Mercurial > public > ostc4
annotate Common/Inc/data_central.h @ 539:d784f281833a
Added inertia simulation for compass heading:
In previous version calculated compass values were directly used for visualization of the compass. This causes a fast changing (jumping) of values. With the inertia introduction the compass behalfs more like an analog compass. The final value is reached slowly and the displayed values are more stable.
For configuration a new menu item has been added to the compass menu allowing to switch inertia off (default), small and large inertia simulation
| author | Ideenmodellierer |
|---|---|
| date | Sat, 10 Oct 2020 16:59:18 +0200 |
| parents | 58200d756365 |
| children | 1b995079c045 |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Common/Inc/data_central.h | |
| 5 /// \brief Common Dadatypes Declarations | |
| 6 /// \author Heinrichs Weikamp | |
| 7 /// \date 2018 | |
| 8 /// | |
| 9 /// $Id$ | |
| 10 /////////////////////////////////////////////////////////////////////////////// | |
| 11 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 12 /// | |
| 13 /// This program is free software: you can redistribute it and/or modify | |
| 14 /// it under the terms of the GNU General Public License as published by | |
| 15 /// the Free Software Foundation, either version 3 of the License, or | |
| 16 /// (at your option) any later version. | |
| 17 /// | |
| 18 /// This program is distributed in the hope that it will be useful, | |
| 19 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 20 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 21 /// GNU General Public License for more details. | |
| 22 /// | |
| 23 /// You should have received a copy of the GNU General Public License | |
| 24 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 25 ////////////////////////////////////////////////////////////////////////////// | |
| 26 | |
| 27 #ifndef DATA_CENTRAL_H | |
| 28 #define DATA_CENTRAL_H | |
| 29 | |
| 30 #include <stdint.h> | |
| 31 | |
| 32 #include "settings.h" | |
| 33 #include "stm32f4xx_hal.h" | |
| 34 | |
| 35 #define BUEHLMANN_STRUCT_MAX_GASES 11 | |
| 36 #define BUEHLMANN_STRUCT_MAX_ASCENDRATES 3 | |
| 37 #define DECOINFO_STRUCT_MAX_STOPS 50 | |
| 38 | |
| 39 #define false 0 | |
| 40 #define true 1 | |
| 41 | |
| 42 /* Helper structs ------------------------------------------------------------*/ | |
| 43 | |
| 44 //struct SGas | |
| 45 //contains gasinfos of single gas for deco calculation | |
| 46 typedef struct | |
| 47 { | |
| 48 uint8_t nitrogen_percentage; | |
| 49 uint8_t helium_percentage; | |
| 50 uint8_t setPoint_cbar; | |
| 51 uint8_t change_during_ascent_depth_meter_otherwise_zero; | |
| 52 uint8_t GasIdInSettings; | |
| 53 uint8_t temp1_for16bitalign; | |
| 54 } SGas; | |
| 55 | |
| 56 typedef struct | |
| 57 { | |
| 58 float use_from_depth_bar; | |
| 59 float rate_bar_per_minute; | |
| 60 } SAscentrate; | |
| 61 | |
| 62 | |
| 63 typedef struct{ | |
| 64 uint32_t date_rtc_dr; | |
| 65 uint32_t time_rtc_tr; | |
| 66 int32_t value_int32; | |
| 67 } SDeviceLine; | |
| 68 | |
| 69 | |
| 70 typedef struct | |
| 71 { | |
| 72 uint16_t ageInMilliSeconds; | |
| 73 uint8_t numberOfBytes; | |
| 74 uint8_t status; | |
| 75 uint8_t data[12]; | |
| 76 } SDataWireless; | |
| 77 | |
| 78 /* Main structs -------------------------------------------------------------*/ | |
| 79 | |
| 80 | |
| 81 //struct SDecoinfo | |
| 82 //contains result of deco calculation | |
| 83 typedef struct | |
| 84 { | |
