Mercurial > public > ostc4

view Small_CPU/Src/scheduler.c @ 865:cb386cccc7c5

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
When opening the logbook, or scrolling inside a logbook page, show 'Page' instead of 'Back' to make it clear that this is the way to page through the logbook pages. from mikeller
author heinrichsweikamp
date Mon, 22 Jul 2024 16:39:48 +0200
parents 91d5ef16f1fd
children d32901746950
line wrap: on
line source

/**
  ******************************************************************************
  * @file    scheduler.c 
  * @author  heinrichs weikamp gmbh
  * @date    27-March-2014
  * @version V0.0.6
  * @since   18-June-2015
  * @brief   the main part except for base.c
  *           
  @verbatim                 
  ============================================================================== 
                        ##### How to use #####
  ============================================================================== 
  @endverbatim
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT(c) 2015 heinrichs weikamp</center></h2>
  *
  ******************************************************************************
  */ 
	
	
//#define DEBUGMODE

/* Includes ------------------------------------------------------------------*/
#include <string.h>
#include "baseCPU2.h"
#include "stm32f4xx_hal.h"
#include "i2c.h"
#include "scheduler.h"
#include "pressure.h"
#include "compass.h"
#include "batteryGasGauge.h"
#include "batteryCharger.h"
#include "spi.h"
#include "rtc.h"
#include "dma.h"
#include "adc.h"
#include "calc_crush.h"
#include "stm32f4xx_hal_rtc_ex.h"
#include "decom.h"
#include "tm_stm32f4_otp.h"
#include "externalInterface.h"
#include "uart.h"

/* uncomment to enable restoting of last known date in case of a power loss (RTC looses timing data) */
/* #define RESTORE_LAST_KNOWN_DATE */

#define INVALID_PREASURE_VALUE 			(0.0f)
#define START_DIVE_MOUNTAIN_MODE_BAR	(0.88f)
#define START_DIVE_IMMEDIATLY_BAR		(1.16f)

/* Private types -------------------------------------------------------------*/
const SGas Air = {79,0,0,0,0};

/* Exported variables --------------------------------------------------------*/
SGlobal global;
SDevice DeviceDataFlash;
uint8_t deviceDataFlashValid = 0;
uint8_t deviceDataSubSeconds = 0;

/* Private variables ---------------------------------------------------------*/
static uint16_t ManualExitDiveCounter = 0;   /* The computer will exit dive mode in shallow area immediately. Increase depth to restart dive while counter is active */

/* can be lost while in sleep */
uint8_t clearDecoNow = 0;
uint8_t setButtonsNow = 0;

/* has to be in SRAM2 */
uint8_t secondsCount = 0;

static uint8_t dospisync = SPI_SYNC_METHOD_NONE;

SScheduleCtrl Scheduler;
 
/* Private function prototypes -----------------------------------------------*/

_Bool vpm_crush2(void);
void scheduleUpdateDeviceData(void);
long get_nofly_time_minutes(void);
void copyActualGas(SGas gas);
void copyPressureData(void);
void copyCnsAndOtuData(void);
void copyTimeData(void);
void copyCompassData(void);
void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
void copyAmbientLightData(void);
void copyTissueData(void);
void copyVpmCrushingData(void);
void copyDeviceData(void);
void copyPICdata(void);
void copyExtADCdata();
void copyExtCO2data();
static void schedule_update_timer_helper(int8_t thisSeconds);
uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow);

void scheduleSetDate(SDeviceLine *line);

/* Exported functions --------------------------------------------------------*/

void initGlobals(void)
{
	bzero(&global, sizeof(SGlobal));
	
	global.dataSendToSlavePending = 0;
	global.dataSendToSlaveIsValid = 1;
	global.dataSendToSlaveIsNotValidCount = 0;

	global.mode = MODE_POWERUP;
	global.repetitive_dive = 0;
	global.conservatism = 0;
	global.whichGas = 0;
	global.aktualGas[0] = Air;
	global.lifeData.actualGas = global.aktualGas[0];

	const uint8_t button_standard_sensitivity = 51;		/* 51 equals a percentage of 85% which was the default value before */
	global.ButtonResponsiveness[0] = button_standard_sensitivity;
	global.ButtonResponsiveness[1] = button_standard_sensitivity;
	global.ButtonResponsiveness[2] = button_standard_sensitivity;
	global.ButtonResponsiveness[3] = button_standard_sensitivity;
	
