Mercurial > public > ostc4
annotate Small_CPU/Src/i2c.c @ 224:ceecabfddb57 div-fixes-3
Bugfix, deco: fix 2 (small) problems with calculated ceiling
This fixes 1 trivial, and 1 not really trivial bug in the calculation
of the ceiling. When simulating a bounce dive to 80m, things become
clear (tried this on a CCR dive, fixed setpoint 1.2bar, about 15 minutes
of bottom time). Closely watch the behavior of the ceiling data. At some
point during the ascent, the ceiling begins to decrease in 10cm steps.
Then suddenly (while still ascending), the ceiling increases again with 1m,
does not change for some time, and then suddenly steps 1.1m less deep.
While not very relevant to real deco diving, it is simply wrong.
The reason for this is subtle. The algorithm used to find the ceiling
is a sort of linear search, stepping down a meter, overshoot the depth, and
search back in 10cm steps. It seems some numerical instability. Fixing
this, was a bit more computational intensive search by stepping up down in
equal steps of 10cm. But, I'm pretty sure that things can be speeded up here, as a
ceiling does not change fast, so it should be not that difficult to limit
the search space, or use a binary search algorithm instead.
The trivial second problem fixed, is that the ceiling ends at the surface
and not at 1m depth. This small issue became visible after changing the step
down size above.
Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author | Jan Mulder <jlmulder@xs4all.nl> |
---|---|
date | Sun, 31 Mar 2019 19:35:51 +0200 |
parents | 7e749084f347 |
children | a9d798e8c11f |
rev | line source |
---|---|
38 | 1 #include "baseCPU2.h" |
2 #include "i2c.h" | |
3 #include "scheduler.h" | |
4 | |
5 /* Private typedef -----------------------------------------------------------*/ | |
6 /* Private define ------------------------------------------------------------*/ | |
7 /* Private macro -------------------------------------------------------------*/ | |
8 | |
9 | |
10 // =============================================================================== | |
11 // I2C addresses - see i2c.h | |
165
e9cce686fe41
Minor: Some documentation for new hardware
heinrichsweikamp
parents:
104
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changeset
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12 // =============================================================================== |
38 | 13 |
14 I2C_HandleTypeDef I2cHandle; | |
15 | |
16 | |
17 /* | |
18 static void I2C_Error_Handler(void) | |
19 { | |
20 while(1) | |
21 { | |
22 } | |
23 } | |
24 */ | |
25 | |
26 HAL_StatusTypeDef I2C1_Status(void) | |
27 { | |
28 return (HAL_StatusTypeDef)global.I2C_SystemStatus; | |
29 } | |
30 | |
31 | |
32 GPIO_PinState HAL_I2C_Read_Data_PIN(void) | |
33 { | |
34 return HAL_GPIO_ReadPin(I2Cx_SDA_GPIO_PORT,I2Cx_SDA_PIN); | |
35 } | |
36 | |
37 void HAL_I2C_Send_One_CLOCK(void) | |
38 { | |
39 HAL_GPIO_WritePin(I2Cx_SCL_GPIO_PORT, I2Cx_SCL_PIN, GPIO_PIN_RESET); | |
40 HAL_Delay(10); | |
41 HAL_GPIO_WritePin(I2Cx_SCL_GPIO_PORT, I2Cx_SCL_PIN, GPIO_PIN_SET); | |
42 HAL_Delay(10); | |
43 } | |
44 | |
45 GPIO_PinState MX_I2C1_TestAndClear(void) | |
46 { | |
47 I2C_DeInit(); | |
48 HAL_I2C_ManualControl_MspInit(); | |
49 for(int i=0; i<9;i++) | |
50 { | |
51 if(HAL_I2C_Read_Data_PIN() == GPIO_PIN_RESET) | |
52 HAL_I2C_Send_One_CLOCK(); | |
53 else | |
54 break; | |
55 } | |
56 return HAL_I2C_Read_Data_PIN(); | |
57 } | |
58 | |
59 HAL_StatusTypeDef MX_I2C1_Init(void) | |
60 { | |
61 I2cHandle.Instance = I2Cx; | |
62 I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; | |
104 | 63 I2cHandle.Init.ClockSpeed = 100000;//400000; REDUCED for compatibility with HMC5583L + MMA8452Q |
38 | 64 I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED; |
104 | 65 I2cHandle.Init.DutyCycle = I2C_DUTYCYCLE_2; |
