last RX */ |
| 38 | 64 |
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65 #define BOTTLE_SENSOR_TIMEOUT (6000u) /* signal pressure budget as not received after 10 minutes (6000 * 100ms) */ |
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66 |
| 634 | 67 #define MAX_SENSOR_COMPARE_DEVIATION (0.15f) /* max deviation between two sensors allowed before their results are rated as suspect */ |
| 68 | |
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69 /* Private variables ---------------------------------------------------------*/ |
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70 static SIrLink receiveHUD[2]; |
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71 static uint8_t boolHUDdata = 0; |
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72 static uint8_t data_old__lost_connection_to_HUD = 1; |
| 38 | 73 |
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74 static uint8_t receiveHUDraw[16]; |
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75 |
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76 static uint8_t StartListeningToUART_HUD = 0; |
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77 static uint16_t HUDTimeoutCount = 0; |
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78 |
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79 static __IO ITStatus UartReadyHUD = RESET; |
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80 static uint32_t LastReceivedTick_HUD = 0; |
| 38 | 81 |
| 82 /* Private variables with external access via get_xxx() function -------------*/ | |
| 83 | |
| 84 /* Private function prototypes -----------------------------------------------*/ | |
| 635 | 85 static uint8_t tCCR_fallbackToFixedSetpoint(void); |
| 38 | 86 |
| 87 #ifndef USART_IR_HUD | |
| 88 | |
| 89 void tCCR_init(void) | |
| 90 { | |
| 91 } | |
| 92 void tCCR_control(void) | |
| 93 { | |
| 94 } | |
| 95 void tCCR_test(void) | |
| 96 { | |
| 97 } | |
| 98 void tCCR_restart(void) | |
| 99 { | |
| 100 } | |
| 101 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 102 { | |
| 103 } | |
| 104 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 105 { | |
| 106 } | |
| 107 float get_HUD_battery_voltage_V(void) | |
| 108 { | |
| 109 } | |
| 110 void tCCR_tick(void) | |
| 111 { | |
| 112 } | |
| 113 | |
| 114 #else | |
| 115 /* Exported functions --------------------------------------------------------*/ | |
| 116 | |
| 117 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 118 { | |
| 119 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 120 return 0; | |
| 121 | |
| 122 return (float)(receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id]) / 100.0f; | |
| 123 } | |
| 124 | |
| 125 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 126 { | |
| 127 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 128 return 0; | |
| 129 | |
| 130 return (float)(receiveHUD[boolHUDdata].sensor_voltage_100uV[sensor_id]) / 10.0f; | |
| 131 } | |
| 132 | |
| 133 float get_HUD_battery_voltage_V(void) | |
| 134 { | |
| 135 if(data_old__lost_connection_to_HUD) | |
| 136 return 0; | |
| 137 | |
| 138 return (float)(receiveHUD[boolHUDdata].battery_voltage_mV) / 1000.0f; | |
| 139 } | |
| 140 | |
| 141 | |
| 563 | 142 void test_O2_sensor_values_outOfBounds(int8_t * outOfBouds1, int8_t * outOfBouds2, int8_t * outOfBouds3) |
| 38 | 143 { |
| 144 uint8_t sensorNotActiveBinary; | |
| 145 uint8_t sensorActive[3]; | |
| 634 | 146 sensorTrustState_t sensorState[3]; |
| 147 uint8_t index; | |
| 148 | |
| 38 | 149 |
| 150 // test1: user deactivation | |
| 151 sensorNotActiveBinary = stateUsed->diveSettings.ppo2sensors_deactivated; | |
| 152 | |
| 153 for(int i=0;i<3;i++) | |
| 154 sensorActive[i] = 1; | |
| 155 | |
| 156 if(sensorNotActiveBinary) | |
| 157 { | |
| 158 if(sensorNotActiveBinary & 1) | |
| 159 sensorActive[0] = 0; | |
| 160 | |
| 161 if(sensorNotActiveBinary & 2) | |
| 162 sensorActive[1] = 0; | |
| 163 | |
| 164 if(sensorNotActiveBinary & 4) | |
| 165 sensorActive[2] = 0; | |
| 166 } | |
| 167 | |
| 168 // test2: mV of remaining sensors | |
| 169 for(int i=0;i<3;i++) | |
| 170 { | |
| 634 | 171 sensorState[i] = sensorOK; |
| 172 | |
| 38 | 173 if(sensorActive[i]) |
| 174 { | |
| 563 | 175 if( (stateUsed->lifeData.sensorVoltage_mV[i] < 8) || |
| 176 (stateUsed->lifeData.sensorVoltage_mV[i] > 250)) | |
| 38 | 177 { |
| 178 sensorActive[i] = 0; | |
| 179 switch(i) | |
| 180 { | |
| 181 case 0: | |
| 182 sensorNotActiveBinary |= 1; | |
| 183 break; | |
| 184 case 1: | |
| 185 sensorNotActiveBinary |= 2; | |