| 85 unsigned short output_stop_length_seconds[DECOINFO_STRUCT_MAX_STOPS]; | |
| 86 int output_time_to_surface_seconds; | |
| 87 int output_ndl_seconds; | |
| 88 float output_ceiling_meter; | |
|
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89 float super_saturation; |
| 38 | 90 uint32_t tickstamp; |
| 91 } SDecoinfo; | |
| 92 | |
| 93 | |
| 94 typedef struct | |
| 95 { | |
| 96 //crushing pressure | |
| 97 //in/out | |
| 98 float max_crushing_pressure_he[16]; | |
| 99 float max_crushing_pressure_n2[16]; | |
| 100 // | |
| 101 float run_time_start_of_deco_zone_save; | |
| 102 float depth_start_of_deco_zone_save; | |
| 103 float max_first_stop_depth_save; | |
| 104 short decomode_vpm_plus_conservatism_last_dive; | |
| 105 _Bool deco_zone_reached; | |
| 106 //State variables for repetetive dives | |
| 107 _Bool repetitive_variables_not_valid; | |
| 108 float adjusted_crushing_pressure_he[16]; | |
| 109 float adjusted_crushing_pressure_n2[16]; | |
| 110 float adjusted_critical_radius_he[16]; | |
| 111 float adjusted_critical_radius_n2[16]; | |
| 112 float initial_allowable_gradient_he[16]; | |
| 113 float initial_allowable_gradient_n2[16]; | |
| 114 float max_actual_gradient[16]; | |
| 115 } SVpm; | |
| 116 | |
| 117 typedef struct | |
| 118 { | |
| 119 _Bool repetitive_variables_not_valid; | |
| 120 _Bool is_data_from_RTE_CPU; | |
| 121 _Bool spare2; | |
| 122 _Bool spare3; | |
| 123 float adjusted_crushing_pressure_he[16]; | |
| 124 float adjusted_crushing_pressure_n2[16]; | |
| 125 float adjusted_critical_radius_he[16]; | |
| 126 float adjusted_critical_radius_n2[16]; | |
| 127 float initial_allowable_gradient_he[16]; | |
| 128 float initial_allowable_gradient_n2[16]; | |
| 129 float max_actual_gradient[16]; | |
| 130 } SVpmRepetitiveData; | |
| 131 | |
| 132 //struct SDevice | |
| 133 //contains information about usage | |
| 134 typedef struct | |
| 135 { | |
| 136 SDeviceLine batteryChargeCycles; | |
| 137 SDeviceLine batteryChargeCompleteCycles; | |
| 138 SDeviceLine temperatureMinimum; | |
| 139 SDeviceLine temperatureMaximum; | |
| 140 SDeviceLine depthMaximum; | |
| 141 SDeviceLine diveCycles; | |
| 142 SDeviceLine voltageMinimum; | |
| 143 SDeviceLine hoursOfOperation; | |
| 144 SDeviceLine diveAccident; | |
| 145 } SDevice; | |
| 146 | |
| 147 /* | |
| 148 typedef struct | |
| 149 { | |
| 150 SDevice device; | |
| 151 SVpmRepetitiveData vpm; | |
| 152 } SDeviceState; | |
| 153 */ | |
| 154 | |
| 155 /* struct SLifeData | |
| 156 * contains data all actual data (pressure, stuturation, etc. as received from second ship | |
| 157 * and has actualGas to be send to Small CPU (second chip) | |
| 158 * contains data calculated from actual data after receiption from Small CPU | |
| 159 */ | |
| 160 typedef struct | |
| 161 { | |
| 162 /* from Small CPU */ | |
| 163 int32_t dive_time_seconds; | |
| 164 int32_t dive_time_seconds_without_surface_time; | |
| 165 uint32_t surface_time_seconds; | |
| 166 float pressure_ambient_bar; | |
| 167 float pressure_surface_bar; | |
| 168 float tissue_nitrogen_bar[16]; | |
| 169 float tissue_helium_bar[16]; | |
| 170 float cns; | |
| 171 float otu; | |
| 172 uint16_t desaturation_time_minutes; | |
| 173 uint16_t no_fly_time_minutes; | |
| 174 float temperature_celsius; | |
| 175 float compass_heading; | |
| 176 float compass_roll; | |
| 177 float compass_pitch; | |
| 178 int16_t compass_DX_f; | |
| 179 int16_t compass_DY_f; | |
| 180 int16_t compass_DZ_f; | |
| 181 uint16_t counterSecondsShallowDepth; | |
