Mercurial > public > ostc4
annotate Discovery/Src/data_central.c @ 724:f285424f04d9
Development feature: external pressure sensor
It now possible to use ADC channel 2 as channel for external pressure data. This function may be activated by compile switch only. It is usefull for sensor verification, e.g. by using a small pressure chamber.
| author | Ideenmodellierer |
|---|---|
| date | Thu, 05 Jan 2023 18:30:06 +0100 |
| parents | 6f5a18bb25be |
| children | 8a2337c7af52 |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @copyright heinrichs weikamp | |
| 4 * @file data_central.c | |
| 5 * @author heinrichs weikamp gmbh | |
| 6 * @date 10-November-2014 | |
| 7 * @version V1.0.2 | |
| 8 * @since 10-Nov-2014 | |
| 9 * @brief All the data EXCEPT | |
| 10 * - settings (settings.c) | |
| 11 * feste Werte, die nur an der Oberfl�che ge�ndert werden | |
| 12 * - dataIn and dataOut (data_exchange.h and data_exchange_main.c) | |
| 13 * Austausch mit Small CPU | |
| 14 * @bug | |
| 15 * @warning | |
| 16 @verbatim | |
| 17 ============================================================================== | |
| 18 ##### SDiveState Real and Sim ##### | |
| 19 ============================================================================== | |
| 20 [..] SDiveSettings | |
| 21 copy of parts of Settings that are necessary during the dive | |
| 22 and could be modified during the dive without post dive changes. | |
| 23 | |
| 24 [..] SLifeData | |
| 25 written in DataEX_copy_to_LifeData(); | |
| 26 block 1 "lifedata" set by SmallCPU in stateReal | |
| 27 block 2 "actualGas" set by main CPU from user input and send to Small CPU | |
| 28 block 3 "calculated data" set by main CPU based on "lifedata" | |
| 29 | |
| 30 [..] SVpm | |
| 31 | |
| 32 [..] SEvents | |
| 33 | |
| 34 [..] SDecoinfo | |
| 35 | |
| 36 [..] mode | |
| 37 set by SmallCPU in stateReal, can be surface, dive, ... | |
| 38 | |
| 39 [..] data_old__lost_connection_to_slave | |
| 40 set by DataEX_copy_to_LifeData(); | |
| 41 | |
| 42 ============================================================================== | |
| 43 ##### SDiveState Deco ##### | |
| 44 ============================================================================== | |
| 45 [..] kjbkldafj�lasdfjasdf | |
| 46 | |
| 47 ============================================================================== | |
| 48 ##### decoLock ##### | |
| 49 ============================================================================== | |
| 50 [..] The handler that synchronizes the data between IRQ copy and main deco loop | |
| 51 | |
| 52 | |
| 53 @endverbatim | |
| 54 ****************************************************************************** | |
| 55 * @attention | |
| 56 * | |
| 57 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2> | |
| 58 * | |
| 59 ****************************************************************************** | |
| 60 */ | |
| 61 | |
| 62 /* Includes ------------------------------------------------------------------*/ | |
| 63 #include <string.h> | |
|
539
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
64 #include <math.h> |
| 38 | 65 #include "data_central.h" |
| 66 #include "calc_crush.h" | |
| 67 #include "decom.h" | |
| 68 #include "stm32f4xx_hal.h" | |
| 69 #include "settings.h" | |
| 70 #include "data_exchange_main.h" | |
| 71 #include "ostc.h" // for button adjust on hw testboard 1 | |
| 72 #include "tCCR.h" | |
| 73 #include "crcmodel.h" | |
| 662 | 74 #include "configuration.h" |
| 38 | 75 |
|
225
2bb1db22b5f5
cleanup: random set of cleanups
Jan Mulder <jlmulder@xs4all.nl>
parents:
149
diff
changeset
|
76 static SDiveState stateReal = { 0 }; |
| 38 | 77 SDiveState stateSim = { 0 }; |
| 78 SDiveState stateDeco = { 0 }; | |
| 79 | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
80 static SDevice stateDevice = |
| 38 | 81 { |
| 82 /* max is 0x7FFFFFFF, min is 0x80000000 but also defined in stdint.h :-) */ | |
| 83 | |
| 84 /* count, use 0 */ | |
| 85 .batteryChargeCompleteCycles.value_int32 = 0, | |
| 86 .batteryChargeCycles.value_int32 = 0, | |
| 87 .diveCycles.value_int32 = 0, | |
| 88 .hoursOfOperation.value_int32 = 0, | |
| 89 | |
| 90 /* max values, use min. */ | |
| 91 .temperatureMaximum.value_int32 = INT32_MIN, | |
| 92 .depthMaximum.value_int32 = INT32_MIN, | |
| 93 | |
| 94 /* min values, use max. */ | |
| 95 .temperatureMinimum.value_int32 = INT32_MAX, | |
| 96 .voltageMinimum.value_int32 = INT32_MAX, | |
| 97 }; | |
| 98 | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
99 static SVpmRepetitiveData stateVPM = |
| 38 | 100 { |
| 101 .repetitive_variables_not_valid = 1, | |
| 102 .is_data_from_RTE_CPU = 0, | |
| 103 }; | |
