Mercurial > public > ostc4
annotate Discovery/Src/tCCR.c @ 709:c799151670d5
Bugfix compass bearing:
In previous version an invalid value was set in case the bearing was set without compass calibration. Rootcause was that the bearing -1 is received in case the compase is not calibrated. This has been fixed by setting bearing to 0 (360) in that case.
| author | Ideenmodellierer |
|---|---|
| date | Tue, 08 Nov 2022 21:13:14 +0100 |
| parents | 1b995079c045 |
| children | 8adf9b8fc7fa |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Discovery/Src/tCCR.c | |
| 5 /// \brief HUD data via optical port | |
| 6 /// \author Heinrichs Weikamp gmbh | |
| 7 /// \date 18-Dec-2014 | |
| 8 /// | |
| 9 /// \details | |
| 10 /// | |
| 11 /// $Id$ | |
| 12 /////////////////////////////////////////////////////////////////////////////// | |
| 13 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 14 /// | |
| 15 /// This program is free software: you can redistribute it and/or modify | |
| 16 /// it under the terms of the GNU General Public License as published by | |
| 17 /// the Free Software Foundation, either version 3 of the License, or | |
| 18 /// (at your option) any later version. | |
| 19 /// | |
| 20 /// This program is distributed in the hope that it will be useful, | |
| 21 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 22 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 23 /// GNU General Public License for more details. | |
| 24 /// | |
| 25 /// You should have received a copy of the GNU General Public License | |
| 26 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 27 ////////////////////////////////////////////////////////////////////////////// | |
| 28 | |
| 29 /* Includes ------------------------------------------------------------------*/ | |
| 30 #include <string.h> | |
| 31 #include "tCCR.h" | |
| 32 #include "ostc.h" | |
| 33 #include "data_central.h" | |
| 34 #include "data_exchange.h" | |
| 35 #include "check_warning.h" | |
|
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36 #include "configuration.h" |
| 634 | 37 #include <math.h> |
| 38 | 38 |
| 39 /* Private types -------------------------------------------------------------*/ | |
| 40 typedef struct | |
| 41 { | |
| 42 uint8_t hud_firmwareVersion; | |
| 43 bit8_Type status_byte; | |
| 44 uint16_t sensor_voltage_100uV[3]; | |
| 45 uint8_t sensor_ppo2_cbar[3]; | |
| 46 uint8_t temp1; | |
| 47 uint16_t battery_voltage_mV; | |
| 48 uint16_t checksum; | |
| 49 } SIrLink; | |
| 50 | |
| 634 | 51 typedef enum |
| 52 { | |
| 53 sensorOK = 0, | |
| 54 sensorSuspect, | |
| 55 SensorOutOfBounds | |
| 56 } sensorTrustState_t; | |
| 57 | |
| 58 | |
|
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59 #define HUD_BABBLING_IDIOT (30u) /* 30 Bytes received without break */ |
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60 #define HUD_RX_FRAME_LENGTH (15u) /* Length of a HUD data frame */ |
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61 #define HUD_RX_FRAME_BREAK_MS (100u) /* Time used to detect a gap between two byte receptions => frame start */ |
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62 #define HUD_RX_START_DELAY_MS (500u) /* Delay for start of RX function to avoid start of reception while a transmission is ongoing. */ |
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63 /* Based on an assumed cycle time by the sensor of 1 second. Started at time of last RX */ |
| 38 | 64 |
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65 #define BOTTLE_SENSOR_TIMEOUT (6000u) /* signal pressure budget as not received after 10 minutes (6000 * 100ms) */ |
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66 |
| 634 | 67 #define MAX_SENSOR_COMPARE_DEVIATION (0.15f) /* max deviation between two sensors allowed before their results are rated as suspect */ |
| 662 | 68 #define MAX_SENSOR_VOLTAGE_MV (250u) /* max allowed voltage value for a sensor measurement */ |
| 69 | |
| 70 #ifdef ENABLE_ALTERNATIVE_SENSORTYP | |
| 71 #define MIN_SENSOR_VOLTAGE_MV (3u) /* min allowed voltage value for a sensor measurement (Inspiration, Submatix, Sentinel Typ) */ | |
| 72 #else | |
| 73 #define MIN_SENSOR_VOLTAGE_MV (8u) /* min allowed voltage value for a sensor measurement (legacy OSTC TYP) */ | |
| 74 #endif | |
| 634 | 75 |
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76 /* Private variables ---------------------------------------------------------*/ |
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77 static SIrLink receiveHUD[2]; |