| 186 break; | |
| 187 case 2: | |
| 188 sensorNotActiveBinary |= 4; | |
| 189 break; | |
| 190 } | |
| 191 } | |
| 192 } | |
| 193 } | |
| 194 | |
| 195 *outOfBouds1 = 0; | |
| 196 *outOfBouds2 = 0; | |
| 197 *outOfBouds3 = 0; | |
| 198 | |
| 199 /* with two, one or no sensor, there is nothing to compare anymore | |
| 200 */ | |
| 201 if(sensorNotActiveBinary) | |
| 202 { | |
| 203 // set outOfBounds for both tests | |
| 204 if(!sensorActive[0]) | |
| 205 *outOfBouds1 = 1; | |
| 206 | |
| 207 if(!sensorActive[1]) | |
| 208 *outOfBouds2 = 1; | |
| 209 | |
| 210 if(!sensorActive[2]) | |
| 211 *outOfBouds3 = 1; | |
| 212 } | |
| 213 else | |
| 214 { | |
| 634 | 215 /* Check two or more of Three */ |
| 216 /* compare every sensor with each other. If there is only one mismatch the value might be OK. In case both comparisons fail the sensor is out of bounds */ | |
| 217 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[0] - stateUsed->lifeData.ppO2Sensor_bar[1]) > MAX_SENSOR_COMPARE_DEVIATION) | |
| 38 | 218 { |
| 634 | 219 sensorState[0]++; |
| 220 sensorState[1]++; | |
| 38 | 221 } |
| 634 | 222 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[0] - stateUsed->lifeData.ppO2Sensor_bar[2]) > MAX_SENSOR_COMPARE_DEVIATION) |
| 38 | 223 { |
| 634 | 224 sensorState[0]++; |
| 225 sensorState[2]++; | |
| 226 } | |
| 227 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[1] - stateUsed->lifeData.ppO2Sensor_bar[2]) > MAX_SENSOR_COMPARE_DEVIATION) | |
| 228 { | |
| 229 sensorState[1]++; | |
| 230 sensorState[2]++; | |
| 38 | 231 } |
| 634 | 232 for(index = 0; index < 3; index++) |
| 38 | 233 { |
| 634 | 234 if(sensorState[index] == SensorOutOfBounds) |
| 235 { | |
| 236 switch(index) | |
| 237 { | |
| 238 case 0: | |
| 239 *outOfBouds1 = 1; | |
| 240 break; | |
| 241 case 1: | |
| 242 *outOfBouds2 = 1; | |
| 243 break; | |
| 244 case 2: | |
| 245 *outOfBouds3 = 1; | |
| 246 break; | |
| 247 default: | |
| 248 break; | |
| 249 } | |
| 250 } | |
| 38 | 251 } |
| 252 } | |
| 253 } | |
| 254 | |
| 635 | 255 /* this function is called out of the 100ms callback => to be considered for debouncing */ |
| 38 | 256 uint8_t get_ppO2SensorWeightedResult_cbar(void) |
| 257 { | |
| 634 | 258 static uint8_t lastValidValue = 0; |
| 38 | 259 int8_t sensorOutOfBound[3]; |
| 260 uint16_t result = 0; | |
| 261 uint8_t count = 0; | |
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262 uint8_t retVal = 0; |
| 38 | 263 |
| 563 | 264 test_O2_sensor_values_outOfBounds(&sensorOutOfBound[0], &sensorOutOfBound[1], &sensorOutOfBound[2]); |
| 38 | 265 |
| 266 for(int i=0;i<3;i++) | |
| 267 { | |
| 268 if(!sensorOutOfBound[i]) | |
| 269 { | |
| 563 | 270 result += stateUsed->lifeData.ppO2Sensor_bar[i] * 100.0; /* convert centibar used by HUB */ |
| 38 | 271 count++; |
| 272 } | |
| 273 } | |
| 634 | 274 if(count == 0) /* all sensors out of bounds! => return last valid value as workaround till diver takes action */ |
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275 { |
| 635 | 276 if(debounce_warning_fallback(100)) |
| 277 { | |
| 278 set_warning_fallback(); | |
| 279 retVal = tCCR_fallbackToFixedSetpoint(); /* this function only changes setpoint if option is enabled */ | |
| 280 } | |
| 281 if(retVal == 0) | |
| 282 { | |
| 283 retVal = lastValidValue; | |
| 284 } | |
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285 } |
| 38 | 286 else |
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287 { |
| 635 | 288 reset_debounce_warning_fallback(); |
| 289 retVal = (uint8_t)(result / count); | |
| 290 lastValidValue = retVal; | |
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291 } |
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292 return retVal; |
| 38 | 293 } |
| 294 | |
| 295 | |
| 296 void tCCR_init(void) | |
| 297 { | |
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298 uint8_t loop; |
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299 |
| 38 | 300 StartListeningToUART_HUD = 1; |
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301 |
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302 SDiveState* pDiveData = stateRealGetPointerWrite(); |
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303 for(loop=0;loop<(2*NUM_GASES+1);loop++) |
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304 { |
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305 pDiveData->lifeData.bottle_bar_age_MilliSeconds[loop] = BOTTLE_SENSOR_TIMEOUT; |
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306 } |
| 38 | 307 } |
| 308 | |
| 309 | |