	global.ButtonPICdata[0] = 0xFF;
	global.ButtonPICdata[1] = 0xFF;
	global.ButtonPICdata[2] = 0xFF;
	global.ButtonPICdata[3] = 0xFF;

	global.I2C_SystemStatus = HAL_ERROR; // 0x00 would be everything working
	
	global.lifeData.battery_voltage = BATTERY_DEFAULT_VOLTAGE;

	global.lifeData.pressure_ambient_bar = INVALID_PREASURE_VALUE;
	global.lifeData.pressure_surface_bar = INVALID_PREASURE_VALUE;
	decom_reset_with_1000mbar(&global.lifeData);
	
	global.demo_mode = 0;

	for(int i = 0; i < MAX_SENSORS; i++)
	{
		global.sensorError[i] = HAL_OK; // HAL_OK = 0;
	}

	global.dataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;;
	global.dataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;;
	global.dataSendToMaster.chargeStatus = 0;
	
	global.dataSendToMaster.power_on_reset = 0;
	global.dataSendToMaster.header.checkCode[0] = 0xA1;
	global.dataSendToMaster.header.checkCode[1] = SPI_RX_STATE_OFFLINE;
	global.dataSendToMaster.header.checkCode[2] = 0xA3;
	global.dataSendToMaster.header.checkCode[3] = 0xA4;
	global.dataSendToMaster.footer.checkCode[3] = 0xE4;
	global.dataSendToMaster.footer.checkCode[2] = 0xE3;
	global.dataSendToMaster.footer.checkCode[1] = 0xE2;
	global.dataSendToMaster.footer.checkCode[0] = 0xE1;
	global.dataSendToMaster.sensorErrors = 0;

	global.sync_error_count = 0;
	global.check_sync_not_running = 0;

	global.deviceDataSendToMaster.RTE_VERSION_high = firmwareVersionHigh();//RTE_VERSION_HIGH;
	global.deviceDataSendToMaster.RTE_VERSION_low = firmwareVersionLow();//RTE_VERSION_LOW;
	global.deviceDataSendToMaster.chargeStatus = 0;

	global.deviceDataSendToMaster.power_on_reset = 0;
	global.deviceDataSendToMaster.header.checkCode[0] = 0xDF;
	global.deviceDataSendToMaster.header.checkCode[1] = 0xDE;
	global.deviceDataSendToMaster.header.checkCode[2] = 0xDD;
	global.deviceDataSendToMaster.header.checkCode[3] = 0xDC;
	global.deviceDataSendToMaster.footer.checkCode[3] = 0xE4;
	global.deviceDataSendToMaster.footer.checkCode[2] = 0xE3;
	global.deviceDataSendToMaster.footer.checkCode[1] = 0xE2;
	global.deviceDataSendToMaster.footer.checkCode[0] = 0xE1;
	
	global.dataSendToSlave.getDeviceDataNow = 0;
	
	global.deviceData.batteryChargeCompleteCycles.value_int32 = 0;
	global.deviceData.batteryChargeCycles.value_int32 = 0;
	global.deviceData.depthMaximum.value_int32 = 0;
	global.deviceData.diveCycles.value_int32 = 0;
	global.deviceData.hoursOfOperation.value_int32 = 0;
	global.deviceData.temperatureMaximum.value_int32 = INT32_MIN;
	global.deviceData.temperatureMinimum.value_int32 = INT32_MAX;
	global.deviceData.voltageMinimum.value_int32 = INT32_MAX;

	Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START;
	Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD);
}

void reinitGlobals(void)
{
	global.dataSendToSlavePending = 0;
	global.dataSendToSlaveIsValid = 0;
	global.dataSendToSlaveIsNotValidCount = 0;
	global.sync_error_count = 0;
	global.check_sync_not_running = 0;
	Scheduler.communicationTimeout = SPI_COM_TIMEOUT_START;
}

void scheduleSpecial_Evaluate_DataSendToSlave(void)
{
	//TEMPORARY fix for compass calibration.
	//TODO: Fix I2C timeout for complete solving problem.
	if(global.mode==MODE_CALIB){
		return;
	}

	global.dataSendToSlavePending = 0;
	if(!global.dataSendToSlaveIsValid) return;
	
	global.dataSendToMaster.confirmRequest.uw = 0;
	
	if(TM_OTP_Read(0,0) == 0xFF)
	{
		if(global.dataSendToSlave.revisionHardware == (global.dataSendToSlave.revisionCRCx0x7A ^ 0x7A))
			TM_OTP_Write(0,0,global.dataSendToSlave.revisionHardware);
	}
	