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78 static uint8_t boolHUDdata = 0; |
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79 static uint8_t data_old__lost_connection_to_HUD = 1; |
| 38 | 80 |
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81 static uint8_t receiveHUDraw[16]; |
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82 |
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83 static uint8_t StartListeningToUART_HUD = 0; |
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84 static uint16_t HUDTimeoutCount = 0; |
| 655 | 85 static uint16_t ScrubberTimeoutCount = 0; |
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86 |
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87 static __IO ITStatus UartReadyHUD = RESET; |
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88 static uint32_t LastReceivedTick_HUD = 0; |
| 38 | 89 |
| 90 /* Private variables with external access via get_xxx() function -------------*/ | |
| 91 | |
| 92 /* Private function prototypes -----------------------------------------------*/ | |
| 635 | 93 static uint8_t tCCR_fallbackToFixedSetpoint(void); |
| 38 | 94 |
| 95 #ifndef USART_IR_HUD | |
| 96 | |
| 97 void tCCR_init(void) | |
| 98 { | |
| 99 } | |
| 100 void tCCR_control(void) | |
| 101 { | |
| 102 } | |
| 103 void tCCR_test(void) | |
| 104 { | |
| 105 } | |
| 106 void tCCR_restart(void) | |
| 107 { | |
| 108 } | |
| 109 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 110 { | |
| 111 } | |
| 112 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 113 { | |
| 114 } | |
| 115 float get_HUD_battery_voltage_V(void) | |
| 116 { | |
| 117 } | |
| 118 void tCCR_tick(void) | |
| 119 { | |
| 120 } | |
| 121 | |
| 122 #else | |
| 123 /* Exported functions --------------------------------------------------------*/ | |
| 124 | |
| 125 float get_ppO2Sensor_bar(uint8_t sensor_id) | |
| 126 { | |
| 127 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 128 return 0; | |
| 129 | |
| 130 return (float)(receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id]) / 100.0f; | |
| 131 } | |
| 132 | |
| 133 float get_sensorVoltage_mV(uint8_t sensor_id) | |
| 134 { | |
| 135 if((sensor_id > 2) || data_old__lost_connection_to_HUD) | |
| 136 return 0; | |
| 137 | |
| 138 return (float)(receiveHUD[boolHUDdata].sensor_voltage_100uV[sensor_id]) / 10.0f; | |
| 139 } | |
| 140 | |
| 141 float get_HUD_battery_voltage_V(void) | |
| 142 { | |
| 143 if(data_old__lost_connection_to_HUD) | |
| 144 return 0; | |
| 145 | |
| 146 return (float)(receiveHUD[boolHUDdata].battery_voltage_mV) / 1000.0f; | |
| 147 } | |
| 148 | |
| 149 | |
| 563 | 150 void test_O2_sensor_values_outOfBounds(int8_t * outOfBouds1, int8_t * outOfBouds2, int8_t * outOfBouds3) |
| 38 | 151 { |
| 152 uint8_t sensorNotActiveBinary; | |
| 153 uint8_t sensorActive[3]; | |
| 634 | 154 sensorTrustState_t sensorState[3]; |
| 155 uint8_t index; | |
| 156 | |
| 38 | 157 |
| 158 // test1: user deactivation | |
| 159 sensorNotActiveBinary = stateUsed->diveSettings.ppo2sensors_deactivated; | |
| 160 | |
| 161 for(int i=0;i<3;i++) | |
| 162 sensorActive[i] = 1; | |
| 163 | |
| 164 if(sensorNotActiveBinary) | |
| 165 { | |
| 166 if(sensorNotActiveBinary & 1) | |
| 167 sensorActive[0] = 0; | |
| 168 | |
| 169 if(sensorNotActiveBinary & 2) | |
| 170 sensorActive[1] = 0; | |
| 171 | |
| 172 if(sensorNotActiveBinary & 4) | |
| 173 sensorActive[2] = 0; | |
| 174 } | |
| 175 | |
| 176 // test2: mV of remaining sensors | |
| 177 for(int i=0;i<3;i++) | |
| 178 { | |
| 634 | 179 sensorState[i] = sensorOK; |
| 180 | |
| 38 | 181 if(sensorActive[i]) |
| 182 { | |
| 662 | 183 if( (stateUsed->lifeData.sensorVoltage_mV[i] < MIN_SENSOR_VOLTAGE_MV) || |
| 184 (stateUsed->lifeData.sensorVoltage_mV[i] > MAX_SENSOR_VOLTAGE_MV)) | |
| 38 | 185 { |
| 186 sensorActive[i] = 0; | |
| 187 switch(i) | |
| 188 { | |
| 189 case 0: | |
| 190 sensorNotActiveBinary |= 1; | |
| 191 break; | |
| 192 case 1: | |
| 193 sensorNotActiveBinary |= 2; | |
| 194 break; | |
| 195 case 2: | |
| 196 sensorNotActiveBinary |= 4; | |
| 197 break; | |
| 198 } | |
| 199 } | |
| 200 } | |
| 201 } | |
| 202 | |
| 203 *outOfBouds1 = 0; | |
| 204 *outOfBouds2 = 0; | |
| 205 *outOfBouds3 = 0; | |
| 206 | |
| 207 /* with two, one or no sensor, there is nothing to compare anymore | |
| 208 */ | |
| 209 if(sensorNotActiveBinary) | |
| 210 { | |
| 211 // set outOfBounds for both tests | |
| 212 if(!sensorActive[0]) | |
| 213 *outOfBouds1 = 1; | |
| 214 | |
| 215 if(!sensorActive[1]) | |
