Mercurial > public > ostc4
annotate Small_CPU/Src/scheduler.c @ 704:f1b40364b0af
Added protocol functions for UART DiveO2 sensor:
The code has been modified to support the handling of several protocols (including baud rate changes). The data is requested by polling and passed via DMA into a ringbuffer which is then parsed by a cyclic function call in the main loop. At the moment only the O2 values are forwarded but because the sensor send several types of data within a signle message already more is extracted but yet discarded.
| author | Ideenmodellierer |
|---|---|
| date | Fri, 28 Oct 2022 20:49:21 +0200 |
| parents | 52d68cf9994c |
| children | 045ff7800501 |
| 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" | |
|
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44 #include "externalInterface.h" |
| 662 | 45 #include "uart.h" |
| 38 | 46 |
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47 /* uncomment to enable restoting of last known date in case of a power loss (RTC looses timing data) */ |
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48 /* #define RESTORE_LAST_KNOWN_DATE */ |
| 38 | 49 |
| 475 | 50 #define INVALID_PREASURE_VALUE (0.0f) |
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51 #define START_DIVE_MOUNTAIN_MODE_BAR (0.88f) |
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52 #define START_DIVE_IMMEDIATLY_BAR (1.16f) |
| 135 | 53 |
| 38 | 54 /* Private types -------------------------------------------------------------*/ |
| 55 const SGas Air = {79,0,0,0,0}; | |
| 56 | |
| 57 /* Exported variables --------------------------------------------------------*/ | |
| 58 SGlobal global; | |
| 59 SDevice DeviceDataFlash; | |
| 60 uint8_t deviceDataFlashValid = 0; | |
| 61 uint8_t deviceDataSubSeconds = 0; | |
| 62 | |
| 63 /* Private variables ---------------------------------------------------------*/ | |
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64 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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65 |
| 38 | 66 /* can be lost while in sleep */ |
| 67 uint8_t clearDecoNow = 0; | |
| 68 uint8_t setButtonsNow = 0; | |
| 69 | |
| 70 /* has to be in SRAM2 */ | |
| 71 uint8_t secondsCount = 0; | |
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72 |
| 207 | 73 static uint8_t dospisync = SPI_SYNC_METHOD_NONE; |
| 74 | |
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75 SScheduleCtrl Scheduler; |
| 38 | 76 |
| 77 /* Private function prototypes -----------------------------------------------*/ | |
| 78 | |
| 79 _Bool vpm_crush2(void); | |
| 80 void scheduleUpdateDeviceData(void); | |
| 81 long get_nofly_time_minutes(void); | |
| 82 void copyActualGas(SGas gas); | |
| 83 void copyPressureData(void); | |
| 84 void copyCnsAndOtuData(void); | |
| 85 void copyTimeData(void); | |
| 86 void copyCompassData(void); | |
| 87 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 88 void copyAmbientLightData(void); | |
| 89 void copyTissueData(void); | |
| 90 void copyVpmCrushingData(void); | |
| 91 void copyDeviceData(void); | |
| 92 void copyPICdata(void); | |
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93 void copyExtADCdata(); |
| 662 | 94 void copyExtCO2data(); |
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95 static void schedule_update_timer_helper(int8_t thisSeconds); |
| 38 | 96 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
| 97 | |
| 98 void scheduleSetDate(SDeviceLine *line); | |
| 99 | |
| 100 /* Exported functions --------------------------------------------------------*/ | |
| 101 | |
| 102 void initGlobals(void) | |
| 103 { | |
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104 bzero(&global, sizeof(SGlobal)); |
| 38 | 105 |
| 106 global.dataSendToSlavePending = 0; | |
| 107 global.dataSendToSlaveIsValid = 1; | |
| 108 global.dataSendToSlaveIsNotValidCount = 0; | |
| 109 | |
| 110 global.mode = MODE_POWERUP; | |
| 111 global.repetitive_dive = 0; | |
| 112 global.conservatism = 0; | |
| 113 global.whichGas = 0; | |
| 114 global.aktualGas[0] = Air; | |
| 115 global.lifeData.actualGas = global.aktualGas[0]; | |
| 116 | |
| 475 | 117 const uint8_t button_standard_sensitivity = 51; /* 51 equals a percentage of 85% which was the default value before */ |
| 38 | 118 global.ButtonResponsiveness[0] = button_standard_sensitivity; |
| 119 global.ButtonResponsiveness[1] = button_standard_sensitivity; | |
| 120 global.ButtonResponsiveness[2] = button_standard_sensitivity; | |
| 121 global.ButtonResponsiveness[3] = button_standard_sensitivity; | |
| 122 | |
| 123 global.ButtonPICdata[0] = 0xFF; | |
| 124 global.ButtonPICdata[1] = 0xFF; | |
| 125 global.ButtonPICdata[2] = 0xFF; | |
| 126 global.ButtonPICdata[3] = 0xFF; | |
| 127 | |
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128 global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working |
| 38 | 129 |
| 668 | 130 global.lifeData.battery_voltage = BATTERY_DEFAULT_VOLTAGE; |
| 131 | |
| 135 | 132 global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE; |
| 133 global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE; | |
| 38 | 134 decom_reset_with_1000mbar(&global.lifeData); |
| 135 | |
| 136 global.demo_mode = 0; | |
| 137 | |
| 138 for(int i = 0; i < MAX_SENSORS; i++) | |
| 139 { | |
| 140 global.sensorError[i] = HAL_OK; // HAL_OK = 0; | |
| 141 } | |
| 142 | |
| 143 global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;; | |
| 144 global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;; | |
| 145 global.dataSendToMaster.chargeStatus = 0; | |
| 146 | |
| 475 | 147 global.dataSendToMaster.power_on_reset = 0; |
| 38 | 148 global.dataSendToMaster.header.checkCode[0] = 0xA1; |
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149 global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE; |
| 38 | 150 global.dataSendToMaster.header.checkCode[2] = 0xA3; |
| 151 global.dataSendToMaster.header.checkCode[3] = 0xA4; | |
| 152 global.dataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 153 global.dataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 154 global.dataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 155 global.dataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 156 global.dataSendToMaster.sensorErrors = 0; | |
| 157 | |
| 158 global.sync_error_count = 0; | |
| 159 global.check_sync_not_running = 0; | |
| 160 | |
| 161 global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH; | |
| 162 global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW; | |
| 163 global.deviceDataSendToMaster.chargeStatus = 0; | |
| 164 | |
| 475 | 165 global.deviceDataSendToMaster.power_on_reset = 0; |
| 38 | 166 global.deviceDataSendToMaster.header.checkCode[0] = 0xDF; |
| 167 global.deviceDataSendToMaster.header.checkCode[1] = 0xDE; | |
| 168 global.deviceDataSendToMaster.header.checkCode[2] = 0xDD; | |
| 169 global.deviceDataSendToMaster.header.checkCode[3] = 0xDC; | |
| 170 global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4; | |
| 171 global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3; | |
| 172 global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2; | |
| 173 global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1; | |
| 174 | |
| 175 global.dataSendToSlave.getDeviceDataNow = 0; | |
| 176 | |
| 177 global.deviceData.batteryChargeCompleteCycles.value_int32 = 0; | |
| 178 global.deviceData.batteryChargeCycles.value_int32 = 0; | |
| 179 global.deviceData.depthMaximum.value_int32 = 0; | |
| 180 global.deviceData.diveCycles.value_int32 = 0; | |
| 181 global.deviceData.hoursOfOperation.value_int32 = 0; | |
| 182 global.deviceData.temperatureMaximum.value_int32 = INT32_MIN; | |
| 183 global.deviceData.temperatureMinimum.value_int32 = INT32_MAX; | |
| 184 global.deviceData.voltageMinimum.value_int32 = INT32_MAX; | |
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185 |
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186 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
| 207 | 187 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
| 38 | 188 } |
| 189 | |
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190 void reinitGlobals(void) |
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191 { |
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192 global.dataSendToSlavePending = 0; |
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193 global.dataSendToSlaveIsValid = 0; |
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194 global.dataSendToSlaveIsNotValidCount = 0; |
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195 global.sync_error_count = 0; |
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196 global.check_sync_not_running = 0; |
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197 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START; |
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198 } |
| 38 | 199 |
| 200 void scheduleSpecial_Evaluate_DataSendToSlave(void) | |
| 201 { | |
| 104 | 202 //TEMPORARY fix for compass calibration. |
| 203 //TODO: Fix I2C timeout for complete solving problem. | |
| 204 if(global.mode==MODE_CALIB){ | |
| 205 return; | |
| 206 } | |
| 90 | 207 |
| 88 | 208 global.dataSendToSlavePending = 0; |
| 209 if(!global.dataSendToSlaveIsValid) return; | |
| 38 | 210 |
| 211 global.dataSendToMaster.confirmRequest.uw = 0; | |
| 212 | |
| 213 if(TM_OTP_Read(0,0) == 0xFF) | |
| 214 { | |
| 215 if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A)) | |
| 216 TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware); | |
| 217 } | |
| 218 | |
| 219 if(global.dataSendToSlave.setAccidentFlag) | |
| 220 { | |
| 221 global.dataSendToMaster.confirmRequest.ub.accident = 1; | |
| 222 global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag; | |
| 223 scheduleSetDate(&global.deviceData.diveAccident); | |
| 224 global.accidentFlag |= global.dataSendToSlave.setAccidentFlag; | |
| 225 if(global.accidentFlag == ACCIDENT_CNS) // LVL1 | |
| 226 global.accidentRemainingSeconds = 2*60*60; | |
| 227 else | |
| 228 global.accidentRemainingSeconds = 24*60*60; | |
| 229 } | |
| 230 | |
| 231 if(global.dataSendToSlave.setTimeNow) | |
| 232 { | |
| 233 global.dataSendToMaster.confirmRequest.ub.time = 1; | |
| 234 RTC_SetTime(global.dataSendToSlave.data.newTime); | |
| 235 schedule_update_timer_helper(0); | |
| 236 } | |
| 237 | |
| 238 if(global.dataSendToSlave.setDateNow) | |
| 239 { | |
| 240 global.dataSendToMaster.confirmRequest.ub.date = 1; | |
| 241 RTC_SetDate(global.dataSendToSlave.data.newDate); | |
| 242 schedule_update_timer_helper(0); | |
| 243 } | |
| 244 | |
| 245 if(global.dataSendToSlave.calibrateCompassNow) | |
| 246 { | |