	if(global.dataSendToSlave.setAccidentFlag)
	{
		global.dataSendToMaster.confirmRequest.ub.accident = 1;
		global.deviceData.diveAccident.value_int32 = global.dataSendToSlave.setAccidentFlag;
		scheduleSetDate(&global.deviceData.diveAccident);
		global.accidentFlag |= global.dataSendToSlave.setAccidentFlag;
		if(global.accidentFlag == ACCIDENT_CNS) // LVL1
			global.accidentRemainingSeconds = 2*60*60;
		else
			global.accidentRemainingSeconds = 24*60*60;
	}
	
	if(global.dataSendToSlave.setTimeNow)
	{
		global.dataSendToMaster.confirmRequest.ub.time = 1;
		RTC_SetTime(global.dataSendToSlave.data.newTime);
		schedule_update_timer_helper(0);
	}
	
	if(global.dataSendToSlave.setDateNow)
	{
		global.dataSendToMaster.confirmRequest.ub.date = 1;
		RTC_SetDate(global.dataSendToSlave.data.newDate);
		schedule_update_timer_helper(0);
	}		

	if(global.dataSendToSlave.calibrateCompassNow)
	{
		global.dataSendToMaster.confirmRequest.ub.compass = 1;
		global.mode = MODE_CALIB;
	}		

	if(global.dataSendToSlave.clearDecoNow)
	{
		global.dataSendToMaster.confirmRequest.ub.clearDeco = 1;
		clearDecoNow = 1;
	}		

	if(global.dataSendToSlave.setButtonSensitivityNow)
	{
		global.dataSendToMaster.confirmRequest.ub.button = 1;
		global.ButtonResponsiveness[0] = global.dataSendToSlave.data.buttonResponsiveness[0];
		global.ButtonResponsiveness[1] = global.dataSendToSlave.data.buttonResponsiveness[1];
		global.ButtonResponsiveness[2] = global.dataSendToSlave.data.buttonResponsiveness[2];
		global.ButtonResponsiveness[3] = global.dataSendToSlave.data.buttonResponsiveness[3];
		setButtonsNow = 1;
	}		

	if(global.dataSendToSlave.setBatteryGaugeNow)
	{
		if(global.mode!=MODE_CALIB){
		global.dataSendToMaster.confirmRequest.ub.batterygauge = 1;
		battery_gas_gauge_set(global.dataSendToSlave.data.newBatteryGaugePercentageFloat);
		}
	}		

	if(global.dataSendToSlave.setEndDive)
	{
		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 */
	}

	if((global.mode == MODE_SURFACE) && (global.dataSendToSlave.mode == MODE_SHUTDOWN))
	{
		global.mode = MODE_SHUTDOWN;
	}

	if(global.mode == MODE_DIVE)
	{
		copyActualGas(global.dataSendToSlave.data.actualGas);
	}
	else
	{
		copyActualGas(Air);
		global.settings.divetimeToCreateLogbook = global.dataSendToSlave.data.divetimeToCreateLogbook;
		global.settings.timeoutDiveReachedZeroDepth = global.dataSendToSlave.data.timeoutDiveReachedZeroDepth;
	}
	
	/* for simulation / testing */
	global.ceiling_from_main_CPU_mbar	= global.dataSendToSlave.data.ambient_pressure_mbar_ceiling;
	
	/* Set pressure and temperature offsets */
	pressure_set_offset (global.dataSendToSlave.data.offsetPressureSensor_mbar, global.dataSendToSlave.data.offsetTemperatureSensor_centiDegree);


	/* for device data updates */
	deviceDataFlashValid = 0;
	memcpy(&DeviceDataFlash, &global.dataSendToSlave.data.DeviceData, sizeof(SDevice));
	deviceDataFlashValid = 1;


	/* handle external interface requests */

	if((global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON) != externalInterface_isEnabledPower33())
	{
		externalInterface_SwitchPower33(global.dataSendToSlave.data.externalInterface_Cmd && EXT_INTERFACE_33V_ON);
	}

	if(((global.dataSendToSlave.data.externalInterface_Cmd & EXT_INTERFACE_ADC_ON) != 0) != externalInterface_isEnabledADC())
	{
		externalInterface_SwitchADC(1-externalInterface_isEnabledADC());
	}

	externalInface_SetSensorMap(global.dataSendToSlave.data.externalInterface_SensorMap);
	if(global.dataSendToSlave.data.externalInterface_Cmd & 0x00FF)	/* lowest nibble for commands */
	{
		externalInterface_ExecuteCmd(global.dataSendToSlave.data.externalInterface_Cmd);
	}