| 104 | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
105 const SDiveState *stateUsed = &stateReal; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
106 SDiveState *stateUsedWrite = &stateReal; |
| 38 | 107 |
|
539
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
108 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
109 #define COMPASS_FRACTION (4.0f) /* delay till value changes to new actual */ |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
110 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
111 static float compass_compensated = 0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
112 |
| 38 | 113 void set_stateUsedToReal(void) |
| 114 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
115 stateUsed = stateUsedWrite = &stateReal; |
| 38 | 116 } |
| 117 | |
| 118 void set_stateUsedToSim(void) | |
| 119 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
120 stateUsed = stateUsedWrite = &stateSim; |
| 38 | 121 } |
| 122 | |
| 123 _Bool is_stateUsedSetToSim(void) | |
| 124 { | |
|
225
2bb1db22b5f5
cleanup: random set of cleanups
Jan Mulder <jlmulder@xs4all.nl>
parents:
149
diff
changeset
|
125 return stateUsed == &stateSim; |
| 38 | 126 } |
| 127 | |
| 128 const SDiveState * stateRealGetPointer(void) | |
| 129 { | |
| 130 return &stateReal; | |
| 131 } | |
| 132 | |
| 133 SDiveState * stateRealGetPointerWrite(void) | |
| 134 { | |
| 135 return &stateReal; | |
| 136 } | |
| 137 | |
| 138 | |
| 139 const SDiveState * stateSimGetPointer(void) | |
| 140 { | |
| 141 return &stateSim; | |
| 142 } | |
| 143 | |
| 144 | |
| 145 SDiveState * stateSimGetPointerWrite(void) | |
| 146 { | |
| 147 return &stateSim; | |
| 148 } | |
| 149 | |
| 150 | |
| 151 const SDevice * stateDeviceGetPointer(void) | |
| 152 { | |
| 153 return &stateDevice; | |
| 154 } | |
| 155 | |
| 156 | |
| 157 SDevice * stateDeviceGetPointerWrite(void) | |
| 158 { | |
| 159 return &stateDevice; | |
| 160 } | |
| 161 | |
| 162 | |
| 163 const SVpmRepetitiveData * stateVpmRepetitiveDataGetPointer(void) | |
| 164 { | |
| 165 return &stateVPM; | |
| 166 } | |
| 167 | |
| 168 | |
| 169 SVpmRepetitiveData * stateVpmRepetitiveDataGetPointerWrite(void) | |
| 170 { | |
| 171 return &stateVPM; | |
| 172 } | |
| 173 | |
| 174 | |
| 175 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow) | |
| 176 { | |
| 177 if(ticksstart <= ticksnow) | |
| 178 return ticksnow - ticksstart; | |
| 179 else | |
| 180 return 0xFFFFFFFF - ticksstart + ticksnow; | |
| 181 } | |
| 182 | |
| 183 | |
| 184 uint8_t decoLock = DECO_CALC_undefined; | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
185 |
|
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
186 static int descent_rate_meter_per_min = 20; |
|
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
187 static int max_depth = 70; |
|
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
188 static int bottom_time = 10; |
| 38 | 189 |
| 190 _Bool vpm_crush(SDiveState* pDiveState); | |
| 191 void setSimulationValues(int _ascent_rate_meter_per_min, int _descent_rate_meter_per_min, int _max_depth, int _bottom_time ) | |
| 192 { | |
| 193 descent_rate_meter_per_min = _descent_rate_meter_per_min; | |
| 194 max_depth = _max_depth; | |
| 195 bottom_time = _bottom_time; | |
| 196 } | |
| 197 | |
| 198 int current_second(void) { | |
| 199 | |
| 200 return HAL_GetTick() / 1000; | |
| 201 } | |
| 202 | |
| 203 #define OXY_ONE_SIXTIETH_PART 0.0166667f | |
| 204 | |
| 205 uint8_t calc_MOD(uint8_t gasId) | |
| 206 { | |
| 207 int16_t oxygen, maxppO2, result; | |
| 208 SSettings *pSettings; | |
| 209 | |
| 210 pSettings = settingsGetPointer(); | |
| 211 | |
| 212 oxygen = (int16_t)(pSettings->gas[gasId].oxygen_percentage); | |
| 213 | |
| 214 if(pSettings->gas[gasId].note.ub.deco > 0) | |
| 215 maxppO2 =(int16_t)(pSettings->ppO2_max_deco); | |
| 216 else | |
| 217 maxppO2 =(int16_t)(pSettings->ppO2_max_std); | |
| 218 | |
| 219 result = 10 * maxppO2; | |
| 220 result /= oxygen; | |
| 221 result -= 10; | |
| 222 | |
| 223 if(result < 0) | |
| 224 return 0; | |
| 225 | |
| 226 if(result > 255) | |
| 227 return 255; | |
| 228 | |
| 229 return result; | |
| 230 } | |
| 231 | |
| 232 float get_ambiant_pressure_simulation(long dive_time_seconds, float surface_pressure_bar ) | |
| 233 { | |
| 234 static | |
| 235 long descent_time; | |
| 236 float depth_meter; | |
| 237 | |
| 238 descent_time = 60 * max_depth / descent_rate_meter_per_min; | |
| 239 | |
| 240 if(dive_time_seconds <= descent_time) | |
| 241 { | |
| 242 depth_meter = ((float)(dive_time_seconds * descent_rate_meter_per_min)) / 60; | |
| 243 return surface_pressure_bar + depth_meter / 10; | |
| 244 } | |
| 245 //else if(dive_time_seconds <= (descent_time + bottom_time * 60)) | |