| 247 global.dataSendToMaster.confirmRequest.ub.compass = 1; | |
| 248 global.mode = MODE_CALIB; | |
| 249 } | |
| 250 | |
| 251 if(global.dataSendToSlave.clearDecoNow) | |
| 252 { | |
| 253 global.dataSendToMaster.confirmRequest.ub.clearDeco = 1; | |
| 254 clearDecoNow = 1; | |
| 255 } | |
| 256 | |
| 257 if(global.dataSendToSlave.setButtonSensitivityNow) | |
| 258 { | |
| 259 global.dataSendToMaster.confirmRequest.ub.button = 1; | |
| 260 global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0]; | |
| 261 global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1]; | |
| 262 global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2]; | |
| 263 global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3]; | |
| 264 setButtonsNow = 1; | |
| 265 } | |
| 266 | |
| 267 if(global.dataSendToSlave.setBatteryGaugeNow) | |
| 268 { | |
| 104 | 269 if(global.mode!=MODE_CALIB){ |
| 38 | 270 global.dataSendToMaster.confirmRequest.ub.batterygauge = 1; |
| 271 battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat); | |
| 104 | 272 } |
| 38 | 273 } |
| 274 | |
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275 if(global.dataSendToSlave.setEndDive) |
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276 { |
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277 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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278 } |
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279 |
| 38 | 280 if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN)) |
| 281 { | |
| 282 global.mode = MODE_SHUTDOWN; | |
| 283 } | |
| 284 | |
| 285 if(global.mode == MODE_DIVE) | |
| 286 { | |
| 287 copyActualGas(global.dataSendToSlave.data.actualGas); | |
| 288 } | |
| 289 else | |
| 290 { | |
| 291 copyActualGas(Air); | |
| 292 global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook; | |
| 293 global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth; | |
| 294 } | |
| 295 | |
| 296 /* for simulation / testing */ | |
| 297 global.ceiling_from_main_CPU_mbar = global.dataSendToSlave.data.ambient_pressure_mbar_ceiling; | |
| 298 | |
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299 /* Set pressure and temperature offsets */ |
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300 pressure_set_offset (global.dataSendToSlave.data.offsetPressureSensor_mbar, global.dataSendToSlave.data.offsetTemperatureSensor_centiDegree); |
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301 |
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302 |
| 88 | 303 /* for device data updates */ |
| 304 deviceDataFlashValid = 0; | |
| 305 memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice)); | |
| 306 deviceDataFlashValid = 1; | |
| 89 | 307 |
| 662 | 308 |
| 309 /* handle external interface requests */ | |
| 310 | |
| 311 if((global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON) != externalInterface_isEnabledPower33()) | |
| 312 { | |
| 313 externalInterface_SwitchPower33(global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON); | |
| 314 } | |
| 315 | |
| 691 | 316 if(((global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_ADC_ON) != 0) != externalInterface_isEnabledADC()) |
| 317 { | |
| 318 externalInterface_SwitchADC(global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_ADC_ON); | |
| 319 } | |
| 320 | |
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321 if(((global.dataSendToSlave.data.externalInterface_Cmd >> 8) & 0x0F) != externalInterface_GetUARTProtocol()) |
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322 { |
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323 externalInterface_SwitchUART((global.dataSendToSlave.data.externalInterface_Cmd >> 8) & 0x0F); |
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324 } |
| 691 | 325 |
| 326 if(global.dataSendToSlave.data.externalInterface_Cmd & 0x00FF) /* lowest nibble for commands */ | |
| 662 | 327 { |
| 328 externalInterface_ExecuteCmd(global.dataSendToSlave.data.externalInterface_Cmd); | |
| 329 } | |
| 330 | |
| 331 | |
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332 #if 0 |
| 104 | 333 //TODO: Temporary placed here. Duration ~210 ms. |
| 334 if (global.I2C_SystemStatus != HAL_OK) { | |
| 335 MX_I2C1_TestAndClear(); | |
| 336 MX_I2C1_Init(); | |
| 337 // init_pressure(); | |
| 338 // compass_init(0, 7); | |
| 339 // accelerator_init(); | |
| 340 } | |
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341 #endif /* already called once a second */ |
| 38 | 342 } |
| 343 | |
| 344 | |
| 345 /** | |
| 346 ****************************************************************************** | |
| 347 * @brief schedule_time_compare_helper. | |
| 348 * @author heinrichs weikamp gmbh | |
| 349 * @version V0.0.1 | |
| 350 * @date 20-Oct-2016 | |
| 351 ****************************************************************************** | |
| 352 */ | |
| 353 | |
| 354 uint8_t RtcBugFixChsw(uint8_t inStupidTime) | |
| 355 { | |
| 356 uint8_t multiplesOf16 = 0; | |
| 357 | |
| 358 multiplesOf16 = inStupidTime / 16; | |
| 359 | |
| 360 inStupidTime -= multiplesOf16 * 16; | |
| 361 | |
| 362 return (10 * multiplesOf16) + inStupidTime; | |
| 363 } | |
| 364 | |
| 365 uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast) | |
| 366 { | |
| 367 uint32_t nowInSeconds; | |
| 368 uint32_t lastInSeconds; | |
| 369 uint32_t resultDiff; | |
| 370 | |
| 371 nowInSeconds = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600; | |
| 372 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60; | |
| 373 nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds); | |
| 374 | |
| 375 lastInSeconds = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600; | |
| 376 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60; | |
| 377 lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds); | |
| 378 | |
| 379 if(dateNow.Date != dateLast.Date) | |
| 380 { | |
| 381 resultDiff = 86400 + nowInSeconds - lastInSeconds; | |
| 382 } | |
| 383 else | |
| 384 { | |
| 385 resultDiff = nowInSeconds - lastInSeconds; | |
| 386 } | |
| 387 return resultDiff; | |
| 388 } | |
| 389 | |
| 390 | |
| 391 | |
| 392 /** | |
| 393 ****************************************************************************** | |
| 394 * @brief schedule_update_timer_helper. | |
| 395 * @author heinrichs weikamp gmbh | |
| 396 * @version V0.0.1 | |
| 397 * @date 20-Oct-2016 | |
| 398 * @brief use 0 for init | |
| 399 use -1 for RTC controlled | |
| 400 use >= 1 for manual control | |
| 401 ****************************************************************************** | |
| 402 */ | |
| 403 extern RTC_HandleTypeDef RTCHandle; | |
| 404 | |
|
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405 static void schedule_update_timer_helper(int8_t thisSeconds) |
| 38 | 406 { |
| 407 static RTC_TimeTypeDef sTimeLast; | |
| 408 static RTC_DateTypeDef sDateLast; | |
| 409 RTC_TimeTypeDef sTimeNow; | |
| 410 RTC_DateTypeDef sDateNow; | |
| 411 uint32_t secondsPast; | |
| 412 | |
| 413 HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD); | |
| 414 HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD); | |
| 415 | |
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416 if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast |
| 38 | 417 { |
| 418 if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast | |
| 419 { | |
| 420 secondsPast = thisSeconds; | |
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421 } else { |
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422 // thisSeconds < 0 and not <= ! |
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423 secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast); |
| 38 | 424 } |
| 425 | |
| 426 if(global.seconds_since_last_dive) | |
| 427 { | |
| 428 if(secondsPast >= 777900) | |
| 429 { | |
| 430 global.seconds_since_last_dive = 0; | |
| 431 } | |
| 432 else | |
| 433 { | |
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434 uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast; |
| 38 | 435 if(tempNewValue > 777900) // a bit more than nine days [seconds] |
| 436 global.seconds_since_last_dive = 0; | |
| 437 else | |
| 438 global.seconds_since_last_dive = (long)tempNewValue; | |
| 439 } | |
| 440 } | |
| 441 } | |
| 442 | |
| 443 sTimeLast = sTimeNow; | |
| 444 sDateLast = sDateNow; | |
| 445 } | |
| 446 | |
| 447 /** | |
| 448 ****************************************************************************** | |
| 449 * @brief schedule_check_resync. | |
| 450 * @author heinrichs weikamp gmbh | |
| 451 * @version V0.0.2 | |
| 452 * @date 18-June-2015 | |
| 453 ****************************************************************************** | |
| 454 */ | |
| 135 | 455 |
| 38 | 456 void schedule_check_resync(void) |
| 457 { | |
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458 /* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */ |
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459 if((global.check_sync_not_running >= Scheduler.communicationTimeout)) |
| 38 | 460 { |
| 89 | 461 // global.dataSendToSlaveIsNotValidCount = 0; |
| 135 | 462 global.check_sync_not_running = 0; |
| 463 global.sync_error_count++; | |
| 464 | |
| 465 /* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the | |
| 466 * function error handler | |
| 467 */ | |
| 277 | 468 HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE); |
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469 Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON; /* Reduce error detection time */ |
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470 Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); |
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471 } |
| 38 | 472 } |
| 473 | |
| 474 | |
| 475 /** | |
| 476 ****************************************************************************** | |
| 477 * @brief scheduleDiveMode. / Dive Mode: Main Loop | |
| 478 * @author Peter Ryser | |
| 479 * @version V0.0.1 | |
| 480 * @date 22-April-2014 | |
| 481 ****************************************************************************** | |
| 482 */ | |
| 483 void scheduleDiveMode(void) | |
| 484 { | |
| 485 uint32_t ticksdiff = 0; | |
| 486 uint32_t lasttick = 0; | |
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487 uint8_t extAdcChannel = 0; |
| 38 | 488 uint8_t counterAscentRate = 0; |
| 489 float lastPressure_bar = 0.0f; | |
| 490 global.dataSendToMaster.mode = MODE_DIVE; | |
| 491 global.deviceDataSendToMaster.mode = MODE_DIVE; | |
| 492 uint8_t counter_exit = 0; | |
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493 |
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494 Scheduler.counterSPIdata100msec = 0; |
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495 Scheduler.counterCompass100msec = 0; |