| 182 float ascent_rate_meter_per_min; | |
| 183 uint32_t timeBinaryFormat; | |
| 184 uint32_t dateBinaryFormat; | |
| 185 float battery_voltage; | |
| 186 float battery_charge; | |
| 187 uint16_t ambient_light_level; | |
| 188 SDataWireless wireless_data[4]; | |
| 189 uint8_t buttonPICdata[4]; | |
| 190 | |
| 191 /* by create DiveSettings() and by setActualGas() | |
| 192 * is send to Small CPU2 for nitrogen calculation | |
| 193 * includes setpoint information | |
| 194 */ | |
| 195 SGas actualGas; | |
| 196 uint8_t lastDiluent_GasIdInSettings; | |
| 197 uint8_t gas_temp2; | |
| 198 | |
| 199 /* calculated by DataEX_copy_to_LifeData() | |
| 200 bottle_bar array size is made like this to have multiples of 32bit | |
| 201 */ | |
| 202 float ppO2; | |
| 203 float depth_meter; | |
| 204 float max_depth_meter; | |
| 205 float average_depth_meter; | |
| 206 float apnea_total_max_depth_meter; | |
| 207 float apnea_last_max_depth_meter; | |
| 208 int32_t apnea_last_dive_time_seconds; | |
| 209 uint16_t bottle_bar[2 * NUM_GASES +1]; | |
| 210 uint16_t bottle_bar_age_MilliSeconds[2 * NUM_GASES + 1]; | |
| 211 uint16_t apnea_total_counter; | |
| 212 | |
| 213 /* control of DataEX_copy_to_LifeData() | |
| 214 */ | |
| 215 uint8_t boolResetAverageDepth; | |
| 216 uint8_t bool_temp1; | |
| 217 uint8_t bool_temp2; | |
| 218 | |
| 219 /* from local sensor or direct HUD communication */ | |
| 220 //pp O2 Sensor | |
| 221 float ppO2Sensor_bar[3]; | |
| 222 float sensorVoltage_mV[3]; | |
| 223 float HUD_battery_voltage_V; | |
| 224 } SLifeData; | |
| 225 | |
| 226 | |
| 227 typedef struct | |
| 228 { | |
| 229 uint16_t tissue_nitrogen_desaturation_time_minutes[16]; | |
| 230 uint16_t tissue_helium_desaturation_time_minutes[16]; | |
| 231 } SLifeData2; | |
| 232 | |
| 233 | |
| 234 typedef struct | |
| 235 { | |
| 236 //warnings | |
| 237 int8_t decoMissed; | |
| 238 int8_t aGf; | |
| 239 int8_t ascentRateHigh; | |
| 240 int8_t ppO2Low; | |
| 241 int8_t ppO2High; | |
| 242 int8_t cnsHigh; | |
| 243 int8_t slowWarning; | |
| 244 int8_t lowBattery; | |
| 245 int8_t numWarnings; | |
| 246 int8_t sensorLinkLost; | |
| 247 int8_t sensorOutOfBounds[3]; | |
| 248 int8_t betterGas; | |
| 249 int8_t fallback; | |
| 250 int8_t betterSetpoint; | |
|
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251 #ifdef ENABLE_BOTTLE_SENSOR |
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252 int8_t newPressure; |
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253 #endif |
| 38 | 254 } SWarnings; |
| 255 | |
| 256 | |
| 257 typedef struct | |
| 258 { | |
| 259 //Events logbook only | |
| 260 int16_t manualMarker; | |
| 261 int16_t gasChange; | |
| 262 int16_t info_GasChange; | |
| 263 int16_t setpointChange; | |
| 264 int16_t info_SetpointChange; | |
| 281 | 265 int16_t manualGasSet; |
| 266 int16_t info_manualGasSetHe; | |
| 267 int16_t info_manualGasSetO2; | |
| 38 | 268 int16_t bailout; |
| 269 int16_t info_bailoutHe; | |
| 270 int16_t info_bailoutO2; | |
| 271 } SEvents; | |
| 272 | |
| 273 | |
| 274 | |
| 275 //struct SDiveSettings | |
| 276 //contains settings necessary for deco calculation | |
| 277 typedef struct | |
| 278 { | |
| 279 float last_stop_depth_bar; | |
| 280 float input_next_stop_increment_depth_bar; | |
| 281 float input_second_to_last_stop_depth_bar; | |
| 282 float ascentRate_meterperminute; | |
| 283 uint8_t diveMode; /* OC, CC, .. */ | |
| 284 uint8_t CCR_Mode; | |
| 285 uint8_t future_TTS_minutes; | |