| 216 *outOfBouds2 = 1; | |
| 217 | |
| 218 if(!sensorActive[2]) | |
| 219 *outOfBouds3 = 1; | |
| 220 } | |
| 221 else | |
| 222 { | |
| 634 | 223 /* Check two or more of Three */ |
| 224 /* 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 */ | |
| 225 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[0] - stateUsed->lifeData.ppO2Sensor_bar[1]) > MAX_SENSOR_COMPARE_DEVIATION) | |
| 38 | 226 { |
| 634 | 227 sensorState[0]++; |
| 228 sensorState[1]++; | |
| 38 | 229 } |
| 634 | 230 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[0] - stateUsed->lifeData.ppO2Sensor_bar[2]) > MAX_SENSOR_COMPARE_DEVIATION) |
| 38 | 231 { |
| 634 | 232 sensorState[0]++; |
| 233 sensorState[2]++; | |
| 234 } | |
| 235 if(fabsf(stateUsed->lifeData.ppO2Sensor_bar[1] - stateUsed->lifeData.ppO2Sensor_bar[2]) > MAX_SENSOR_COMPARE_DEVIATION) | |
| 236 { | |
| 237 sensorState[1]++; | |
| 238 sensorState[2]++; | |
| 38 | 239 } |
| 634 | 240 for(index = 0; index < 3; index++) |
| 38 | 241 { |
| 634 | 242 if(sensorState[index] == SensorOutOfBounds) |
| 243 { | |
| 244 switch(index) | |
| 245 { | |
| 246 case 0: | |
| 247 *outOfBouds1 = 1; | |
| 248 break; | |
| 249 case 1: | |
| 250 *outOfBouds2 = 1; | |
| 251 break; | |
| 252 case 2: | |
| 253 *outOfBouds3 = 1; | |
| 254 break; | |
| 255 default: | |
| 256 break; | |
| 257 } | |
| 258 } | |
| 38 | 259 } |
| 260 } | |
| 261 } | |
| 262 | |
| 635 | 263 /* this function is called out of the 100ms callback => to be considered for debouncing */ |
| 38 | 264 uint8_t get_ppO2SensorWeightedResult_cbar(void) |
| 265 { | |
| 634 | 266 static uint8_t lastValidValue = 0; |
| 38 | 267 int8_t sensorOutOfBound[3]; |
| 268 uint16_t result = 0; | |
| 269 uint8_t count = 0; | |
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270 uint8_t retVal = 0; |
| 38 | 271 |
| 563 | 272 test_O2_sensor_values_outOfBounds(&sensorOutOfBound[0], &sensorOutOfBound[1], &sensorOutOfBound[2]); |
| 38 | 273 |
| 274 for(int i=0;i<3;i++) | |
| 275 { | |
| 276 if(!sensorOutOfBound[i]) | |
| 277 { | |
| 563 | 278 result += stateUsed->lifeData.ppO2Sensor_bar[i] * 100.0; /* convert centibar used by HUB */ |
| 38 | 279 count++; |
| 280 } | |
| 281 } | |
| 634 | 282 if(count == 0) /* all sensors out of bounds! => return last valid value as workaround till diver takes action */ |
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283 { |
| 635 | 284 if(debounce_warning_fallback(100)) |
| 285 { | |
| 286 set_warning_fallback(); | |
| 287 retVal = tCCR_fallbackToFixedSetpoint(); /* this function only changes setpoint if option is enabled */ | |
| 288 } | |
| 289 if(retVal == 0) | |
| 290 { | |
| 291 retVal = lastValidValue; | |
| 292 } | |
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293 } |
| 38 | 294 else |
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295 { |
| 635 | 296 reset_debounce_warning_fallback(); |
| 297 retVal = (uint8_t)(result / count); | |
| 298 lastValidValue = retVal; | |
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299 } |
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300 return retVal; |
| 38 | 301 } |
| 302 | |
| 303 | |
| 304 void tCCR_init(void) | |
| 305 { | |
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306 uint8_t loop; |
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307 |
| 38 | 308 StartListeningToUART_HUD = 1; |
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309 |
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310 SDiveState* pDiveData = stateRealGetPointerWrite(); |
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311 for(loop=0;loop<(2*NUM_GASES+1);loop++) |
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312 { |
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313 pDiveData->lifeData.bottle_bar_age_MilliSeconds[loop] = BOTTLE_SENSOR_TIMEOUT; |
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314 } |
| 38 | 315 } |
| 316 | |
| 317 | |
| 318 /* after 3 seconds without update from HUD | |
| 319 * data is considered old | |
| 320 */ | |
| 321 void tCCR_tick(void) | |
| 322 { | |
| 655 | 323 SSettings* pSettings = settingsGetPointer(); |
| 324 | |
| 325 if(pSettings->ppo2sensors_source == O2_SENSOR_SOURCE_OPTIC) | |
| 563 | 326 { |
| 327 if(HUDTimeoutCount < 3 * 10) | |
| 328 HUDTimeoutCount++; | |
| 329 else | |
| 330 { | |
| 331 data_old__lost_connection_to_HUD = 1; | |
| 332 if(HUDTimeoutCount < 20 * 10) | |
| 333 HUDTimeoutCount++; | |
| 334 else | |
| 335 tCCR_fallbackToFixedSetpoint(); | |
| 336 } | |
| 337 } | |
| 655 | 338 |