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496 Scheduler.counterPressure100msec = 0; |
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497 Scheduler.counterAmbientLight100msec = 0; |
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498 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 499 |
| 500 global.deviceData.diveCycles.value_int32++; | |
| 501 scheduleSetDate(&global.deviceData.diveCycles); | |
| 502 global.lifeData.counterSecondsShallowDepth = 0; | |
| 503 | |
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504 /* Get the last stable value in case of an unstable surface history condition */ |
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505 if(!is_surface_pressure_stable()) |
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506 { |
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507 set_last_surface_pressure_stable(); |
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508 } |
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509 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; |
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510 ManualExitDiveCounter = 0; /* reset early exit request */ |
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511 |
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512 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 513 while(global.mode == MODE_DIVE) |
| 514 { | |
| 515 lasttick = HAL_GetTick(); | |
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516 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 517 |
| 691 | 518 #ifdef ENABLE_CO2_SUPPORT |
| 519 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_SENTINEL) | |
| 520 { | |
| 521 HandleUARTCO2Data(); | |
| 522 } | |
| 523 #endif | |
| 524 #ifdef ENABLE_SENTINEL_MODE | |
| 525 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_SENTINEL) | |
| 526 { | |
| 527 HandleUARTSentinelData(); | |
| 528 } | |
| 529 #endif | |
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530 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_O2) |
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531 { |
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532 HandleUARTDigitalO2(); |
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533 } |
| 691 | 534 |
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535 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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536 { |
| 277 | 537 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 538 { | |
| 539 Scheduler.counterSPIdata100msec++; | |
| 540 } | |
| 541 schedule_check_resync(); | |
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542 |
| 691 | 543 if(externalInterface_isEnabledADC()) |
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544 { |
| 691 | 545 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 546 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 547 { | |
| 548 externalInterface_CalculateADCValue(extAdcChannel); | |
| 549 } | |
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550 } |
| 691 | 551 copyExtADCdata(); |
| 662 | 552 copyExtCO2data(); |
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553 } |
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554 |
| 38 | 555 //Evaluate pressure at 20 ms, 120 ms, 220 ms,.... |
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556 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 557 { |
| 558 global.check_sync_not_running++; | |
| 277 | 559 pressure_update_alternating(); |
| 135 | 560 scheduleUpdateDeviceData(); |
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561 #ifdef DEMOMODE |
| 38 | 562 if(global.demo_mode) |
| 563 { | |
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564 int turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar); |
| 38 | 565 if(turbo_seconds) |
| 566 { | |
| 567 global.lifeData.dive_time_seconds += turbo_seconds; | |
| 568 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData); | |
| 569 copyTissueData(); | |
| 570 } | |
| 571 if((global.lifeData.counterSecondsShallowDepth > 1) && (global.lifeData.counterSecondsShallowDepth < (global.settings.timeoutDiveReachedZeroDepth - 10))) | |
| 572 global.lifeData.counterSecondsShallowDepth = (global.settings.timeoutDiveReachedZeroDepth - 10); | |
| 573 } | |
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574 #endif |
| 38 | 575 |
| 576 //Calc ascentrate every two second (20 * 100 ms) | |
| 577 counterAscentRate++; | |
| 578 if(counterAscentRate == 20) | |
| 579 { | |
| 580 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 581 if(lastPressure_bar >= 0) | |
| 582 { | |
| 583 //2 seconds * 30 == 1 minute, bar * 10 = meter | |
| 584 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10; | |
| 585 } | |
| 586 lastPressure_bar = global.lifeData.pressure_ambient_bar; | |
| 587 counterAscentRate = 0; | |
| 588 } | |
| 135 | 589 copyPressureData(); |
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590 Scheduler.counterPressure100msec++; |
| 38 | 591 } |
| 592 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... | |
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593 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 594 { |
| 595 compass_read(); | |
| 596 acceleration_read(); | |
| 597 compass_calc(); | |
| 598 copyCompassData(); | |
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599 Scheduler.counterCompass100msec++; |
| 135 | 600 } |
| 38 | 601 |
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602 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 603 { |
| 604 adc_ambient_light_sensor_get_data(); | |
| 605 copyAmbientLightData(); | |
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606 Scheduler.counterAmbientLight100msec++; |
| 38 | 607 } |
| 608 | |
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609 //Evaluate tissues, toxic data, vpm, etc. once a second |
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610 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 611 { |
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612 Scheduler.tick_execute1second = 0xFFFFFFFF; /* execute once only in the second cycle */ |
| 38 | 613 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) |
| 614 { | |
| 615 scheduleUpdateLifeData(0); // includes tissues | |
| 616 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too | |
| 617 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); | |
| 618 decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2); | |
| 619 decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2); | |
| 88 | 620 battery_gas_gauge_get_data(); |
| 38 | 621 |
| 622 | |
| 623 /** counter_exit allows safe exit via button for testing | |
| 624 * and demo_mode is exited too if aplicable. | |
| 625 */ | |
| 626 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 627 { | |
| 628 counter_exit++; | |
| 629 if(counter_exit >= 2) | |
| 630 { | |
| 631 global.mode = MODE_SURFACE; | |
| 632 global.demo_mode = 0; | |
| 633 } | |
| 634 } | |
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635 |
| 38 | 636 if(is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 637 { | |
| 638 global.lifeData.counterSecondsShallowDepth++; | |
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639 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0)) |
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640 || (ManualExitDiveCounter)) |
| 38 | 641 { |
| 642 global.seconds_since_last_dive = 1; // start counter | |
| 643 schedule_update_timer_helper(0); // zum starten :-) | |
| 644 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 645 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 646 } | |
| 647 } | |
| 648 else | |
| 649 { | |
| 650 global.lifeData.counterSecondsShallowDepth = 0; | |
| 651 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 652 } | |
| 653 vpm_crush2(); | |
| 654 } | |
| 655 else // DIVEMODE_Apnea | |
| 656 { | |
| 657 global.lifeData.dive_time_seconds++; | |
| 658 | |
| 659 // exit dive mode | |
| 660 if(global.dataSendToMaster.mode == MODE_ENDDIVE) | |
| 661 { | |
| 662 counter_exit++; | |
| 663 if(counter_exit >= 2) | |
| 664 { | |
| 665 scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode | |
| 666 global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time | |
| 667 global.mode = MODE_SURFACE; | |
| 668 global.demo_mode = 0; | |
| 669 } | |
| 670 } | |
| 671 | |
| 672 // surface break | |
| 673 if(is_ambient_pressure_close_to_surface(&global.lifeData)) | |
| 674 { | |
| 675 global.lifeData.counterSecondsShallowDepth++; | |
| 676 if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds | |
| 677 { | |
| 678 global.lifeData.dive_time_seconds = 0; // this apnea dive ends here | |
| 679 } | |
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680 if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (ManualExitDiveCounter)) |
| 38 | 681 { |
| 682 global.dataSendToMaster.mode = MODE_ENDDIVE; | |
| 683 global.deviceDataSendToMaster.mode = MODE_ENDDIVE; | |
| 684 } | |
| 685 } | |
| 686 else | |
| 687 { | |
| 688 global.lifeData.counterSecondsShallowDepth = 0; | |
| 689 global.lifeData.dive_time_seconds_without_surface_time++; | |
| 690 } | |
| 691 } // standard dive or DIVEMODE_Apnea | |
| 692 | |
| 88 | 693 copyVpmCrushingData(); |
| 694 copyTimeData(); | |
| 695 copyCnsAndOtuData(); | |
| 696 copyBatteryData(); | |
| 38 | 697 |
| 88 | 698 // new hw 170523 |
| 699 if(global.I2C_SystemStatus != HAL_OK) | |
| 700 { | |
| 701 MX_I2C1_TestAndClear(); | |
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702 HAL_Delay(100); |
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703 I2C_DeInit(); |
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704 HAL_Delay(100); |
| 88 | 705 MX_I2C1_Init(); |
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706 HAL_Delay(100); |
|
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707 |
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708 init_pressure(); |
| 88 | 709 } |
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710 } |
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711 if(ticksdiff >= 1000) |
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712 { |
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713 /* reset counter */ |
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714 Scheduler.tickstart = HAL_GetTick(); |
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715 Scheduler.counterSPIdata100msec = 0; |
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716 Scheduler.counterCompass100msec = 0; |
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717 Scheduler.counterPressure100msec = 0; |