#if 0
	//TODO: Temporary placed here. Duration ~210 ms.
	if (global.I2C_SystemStatus != HAL_OK) {
		MX_I2C1_TestAndClear();
		MX_I2C1_Init();
//		init_pressure();
//		compass_init(0, 7);
//		accelerator_init();
	}
#endif /* already called once a second */
}


/**
  ******************************************************************************
* @brief   schedule_time_compare_helper. 
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @date    20-Oct-2016
  ******************************************************************************
  */

uint8_t RtcBugFixChsw(uint8_t inStupidTime)
{
		uint8_t multiplesOf16 = 0;
	
	multiplesOf16 = inStupidTime / 16;

	inStupidTime -= multiplesOf16 * 16;
	
	return (10 * multiplesOf16) + inStupidTime;
}

uint32_t schedule_time_compare_helper(RTC_TimeTypeDef timeNow, RTC_DateTypeDef dateNow, RTC_TimeTypeDef timeLast, RTC_DateTypeDef dateLast)
{
	uint32_t nowInSeconds;
	uint32_t lastInSeconds;
	uint32_t resultDiff;

	nowInSeconds  = (uint32_t)RtcBugFixChsw(timeNow.Hours) * 3600;
	nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Minutes) * 60;
	nowInSeconds += (uint32_t)RtcBugFixChsw(timeNow.Seconds);

	lastInSeconds  = (uint32_t)RtcBugFixChsw(timeLast.Hours) * 3600;
	lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Minutes) * 60;
	lastInSeconds += (uint32_t)RtcBugFixChsw(timeLast.Seconds);
	
	if(dateNow.Date != dateLast.Date)
	{
		resultDiff = 86400 + nowInSeconds - lastInSeconds;
	}
	else
	{
		resultDiff = nowInSeconds - lastInSeconds;
	}
	return resultDiff;
}



/**
  ******************************************************************************
* @brief   schedule_update_timer_helper. 
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @date    20-Oct-2016
	* @brief	use 0 for init
						use -1 for RTC controlled
						use >= 1 for manual control
  ******************************************************************************
  */
extern RTC_HandleTypeDef RTCHandle;

static void schedule_update_timer_helper(int8_t thisSeconds)
{
	static RTC_TimeTypeDef sTimeLast;
	static RTC_DateTypeDef sDateLast;
	RTC_TimeTypeDef sTimeNow;
	RTC_DateTypeDef sDateNow;
	uint32_t secondsPast;

	HAL_RTC_GetTime(&RTCHandle, &sTimeNow, RTC_FORMAT_BCD);
	HAL_RTC_GetDate(&RTCHandle, &sDateNow, RTC_FORMAT_BCD);

	if(thisSeconds != 0) // otherwise just store sTimeLast, sDateLast
	{
		if(thisSeconds > 0) // use this value instead, good for pre-loading sTimeLast and sDateLast
		{
			secondsPast	= thisSeconds;
		} else {
			// thisSeconds < 0 and not <= !
			secondsPast = schedule_time_compare_helper(sTimeNow, sDateNow, sTimeLast, sDateLast);
		}

		if(global.seconds_since_last_dive)
		{
			if(secondsPast >= 777900)
			{
				global.seconds_since_last_dive = 0;
			}
			else
			{
				uint32_t tempNewValue = ((uint32_t)global.seconds_since_last_dive) + secondsPast;
				if(tempNewValue > 777900) // a bit more than nine days [seconds]
					global.seconds_since_last_dive = 0;
				else
					global.seconds_since_last_dive = (long)tempNewValue;
			}
		}
	}
		
	sTimeLast = sTimeNow;
	sDateLast = sDateNow;
}

/**
  ******************************************************************************
* @brief   schedule_check_resync. 
  * @author  heinrichs weikamp gmbh
  * @version V0.0.2
  * @date    18-June-2015
  ******************************************************************************
  */

void schedule_check_resync(void)
{
	/* counter is incremented in cyclic 100ms loop and reset to 0 if the transmission complete callback is called */
	if((global.check_sync_not_running >= Scheduler.communicationTimeout))
	{
//		global.dataSendToSlaveIsNotValidCount = 0;
		global.check_sync_not_running = 0;
		global.sync_error_count++;