| 310 /* after 3 seconds without update from HUD | |
| 311 * data is considered old | |
| 312 */ | |
| 313 void tCCR_tick(void) | |
| 314 { | |
| 563 | 315 if(settingsGetPointer()->ppo2sensors_source == O2_SENSOR_SOURCE_OPTIC) |
| 316 { | |
| 317 if(HUDTimeoutCount < 3 * 10) | |
| 318 HUDTimeoutCount++; | |
| 319 else | |
| 320 { | |
| 321 data_old__lost_connection_to_HUD = 1; | |
| 322 if(HUDTimeoutCount < 20 * 10) | |
| 323 HUDTimeoutCount++; | |
| 324 else | |
| 325 tCCR_fallbackToFixedSetpoint(); | |
| 326 } | |
| 327 } | |
| 38 | 328 } |
| 329 | |
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330 void tCCR_SetRXIndication(void) |
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331 { |
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332 static uint8_t floatingRXCount = 0; |
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333 |
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334 if((UartIR_HUD_Handle.RxXferSize == HUD_RX_FRAME_LENGTH) || (UartIR_HUD_Handle.RxXferSize == HUD_RX_FRAME_LENGTH - 1)) /* we expected a complete frame */ |
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335 { |
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336 UartReadyHUD = SET; |
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337 LastReceivedTick_HUD = HAL_GetTick(); |
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338 floatingRXCount = 0; |
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339 } |
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340 else /* follow up of error handling */ |
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341 { |
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342 if(time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_FRAME_BREAK_MS) /* Reception took a while => frame start detected */ |
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343 { |
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344 HAL_UART_Receive_IT(&UartIR_HUD_Handle, &receiveHUDraw[1], 14); /* We have already the first byte => get the missing 14 */ |
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345 } |
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346 else |
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347 { |
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348 if(floatingRXCount++ < HUD_BABBLING_IDIOT) |
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349 { |
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350 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); /* Start polling of incoming bytes */ |
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351 } |
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352 else /* Significant amount of data comming in without break => disable input */ |
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353 { /* by not reactivation HUD RX, no recovery fromthis state */ |
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354 stateUsedWrite->diveSettings.ppo2sensors_deactivated = 0x07; /* Display deactivation */ |
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355 } |
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356 } |
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357 } |
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358 |
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359 } |
| 38 | 360 |
| 361 void tCCR_restart(void) | |
| 362 { | |
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363 HAL_UART_AbortReceive_IT(&UartIR_HUD_Handle); /* Called by the error handler. RX will be restarted by control function */ |
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364 StartListeningToUART_HUD = 1; |
| 38 | 365 } |
| 366 | |
| 367 | |
| 368 void tCCR_control(void) | |
| 369 { | |
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370 uint16_t checksum = 0; |
| 457 | 371 #ifdef ENABLE_BOTTLE_SENSOR |
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372 SDiveState *pLivedata = stateRealGetPointerWrite(); |
| 457 | 373 #endif |
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374 |
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375 if((UartReadyHUD == RESET) && StartListeningToUART_HUD && (time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_START_DELAY_MS)) |
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376 { |
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377 StartListeningToUART_HUD = 0; |
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378 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, HUD_RX_FRAME_LENGTH); |
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379 } |