| 339 /* decrease scrubber timer only in real dive mode */ | |
| 662 | 340 if((pSettings->scrubTimerMode != SCRUB_TIMER_OFF) && (isLoopMode(pSettings->dive_mode)) && (stateUsed->mode == MODE_DIVE) && (stateUsed == stateRealGetPointer())) |
| 655 | 341 { |
| 342 ScrubberTimeoutCount++; | |
| 343 if(ScrubberTimeoutCount >= 600) /* resolution is minutes */ | |
| 344 { | |
| 345 ScrubberTimeoutCount = 0; | |
| 346 if(pSettings->scrubTimerCur > 0) | |
| 347 { | |
| 348 pSettings->scrubTimerCur--; | |
| 349 } | |
| 350 } | |
| 351 } | |
| 38 | 352 } |
| 353 | |
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354 void tCCR_SetRXIndication(void) |
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355 { |
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356 static uint8_t floatingRXCount = 0; |
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357 |
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358 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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359 { |
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360 UartReadyHUD = SET; |
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361 LastReceivedTick_HUD = HAL_GetTick(); |
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362 floatingRXCount = 0; |
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363 } |
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364 else /* follow up of error handling */ |
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365 { |
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366 if(time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_FRAME_BREAK_MS) /* Reception took a while => frame start detected */ |
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367 { |
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368 HAL_UART_Receive_IT(&UartIR_HUD_Handle, &receiveHUDraw[1], 14); /* We have already the first byte => get the missing 14 */ |
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369 } |
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370 else |
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371 { |
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372 if(floatingRXCount++ < HUD_BABBLING_IDIOT) |
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373 { |
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374 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); /* Start polling of incoming bytes */ |
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375 } |
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376 else /* Significant amount of data comming in without break => disable input */ |
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377 { /* by not reactivation HUD RX, no recovery fromthis state */ |
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378 stateUsedWrite->diveSettings.ppo2sensors_deactivated = 0x07; /* Display deactivation */ |
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379 } |
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380 } |
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381 } |
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382 |
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383 } |
| 38 | 384 |
| 385 void tCCR_restart(void) | |
| 386 { | |
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387 HAL_UART_AbortReceive_IT(&UartIR_HUD_Handle); /* Called by the error handler. RX will be restarted by control function */ |
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388 StartListeningToUART_HUD = 1; |
| 38 | 389 } |
| 390 | |
| 391 | |
| 392 void tCCR_control(void) | |
| 393 { | |
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446
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394 uint16_t checksum = 0; |
| 457 | 395 #ifdef ENABLE_BOTTLE_SENSOR |
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446
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396 SDiveState *pLivedata = stateRealGetPointerWrite(); |
| 457 | 397 #endif |
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398 |
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399 if((UartReadyHUD == RESET) && StartListeningToUART_HUD && (time_elapsed_ms(LastReceivedTick_HUD, HAL_GetTick()) > HUD_RX_START_DELAY_MS)) |
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400 { |
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401 StartListeningToUART_HUD = 0; |
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402 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, HUD_RX_FRAME_LENGTH); |