| 246 return surface_pressure_bar + max_depth / 10; | |
| 247 | |
| 248 | |
| 249 | |
| 250 } | |
| 251 | |
| 252 void UpdateLifeDataTest(SDiveState * pDiveState) | |
| 253 { | |
| 254 static int last_second = -1; | |
| 255 int now = current_second(); | |
| 256 if(last_second == now) | |
| 257 return; | |
| 258 last_second = now; | |
| 259 | |
| 260 pDiveState->lifeData.dive_time_seconds += 1; | |
| 261 pDiveState->lifeData.pressure_ambient_bar = get_ambiant_pressure_simulation(pDiveState->lifeData.dive_time_seconds,pDiveState->lifeData.pressure_surface_bar); | |
| 262 | |
| 263 pDiveState->lifeData.depth_meter = (pDiveState->lifeData.pressure_ambient_bar - pDiveState->lifeData.pressure_surface_bar) * 10.0f; | |
| 264 if(pDiveState->lifeData.max_depth_meter < pDiveState->lifeData.depth_meter) | |
| 265 pDiveState->lifeData.max_depth_meter = pDiveState->lifeData.depth_meter; | |
| 266 decom_tissues_exposure(1, &pDiveState->lifeData); | |
| 267 pDiveState->lifeData.ppO2 = decom_calc_ppO2( pDiveState->lifeData.pressure_ambient_bar, &pDiveState->lifeData.actualGas); | |
| 268 decom_oxygen_calculate_cns(& pDiveState->lifeData.cns, pDiveState->lifeData.ppO2); | |
| 269 | |
| 270 vpm_crush(pDiveState); | |
| 271 } | |
| 272 | |
| 273 | |
| 274 _Bool vpm_crush(SDiveState* pDiveState) | |
| 275 { | |
| 276 int i = 0; | |
| 277 static float starting_ambient_pressure = 0; | |
| 278 static float ending_ambient_pressure = 0; | |
| 279 static float time_calc_begin = -1; | |
| 280 static float initial_helium_pressure[16]; | |
| 281 static float initial_nitrogen_pressure[16]; | |
| 282 ending_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 283 | |
| 284 if((pDiveState->lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure)) | |
| 285 { | |
| 286 time_calc_begin = pDiveState->lifeData.dive_time_seconds; | |
| 287 starting_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 288 for( i = 0; i < 16; i++) | |
| 289 { | |
| 290 initial_helium_pressure[i] = pDiveState->lifeData.tissue_helium_bar[i] * 10; | |
| 291 initial_nitrogen_pressure[i] = pDiveState->lifeData.tissue_nitrogen_bar[i] * 10; | |
| 292 } | |
| 293 return false; | |
| 294 } | |
| 295 if(pDiveState->lifeData.dive_time_seconds - time_calc_begin >= 4) | |
| 296 { | |
| 297 if(ending_ambient_pressure > starting_ambient_pressure + 0.5f) | |
| 298 { | |
| 299 float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4; | |
| 300 calc_crushing_pressure(&pDiveState->lifeData, &pDiveState->vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate); | |
| 301 | |
| 302 time_calc_begin = pDiveState->lifeData.dive_time_seconds; | |
| 303 starting_ambient_pressure = pDiveState->lifeData.pressure_ambient_bar * 10; | |
| 304 for( i = 0; i < 16; i++) | |
| 305 { | |
| 306 initial_helium_pressure[i] = pDiveState->lifeData.tissue_helium_bar[i] * 10; | |
| 307 initial_nitrogen_pressure[i] = pDiveState->lifeData.tissue_nitrogen_bar[i] * 10; | |
| 308 } | |
| 309 | |
| 310 return true; | |
| 311 } | |
| 312 | |
| 313 } | |
| 314 return false; | |
| 315 }; | |
| 316 | |
| 317 | |
| 318 void createDiveSettings(void) | |
| 319 { | |
| 662 | 320 int i; |
| 38 | 321 SSettings* pSettings = settingsGetPointer(); |
| 322 | |
| 323 stateReal.diveSettings.compassHeading = pSettings->compassBearing; | |
| 324 stateReal.diveSettings.ascentRate_meterperminute = 10; | |
| 325 | |
| 326 stateReal.diveSettings.diveMode = pSettings->dive_mode; | |
| 327 stateReal.diveSettings.CCR_Mode = pSettings->CCR_Mode; | |
| 662 | 328 if((stateReal.diveSettings.diveMode == DIVEMODE_PSCR) && (stateReal.diveSettings.CCR_Mode == CCRMODE_FixedSetpoint)) |
| 329 { | |
| 330 /* TODO: update selection of sensor used on/off (currently sensor/fixpoint). As PSCR has no fixed setpoint change to simulated ppo2 if sensors are not active */ | |
| 331 stateReal.diveSettings.CCR_Mode = CCRMODE_Simulation; | |
| 332 } | |
| 333 | |
| 334 if(isLoopMode(stateReal.diveSettings.diveMode)) | |
| 38 | 335 stateReal.diveSettings.ccrOption = 1; |
| 336 else | |
| 337 stateReal.diveSettings.ccrOption = 0; | |
| 338 memcpy(stateReal.diveSettings.gas, pSettings->gas,sizeof(pSettings->gas)); | |
| 339 memcpy(stateReal.diveSettings.setpoint, pSettings->setpoint,sizeof(pSettings->setpoint)); | |
|
683
6f5a18bb25be
Bugfix: Set actual gas after basic dive settings were created:
Ideenmodellierer
parents:
682
diff
changeset
|
340 |
|
6f5a18bb25be
Bugfix: Set actual gas after basic dive settings were created:
Ideenmodellierer
parents:
682
diff
changeset
|
341 setActualGasFirst(&stateReal.lifeData); |
|
6f5a18bb25be
Bugfix: Set actual gas after basic dive settings were created:
Ideenmodellierer