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718 Scheduler.counterAmbientLight100msec = 0; |
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719 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 720 } |
| 721 } | |
| 722 } | |
| 723 | |
| 724 | |
| 725 /** | |
| 726 ****************************************************************************** | |
| 727 * @brief scheduleSurfaceMode / surface mode: Main Loop | |
| 728 * @author Peter Ryser | |
| 729 * @version V0.0.1 | |
| 730 * @date 22-April-2014 | |
| 731 ****************************************************************************** | |
| 732 */ | |
| 733 | |
| 734 | |
| 735 // =============================================================================== | |
| 736 // scheduleTestMode | |
| 737 /// @brief included for sealed hardware with permanent RTE update message | |
| 738 // =============================================================================== | |
| 739 void scheduleTestMode(void) | |
| 740 { | |
| 741 uint32_t ticksdiff = 0; | |
| 742 uint32_t lasttick = 0; | |
|
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743 Scheduler.tickstart = HAL_GetTick(); |
| 38 | 744 |
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745 Scheduler.counterPressure100msec = 0; |
| 38 | 746 |
| 747 float temperature_carousel = 0.0f; | |
| 748 float temperature_changer = 0.1f; | |
| 749 | |
| 750 while(global.mode == MODE_TEST) | |
| 751 { | |
| 752 lasttick = HAL_GetTick(); | |
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753 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
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754 |
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755 //Evaluate received data at 10 ms, 110 ms, 210 ms,... |
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756 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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757 { |
| 277 | 758 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
| 759 { | |
| 760 Scheduler.counterSPIdata100msec++; | |
| 761 } | |
| 762 schedule_check_resync(); | |
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763 } |
| 38 | 764 |
| 765 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... | |
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766 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 767 { |
| 768 global.check_sync_not_running++; | |
| 769 | |
| 277 | 770 pressure_update_alternating(); |
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771 scheduleUpdateDeviceData(); |
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772 global.lifeData.ascent_rate_meter_per_min = 0; |
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773 copyPressureData(); |
| 38 | 774 |
| 775 if(temperature_carousel > 20.0f) | |
| 776 { | |
| 777 temperature_carousel = 20.0f; | |
| 778 temperature_changer = -0.1f; | |
| 779 } | |
| 780 else | |
| 781 if(temperature_carousel < 0) | |
| 782 { | |
| 783 temperature_carousel = 0; | |
| 784 temperature_changer = +0.1f; | |
| 785 } | |
| 786 | |
| 787 temperature_carousel += temperature_changer; | |
| 788 | |
| 789 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; | |
| 790 | |
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791 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); |
| 38 | 792 |
| 793 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; | |
| 794 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 795 global.dataSendToMaster.boolPressureData = boolPressureData; | |
|
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796 Scheduler.counterPressure100msec++; |
| 38 | 797 } |
| 798 | |
| 799 if(ticksdiff >= 1000) | |
| 800 { | |
| 801 //Set back tick counter | |
|
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802 Scheduler.tickstart = HAL_GetTick(); |
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803 Scheduler.counterPressure100msec = 0; |
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804 Scheduler.counterSPIdata100msec = 0; |
| 38 | 805 } |
| 806 }; | |
| 807 } | |
| 808 | |
| 809 | |
|
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810 |
| 38 | 811 void scheduleSurfaceMode(void) |
| 812 { | |
| 813 uint32_t ticksdiff = 0; | |
| 814 uint32_t lasttick = 0; | |
|
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815 uint8_t extAdcChannel = 0; |
| 662 | 816 uint8_t batteryToggle = 0; /* ADC is operating in automatic 2 second cycles => consider for battery charge function call */ |
| 817 | |
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818 Scheduler.tickstart = HAL_GetTick(); |
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819 Scheduler.counterSPIdata100msec = 0; |
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820 Scheduler.counterCompass100msec = 0; |
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821 Scheduler.counterPressure100msec = 0; |
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822 Scheduler.counterAmbientLight100msec = 0; |
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823 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
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824 |
| 38 | 825 global.dataSendToMaster.mode = MODE_SURFACE; |
| 826 global.deviceDataSendToMaster.mode = MODE_SURFACE; | |
| 827 | |
| 828 while(global.mode == MODE_SURFACE) | |
| 829 { | |
| 277 | 830 |
| 38 | 831 lasttick = HAL_GetTick(); |
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832 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick); |
| 38 | 833 |
| 834 if(setButtonsNow == 1) | |
| 835 { | |
| 836 if(scheduleSetButtonResponsiveness()) | |
| 837 setButtonsNow = 0; | |
| 838 } | |
| 691 | 839 |
| 840 #ifdef ENABLE_CO2_SUPPORT | |
| 841 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_SENTINEL) | |
| 842 { | |
| 843 HandleUARTCO2Data(); | |
| 844 } | |
| 845 #endif | |
| 846 #ifdef ENABLE_SENTINEL_MODE | |
| 847 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_SENTINEL) | |
| 848 { | |
| 849 HandleUARTSentinelData(); | |
| 850 } | |
| 851 #endif | |
| 662 | 852 |
|
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853 if(global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_UART_O2) |
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854 { |
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855 HandleUARTDigitalO2(); |
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856 } |
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857 |
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858 /* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */ |
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859 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10) |
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860 { |
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861 if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */ |
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862 { |
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863 Scheduler.counterSPIdata100msec++; |
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864 } |
| 277 | 865 schedule_check_resync(); |
| 691 | 866 if(externalInterface_isEnabledADC()) |
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867 { |
| 691 | 868 extAdcChannel = externalInterface_ReadAndSwitch(); |
| 869 if(extAdcChannel != EXTERNAL_ADC_NO_DATA) | |
| 870 { | |
| 871 externalInterface_CalculateADCValue(extAdcChannel); | |
| 872 | |
| 873 } | |
|
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874 } |
| 691 | 875 copyExtADCdata(); |
| 662 | 876 copyExtCO2data(); |
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877 } |
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878 |
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879 /* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */ |
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880 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20) |
| 38 | 881 { |
| 882 global.check_sync_not_running++; | |
| 277 | 883 pressure_update_alternating(); |
| 135 | 884 scheduleUpdateDeviceData(); |
| 38 | 885 global.lifeData.ascent_rate_meter_per_min = 0; |
| 135 | 886 copyPressureData(); |
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887 Scheduler.counterPressure100msec++; |
| 135 | 888 |
|
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889 if (!is_ambient_pressure_close_to_surface(&global.lifeData)) |
| 38 | 890 global.mode = MODE_DIVE; |
| 891 } | |
| 892 | |
|
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893 /* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */ |
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894 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50) |
| 135 | 895 { |
| 896 compass_read(); | |
| 897 acceleration_read(); | |
| 898 compass_calc(); | |
| 899 copyCompassData(); | |
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900 Scheduler.counterCompass100msec++; |
| 135 | 901 } |
| 38 | 902 |
|
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903 /* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */ |
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904 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70) |
| 38 | 905 { |
| 906 adc_ambient_light_sensor_get_data(); | |
| 907 copyAmbientLightData(); | |
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908 Scheduler.counterAmbientLight100msec++; |
| 38 | 909 } |
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910 |
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911 |
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912 |
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913 /* Evaluate tissues, toxic data, etc. once a second... duration ~1ms */ |
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914 if(ticksdiff >= Scheduler.tick_execute1second) |
| 38 | 915 { |
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916 Scheduler.tick_execute1second = 0xFFFFFFFF; |
| 38 | 917 if(clearDecoNow) |
| 918 { | |
| 919 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time | |
| 920 // new 160215 hw | |
| 921 global.repetitive_dive = 0; | |
| 922 global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well | |
| 923 global.no_fly_time_minutes = 0; | |
| 924 global.accidentFlag = 0; | |
| 925 global.accidentRemainingSeconds = 0; | |
| 926 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); | |
| 927 clearDecoNow = 0; | |
| 928 } | |
| 89 | 929 |
|
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930 if(ManualExitDiveCounter) |
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931 { |
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932 ManualExitDiveCounter--; |
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933 } |
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934 |