		/* Try to start communication again. If exchange is stuck during execution for some reason the TX will be aborted by the
		 * function error handler
		 */
		HAL_SPI_TransmitReceive_DMA(&hspi1,(uint8_t*) &(global.dataSendToMaster),(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE);
		Scheduler.communicationTimeout = SPI_COM_TIMEOUT_COMMON;	/* Reduce error detection time */
		Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD);
	}
}


/**
  ******************************************************************************
* @brief   scheduleDiveMode. /  Dive Mode: Main Loop
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @date    22-April-2014
  ******************************************************************************
  */
void scheduleDiveMode(void)
{
	uint32_t ticksdiff = 0; 
	uint32_t lasttick = 0;
	uint8_t extAdcChannel = 0;
	uint8_t counterAscentRate = 0;
	float lastPressure_bar = 0.0f;
	global.dataSendToMaster.mode = MODE_DIVE;
	global.deviceDataSendToMaster.mode = MODE_DIVE;
	uint8_t counter_exit = 0;

	Scheduler.counterSPIdata100msec = 0;
	Scheduler.counterCompass100msec = 0;
	Scheduler.counterPressure100msec = 0;
	Scheduler.counterAmbientLight100msec = 0;
	Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC;
	
	global.deviceData.diveCycles.value_int32++;
	scheduleSetDate(&global.deviceData.diveCycles);
	global.lifeData.counterSecondsShallowDepth = 0;

	/* Get the last stable value in case of an unstable surface history condition */
	if(!is_surface_pressure_stable())
	{
		set_last_surface_pressure_stable();
	}
	global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f;
	ManualExitDiveCounter = 0;	/* reset early exit request */

	Scheduler.tickstart = HAL_GetTick();
	while(global.mode == MODE_DIVE)
	{
		lasttick = HAL_GetTick();
		ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick);

		externalInterface_HandleUART();
		if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10)
		{
			if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */
			{
				Scheduler.counterSPIdata100msec++;
			}
			schedule_check_resync();

			if(externalInterface_isEnabledADC())
			{
				extAdcChannel = externalInterface_ReadAndSwitch();
				if(extAdcChannel != EXTERNAL_ADC_NO_DATA)
				{
					externalInterface_CalculateADCValue(extAdcChannel);
				}
			}
			copyExtADCdata();
			copyExtCO2data();
		}

		//Evaluate pressure at 20 ms, 120 ms, 220 ms,....
		if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20)
		{
				global.check_sync_not_running++;
				pressure_update_alternating();
				scheduleUpdateDeviceData();
#ifdef DEMOMODE
				if(global.demo_mode)
				{
					int turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar);
					if(turbo_seconds)
					{
						global.lifeData.dive_time_seconds += turbo_seconds;
						decom_tissues_exposure((int)(turbo_seconds), &global.lifeData);
						copyTissueData();
					}
					if((global.lifeData.counterSecondsShallowDepth > 1) && (global.lifeData.counterSecondsShallowDepth < (global.settings.timeoutDiveReachedZeroDepth - 10)))
						global.lifeData.counterSecondsShallowDepth = (global.settings.timeoutDiveReachedZeroDepth - 10);
				}
#endif
				
				//Calc ascentrate every two second (20 * 100 ms)
				counterAscentRate++;
				if(counterAscentRate == 20)
				{
					global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f;
					if(lastPressure_bar >= 0)
					{
							//2 seconds * 30 == 1 minute, bar * 10 = meter
							global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar)  * 30 * 10;
					}
					lastPressure_bar = global.lifeData.pressure_ambient_bar;
					counterAscentRate = 0;
				}
				copyPressureData();
				Scheduler.counterPressure100msec++;
		}
			//evaluate compass data at 50 ms, 150 ms, 250 ms,....
		if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50)
		{
			compass_read();
			acceleration_read();
			compass_calc();
			copyCompassData();
			Scheduler.counterCompass100msec++;
		}
		
		if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70)
		{
			adc_ambient_light_sensor_get_data();
			copyAmbientLightData();
			Scheduler.counterAmbientLight100msec++;
		}

		//Evaluate tissues, toxic data, vpm, etc. once a second
		if(ticksdiff >= Scheduler.tick_execute1second)
		{
			Scheduler.tick_execute1second = 0xFFFFFFFF;	/* execute once only in the second cycle */
			if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea)
			{
				scheduleUpdateLifeData(0); // includes tissues
				global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too
				global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas);
				decom_oxygen_calculate_cns(&global.lifeData.cns,global.lifeData.ppO2);
				decom_oxygen_calculate_otu(&global.lifeData.otu,global.lifeData.ppO2);
				battery_gas_gauge_get_data();