parents:
682
diff
changeset
|
342 |
| 38 | 343 stateReal.diveSettings.gf_high = pSettings->GF_high; |
| 344 stateReal.diveSettings.gf_low = pSettings->GF_low; | |
| 345 stateReal.diveSettings.input_next_stop_increment_depth_bar = ((float)pSettings->stop_increment_depth_meter) / 10.0f; | |
| 346 stateReal.diveSettings.last_stop_depth_bar = ((float)pSettings->last_stop_depth_meter) / 10.0f; | |
| 347 stateReal.diveSettings.vpm_conservatism = pSettings->VPM_conservatism.ub.standard; | |
| 348 stateReal.diveSettings.deco_type.uw = pSettings->deco_type.uw; | |
| 349 stateReal.diveSettings.fallbackOption = pSettings->fallbackToFixedSetpoint; | |
| 350 stateReal.diveSettings.ppo2sensors_deactivated = pSettings->ppo2sensors_deactivated; | |
| 351 stateReal.diveSettings.future_TTS_minutes = pSettings->future_TTS; | |
| 352 | |
| 662 | 353 stateReal.diveSettings.pscr_lung_ratio = pSettings->pscr_lung_ratio; |
| 354 stateReal.diveSettings.pscr_o2_drop = pSettings->pscr_o2_drop; | |
| 355 | |
| 356 if(stateReal.diveSettings.diveMode == DIVEMODE_PSCR) | |
| 357 { | |
| 358 for(i=0; i<5; i++) | |
| 359 { | |
| 360 stateReal.diveSettings.decogaslist[i].pscr_factor = 1.0 / stateReal.diveSettings.pscr_lung_ratio * stateReal.diveSettings.pscr_o2_drop; | |
| 361 } | |
| 362 } | |
| 363 | |
| 38 | 364 decom_CreateGasChangeList(&stateReal.diveSettings, &stateReal.lifeData); // decogaslist |
| 365 stateReal.diveSettings.internal__pressure_first_stop_ambient_bar_as_upper_limit_for_gf_low_otherwise_zero = 0; | |
| 366 | |
| 367 /* for safety */ | |
| 368 stateReal.diveSettings.input_second_to_last_stop_depth_bar = stateReal.diveSettings.last_stop_depth_bar + stateReal.diveSettings.input_next_stop_increment_depth_bar; | |
| 369 /* and the proper calc */ | |
| 662 | 370 for(i = 1; i <10; i++) |
| 38 | 371 { |
| 372 if(stateReal.diveSettings.input_next_stop_increment_depth_bar * i > stateReal.diveSettings.last_stop_depth_bar) | |
| 373 { | |
| 374 stateReal.diveSettings.input_second_to_last_stop_depth_bar = stateReal.diveSettings.input_next_stop_increment_depth_bar * i; | |
| 375 break; | |
| 376 } | |
| 377 } | |
| 378 } | |
| 379 | |
| 380 | |
| 381 void copyDiveSettingsToSim(void) | |
| 382 { | |
| 383 memcpy(&stateSim, &stateReal, sizeof(stateReal)); | |
| 384 } | |
| 385 | |
| 386 | |
| 387 void copyVpmRepetetiveDataToSim(void) | |
| 388 { | |
| 389 SDiveState * pSimData = stateSimGetPointerWrite(); | |
| 390 const SVpmRepetitiveData * pVpmData = stateVpmRepetitiveDataGetPointer(); | |
| 391 | |
| 392 if(pVpmData->is_data_from_RTE_CPU) | |
| 393 { | |
| 394 for(int i=0; i<16;i++) | |
| 395 { | |
| 396 pSimData->vpm.adjusted_critical_radius_he[i] = pVpmData->adjusted_critical_radius_he[i]; | |
| 397 pSimData->vpm.adjusted_critical_radius_n2[i] = pVpmData->adjusted_critical_radius_n2[i]; | |
| 398 | |
| 399 pSimData->vpm.adjusted_crushing_pressure_he[i] = pVpmData->adjusted_crushing_pressure_he[i]; | |
| 400 pSimData->vpm.adjusted_crushing_pressure_n2[i] = pVpmData->adjusted_crushing_pressure_n2[i]; | |
| 401 | |
| 402 pSimData->vpm.initial_allowable_gradient_he[i] = pVpmData->initial_allowable_gradient_he[i]; | |
| 403 pSimData->vpm.initial_allowable_gradient_n2[i] = pVpmData->initial_allowable_gradient_n2[i]; | |
| 404 | |
| 405 pSimData->vpm.max_actual_gradient[i] = pVpmData->max_actual_gradient[i]; | |
| 406 } | |
| 407 pSimData->vpm.repetitive_variables_not_valid = pVpmData->repetitive_variables_not_valid; | |
| 408 } | |
| 409 } | |
| 410 | |
| 411 | |
| 662 | 412 |
| 413 | |
| 38 | 414 void updateSetpointStateUsed(void) |
| 415 { | |
| 682 | 416 if(!isLoopMode(stateUsed->diveSettings.diveMode)) |
| 38 | 417 { |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
418 stateUsedWrite->lifeData.actualGas.setPoint_cbar = 0; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
419 stateUsedWrite->lifeData.ppO2 = decom_calc_ppO2(stateUsed->lifeData.pressure_ambient_bar, &stateUsed->lifeData.actualGas); |
| 38 | 420 } |
| 421 else | |
| 422 { | |
| 423 if(stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) | |
| 424 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
425 stateUsedWrite->lifeData.actualGas.setPoint_cbar = get_ppO2SensorWeightedResult_cbar(); |
| 38 | 426 } |
| 662 | 427 #ifdef ENABLE_PSCR_MODE |
| 428 if(stateUsed->diveSettings.diveMode == DIVEMODE_PSCR) /* calculate a ppO2 value based on assumptions ( transfered approach from hwos code) */ | |
| 429 { | |
| 430 stateUsedWrite->lifeData.ppo2Simulated_bar = decom_calc_SimppO2_O2based(stateUsed->lifeData.pressure_ambient_bar, stateReal.diveSettings.gas[stateUsed->lifeData.actualGas.GasIdInSettings].oxygen_percentage, stateUsed->lifeData.actualGas.pscr_factor); | |