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403 } |
| 38 | 404 |
| 405 if(UartReadyHUD == SET) | |
| 406 { | |
| 407 UartReadyHUD = RESET; | |
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408 StartListeningToUART_HUD = 1; |
| 38 | 409 |
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446
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410 /* check if received package is valid */ |
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411 for(int i=0;i<13;i++) |
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412 { |
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413 checksum += receiveHUDraw[i]; |
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414 } |
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415 receiveHUD[!boolHUDdata].checksum = receiveHUDraw[13] + (256 * receiveHUDraw[14]); |
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416 if(checksum == receiveHUD[!boolHUDdata].checksum) |
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417 { |
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418 #ifdef ENABLE_BOTTLE_SENSOR |
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419 if(receiveHUDraw[0] == 0xA5) /* code for pressure sensor */ |
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420 { |
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421 pLivedata->lifeData.bottle_bar[pLivedata->lifeData.actualGas.GasIdInSettings] = receiveHUDraw[10]; |
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422 pLivedata->lifeData.bottle_bar_age_MilliSeconds[pLivedata->lifeData.actualGas.GasIdInSettings] = 0; |
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423 } |
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424 else |
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425 #endif |
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426 /* handle O2 sensor data */ |
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427 { |
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428 memcpy(&receiveHUD[!boolHUDdata], receiveHUDraw, 11); |
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429 receiveHUD[!boolHUDdata].battery_voltage_mV = receiveHUDraw[11] + (256 * receiveHUDraw[12]); |
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430 } |
| 38 | 431 |
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432 boolHUDdata = !boolHUDdata; |
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433 HUDTimeoutCount = 0; |
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434 data_old__lost_connection_to_HUD = 0; |
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435 } |
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436 else |
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437 { |
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438 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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439 { |
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440 HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 1); |
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441 StartListeningToUART_HUD = 0; |
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442 } |
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443 } |
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444 memset(receiveHUDraw,0,sizeof(receiveHUDraw)); |
| 38 | 445 } |
| 446 } | |
| 447 | |
| 448 #endif | |
| 449 /* Private functions ---------------------------------------------------------*/ | |
| 450 | |
| 635 | 451 static uint8_t tCCR_fallbackToFixedSetpoint(void) |
| 38 | 452 { |
| 635 | 453 uint8_t retVal = 0; |
| 662 | 454 uint8_t setpointCbar, actualGasID; |
| 38 | 455 |
| 662 | 456 if((stateUsed->mode == MODE_DIVE) && (stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) && (stateUsed->diveSettings.fallbackOption)) |
| 457 { | |
| 458 if(stateUsed->diveSettings.diveMode == DIVEMODE_CCR) | |
| 459 { | |
| 460 setpointCbar = stateUsed->diveSettings.setpoint[1].setpoint_cbar; | |
| 461 stateUsedWrite->diveSettings.CCR_Mode = CCRMODE_FixedSetpoint; | |
| 462 } | |
| 463 else | |
| 464 { | |
| 465 setpointCbar = stateUsed->lifeData.ppo2Simulated_bar * 100; | |
| 466 stateUsedWrite->diveSettings.CCR_Mode = CCRMODE_Simulation; | |
| 467 } | |
| 468 actualGasID = stateUsed->lifeData.actualGas.GasIdInSettings; | |
| 469 setActualGas_DM(&stateUsedWrite->lifeData,actualGasID,setpointCbar); | |
| 38 | 470 |
| 662 | 471 set_warning_fallback(); |
| 472 retVal = setpointCbar; | |
| 38 | 473 } |
| 635 | 474 return retVal; |
| 38 | 475 } |