| 38 | 935 if(global.seconds_since_last_dive) |
| 936 { | |
| 937 schedule_update_timer_helper(-1); | |
| 938 } | |
| 89 | 939 |
| 38 | 940 if(global.accidentRemainingSeconds) |
| 941 { | |
| 942 global.accidentRemainingSeconds--; | |
| 943 if(!global.accidentRemainingSeconds) | |
| 944 global.accidentFlag = 0; | |
| 945 } | |
| 946 global.dataSendToMaster.accidentFlags = global.accidentFlag; | |
| 89 | 947 |
| 38 | 948 update_surface_pressure(1); |
| 949 scheduleUpdateLifeData(0); | |
| 950 decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive); | |
| 951 decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive); | |
| 135 | 952 |
| 953 /* start desaturation calculation after first valid measurement has been done */ | |
| 954 if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE) | |
| 955 { | |
| 956 global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar); | |
| 957 } | |
| 958 else | |
| 959 { | |
| 960 global.lifeData.desaturation_time_minutes = 0; | |
| 961 } | |
| 662 | 962 |
| 963 if(!batteryToggle) | |
| 964 { | |
| 965 battery_gas_gauge_get_data(); | |
| 966 battery_charger_get_status_and_contral_battery_gas_gauge(2); | |
| 967 batteryToggle = 1; | |
| 968 } | |
| 969 else | |
| 970 { | |
| 971 batteryToggle = 0; | |
| 972 } | |
| 89 | 973 |
| 88 | 974 copyCnsAndOtuData(); |
| 975 copyTimeData(); | |
| 976 copyBatteryData(); | |
| 977 copyDeviceData(); | |
| 38 | 978 |
| 691 | 979 |
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980 /* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occured during startup */ |
| 88 | 981 if(global.I2C_SystemStatus != HAL_OK) |
| 982 { | |
| 983 MX_I2C1_TestAndClear(); | |
|
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984 HAL_Delay(100); |
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985 I2C_DeInit(); |
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986 HAL_Delay(100); |
| 88 | 987 MX_I2C1_Init(); |
|
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988 HAL_Delay(100); |
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989 |
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990 if(global.I2C_SystemStatus == HAL_OK) |
| 88 | 991 { |
| 992 init_pressure(); | |
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993 if(is_init_pressure_done()) /* Init surface data with initial measurement */ |
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994 { |
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995 init_surface_ring(0); |
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996 } |
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997 |
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998 if(!battery_gas_gauge_CheckConfigOK()) |
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999 { |
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1000 init_battery_gas_gauge(); |
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1001 } |
| 88 | 1002 } |
| 1003 } | |
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1004 } |
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1005 |
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1006 if(ticksdiff >= 1000) |
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1007 { |
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1008 //Set back tick counter |
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1009 Scheduler.tickstart = HAL_GetTick(); |
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1010 Scheduler.counterSPIdata100msec = 0; |
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1011 Scheduler.counterCompass100msec = 0; |
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1012 Scheduler.counterPressure100msec = 0; |
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1013 Scheduler.counterAmbientLight100msec = 0; |
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1014 Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC; |
| 38 | 1015 } |
| 1016 } | |
| 1017 } | |
| 1018 | |
| 207 | 1019 inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod) |
|
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1020 { |
| 207 | 1021 if( SyncMethod < SPI_SYNC_METHOD_INVALID) |
| 1022 { | |
| 1023 dospisync = SyncMethod; | |
| 1024 } | |
| 1025 } | |
| 1026 | |
|
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1027 void Scheduler_SyncToSPI(uint8_t TXtick) |
| 207 | 1028 { |
| 1029 uint32_t deltatick = 0; | |
|
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1030 int8_t TXcompensation; |
| 207 | 1031 |
| 1032 switch(dospisync) | |
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1033 { |
| 207 | 1034 case SPI_SYNC_METHOD_HARD: |
| 1035 //Set back tick counter | |
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1036 Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */ |
| 207 | 1037 Scheduler.counterSPIdata100msec = 0; |
| 1038 Scheduler.counterCompass100msec = 0; | |
| 1039 Scheduler.counterPressure100msec = 0; | |
| 1040 Scheduler.counterAmbientLight100msec = 0; | |
| 1041 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1042 break; | |
| 1043 case SPI_SYNC_METHOD_SOFT: | |
| 1044 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); | |
| 1045 deltatick %= 100; /* clip to 100ms window */ | |
| 1046 if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */ | |
| 1047 { | |
| 1048 Scheduler.tickstart -= deltatick; | |
| 1049 } | |
| 1050 else | |
| 1051 { | |
| 1052 Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart); | |
| 1053 } | |
| 1054 dospisync = SPI_SYNC_METHOD_NONE; | |
| 1055 break; | |
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1056 default: /* continous sync activity */ |
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1057 if(TXtick < 100) /* do not handle unexpected jump length > 100ms */ |
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1058 { |
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1059 TXtick += 4; /* add 4ms TX time to offset of 100ms time stamp */ |
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1060 deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick()); |
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1061 deltatick %= 100; |
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1062 if(deltatick > 50) |
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1063 { |
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1064 TXcompensation = deltatick - 100; /* neg drift */ |
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1065 } |
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1066 else |
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1067 { |
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1068 TXcompensation = deltatick; /* pos drift */ |
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1069 } |
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1070 TXcompensation = TXtick - TXcompensation; |
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1071 Scheduler.tickstart -= TXcompensation; |
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1072 } |
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1073 else |
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1074 { |
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1075 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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1076 } |
| 207 | 1077 break; |
|
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1078 } |
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1079 } |
| 38 | 1080 |
| 1081 /** | |
| 1082 ****************************************************************************** | |
| 1083 * @brief scheduleCompassCalibrationMode | |
| 1084 * @author heinrichs weikamp gmbh | |
| 1085 * @version V0.0.1 | |
| 1086 * @since 31-March-2015 | |
| 1087 * @date 31-March-2015 | |
| 1088 ****************************************************************************** | |
| 1089 */ | |
| 1090 void scheduleCompassCalibrationMode(void) | |
| 1091 { | |
| 1092 compass_init(1,7); // fast mode, max gain | |
| 1093 compass_calib(); // duration : 1 minute! | |
| 1094 compass_init(0,7); // back to normal mode | |
| 1095 | |
| 1096 if(global.seconds_since_last_dive) | |
| 1097 { | |
| 1098 schedule_update_timer_helper(-1); | |
| 1099 } | |
| 1100 | |
| 1101 scheduleUpdateLifeData(0); | |
| 1102 global.mode = MODE_SURFACE; | |
| 1103 } | |
| 1104 | |
| 1105 | |
| 1106 /** | |
| 1107 ****************************************************************************** | |
| 1108 * @brief scheduleSleepMode / sleep mode: Main Loop | |
| 1109 * @author heinrichs weikamp gmbh | |
| 1110 * @version V0.0.2 | |
| 1111 * @since 31-March-2015 | |
| 1112 * @date 22-April-2014 | |
| 1113 ****************************************************************************** | |
| 1114 */ | |
| 1115 | |
| 1116 void scheduleSleepMode(void) | |
| 1117 { | |
| 1118 global.dataSendToMaster.mode = 0; | |
| 1119 global.deviceDataSendToMaster.mode = 0; | |
| 668 | 1120 secondsCount = 0; |
| 38 | 1121 |
| 1122 /* prevent button wake up problem while in sleep_prepare | |
| 1123 * sleep prepare does I2C_DeInit() | |
| 1124 */ | |
| 1125 if(global.mode != MODE_SLEEP) | |
| 1126 MX_I2C1_Init(); | |
| 1127 else | |
| 1128 do | |
| 1129 { | |
| 1130 I2C_DeInit(); | |
| 1131 | |
| 1132 #ifdef DEBUGMODE | |
| 1133 HAL_Delay(2000); | |
| 1134 #else | |
| 1135 RTC_StopMode_2seconds(); | |
| 1136 #endif | |
| 1137 | |
| 1138 | |
| 1139 | |
| 1140 if(global.mode == MODE_SLEEP) | |
| 1141 secondsCount += 2; | |
| 1142 | |
| 662 | 1143 externalInterface_InitPower33(); |
| 38 | 1144 MX_I2C1_Init(); |
| 1145 pressure_sensor_get_pressure_raw(); | |
| 1146 | |
| 475 | 1147 /* check if I2C is not up and running and try to reactivate if necessary. Also do initialization if problem occurred during startup */ |
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1148 if(global.I2C_SystemStatus != HAL_OK) |
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1149 { |
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1150 MX_I2C1_TestAndClear(); |
|
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1151 HAL_Delay(100); |
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1152 I2C_DeInit(); |
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1153 HAL_Delay(100); |
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1154 MX_I2C1_Init(); |
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1155 HAL_Delay(100); |
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1156 |
| 475 | 1157 if((global.I2C_SystemStatus == HAL_OK) && (!is_init_pressure_done())) |
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1158 { |
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1159 init_pressure(); |