				/** counter_exit allows safe exit via button for testing
					* and demo_mode is exited too if aplicable.
					*/
				if(global.dataSendToMaster.mode == MODE_ENDDIVE)
				{
					counter_exit++;
					if(counter_exit >= 2)
					{
						global.mode = MODE_SURFACE;
						global.demo_mode = 0;
					}
				}

				if(is_ambient_pressure_close_to_surface(&global.lifeData))
				{
					global.lifeData.counterSecondsShallowDepth++;
					if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || ((global.lifeData.dive_time_seconds < 60) && (global.demo_mode == 0))
							|| (ManualExitDiveCounter))
					{
						global.seconds_since_last_dive = 1; // start counter
						schedule_update_timer_helper(0); // zum starten :-)
						global.dataSendToMaster.mode = MODE_ENDDIVE;
						global.deviceDataSendToMaster.mode = MODE_ENDDIVE;
					}
				}
				else
				{
					global.lifeData.counterSecondsShallowDepth = 0;
					global.lifeData.dive_time_seconds_without_surface_time++;
				}
				vpm_crush2();
			}
			else // DIVEMODE_Apnea
			{
				global.lifeData.dive_time_seconds++;

				// exit dive mode
				if(global.dataSendToMaster.mode == MODE_ENDDIVE)
				{
					counter_exit++;
					if(counter_exit >= 2)
					{
						scheduleUpdateLifeData(-1); // 'restart' tissue calculations without calculating time during apnea mode
						global.lifeData.dive_time_seconds = 0; // use backup noflytime and desaturation time
						global.mode = MODE_SURFACE;
						global.demo_mode = 0;
					}
				}

				// surface break
				if(is_ambient_pressure_close_to_surface(&global.lifeData))
				{
					global.lifeData.counterSecondsShallowDepth++;
					if(global.lifeData.counterSecondsShallowDepth > 3) // time for main cpu to copy to apnea_last_dive_time_seconds
					{
						global.lifeData.dive_time_seconds = 0; // this apnea dive ends here
					}
					if((global.lifeData.counterSecondsShallowDepth >= global.settings.timeoutDiveReachedZeroDepth) || (ManualExitDiveCounter))
					{
						global.dataSendToMaster.mode = MODE_ENDDIVE;
						global.deviceDataSendToMaster.mode = MODE_ENDDIVE;
					}
				}
				else
				{
					global.lifeData.counterSecondsShallowDepth = 0;
					global.lifeData.dive_time_seconds_without_surface_time++; 
				}
			} // standard dive or DIVEMODE_Apnea
		
			copyVpmCrushingData();
			copyTimeData();
			copyCnsAndOtuData();
			copyBatteryData();

			// new hw 170523
			if(global.I2C_SystemStatus != HAL_OK)
			{
				MX_I2C1_TestAndClear();
				HAL_Delay(100);
				I2C_DeInit();
				HAL_Delay(100);
				MX_I2C1_Init();
				HAL_Delay(100);

				init_pressure();
			}
		}
		if(ticksdiff >= 1000)
		{
			/* reset counter */
			Scheduler.tickstart = HAL_GetTick();
			Scheduler.counterSPIdata100msec = 0;
			Scheduler.counterCompass100msec = 0;
			Scheduler.counterPressure100msec = 0;
			Scheduler.counterAmbientLight100msec = 0;
			Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC;
		}
	}
}


/**
  ******************************************************************************
* @brief   scheduleSurfaceMode / surface mode: Main Loop
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @date    22-April-2014
  ******************************************************************************
  */


//  ===============================================================================
//	scheduleTestMode
/// @brief	included for sealed hardware with permanent RTE update message
//  ===============================================================================
void scheduleTestMode(void)
{
	uint32_t ticksdiff = 0; 
	uint32_t lasttick = 0;
	Scheduler.tickstart = HAL_GetTick();

	Scheduler.counterPressure100msec = 0;
	
	float temperature_carousel = 0.0f;
	float temperature_changer = 0.1f;
	
	while(global.mode == MODE_TEST)
	{
		lasttick = HAL_GetTick();
		ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick);