| 286 | |
| 287 /* If beginning of dive is CCR than ccrOption is set true | |
| 288 * true allows returning from bailout (OC) back to CCR | |
| 289 * true activates CC gas and setpoint pages in dive menu | |
| 290 */ | |
| 291 uint8_t ccrOption; | |
| 292 uint8_t fallbackOption; | |
| 293 uint8_t ppo2sensors_deactivated; | |
| 294 | |
| 295 split2x4_Type deco_type; /* GF or VPM for standard and alternative seperate */ | |
| 296 | |
| 297 /* VPM conservatism, do not change during dive!!! | |
| 298 * do not change in between dives otherwise repetitve dive is not possible | |
| 299 */ | |
| 300 uint8_t vpm_conservatism; | |
| 301 | |
| 302 /* B�hlmann GF | |
| 303 * and a variable that is used by Buehlmann during the dive | |
| 304 * to remember the position of GF low during ascend | |
| 305 */ | |
| 306 uint8_t gf_high; | |
| 307 uint8_t gf_low; | |
| 308 | |
| 309 /* copy of the Settings GasList and SetpintList | |
| 310 * that can be modified during the dive | |
| 311 * especially gases can be actived and deactivated | |
| 312 * gas[0] and setpoint[0] are the special ones configurable during the dive | |
| 313 */ | |
| 314 SGasLine gas[1 + (2*NUM_GASES)]; | |
| 315 SSetpointLine setpoint[1 + NUM_GASES]; | |
| 316 | |
| 317 /* List of GasChanges in the actual order | |
| 318 * this is necessary for VPM and Buehlmann and will be created on start of each calculation | |
| 319 */ | |
| 320 SGas decogaslist[BUEHLMANN_STRUCT_MAX_GASES]; // unused filled with 0xFF | |
| 321 | |
| 322 /* | |
| 323 */ | |
| 324 float internal__pressure_first_stop_ambient_bar_as_upper_limit_for_gf_low_otherwise_zero; | |
| 325 uint16_t compassHeading; | |
| 326 } SDiveSettings; | |
| 327 | |
| 328 enum CHARGE_STATUS{ | |
| 329 CHARGER_off = 0, | |
| 330 CHARGER_running, | |
| 331 CHARGER_complete, | |
| 332 CHARGER_lostConnection | |
| 333 }; | |
| 334 | |
| 335 typedef struct | |
| 336 { | |
| 337 SDiveSettings diveSettings; | |
| 338 SLifeData lifeData; | |
| 339 SVpm vpm; | |
| 340 SEvents events; | |
| 341 SWarnings warnings; | |
| 342 SDecoinfo decolistVPM; | |
| 343 SDecoinfo decolistFutureVPM; | |
| 344 SDecoinfo decolistBuehlmann; // | |
| 345 SDecoinfo decolistFutureBuehlmann; | |
| 346 uint8_t mode; /* hw for sleep, surface, dive, .. */ | |
| 347 uint8_t chargeStatus; | |
| 348 uint8_t data_old__lost_connection_to_slave; | |
| 349 | |
| 350 uint32_t pressure_uTick_new; | |
| 351 uint32_t compass_uTick_new; | |
| 352 | |
| 353 uint32_t pressure_uTick_old; | |
| 354 uint32_t compass_uTick_old; | |
| 355 | |
| 356 uint32_t pressure_uTick_local_new; | |
| 357 uint32_t compass_uTick_local_new; | |
| 358 | |
| 359 uint8_t cnsHigh_at_the_end_of_dive; | |
| 360 uint8_t decoMissed_at_the_end_of_dive; | |
| 361 | |
| 362 uint8_t sensorErrorsRTE; | |
| 363 | |
| 364 uint8_t lastKnownBatteryPercentage; | |
| 365 } SDiveState; | |
| 366 | |
| 367 | |
| 368 typedef struct{ | |
| 369 uint8_t bit0:1; | |
| 370 uint8_t bit1:1; | |
| 371 uint8_t bit2:1; | |
| 372 uint8_t bit3:1; | |
| 373 uint8_t bit4:1; | |
| 374 uint8_t bit5:1; | |
| 375 uint8_t bit6:1; | |
| 376 uint8_t bit7:1; | |
| 377 } ubit8_t; | |
| 378 | |
| 379 typedef union{ | |
| 380 ubit8_t ub; | |
| 381 uint8_t uw; | |
| 382 } bit8_Type; | |
| 383 | |
| 384 extern SDiveState stateSim; | |
| 385 extern SDiveState stateDeco; | |
| 386 extern uint8_t decoLock; | |
|
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387 extern const SDiveState *stateUsed; |
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388 extern SDiveState *stateUsedWrite; |