| 38 | 380 |
| 381 if(UartReadyHUD == SET) | |
| 382 { | |
| 383 UartReadyHUD = RESET; | |
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384 StartListeningToUART_HUD = 1; |
| 38 | 385 |
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386 /* check if received package is valid */ |
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387 for(int i=0;i<13;i++) |
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388 { |
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389 checksum += receiveHUDraw[i]; |
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390 } |
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391 receiveHUD[!boolHUDdata].checksum = receiveHUDraw[13] + (256 * receiveHUDraw[14]); |
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392 if(checksum == receiveHUD[!boolHUDdata].checksum) |
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393 { |
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394 #ifdef ENABLE_BOTTLE_SENSOR |
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395 if(receiveHUDraw[0] == 0xA5) /* code for pressure sensor */ |
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396 { |
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397 pLivedata->lifeData.bottle_bar[pLivedata->lifeData.actualGas.GasIdInSettings] = receiveHUDraw[10]; |
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398 pLivedata->lifeData.bottle_bar_age_MilliSeconds[pLivedata->lifeData.actualGas.GasIdInSettings] = 0; |
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399 } |
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400 else |
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401 #endif |
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402 /* handle O2 sensor data */ |
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403 { |
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404 memcpy(&receiveHUD[!boolHUDdata], receiveHUDraw, 11); |
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405 receiveHUD[!boolHUDdata].battery_voltage_mV = receiveHUDraw[11] + (256 * receiveHUDraw[12]); |
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406 } |
| 38 | 407 |
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408 boolHUDdata = !boolHUDdata; |
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409 HUDTimeoutCount = 0; |
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410 data_old__lost_connection_to_HUD = 0; |
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411 } |
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412 else |
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413 { |
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414 if(data_old__lost_connection_to_HUD) /* we lost connection, maybe due to RX shift => start single byte read to resynchronize */ |
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415 { |
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416 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); |
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417 StartListeningToUART_HUD = 0; |
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418 } |
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419 } |
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420 memset(receiveHUDraw,0,sizeof(receiveHUDraw)); |
| 38 | 421 } |
| 422 } | |
| 423 | |
| 424 #endif | |
| 425 /* Private functions ---------------------------------------------------------*/ | |
| 426 | |
| 635 | 427 static uint8_t tCCR_fallbackToFixedSetpoint(void) |
| 38 | 428 { |
| 635 | 429 uint8_t retVal = 0; |
| 38 | 430 if((stateUsed->mode == MODE_DIVE) && (stateUsed->diveSettings.diveMode == DIVEMODE_CCR) && (stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) && (stateUsed->diveSettings.fallbackOption)) |
| 431 { | |
| 432 uint8_t setpointCbar, actualGasID; | |
| 433 | |
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434 setpointCbar = stateUsed->diveSettings.setpoint[1].setpoint_cbar; |
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435 stateUsedWrite->diveSettings.CCR_Mode = CCRMODE_FixedSetpoint; |
| 38 | 436 |
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437 actualGasID = stateUsed->lifeData.actualGas.GasIdInSettings; |
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438 setActualGas_DM(&stateUsedWrite->lifeData,actualGasID,setpointCbar); |
| 38 | 439 |
| 440 set_warning_fallback(); | |
| 635 | 441 retVal = stateUsed->diveSettings.setpoint[1].setpoint_cbar; |
| 38 | 442 } |
| 635 | 443 return retVal; |
| 38 | 444 } |