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1160 } |
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1161 } |
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1162 |
| 691 | 1163 if((secondsCount >= 30) || (global.mode != MODE_SLEEP)) /* Service battery charge state in case sleep is left */ |
| 38 | 1164 { |
| 1165 pressure_sensor_get_temperature_raw(); | |
| 1166 battery_gas_gauge_get_data(); | |
| 662 | 1167 ReInit_battery_charger_status_pins(); |
| 691 | 1168 battery_charger_get_status_and_contral_battery_gas_gauge(secondsCount); |
| 38 | 1169 // DeInit_battery_charger_status_pins(); |
| 1170 secondsCount = 0; | |
| 1171 } | |
| 1172 | |
| 1173 pressure_calculation(); | |
| 1174 | |
| 1175 scheduleUpdateDeviceData(); | |
| 1176 update_surface_pressure(2); | |
| 1177 | |
| 1178 if(global.seconds_since_last_dive) | |
| 1179 { | |
| 1180 schedule_update_timer_helper(-1); | |
| 1181 } | |
| 1182 | |
| 1183 if(global.accidentRemainingSeconds) | |
| 1184 { | |
| 1185 if(global.accidentRemainingSeconds > 2) | |
| 1186 global.accidentRemainingSeconds -= 2; | |
| 1187 else | |
| 1188 { | |
| 1189 global.accidentRemainingSeconds = 0; | |
| 1190 global.accidentFlag = 0; | |
| 1191 } | |
| 1192 } | |
| 1193 | |
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1194 if (((!is_ambient_pressure_close_to_surface(&global.lifeData)) && (global.lifeData.pressure_surface_bar > START_DIVE_MOUNTAIN_MODE_BAR )) |
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1195 || (global.lifeData.pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR)) |
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1196 { |
| 38 | 1197 global.mode = MODE_BOOT; |
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1198 } |
| 38 | 1199 scheduleUpdateLifeData(2000); |
| 1200 } | |
| 1201 while(global.mode == MODE_SLEEP); | |
| 1202 /* new section for system after Standby */ | |
| 1203 scheduleUpdateLifeData(-1); | |
| 1204 clearDecoNow = 0; | |
| 1205 setButtonsNow = 0; | |
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1206 reinitGlobals(); |
| 668 | 1207 ReInit_battery_charger_status_pins(); |
| 38 | 1208 } |
| 1209 | |
| 1210 | |
| 1211 | |
| 1212 /* Private functions ---------------------------------------------------------*/ | |
| 1213 | |
| 1214 /** | |
| 1215 ****************************************************************************** | |
| 1216 * @brief scheduleUpdateLifeData / calculates tissues | |
| 1217 * @author Peter Ryser | |
| 1218 * @version V0.0.1 | |
| 1219 * @date 22-April-2014 | |
| 1220 ****************************************************************************** | |
| 1221 */ | |
| 1222 | |
| 1223 | |
| 1224 void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last) | |
| 1225 { | |
| 1226 static _Bool first = 1; | |
| 1227 static uint32_t tickstart = 0; | |
| 1228 static uint32_t ticksrest = 0; | |
| 1229 | |
| 1230 uint32_t ticksdiff = 0; | |
| 1231 uint32_t ticksnow = 0; | |
| 1232 uint32_t time_seconds = 0; | |
| 1233 uint8_t whichGasTmp = 0; | |
| 1234 | |
| 135 | 1235 uint8_t updateTissueData = 0; |
| 1236 | |
| 1237 | |
| 1238 if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE) | |
| 1239 { | |
| 1240 updateTissueData = 1; | |
| 1241 } | |
| 1242 | |
| 38 | 1243 if(asynchron_milliseconds_since_last < 0) |
| 1244 { | |
| 1245 first = 1; | |
| 1246 tickstart = 0; | |
| 1247 ticksrest = 0; | |
| 1248 return; | |
| 1249 } | |
| 1250 | |
| 1251 if(!asynchron_milliseconds_since_last && first) | |
| 1252 { | |
| 1253 tickstart = HAL_GetTick(); | |
| 1254 first = 0; | |
| 1255 return; | |
| 1256 } | |
| 1257 | |
| 1258 whichGasTmp = global.whichGas; | |
| 1259 global.lifeData.actualGas = global.aktualGas[whichGasTmp]; | |
| 1260 global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f; | |
| 1261 global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f; | |
| 1262 | |
| 135 | 1263 if(updateTissueData) |
| 1264 { | |
| 1265 decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData); | |
| 1266 } | |
| 1267 | |
| 38 | 1268 if(!asynchron_milliseconds_since_last) |
| 1269 { | |
| 1270 ticksnow = HAL_GetTick(); | |
| 1271 ticksdiff = time_elapsed_ms(tickstart,ticksnow); | |
| 1272 } | |
| 1273 else | |
| 1274 { | |
| 1275 first = 1; | |
| 1276 ticksdiff = asynchron_milliseconds_since_last; | |
| 1277 } | |
| 1278 | |
| 1279 if(ticksrest > 1000) // whatever happens after standby with STM32L476 | |
| 1280 ticksrest = 0; // maybe move static to SRAM2 | |
| 1281 | |
| 1282 ticksdiff += ticksrest; | |
| 1283 time_seconds = ticksdiff/ 1000; | |
| 1284 ticksrest = ticksdiff - time_seconds * 1000; | |
| 1285 tickstart = ticksnow; | |
| 1286 | |
| 1287 decom_tissues_exposure((int)time_seconds, &global.lifeData); | |
| 1288 if(global.demo_mode) | |
| 1289 decom_tissues_exposure((int)(3*time_seconds), &global.lifeData); | |
| 1290 copyTissueData(); | |
| 1291 } | |
| 1292 | |
| 1293 | |
| 1294 /** | |
| 1295 ****************************************************************************** | |
| 1296 * @brief scheduleUpdateDeviceData | |
| 1297 * @author heinrichs weikamp gmbh | |
| 1298 * @version V0.0.1 | |
| 1299 * @date 16-March-2015 | |
| 1300 * | |
| 1301 * two step process | |
| 1302 * first compare with data from main CPU == externalLogbookFlash | |
| 1303 * second update with new sensor data | |
| 1304 ****************************************************************************** | |
| 1305 */ | |
| 1306 void scheduleSetDate(SDeviceLine *line) | |
| 1307 { | |
| 1308 extern RTC_HandleTypeDef RTCHandle; | |
| 1309 | |
| 1310 line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1311 line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1312 } | |
| 1313 | |
| 1314 | |
| 1315 void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead) | |
| 1316 { | |
| 1317 lineWrite->date_rtc_dr = lineRead->date_rtc_dr; | |
| 1318 lineWrite->time_rtc_tr = lineRead->time_rtc_tr; | |
| 1319 lineWrite->value_int32 = lineRead->value_int32; | |
| 1320 } | |
| 1321 | |
| 1322 | |
|
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1323 void scheduletranslateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) |
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1324 { |
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1325 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); |
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1326 |
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1327 /* Fill the structure fields with the read parameters */ |
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1328 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); |
|
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1329 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); |
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1330 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); |
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1331 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); |
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1332 |
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1333 /* Convert the date structure parameters to Binary format */ |
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1334 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); |
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1335 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); |
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1336 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); |
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1337 } |
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1338 |
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1339 void scheduleCheckDate(void) |
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1340 { |
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1341 uint32_t localdate; |
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1342 RTC_DateTypeDef sDate; |
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1343 localdate = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); |
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1344 scheduletranslateDate(localdate, &sDate); |
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1345 |
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1346 /* RTC start in year 2000 in case of a power loss. Use the operation counter time stamp to bring at last date to a more realistic value */ |
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1347 if(sDate.Year < 15) |
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1348 { |
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1349 scheduletranslateDate(DeviceDataFlash.hoursOfOperation.date_rtc_dr, &sDate); |
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1350 if(sDate.Year > 16) |
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1351 { |
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1352 RTC_SetDate(sDate); |
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1353 } |
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1354 } |
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1355 |
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1356 } |
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Restore last known date: After a power off RTC looses time data and restarts in the year 2000. Code will fix this date to the year 2016. This change will set the date to the last known date of the operation hour counter
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1357 |
| 38 | 1358 void scheduleUpdateDeviceData(void) |
| 1359 { | |
| 1360 /* first step, main CPU */ | |
| 1361 | |
| 1362 if(deviceDataFlashValid) | |
| 1363 { | |
| 1364 /* max values */ | |
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1365 if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32) |
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Restore last known date: After a power off RTC looses time data and restarts in the year 2000. Code will fix this date to the year 2016. This change will set the date to the last known date of the operation hour counter
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1366 { |
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Restore last known date: After a power off RTC looses time data and restarts in the year 2000. Code will fix this date to the year 2016. This change will set the date to the last known date of the operation hour counter
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1367 scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation); |
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1368 #ifdef RESTORE_LAST_KNOWN_DATE |
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1369 scheduleCheckDate(); |