| 431 if(stateUsed->diveSettings.CCR_Mode == CCRMODE_Simulation) | |
| 432 { | |
| 433 stateUsedWrite->lifeData.actualGas.setPoint_cbar = stateUsedWrite->lifeData.ppo2Simulated_bar * 100; | |
| 434 } | |
| 435 } | |
| 436 #endif | |
| 437 /* limit calculated value to the physically possible if needed */ | |
| 38 | 438 if((stateUsed->lifeData.pressure_ambient_bar * 100) < stateUsed->lifeData.actualGas.setPoint_cbar) |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
439 stateUsedWrite->lifeData.ppO2 = stateUsed->lifeData.pressure_ambient_bar; |
| 38 | 440 else |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
441 stateUsedWrite->lifeData.ppO2 = ((float)stateUsed->lifeData.actualGas.setPoint_cbar) / 100; |
| 38 | 442 } |
| 443 } | |
| 444 | |
| 445 void setActualGasFirst(SLifeData *lifeData) | |
| 446 { | |
| 447 SSettings* pSettings = settingsGetPointer(); | |
| 448 uint8_t start = 0; | |
| 449 uint8_t gasId = 0; | |
| 450 uint8_t setpoint_cbar = 0; | |
| 451 | |
| 662 | 452 if(isLoopMode(pSettings->dive_mode)) |
| 38 | 453 { |
| 454 setpoint_cbar = pSettings->setpoint[1].setpoint_cbar; | |
| 455 start = NUM_OFFSET_DILUENT+1; | |
| 456 } | |
| 457 else | |
| 458 { | |
| 459 setpoint_cbar = 0; | |
| 460 start = 1; | |
| 461 } | |
| 462 | |
| 463 gasId = start; | |
| 464 for(int i=start;i<=NUM_GASES+start;i++) | |
| 465 { | |
| 466 if(pSettings->gas[i].note.ub.first) | |
| 467 { | |
| 468 gasId = i; | |
| 469 break; | |
| 470 } | |
| 471 } | |
| 472 setActualGas(lifeData, gasId, setpoint_cbar); | |
| 473 } | |
| 474 | |
| 475 void setActualGasAir(SLifeData *lifeData) | |
| 476 { | |
| 477 uint8_t nitrogen; | |
| 478 nitrogen = 79; | |
| 479 lifeData->actualGas.GasIdInSettings = 0; | |
| 480 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 481 lifeData->actualGas.helium_percentage =0; | |
| 482 lifeData->actualGas.setPoint_cbar = 0; | |
| 483 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 662 | 484 lifeData->actualGas.AppliedDiveMode = stateUsed->diveSettings.diveMode; |
| 38 | 485 } |
| 486 | |
| 487 | |
| 488 void setActualGas(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar) | |
| 489 { | |
| 490 SSettings* pSettings = settingsGetPointer(); | |
| 491 uint8_t nitrogen; | |
| 492 | |
| 493 nitrogen = 100; | |
| 494 nitrogen -= pSettings->gas[gasId].oxygen_percentage; | |
| 495 nitrogen -= pSettings->gas[gasId].helium_percentage; | |
| 496 | |
| 497 lifeData->actualGas.GasIdInSettings = gasId; | |
| 498 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 499 lifeData->actualGas.helium_percentage = pSettings->gas[gasId].helium_percentage; | |
| 500 lifeData->actualGas.setPoint_cbar = setpoint_cbar; | |
| 501 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 682 | 502 lifeData->actualGas.AppliedDiveMode = stateUsed->diveSettings.diveMode; |
| 662 | 503 lifeData->actualGas.pscr_factor = 1.0 / pSettings->pscr_lung_ratio * pSettings->pscr_o2_drop; |
| 504 if(isLoopMode(pSettings->dive_mode) && (gasId > NUM_OFFSET_DILUENT)) | |
| 38 | 505 lifeData->lastDiluent_GasIdInSettings = gasId; |
| 506 } | |
| 507 | |
| 508 | |
| 509 void setActualGas_DM(SLifeData *lifeData, uint8_t gasId, uint8_t setpoint_cbar) | |
| 510 { | |
| 511 if(stateUsed->diveSettings.ccrOption && gasId < 6) | |
| 512 { | |
| 513 if(lifeData->actualGas.GasIdInSettings != gasId) | |
| 514 { | |
| 515 SSettings* pSettings = settingsGetPointer(); | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
516 stateUsedWrite->events.bailout = 1; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
517 stateUsedWrite->events.info_bailoutO2 = pSettings->gas[gasId].oxygen_percentage; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
518 stateUsedWrite->events.info_bailoutHe = pSettings->gas[gasId].helium_percentage; |
| 38 | 519 } |
| 520 } | |
| 521 else | |
| 522 { | |
| 523 if(lifeData->actualGas.GasIdInSettings != gasId) | |
| 524 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
525 stateUsedWrite->events.gasChange = 1; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
526 stateUsedWrite->events.info_GasChange = gasId; |
| 38 | 527 } |
| 528 if( lifeData->actualGas.setPoint_cbar != setpoint_cbar) | |
| 529 { | |
| 530 // setPoint_cbar = 255 -> change to sensor mode | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
531 stateUsedWrite->events.setpointChange = 1; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
532 stateUsedWrite->events.info_SetpointChange = setpoint_cbar; |
| 38 | 533 } |
| 534 } | |
| 535 setActualGas(lifeData, gasId, setpoint_cbar); | |
| 536 } | |
| 537 | |
| 538 void setActualGas_ExtraGas(SLifeData *lifeData, uint8_t oxygen, uint8_t helium, uint8_t setpoint_cbar) | |