		//Evaluate received data at 10 ms, 110 ms, 210 ms,...
		if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10)
		{
			if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */
			{
				Scheduler.counterSPIdata100msec++;
			}
			schedule_check_resync();
		}
		
		//Evaluate pressure at 20 ms, 120 ms, 220 ms,...
		if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20)
		{
				global.check_sync_not_running++;

				pressure_update_alternating();
				scheduleUpdateDeviceData();
				global.lifeData.ascent_rate_meter_per_min = 0;
				copyPressureData();

				if(temperature_carousel > 20.0f)
				{
					temperature_carousel = 20.0f;
					temperature_changer = -0.1f;
				}
				else
				if(temperature_carousel < 0)
				{
					temperature_carousel = 0;
					temperature_changer = +0.1f;
				}
					
				temperature_carousel += temperature_changer;
				
				uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData;

				global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar();

				global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel;
				global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick();
				global.dataSendToMaster.boolPressureData = boolPressureData;
				Scheduler.counterPressure100msec++;
		}
		
		if(ticksdiff >= 1000)
		{
			//Set back tick counter
			Scheduler.tickstart = HAL_GetTick();
			Scheduler.counterPressure100msec = 0;
			Scheduler.counterSPIdata100msec = 0;
		}
	};	
}



void scheduleSurfaceMode(void)
{
	uint32_t ticksdiff = 0; 
	uint32_t lasttick = 0;
	uint8_t extAdcChannel = 0;
	uint8_t batteryToggle = 0;		/* ADC is operating in automatic 2 second cycles => consider for battery charge function call */

	Scheduler.tickstart = HAL_GetTick();
	Scheduler.counterSPIdata100msec = 0;
	Scheduler.counterCompass100msec = 0;
	Scheduler.counterPressure100msec = 0;
	Scheduler.counterAmbientLight100msec = 0;
	Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC;

	global.dataSendToMaster.mode = MODE_SURFACE;
	global.deviceDataSendToMaster.mode = MODE_SURFACE;

	while(global.mode == MODE_SURFACE)
	{

		lasttick = HAL_GetTick();
		ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick);

		if(setButtonsNow == 1)
		{
			if(scheduleSetButtonResponsiveness())
				setButtonsNow = 0;
		}

		externalInterface_HandleUART();

		/* Evaluate received data at 10 ms, 110 ms, 210 ms,... duration ~<1ms */
		if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10)
		{
			if(SPI_Evaluate_RX_Data()!=0) /* did we receive something ? */
			{			
				Scheduler.counterSPIdata100msec++;
			}
			schedule_check_resync();
			if(externalInterface_isEnabledADC())
			{
				extAdcChannel = externalInterface_ReadAndSwitch();
				if(extAdcChannel != EXTERNAL_ADC_NO_DATA)
				{
					externalInterface_CalculateADCValue(extAdcChannel);

				}
			}
			copyExtADCdata();
			copyExtCO2data();
		}

		/* Evaluate pressure at 20 ms, 120 ms, 220 ms,... duration ~22ms] */
		if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20)
		{
				global.check_sync_not_running++;
				pressure_update_alternating();
				scheduleUpdateDeviceData();
				global.lifeData.ascent_rate_meter_per_min = 0;
				copyPressureData();
				Scheduler.counterPressure100msec++;
				
				if (!is_ambient_pressure_close_to_surface(&global.lifeData))
					global.mode = MODE_DIVE;
		}
		
		/* Evaluate compass data at 50 ms, 150 ms, 250 ms,... duration ~5ms */
		if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50)
		{
			compass_read();
			acceleration_read();
			compass_calc();
			copyCompassData();
			Scheduler.counterCompass100msec++;
		}

		/* evaluate compass data at 70 ms, 170 ms, 270 ms,... duration <1ms */
		if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70)
		{
			adc_ambient_light_sensor_get_data();
			copyAmbientLightData();
			Scheduler.counterAmbientLight100msec++;
		}