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1370 #endif |
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1371 } |
| 38 | 1372 if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32) |
| 1373 { | |
| 1374 scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles); | |
| 1375 } | |
| 1376 if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32) | |
| 1377 { | |
| 1378 scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles); | |
| 1379 } | |
| 1380 if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32) | |
| 1381 { | |
| 1382 scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum); | |
| 1383 } | |
| 1384 if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32) | |
| 1385 { | |
| 1386 scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum); | |
| 1387 } | |
| 1388 if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32) | |
| 1389 { | |
| 1390 scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles); | |
| 1391 } | |
| 1392 | |
| 1393 /* min values */ | |
| 1394 if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32) | |
| 1395 { | |
| 1396 scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum); | |
| 1397 } | |
| 1398 if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32) | |
| 1399 { | |
| 1400 scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum); | |
| 1401 } | |
| 1402 } | |
| 1403 | |
| 1404 /* second step, sensor data */ | |
| 1405 int32_t temperature_centigrad_int32; | |
| 1406 int32_t pressure_mbar_int32; | |
| 1407 int32_t voltage_mvolt_int32; | |
| 1408 | |
| 1409 temperature_centigrad_int32 = (int32_t)(get_temperature() * 100); | |
| 1410 if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32) | |
| 1411 { | |
| 1412 global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1413 scheduleSetDate(&global.deviceData.temperatureMinimum); |
| 38 | 1414 } |
| 1415 | |
| 1416 if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32) | |
| 1417 { | |
| 1418 global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32; | |
| 88 | 1419 scheduleSetDate(&global.deviceData.temperatureMaximum); |
| 38 | 1420 } |
| 1421 | |
| 1422 pressure_mbar_int32 = (int32_t)get_pressure_mbar(); | |
| 1423 if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32) | |
| 1424 { | |
| 1425 global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32; | |
| 88 | 1426 scheduleSetDate(&global.deviceData.depthMaximum); |
| 38 | 1427 } |
| 1428 | |
| 1429 voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000); | |
| 1430 if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32) | |
| 1431 { | |
| 1432 global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32; | |
| 88 | 1433 scheduleSetDate(&global.deviceData.voltageMinimum); |
| 38 | 1434 } |
| 1435 | |
| 1436 /* third step, counter */ | |
| 1437 switch (global.mode) | |
| 1438 { | |
| 1439 case MODE_SURFACE: | |
| 1440 case MODE_DIVE: | |
| 1441 default: | |
| 1442 deviceDataSubSeconds++; | |
| 1443 if(deviceDataSubSeconds > 10) | |
| 1444 { | |
| 1445 deviceDataSubSeconds = 0; | |
| 1446 global.deviceData.hoursOfOperation.value_int32++; | |
|
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Restore last known date: After a power off RTC looses time data and restarts in the year 2000. Code will fix this date to the year 2016. This change will set the date to the last known date of the operation hour counter
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1447 scheduleSetDate(&global.deviceData.hoursOfOperation); |
| 38 | 1448 } |
| 1449 break; | |
| 1450 | |
| 662 | 1451 case MODE_SLEEP: |
| 38 | 1452 case MODE_SHUTDOWN: |
| 1453 break; | |
| 1454 } | |
| 1455 } | |
| 1456 | |
| 1457 | |
| 1458 void scheduleUpdateDeviceDataChargerFull(void) | |
| 1459 { | |
| 1460 global.deviceData.batteryChargeCompleteCycles.value_int32++; | |
| 88 | 1461 scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles); |
| 38 | 1462 } |
| 1463 | |
| 1464 | |
| 1465 void scheduleUpdateDeviceDataChargerCharging(void) | |
| 1466 { | |
| 1467 global.deviceData.batteryChargeCycles.value_int32++; | |
| 88 | 1468 scheduleSetDate(&global.deviceData.batteryChargeCycles); |
| 38 | 1469 } |
| 1470 | |
| 1471 | |
| 1472 /** | |
| 1473 ****************************************************************************** | |
| 1474 * @brief vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend | |
| 1475 * @author Peter Ryser | |
| 1476 * @version V0.0.1 | |
| 1477 * @date 22-April-2014 | |
| 1478 ****************************************************************************** | |
| 1479 */ | |
| 1480 _Bool vpm_crush2(void) | |
| 1481 { | |
| 1482 int i = 0; | |
| 1483 static float starting_ambient_pressure = 0; | |
| 1484 static float ending_ambient_pressure = 0; | |
| 1485 static float time_calc_begin = -1; | |
| 1486 static float initial_helium_pressure[16]; | |
| 1487 static float initial_nitrogen_pressure[16]; | |
| 1488 ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1489 | |
| 1490 if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 1491 { | |
| 1492 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1493 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1494 for( i = 0; i < 16; i++) | |
| 1495 { | |
| 1496 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1497 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1498 } | |
| 1499 return 0; | |
| 1500 } | |
| 1501 if(global.lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 1502 { | |
| 1503 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 1504 { | |
| 1505 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 1506 calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 1507 | |
| 1508 time_calc_begin = global.lifeData.dive_time_seconds; | |
| 1509 starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10; | |
| 1510 for( i = 0; i < 16; i++) | |
| 1511 { | |
| 1512 initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10; | |
| 1513 initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10; | |
| 1514 } | |
| 1515 | |
| 1516 return 1; | |
| 1517 } | |
| 1518 | |
| 1519 } | |
| 1520 return 0; | |
| 1521 } | |
| 1522 | |
| 1523 | |
| 1524 long get_nofly_time_minutes(void) | |
| 1525 { | |
| 1526 | |
| 1527 if(global.no_fly_time_minutes <= 0) | |
| 1528 return 0; | |
| 1529 | |
| 1530 long minutes_since_last_dive = global.seconds_since_last_dive/60; | |
| 1531 | |
| 1532 if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive)) | |
| 1533 { | |
| 1534 return (global.no_fly_time_minutes - minutes_since_last_dive); | |
| 1535 } | |
| 1536 else | |
| 1537 { | |
| 1538 global.no_fly_time_minutes = 0; | |
| 1539 return 0; | |
| 1540 } | |
| 1541 } | |
| 1542 | |
| 1543 | |
| 1544 //Supports threadsave copying!!! | |
| 1545 void copyActualGas(SGas gas) | |
| 1546 { | |
| 1547 uint8_t whichGas = !global.whichGas; | |
| 1548 global.aktualGas[whichGas] = gas; | |
| 1549 global.whichGas = whichGas; | |
| 1550 } | |
| 1551 | |
| 1552 | |
| 1553 //Supports threadsave copying!!! | |
| 1554 void copyPressureData(void) | |
| 1555 { | |
|
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Improvement SPI stability/recoverability
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1556 global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus; |
| 38 | 1557 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; |
| 1558 global.dataSendToMaster.data[boolPressureData].temperature = get_temperature(); | |
| 1559 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); | |
| 1560 global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar(); | |
| 1561 global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min; | |
| 1562 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); | |
| 1563 global.dataSendToMaster.boolPressureData = boolPressureData; | |
|
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Added function to support manuel exit of dive mode
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1564 global.dataSendToMaster.data[boolPressureData].SPARE1 = is_surface_pressure_stable(); |
| 38 | 1565 } |
| 1566 | |
| 1567 | |
| 1568 //Supports threadsave copying!!! | |
| 1569 void copyCnsAndOtuData(void) | |
| 1570 { | |
| 1571 //uint8_t dataSendToMaster. | |
| 1572 uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData; | |
| 1573 global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns; | |
| 1574 global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu; | |
| 1575 global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes; | |
| 1576 global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes(); | |
| 1577 global.dataSendToMaster.boolToxicData = boolToxicData; | |
| 1578 } | |
| 1579 | |
| 1580 | |
| 1581 //Supports threadsave copying!!! | |
| 1582 void copyTimeData(void) | |
| 1583 { | |
| 1584 extern RTC_HandleTypeDef RTCHandle; | |
| 1585 | |
| 1586 uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData; | |
| 1587 global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); | |
| 1588 global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); | |
| 1589 global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds; | |
| 1590 global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time; | |
| 1591 global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive; | |
| 1592 global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth; | |
| 1593 global.dataSendToMaster.boolTimeData = boolTimeData; | |
| 1594 } | |
| 1595 | |
| 1596 | |
| 1597 //Supports threadsave copying!!! | |
| 1598 void copyCompassData(void) | |
| 1599 { | |
| 1600 extern float compass_heading; | |
| 1601 extern float compass_roll; | |
| 1602 extern float compass_pitch; | |
| 1603 //uint8_t dataSendToMaster. | |
| 1604 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1605 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1606 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1607 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1608 global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0; | |
| 1609 global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0; | |
| 1610 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0; | |
| 1611 global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick(); | |
| 1612 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1613 } | |
| 1614 | |
| 1615 | |
| 1616 void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz) | |
| 1617 { | |
| 1618 extern float compass_heading; | |
| 1619 extern float compass_roll; | |
| 1620 extern float compass_pitch; | |
| 1621 //uint8_t dataSendToMaster. | |
| 1622 uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData; | |
| 1623 global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading; | |