| 38 | 389 |
| 390 enum DECO_LOCK{ | |
| 391 DECO_CALC_running, | |
| 392 DECO_CALC_ready, | |
| 393 DECO_CALC_FINSHED_Buehlmann, | |
| 394 DECO_CALC_FINSHED_vpm, | |
| 395 DECO_CALC_FINSHED_FutureBuehlmann, | |
| 396 DECO_CALC_FINSHED_Futurevpm, | |
| 397 DECO_CALC_init_as_is_start_of_dive, | |
| 398 DECO_CALC_undefined | |
| 399 }; | |
| 400 | |
| 401 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); | |
| 402 | |
| 403 void set_stateUsedToSim(void); | |
| 404 void set_stateUsedToReal(void); | |
| 405 | |
| 406 _Bool is_stateUsedSetToSim(void); | |
| 407 | |
| 408 const SDiveState * stateRealGetPointer(void); | |
| 409 const SDiveState * stateSimGetPointer(void); | |
| 410 SDiveState * stateRealGetPointerWrite(void); | |
| 411 SDiveState * stateSimGetPointerWrite(void); | |
| 412 const SDevice * stateDeviceGetPointer(void); | |
| 413 SDevice * stateDeviceGetPointerWrite(void); | |
| 414 const SVpmRepetitiveData * stateVpmRepetitiveDataGetPointer(void); | |
| 415 SVpmRepetitiveData * stateVpmRepetitiveDataGetPointerWrite(void); | |
| 416 | |
| 417 void UpdateLifeDataTest(SDiveState * diveState); | |
| 418 | |
| 419 void setSimulationValues(int _ascent_rate_meter_per_min, int _descent_rate_meter_per_min, int _max_depth, int _bottom_time ); | |
| 420 | |
| 421 void createDiveSettings(void); | |
| 422 void copyDiveSettingsToSim(void); | |
| 423 void copyVpmRepetetiveDataToSim(void); | |
| 424 //void fallbackToFixedSetpoints(SLifeData *lifeData); | |
| 425 void setActualGasFirst(SLifeData *lifeData); | |
| 426 void setActualGasAir(SLifeData *lifeData); | |
| 427 void setActualGas(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar); | |
| 428 void setActualGas_ExtraGas(SLifeData *lifeData, uint8_t oxygen, uint8_t helium, uint8_t setpoint_cbar); | |
| 429 void setActualGas_DM(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar); | |
| 430 void setWeekday(RTC_DateTypeDef *sDate); | |
| 431 void setDate(RTC_DateTypeDef Sdate); | |
| 432 void setTime(RTC_TimeTypeDef Stime); | |
| 433 void setBatteryPercentage(uint8_t newChargePercentage); | |
| 434 void setButtonResponsiveness(uint8_t *ButtonSensitivyList); | |
| 435 void calibrateCompass(void); | |
|
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436 void compass_Inertia(float newHeading); |
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437 float compass_getCompensated(); |
| 38 | 438 void clearDeco(void); |
| 439 void translateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate); | |
| 440 void translateTime(uint32_t tmpreg, RTC_TimeTypeDef *sTime); | |
| 441 void updateSetpointStateUsed(void); | |
| 442 | |
| 443 uint8_t calc_MOD(uint8_t gasId); | |
| 444 uint8_t calc_MinOD(uint8_t gasId); | |
| 445 //float calc_ppO2(float input_ambient_pressure_bar, SGas* pGas); | |
| 446 int current_second(void); | |
| 447 _Bool vpm_crush(SDiveState* pDiveState); | |
| 448 _Bool deco_zone_reached(void); | |
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449 void resetEvents(const SDiveState *pStateUsed); |
| 38 | 450 |
| 451 uint32_t crc32c_checksum(uint8_t* message, uint16_t length, uint8_t* message2, uint16_t length2); | |
| 452 uint32_t CRC_CalcBlockCRC(uint32_t *buffer, uint32_t words); | |
| 453 uint32_t CRC_CalcBlockCRC_moreThan768000(uint32_t *buffer1, uint32_t *buffer2, uint32_t words); | |
| 454 | |
| 455 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData); | |
| 456 | |
| 457 #endif // DATA_CENTRAL_H |