38 | 66 I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED; |
67 I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED; | |
68 I2cHandle.Init.OwnAddress1 = 0x01; | |
69 | |
88 | 70 global.dataSendToSlaveStopEval = 1; |
38 | 71 |
72 global.I2C_SystemStatus = HAL_I2C_Init(&I2cHandle); | |
82 | 73 HAL_I2CEx_AnalogFilter_Config(&I2cHandle, I2C_ANALOGFILTER_ENABLED); |
100 | 74 HAL_I2CEx_ConfigDigitalFilter(&I2cHandle,0x0F); |
75 | |
82 | 76 |
38 | 77 |
88 | 78 global.dataSendToSlaveStopEval = 0; |
100 | 79 if(global.dataSendToSlavePending) |
80 { | |
81 scheduleSpecial_Evaluate_DataSendToSlave(); | |
82 } | |
38 | 83 return (HAL_StatusTypeDef)global.I2C_SystemStatus; |
84 } | |
85 | |
86 | |
87 void I2C_DeInit(void) | |
88 { | |
89 HAL_I2C_DeInit(&I2cHandle); | |
90 } | |
91 | |
92 | |
93 uint8_t i2c_errors = 0; | |
94 | |
95 void I2C_Error_count(void) | |
96 { | |
97 i2c_errors++; | |
98 } | |
99 | |
100 | |
101 HAL_StatusTypeDef I2C_Master_TransmitNoStop( uint16_t DevAddress, uint8_t *pData, uint16_t Size) | |
102 { | |
103 if(global.I2C_SystemStatus != HAL_OK) | |
104 return (HAL_StatusTypeDef)global.I2C_SystemStatus; | |
105 | |
88 | 106 global.dataSendToSlaveStopEval = 1; |
38 | 107 |
182 | 108 global.I2C_SystemStatus = HAL_I2C_Master_Transmit(&I2cHandle, DevAddress, pData, Size, 0); |
38 | 109 if(global.I2C_SystemStatus != HAL_OK) |
110 { | |
111 I2C_Error_count(); | |
112 } | |
88 | 113 global.dataSendToSlaveStopEval = 0; |
104 | 114 //TODO: REMOVE. |
100 | 115 // if(global.dataSendToSlavePending) |
116 // { | |
117 // scheduleSpecial_Evaluate_DataSendToSlave(); | |
118 // } | |
38 | 119 return (HAL_StatusTypeDef)global.I2C_SystemStatus; |
120 } | |
121 | |
122 | |
123 HAL_StatusTypeDef I2C_Master_Transmit( uint16_t DevAddress, uint8_t *pData, uint16_t Size) | |
124 { | |
125 if(global.I2C_SystemStatus != HAL_OK) | |
126 return (HAL_StatusTypeDef)(global.I2C_SystemStatus & 0x03); | |
127 | |
128 | |
88 | 129 global.dataSendToSlaveStopEval = 1; |
38 | 130 |
182 | 131 global.I2C_SystemStatus = HAL_I2C_Master_Transmit(&I2cHandle, DevAddress, pData, Size, 2); |
38 | 132 if(global.I2C_SystemStatus != HAL_OK) |
133 { | |
134 I2C_Error_count(); | |
135 } | |
136 | |
88 | 137 global.dataSendToSlaveStopEval = 0; |
104 | 138 //TODO: REMOVE. |
100 | 139 // if(global.dataSendToSlavePending) |
140 // { | |
141 // scheduleSpecial_Evaluate_DataSendToSlave(); | |
142 // } | |
88 | 143 |
38 | 144 return (HAL_StatusTypeDef)global.I2C_SystemStatus; |
145 } | |
146 | |
147 | |
148 HAL_StatusTypeDef I2C_Master_Receive( uint16_t DevAddress, uint8_t *pData, uint16_t Size) | |
149 { | |
150 if(global.I2C_SystemStatus != HAL_OK) | |
151 return (HAL_StatusTypeDef)global.I2C_SystemStatus; | |
152 | |
153 uint8_t localHALstatusReturn = 0xFF; | |
154 | |
88 | 155 global.dataSendToSlaveStopEval = 1; |
38 | 156 |
104 | 157 localHALstatusReturn = HAL_I2C_Master_Receive(&I2cHandle, DevAddress, pData, Size, 10); |
38 | 158 if(localHALstatusReturn != HAL_OK) |
159 { | |
160 I2C_Error_count(); | |
161 } | |
162 | |
88 | 163 global.dataSendToSlaveStopEval = 0; |
104 | 164 //TODO: REMOVE. |
94
c6d284ea265b
reduce i2c speed and dutycycle for compass stability
Dmitry Romanov <kitt@bk.ru>
parents:
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165 // if(global.dataSendToSlavePending) |
c6d284ea265b
reduce i2c speed and dutycycle for compass stability
Dmitry Romanov <kitt@bk.ru>
parents:
88
diff
changeset
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166 // { |
100 | 167 // scheduleSpecial_Evaluate_DataSendToSlave(); |
94
c6d284ea265b
reduce i2c speed and dutycycle for compass stability
Dmitry Romanov <kitt@bk.ru>
parents:
88
diff
changeset
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168 // } |
100 | 169 |
38 | 170 return (HAL_StatusTypeDef)localHALstatusReturn; |
171 } | |
172 |