| 539 { | |
| 540 uint8_t nitrogen; | |
| 541 | |
| 542 nitrogen = 100; | |
| 543 nitrogen -= oxygen; | |
| 544 nitrogen -= helium; | |
| 545 | |
| 546 if((lifeData->actualGas.nitrogen_percentage != nitrogen) || (lifeData->actualGas.helium_percentage != helium)) | |
| 547 { | |
| 281 | 548 stateUsedWrite->events.manualGasSet = 1; |
| 549 stateUsedWrite->events.info_manualGasSetHe = helium; | |
| 550 stateUsedWrite->events.info_manualGasSetO2 = oxygen; | |
| 38 | 551 } |
| 552 if( lifeData->actualGas.setPoint_cbar != setpoint_cbar) | |
| 553 { | |
|
271
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
554 stateUsedWrite->events.setpointChange = 1; |
|
1303747b5ba2
cleanup: also write gas and setpoint changes in simulator mode
Jan Mulder <jlmulder@xs4all.nl>
parents:
270
diff
changeset
|
555 stateUsedWrite->events.info_SetpointChange = setpoint_cbar; |
| 38 | 556 } |
| 557 lifeData->actualGas.GasIdInSettings = 0; | |
| 558 lifeData->actualGas.nitrogen_percentage = nitrogen; | |
| 559 lifeData->actualGas.helium_percentage = helium; | |
| 560 lifeData->actualGas.setPoint_cbar = setpoint_cbar; | |
| 561 lifeData->actualGas.change_during_ascent_depth_meter_otherwise_zero = 0; | |
| 662 | 562 lifeData->actualGas.AppliedDiveMode = stateUsed->diveSettings.diveMode; |
| 38 | 563 } |
| 564 | |
| 565 void setButtonResponsiveness(uint8_t *ButtonSensitivyList) | |
| 566 { | |
| 567 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 568 | |
| 569 for(int i=0; i<4; i++) | |
| 570 { | |
| 571 pDataOut->data.buttonResponsiveness[i] = settingsHelperButtonSens_translate_percentage_to_hwOS_values(ButtonSensitivyList[i]); | |
| 572 } | |
| 573 pDataOut->setButtonSensitivityNow = 1; | |
| 574 } | |
| 575 | |
| 576 | |
| 577 void setDate(RTC_DateTypeDef Sdate) | |
| 578 { | |
| 579 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 580 | |
| 581 pDataOut->data.newDate = Sdate; | |
| 582 pDataOut->setDateNow = 1; | |
| 583 } | |
| 584 | |
| 585 | |
| 586 void setTime(RTC_TimeTypeDef Stime) | |
| 587 { | |
| 588 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 589 | |
| 590 pDataOut->data.newTime = Stime; | |
| 591 pDataOut->setTimeNow = 1; | |
| 592 } | |
| 593 | |
| 594 | |
| 595 void setBatteryPercentage(uint8_t newChargePercentage) | |
| 596 { | |
| 597 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 598 | |
| 599 pDataOut->data.newBatteryGaugePercentageFloat = settingsGetPointer()->lastKnownBatteryPercentage; | |
| 600 pDataOut->setBatteryGaugeNow = 1; | |
| 601 } | |
| 602 | |
| 603 | |
| 604 void calibrateCompass(void) | |
| 605 { | |
| 606 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 607 pDataOut->calibrateCompassNow = 1; | |
| 608 } | |
| 609 | |
| 610 | |
| 611 void clearDeco(void) | |
| 612 { | |
| 613 SDataReceiveFromMaster *pDataOut = dataOutGetPointer(); | |
| 614 pDataOut->clearDecoNow = 1; | |
| 615 | |
| 616 stateRealGetPointerWrite()->cnsHigh_at_the_end_of_dive = 0; | |
| 617 stateRealGetPointerWrite()->decoMissed_at_the_end_of_dive = 0; | |
| 618 } | |
| 619 | |
| 620 | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
621 static int32_t helper_days_from_civil(int32_t y, uint32_t m, uint32_t d) |
| 38 | 622 { |
| 623 y += 2000; | |
| 624 y -= m <= 2; | |
| 625 int32_t era = (y >= 0 ? y : y-399) / 400; | |
| 626 uint32_t yoe = (uint32_t)(y - era * 400); // [0, 399] | |
| 627 uint32_t doy = (153*(m + (m > 2 ? -3 : 9)) + 2)/5 + d-1; // [0, 365] | |
| 628 uint32_t doe = yoe * 365 + yoe/4 - yoe/100 + doy; // [0, 146096] | |
| 629 return era * 146097 + (int32_t)(doe) - 719468; | |
| 630 } | |
| 631 | |
| 632 | |
|
300
5ca177d2df5d
cleanup: remove commented/unused code, make static
Jan Mulder <jlmulder@xs4all.nl>
parents:
281
diff
changeset
|
633 static uint8_t helper_weekday_from_days(int32_t z) |
| 38 | 634 { |
| 635 return (uint8_t)(z >= -4 ? (z+4) % 7 : (z+5) % 7 + 6); | |
| 636 } | |
| 637 | |
| 638 | |
| 639 void setWeekday(RTC_DateTypeDef *sDate) | |
| 640 { | |
| 641 uint8_t day; | |
| 642 // [0, 6] -> [Sun, Sat] | |
| 643 day = helper_weekday_from_days(helper_days_from_civil(sDate->Year, sDate->Month, sDate->Date)); | |
| 644 // [1, 7] -> [Mon, Sun] | |
| 645 if(day == 0) | |
| 646 day = 7; | |
| 647 sDate->WeekDay = day; | |
| 648 } | |
| 649 | |
| 650 | |
| 651 void translateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate) | |
| 652 { | |
| 653 datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); | |
| 654 | |
| 655 /* Fill the structure fields with the read parameters */ | |
| 656 sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16); | |
| 657 sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8); | |
