Mercurial > public > ostc4
view Discovery/Src/tCCR.c @ 240:625d20070261 div-fixes-5
Improvement SPI stability/recoverability
The core part of this commit comes from careful code reading. The core is the
swap of Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_SOFT) and
SPI_Start_single_TxRx_with_Master(). This code is sitting in an if-clause
that is triggered on SPI comms failure. Instead of blindly trying to
communicate again (which will very likely fail again), first try to reset
the comms link, and then try to communicate again. That simply makes
more sense in this case.
This is heavily tested, on 2 simple dives, and 5 very long deco schedules
from the simulator (10+ hour deco's), and a lot of small simulated dives
(upto 2h runtime). Of all these tests, only one long session failed after
9 out of 11h runtime. Analyzing that one failure, suggests that the
RTE is looping in some error handler, which (obviously) results in
a SPI comms failure as a result. I consider this not part of this change.
Additionally, some more cleanup is done in this code.
Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author | Jan Mulder <jlmulder@xs4all.nl> |
---|---|
date | Mon, 08 Apr 2019 11:49:13 +0200 |
parents | 5f11787b4f42 |
children | 74a8296a2318 |
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/////////////////////////////////////////////////////////////////////////////// /// -*- coding: UTF-8 -*- /// /// \file Discovery/Src/tCCR.c /// \brief HUD data via optical port /// \author Heinrichs Weikamp gmbh /// \date 18-Dec-2014 /// /// \details /// /// $Id$ /////////////////////////////////////////////////////////////////////////////// /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh /// /// This program is free software: you can redistribute it and/or modify /// it under the terms of the GNU General Public License as published by /// the Free Software Foundation, either version 3 of the License, or /// (at your option) any later version. /// /// This program is distributed in the hope that it will be useful, /// but WITHOUT ANY WARRANTY; without even the implied warranty of /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the /// GNU General Public License for more details. /// /// You should have received a copy of the GNU General Public License /// along with this program. If not, see <http://www.gnu.org/licenses/>. ////////////////////////////////////////////////////////////////////////////// /* Includes ------------------------------------------------------------------*/ #include <string.h> #include "tCCR.h" #include "ostc.h" #include "data_central.h" #include "data_exchange.h" #include "check_warning.h" /* Private types -------------------------------------------------------------*/ typedef struct { uint8_t hud_firmwareVersion; bit8_Type status_byte; uint16_t sensor_voltage_100uV[3]; uint8_t sensor_ppo2_cbar[3]; uint8_t temp1; uint16_t battery_voltage_mV; uint16_t checksum; } SIrLink; /* Private variables ---------------------------------------------------------*/ SIrLink receiveHUD[2]; uint8_t boolHUDdata = 0; uint8_t data_old__lost_connection_to_HUD = 1; uint8_t receiveHUDraw[16]; uint8_t StartListeningToUART_HUD = 0; uint16_t count = 0; /* Private variables with external access via get_xxx() function -------------*/ /* Private function prototypes -----------------------------------------------*/ void tCCR_fallbackToFixedSetpoint(void); #ifndef USART_IR_HUD void tCCR_init(void) { } void tCCR_control(void) { } void tCCR_test(void) { } void tCCR_restart(void) { } float get_ppO2Sensor_bar(uint8_t sensor_id) { } float get_sensorVoltage_mV(uint8_t sensor_id) { } float get_HUD_battery_voltage_V(void) { } void tCCR_tick(void) { } #else /* Exported functions --------------------------------------------------------*/ float get_ppO2Sensor_bar(uint8_t sensor_id) { if((sensor_id > 2) || data_old__lost_connection_to_HUD) return 0; return (float)(receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id]) / 100.0f; } float get_sensorVoltage_mV(uint8_t sensor_id) { if((sensor_id > 2) || data_old__lost_connection_to_HUD) return 0; return (float)(receiveHUD[boolHUDdata].sensor_voltage_100uV[sensor_id]) / 10.0f; } float get_HUD_battery_voltage_V(void) { if(data_old__lost_connection_to_HUD) return 0; return (float)(receiveHUD[boolHUDdata].battery_voltage_mV) / 1000.0f; } void test_HUD_sensor_values_outOfBounds(int8_t * outOfBouds1, int8_t * outOfBouds2, int8_t * outOfBouds3) { uint8_t sensorNotActiveBinary; uint8_t sensorActive[3]; // test1: user deactivation sensorNotActiveBinary = stateUsed->diveSettings.ppo2sensors_deactivated; for(int i=0;i<3;i++) sensorActive[i] = 1; if(sensorNotActiveBinary) { if(sensorNotActiveBinary & 1) sensorActive[0] = 0; if(sensorNotActiveBinary & 2) sensorActive[1] = 0; if(sensorNotActiveBinary & 4) sensorActive[2] = 0; } // test2: mV of remaining sensors for(int i=0;i<3;i++) { if(sensorActive[i]) { if( (receiveHUD[boolHUDdata].sensor_voltage_100uV[i] < 80) || (receiveHUD[boolHUDdata].sensor_voltage_100uV[i] > 2500)) { sensorActive[i] = 0; switch(i) { case 0: sensorNotActiveBinary |= 1; break; case 1: sensorNotActiveBinary |= 2; break; case 2: sensorNotActiveBinary |= 4; break; } } } } *outOfBouds1 = 0; *outOfBouds2 = 0; *outOfBouds3 = 0; /* with two, one or no sensor, there is nothing to compare anymore */ if(sensorNotActiveBinary) { // set outOfBounds for both tests if(!sensorActive[0]) *outOfBouds1 = 1; if(!sensorActive[1]) *outOfBouds2 = 1; if(!sensorActive[2]) *outOfBouds3 = 1; return; } else { uint8_t sensor_id_ordered[3]; uint8_t difference[2]; if((receiveHUD[boolHUDdata].sensor_ppo2_cbar[1]) > (receiveHUD[boolHUDdata].sensor_ppo2_cbar[0])) { sensor_id_ordered[0] = 0; sensor_id_ordered[1] = 1; } else { sensor_id_ordered[0] = 1; sensor_id_ordered[1] = 0; } if(receiveHUD[boolHUDdata].sensor_ppo2_cbar[2] > receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[1]]) { sensor_id_ordered[2] = 2; } else { sensor_id_ordered[2] = sensor_id_ordered[1]; if(receiveHUD[boolHUDdata].sensor_ppo2_cbar[2] > receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[0]]) { sensor_id_ordered[1] = 2; } else { sensor_id_ordered[1] = sensor_id_ordered[0]; sensor_id_ordered[0] = 2; } } difference[0] = receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[1]]- receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[0]]; difference[1] = receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[2]]- receiveHUD[boolHUDdata].sensor_ppo2_cbar[sensor_id_ordered[1]]; if((difference[0] > difference[1]) && (difference[0] > 15)) { switch(sensor_id_ordered[0]) { case 0: *outOfBouds1 = 1; break; case 1: *outOfBouds2 = 1; break; case 2: *outOfBouds3 = 1; break; } } else if((difference[0] < difference[1]) && (difference[1] > 15)) { switch(sensor_id_ordered[2]) { case 0: *outOfBouds1 = 1; break; case 1: *outOfBouds2 = 1; break; case 2: *outOfBouds3 = 1; break; } } } } uint8_t get_ppO2SensorWeightedResult_cbar(void) { int8_t sensorOutOfBound[3]; uint16_t result = 0; uint8_t count = 0; test_HUD_sensor_values_outOfBounds(&sensorOutOfBound[0], &sensorOutOfBound[1], &sensorOutOfBound[2]); for(int i=0;i<3;i++) { if(!sensorOutOfBound[i]) { result += receiveHUD[boolHUDdata].sensor_ppo2_cbar[i]; count++; } } if(count == 0) // all sensors out of bounds! return 0; else return (uint8_t)(result / count); } void tCCR_init(void) { StartListeningToUART_HUD = 1; } /* after 3 seconds without update from HUD * data is considered old */ void tCCR_tick(void) { if(count < 3 * 10) count++; else { data_old__lost_connection_to_HUD = 1; if(count < 20 * 10) count++; else tCCR_fallbackToFixedSetpoint(); } } void tCCR_restart(void) { HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 15);/* 15*/ } void tCCR_control(void) { if((UartReadyHUD == RESET) && StartListeningToUART_HUD) { StartListeningToUART_HUD = 0; HAL_UART_Receive_IT(&UartIR_HUD_Handle, receiveHUDraw, 15);/* 15*/ } if(UartReadyHUD == SET) { UartReadyHUD = RESET; memcpy(&receiveHUD[!boolHUDdata], receiveHUDraw, 11); receiveHUD[!boolHUDdata].battery_voltage_mV = receiveHUDraw[11] + (256 * receiveHUDraw[12]); receiveHUD[!boolHUDdata].checksum = receiveHUDraw[13] + (256 * receiveHUDraw[14]); uint16_t checksum = 0; for(int i=0;i<13;i++) { checksum += receiveHUDraw[i]; } if(checksum == receiveHUD[!boolHUDdata].checksum) { boolHUDdata = !boolHUDdata; count = 0; data_old__lost_connection_to_HUD = 0; } StartListeningToUART_HUD = 1; } } #endif /* Private functions ---------------------------------------------------------*/ void tCCR_fallbackToFixedSetpoint(void) { if((stateUsed->mode == MODE_DIVE) && (stateUsed->diveSettings.diveMode == DIVEMODE_CCR) && (stateUsed->diveSettings.CCR_Mode == CCRMODE_Sensors) && (stateUsed->diveSettings.fallbackOption)) { uint8_t setpointCbar, actualGasID; SDiveState *pState; if(stateUsed == stateRealGetPointer()) pState = stateRealGetPointerWrite(); else pState = stateSimGetPointerWrite(); setpointCbar = pState->diveSettings.setpoint[1].setpoint_cbar; pState->diveSettings.CCR_Mode = CCRMODE_FixedSetpoint; actualGasID = pState->lifeData.actualGas.GasIdInSettings; setActualGas_DM(&pState->lifeData,actualGasID,setpointCbar); set_warning_fallback(); } }