| 1624 global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll; | |
| 1625 global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch; | |
| 1626 global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx; | |
| 1627 global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy; | |
| 1628 global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz; | |
| 1629 global.dataSendToMaster.boolCompassData = boolCompassData; | |
| 1630 } | |
| 1631 | |
| 1632 | |
| 1633 //Supports threadsave copying!!! | |
| 1634 void copyBatteryData(void) | |
| 1635 { | |
| 1636 uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData; | |
| 668 | 1637 global.lifeData.battery_charge = get_charge(); |
| 38 | 1638 global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage(); |
| 668 | 1639 |
| 1640 if(battery_gas_gauge_isChargeValueValid()) | |
| 1641 { | |
| 1642 global.dataSendToMaster.data[boolBatteryData].battery_charge= global.lifeData.battery_charge; | |
| 1643 } | |
| 1644 else | |
| 1645 { | |
| 1646 global.dataSendToMaster.data[boolBatteryData].battery_charge = global.lifeData.battery_charge * -1.0; /* negate value to show that this is just an assumption */ | |
| 1647 } | |
| 38 | 1648 global.dataSendToMaster.boolBatteryData = boolBatteryData; |
| 1649 } | |
| 1650 | |
| 1651 | |
| 1652 //Supports threadsave copying!!! | |
| 1653 void copyAmbientLightData(void) | |
| 1654 { | |
| 1655 uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData; | |
| 1656 global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level(); | |
| 1657 global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData; | |
| 1658 } | |
| 1659 | |
| 1660 | |
| 1661 //Supports threadsave copying!!! | |
| 1662 void copyTissueData(void) | |
| 1663 { | |
| 1664 //uint8_t dataSendToMaster. | |
| 1665 uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData; | |
| 1666 for(int i = 0; i < 16; i++) | |
| 1667 { | |
| 1668 global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i]; | |
| 1669 global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i]; | |
| 1670 } | |
| 1671 global.dataSendToMaster.boolTisssueData = boolTisssueData; | |
| 1672 } | |
| 1673 | |
| 1674 | |
| 1675 //Supports threadsave copying!!! | |
| 1676 void copyVpmCrushingData(void) | |
| 1677 { | |
| 1678 //uint8_t dataSendToMaster. | |
| 1679 uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData; | |
| 1680 for(int i = 0; i < 16; i++) | |
| 1681 { | |
| 1682 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i]; | |
| 1683 global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i]; | |
| 1684 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i]; | |
| 1685 global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i]; | |
| 1686 } | |
| 1687 global.dataSendToMaster.boolCrushingData = boolCrushingData; | |
| 1688 } | |
| 1689 | |
| 1690 | |
| 1691 void copyDeviceData(void) | |
| 1692 { | |
| 1693 uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData; | |
| 1694 memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice)); | |
| 1695 global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; | |
| 1696 | |
| 1697 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0; | |
| 1698 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, &global.vpm.adjusted_critical_radius_he, sizeof(16*4)); | |
| 1699 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, &global.vpm.adjusted_critical_radius_n2, sizeof(16*4)); | |
| 1700 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he, &global.vpm.adjusted_crushing_pressure_he, sizeof(16*4)); | |
| 1701 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2, &global.vpm.adjusted_crushing_pressure_n2, sizeof(16*4)); | |
| 1702 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he, &global.vpm.initial_allowable_gradient_he, sizeof(16*4)); | |
| 1703 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2, &global.vpm.initial_allowable_gradient_n2, sizeof(16*4)); | |
| 1704 memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, &global.vpm.max_actual_gradient, sizeof(16*4)); | |
| 1705 global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid; | |
| 1706 global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1; | |
| 1707 } | |
| 1708 | |
| 1709 /* copyPICdata(); is used in spi.c */ | |
| 1710 void copyPICdata(void) | |
| 1711 { | |
| 1712 uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata; | |
| 1713 for(int i = 0; i < 3; i++) | |
| 1714 { | |
| 1715 global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i]; | |
| 1716 } | |
| 1717 global.dataSendToMaster.boolPICdata = boolPICdata; | |
| 1718 } | |
| 1719 | |
|
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1720 void copyExtADCdata() |
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1721 { |
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1722 float value; |
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1723 |
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1724 uint8_t channel = 0; |
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1725 |
| 691 | 1726 uint8_t boolADCBuffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_ADC); |
| 1727 | |
| 1728 boolADCBuffer &= DATA_BUFFER_ADC; | |
| 1729 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_ADC; | |
| 1730 | |
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1731 for(channel = 0; channel < MAX_ADC_CHANNEL; channel++) |
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1732 { |
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1733 value = getExternalInterfaceChannel(channel); |
| 691 | 1734 global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].extADC_voltage[channel] = value; |
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1735 } |
| 691 | 1736 global.dataSendToMaster.boolADCO2Data |= boolADCBuffer; |
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1737 } |
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1738 |
| 662 | 1739 void copyExtCO2data() |
| 1740 { | |
| 1741 uint16_t value; | |
| 691 | 1742 uint8_t boolCO2Buffer = ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_CO2); |
| 1743 | |
| 1744 global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_CO2; | |
| 1745 boolCO2Buffer &= DATA_BUFFER_CO2; | |
| 662 | 1746 |
| 1747 if(externalInterface_GetCO2State()) | |
| 1748 { | |
| 1749 value = externalInterface_GetCO2Value(); | |
| 691 | 1750 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = value; |
| 662 | 1751 value = externalInterface_GetCO2SignalStrength(); |
| 691 | 1752 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = value; |
| 1753 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = externalInterface_GetCO2State(); | |
| 662 | 1754 externalInterface_SetCO2State(EXT_INTERFACE_33V_ON); /* clear command responses */ |
| 1755 } | |
| 1756 else | |
| 1757 { | |
| 691 | 1758 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = 0; |
| 1759 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = 0; | |
| 1760 global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = 0; | |
| 662 | 1761 } |
| 691 | 1762 global.dataSendToMaster.boolADCO2Data |= boolCO2Buffer; |
| 662 | 1763 } |
| 38 | 1764 |
| 1765 typedef enum | |
| 1766 { | |
| 1767 SPI3_OK = 0x00, | |
| 1768 SPI3_DEINIT = 0x01, | |
| 1769 } SPI3_StatusTypeDef; | |
| 1770 /* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine | |
| 1771 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit | |
| 1772 and will be init the next call of scheduleSetButtonResponsiveness() | |
| 1773 and data will be send again on the third call | |
| 1774 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active | |
| 1775 */ | |
| 1776 uint8_t scheduleSetButtonResponsiveness(void) | |
| 1777 { | |
| 1778 static uint8_t SPI3status = SPI3_OK; | |
| 1779 | |
| 1780 if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata))) | |
| 1781 { | |
| 1782 copyPICdata(); | |
| 1783 return 1; | |
| 1784 } | |
| 1785 else | |
| 1786 { | |
| 1787 for(int i=0;i<3;i++) | |
| 1788 { | |
| 1789 global.ButtonPICdata[i] = 0xFF; | |
| 1790 } | |
| 1791 copyPICdata(); | |
| 1792 | |
| 1793 if(SPI3status == SPI3_OK) | |
| 1794 { | |
| 1795 MX_SPI3_DeInit(); | |
| 1796 SPI3status = SPI3_DEINIT; | |
| 1797 } | |
| 1798 else | |
| 1799 { | |
| 1800 MX_SPI3_Init(); | |
| 1801 SPI3status = SPI3_OK; | |
| 1802 } | |
| 1803 return 0; | |
| 1804 } | |
| 1805 } | |
| 1806 | |
| 1807 | |
|
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1808 //save time difference |
| 38 | 1809 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) |
| 1810 { | |
| 1811 if(ticksstart <= ticksnow) | |
| 1812 { | |
| 1813 return ticksnow - ticksstart; | |
| 1814 } | |
| 1815 else | |
| 1816 { | |
| 1817 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 1818 } | |
| 1819 } | |
| 1820 | |
| 1821 /* same as in data_central.c */ | |
|
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1822 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 38 | 1823 { |
|
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1824 _Bool retval = true; |
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1825 |
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1826 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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1827 { |
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1828 /* 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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1829 if (lifeData->pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR) |
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1830 { |
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1831 retval = false; |
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1832 } |
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1833 else if(is_surface_pressure_stable()) /* this is the expected start condition */ |
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1834 { |
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1835 if((lifeData->pressure_ambient_bar >= (lifeData->pressure_surface_bar + 0.1f)) |
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1836 && (ManualExitDiveCounter == 0)) /* only if diver did not request to exit dive mode */ |
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1837 { |
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1838 retval = false; |
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1839 } |
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1840 } |
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1841 } |
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1842 return retval; |
| 38 | 1843 } |
| 1844 | |
| 1845 | |
| 1846 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/ | |
| 1847 |