| 658 sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); | |
| 659 sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13); | |
| 660 | |
| 661 /* Convert the date structure parameters to Binary format */ | |
| 662 sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); | |
| 663 sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); | |
| 664 sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); | |
| 665 } | |
| 666 | |
| 667 void translateTime(uint32_t tmpreg, RTC_TimeTypeDef *sTime) | |
| 668 { | |
| 669 tmpreg = (uint32_t)(tmpreg & RTC_TR_RESERVED_MASK); | |
| 670 | |
| 671 /* Fill the structure fields with the read parameters */ | |
| 672 sTime->Hours = (uint8_t)((tmpreg & (RTC_TR_HT | RTC_TR_HU)) >> 16); | |
| 673 sTime->Minutes = (uint8_t)((tmpreg & (RTC_TR_MNT | RTC_TR_MNU)) >>8); | |
| 674 sTime->Seconds = (uint8_t)(tmpreg & (RTC_TR_ST | RTC_TR_SU)); | |
| 675 sTime->TimeFormat = (uint8_t)((tmpreg & (RTC_TR_PM)) >> 16); | |
| 676 | |
| 677 /* Convert the time structure parameters to Binary format */ | |
| 678 sTime->Hours = (uint8_t)RTC_Bcd2ToByte(sTime->Hours); | |
| 679 sTime->Minutes = (uint8_t)RTC_Bcd2ToByte(sTime->Minutes); | |
| 680 sTime->Seconds = (uint8_t)RTC_Bcd2ToByte(sTime->Seconds); | |
| 681 sTime->SubSeconds = 0; | |
| 682 } | |
| 683 | |
|
270
2e58a4094770
feature, debug: make simulator write a logbook entry
Jan Mulder <jlmulder@xs4all.nl>
parents:
225
diff
changeset
|
684 void resetEvents(const SDiveState *pStateUsed) |
| 38 | 685 { |
|
270
2e58a4094770
feature, debug: make simulator write a logbook entry
Jan Mulder <jlmulder@xs4all.nl>
parents:
225
diff
changeset
|
686 memset((void *)&pStateUsed->events, 0, sizeof(SEvents)); |
| 38 | 687 } |
| 688 | |
| 689 | |
| 690 uint32_t CRC_CalcBlockCRC_moreThan768000(uint32_t *buffer1, uint32_t *buffer2, uint32_t words) | |
| 691 { | |
| 692 cm_t crc_model; | |
| 693 uint32_t word_to_do; | |
| 694 uint8_t byte_to_do; | |
| 695 int i; | |
| 696 | |
| 697 // Values for the STM32F generator. | |
| 698 | |
| 699 crc_model.cm_width = 32; // 32-bit CRC | |
| 700 crc_model.cm_poly = 0x04C11DB7; // CRC-32 polynomial | |
| 701 crc_model.cm_init = 0xFFFFFFFF; // CRC initialized to 1's | |
| 702 crc_model.cm_refin = FALSE; // CRC calculated MSB first | |
| 703 crc_model.cm_refot = FALSE; // Final result is not bit-reversed | |
| 704 crc_model.cm_xorot = 0x00000000; // Final result XOR'ed with this | |
| 705 | |
| 706 cm_ini(&crc_model); | |
| 707 | |
| 708 while (words--) | |
| 709 { | |
| 710 // The STM32F10x hardware does 32-bit words at a time!!! | |
| 711 if(words > (768000/4)) | |
| 712 word_to_do = *buffer2++; | |
| 713 else | |
| 714 word_to_do = *buffer1++; | |
| 715 | |
| 716 // Do all bytes in the 32-bit word. | |
| 717 | |
| 718 for (i = 0; i < sizeof(word_to_do); i++) | |
| 719 { | |
| 720 // We calculate a *byte* at a time. If the CRC is MSB first we | |
| 721 // do the next MS byte and vica-versa. | |
| 722 | |
| 723 if (crc_model.cm_refin == FALSE) | |
| 724 { | |
| 725 // MSB first. Do the next MS byte. | |
| 726 | |
| 727 byte_to_do = (uint8_t) ((word_to_do & 0xFF000000) >> 24); | |
| 728 word_to_do <<= 8; | |
| 729 } | |
| 730 else | |
| 731 { | |
| 732 // LSB first. Do the next LS byte. | |
| 733 | |
| 734 byte_to_do = (uint8_t) (word_to_do & 0x000000FF); | |
| 735 word_to_do >>= 8; | |
| 736 } | |
| 737 | |
| 738 cm_nxt(&crc_model, byte_to_do); | |
| 739 } | |
| 740 } | |
| 741 | |
| 742 // Return the final result. | |
| 743 | |
| 744 return (cm_crc(&crc_model)); | |
| 745 } | |
| 746 | |
| 747 | |
| 748 uint32_t CRC_CalcBlockCRC(uint32_t *buffer, uint32_t words) | |
| 749 { | |
| 750 cm_t crc_model; | |
| 751 uint32_t word_to_do; | |
| 752 uint8_t byte_to_do; | |
| 753 int i; | |
| 754 | |
| 755 // Values for the STM32F generator. | |
| 756 | |
| 757 crc_model.cm_width = 32; // 32-bit CRC | |
| 758 crc_model.cm_poly = 0x04C11DB7; // CRC-32 polynomial | |
| 759 crc_model.cm_init = 0xFFFFFFFF; // CRC initialized to 1's | |
| 760 crc_model.cm_refin = FALSE; // CRC calculated MSB first | |
| 761 crc_model.cm_refot = FALSE; // Final result is not bit-reversed | |
| 762 crc_model.cm_xorot = 0x00000000; // Final result XOR'ed with this | |
| 763 | |
| 764 cm_ini(&crc_model); | |
| 765 | |
| 766 while (words--) | |
| 767 { | |
| 768 // The STM32F10x hardware does 32-bit words at a time!!! | |
| 769 | |
| 770 word_to_do = *buffer++; | |
| 771 | |
| 772 // Do all bytes in the 32-bit word. | |
| 773 | |
| 774 for (i = 0; i < sizeof(word_to_do); i++) | |
| 775 { | |
| 776 // We calculate a *byte* at a time. If the CRC is MSB first we | |
| 777 // do the next MS byte and vica-versa. | |
| 778 | |
| 779 if (crc_model.cm_refin == FALSE) | |
| 780 { | |
| 781 // MSB first. Do the next MS byte. | |
| 782 | |
| 783 byte_to_do = (uint8_t) ((word_to_do & 0xFF000000) >> 24); | |
| 784 word_to_do <<= 8; | |
| 785 } | |
| 786 else | |
| 787 { | |
| 788 // LSB first. Do the next LS byte. | |
| 789 | |
| 790 byte_to_do = (uint8_t) (word_to_do & 0x000000FF); | |
| 791 word_to_do >>= 8; | |
| 792 } | |
| 793 | |
| 794 cm_nxt(&crc_model, byte_to_do); | |
| 795 } | |
| 796 } | |
| 797 | |
| 798 // Return the final result. | |
| 799 | |
| 800 return (cm_crc(&crc_model)); | |
| 801 } | |
| 802 | |
|
302
eba8d1eb5bef
bugfix, cleanup: keep both is_ambient_pressure_close_to_surface in sync
Jan Mulder <jlmulder@xs4all.nl>
parents:
300
diff
changeset
|
803 // This code is also in RTE. Keep it in sync when editing |
| 38 | 804 _Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData) |
| 805 { | |
|
310
95928ef3986f
Make dive mode detection more advanced
Jan Mulder <jlmulder@xs4all.nl>
parents:
302
diff
changeset
|
806 if (lifeData->pressure_ambient_bar > 1.16) |
|
95928ef3986f
Make dive mode detection more advanced
Jan Mulder <jlmulder@xs4all.nl>
parents:
302
diff
changeset
|
807 return false; |
|
95928ef3986f
Make dive mode detection more advanced
Jan Mulder <jlmulder@xs4all.nl>
parents:
302
diff
changeset
|
808 else if(lifeData->pressure_ambient_bar < (lifeData->pressure_surface_bar + 0.1f)) |
| 38 | 809 return true; |
| 810 else | |
| 811 return false; | |
| 812 } | |
|
539
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
813 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
814 void compass_Inertia(float newHeading) |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
815 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
816 float newTarget = newHeading; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
817 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
818 if(settingsGetPointer()->compassInertia == 0) |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
819 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
820 compass_compensated = newHeading; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
821 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
822 else |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
823 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
824 if((compass_compensated > 270.0) && (newHeading < 90.0)) /* transition passing 0 clockwise */ |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
825 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
826 newTarget = newHeading + 360.0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
827 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
828 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
829 if((compass_compensated < 90.0) && (newHeading > 270.0)) /* transition passing 0 counter clockwise */ |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
830 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
831 newTarget = newHeading - 360.0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
832 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
833 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
834 compass_compensated = compass_compensated + ((newTarget - compass_compensated) / (COMPASS_FRACTION * (settingsGetPointer()->compassInertia))); |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
835 if(compass_compensated < 0.0) |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
836 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
837 compass_compensated += 360.0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
838 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
839 if(compass_compensated >= 360.0) |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
840 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
841 compass_compensated -= 360.0; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
842 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
843 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
844 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
845 |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
846 float compass_getCompensated() |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
847 { |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
848 return compass_compensated; |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
849 } |
|
d784f281833a
Added inertia simulation for compass heading:
Ideenmodellierer
parents:
310
diff
changeset
|
850 |
| 662 | 851 uint8_t isLoopMode(uint8_t Mode) |
| 852 { | |
| 853 uint8_t retVal = 0; | |
| 854 if((Mode == DIVEMODE_CCR) || (Mode == DIVEMODE_PSCR)) | |
| 855 { | |
| 856 retVal = 1; | |
| 857 } | |
| 858 return retVal; | |
| 859 } |