		/*  Evaluate tissues, toxic data, etc. once a second... duration ~1ms */
		if(ticksdiff >= Scheduler.tick_execute1second)
		{
			Scheduler.tick_execute1second = 0xFFFFFFFF;
			if(clearDecoNow)
			{
				decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time
				// new 160215 hw
				global.repetitive_dive = 0;
				global.seconds_since_last_dive = 0; ///< this will reset OTU and CNS as well
				global.no_fly_time_minutes = 0;
				global.accidentFlag = 0;
				global.accidentRemainingSeconds = 0;
				vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive);
				clearDecoNow = 0;
			}

			if(ManualExitDiveCounter)
			{
				ManualExitDiveCounter--;
			}

			if(global.seconds_since_last_dive)
			{
				schedule_update_timer_helper(-1);
			}

			if(global.accidentRemainingSeconds)
			{
				global.accidentRemainingSeconds--;
				if(!global.accidentRemainingSeconds)
					global.accidentFlag = 0;
			}
			global.dataSendToMaster.accidentFlags = global.accidentFlag;

			update_surface_pressure(1);
			scheduleUpdateLifeData(0);
			decom_oxygen_calculate_otu_degrade(&global.lifeData.otu, global.seconds_since_last_dive);
			decom_oxygen_calculate_cns_degrade(&global.lifeData.cns, global.seconds_since_last_dive);

			/* start desaturation calculation after first valid measurement has been done */
			if(global.lifeData.pressure_surface_bar != INVALID_PREASURE_VALUE)
			{
				global.lifeData.desaturation_time_minutes = decom_calc_desaturation_time(global.lifeData.tissue_nitrogen_bar,global.lifeData.tissue_helium_bar,global.lifeData.pressure_surface_bar);
			}
			else
			{
				global.lifeData.desaturation_time_minutes = 0;
			}

			if(!batteryToggle)
			{
				battery_gas_gauge_get_data();
				battery_charger_get_status_and_contral_battery_gas_gauge(2);
				batteryToggle = 1;
			}
			else
			{
				batteryToggle = 0;
			}

			copyCnsAndOtuData();
			copyTimeData();
			copyBatteryData();
			copyDeviceData();


/* check if I2C is not up an running and try to reactivate if necessary. Also do initialization if problem occured during startup */
			if(global.I2C_SystemStatus != HAL_OK)
			{
				MX_I2C1_TestAndClear();
				HAL_Delay(100);
				I2C_DeInit();
				HAL_Delay(100);
				MX_I2C1_Init();
				HAL_Delay(100);

				if(global.I2C_SystemStatus == HAL_OK)
				{
					init_pressure();
					if(is_init_pressure_done())		/* Init surface data with initial measurement */
					{
						init_surface_ring(0);
					}

					if(!battery_gas_gauge_CheckConfigOK())
					{
						 init_battery_gas_gauge();
					}
				}
			}
			externalInterface_AutodetectSensor();
		}

		if(ticksdiff >= 1000)
		{
			//Set back tick counter
			Scheduler.tickstart = HAL_GetTick();
			Scheduler.counterSPIdata100msec = 0;
			Scheduler.counterCompass100msec = 0;
			Scheduler.counterPressure100msec = 0;
			Scheduler.counterAmbientLight100msec = 0;
			Scheduler.tick_execute1second = SCHEDULER_TICK_EXE1SEC;
		}
	}
}

inline void Scheduler_Request_sync_with_SPI(uint8_t SyncMethod)
{
	if( SyncMethod < SPI_SYNC_METHOD_INVALID)
	{
		dospisync = SyncMethod;
	}
}

void Scheduler_SyncToSPI(uint8_t TXtick)
{
	uint32_t deltatick = 0;
	int8_t TXcompensation;

	switch(dospisync)
	{
		case SPI_SYNC_METHOD_HARD:
				//Set back tick counter
				Scheduler.tickstart = HAL_GetTick() - 4; /* consider 4ms offset for transfer */
				Scheduler.counterSPIdata100msec = 0;
				Scheduler.counterCompass100msec = 0;
				Scheduler.counterPressure100msec = 0;
				Scheduler.counterAmbientLight100msec = 0;
				dospisync = SPI_SYNC_METHOD_NONE;
			break;
		case SPI_SYNC_METHOD_SOFT:
				deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick());
				deltatick %= 100;  						/* clip to 100ms window */
				if(Scheduler.tickstart - deltatick >= 0) /* adjust start time to the next 100ms window */
				{
					Scheduler.tickstart -= deltatick;
				}
				else
				{
					Scheduler.tickstart = 0xFFFFFFFF- (deltatick - Scheduler.tickstart);
				}
				dospisync = SPI_SYNC_METHOD_NONE;
			break;
		default:										/* continous sync activity */
			if(TXtick < 100)							/* do not handle unexpected jump length > 100ms */
			{
				TXtick += 4;	/* add 4ms TX time to offset of 100ms time stamp */
				deltatick = time_elapsed_ms(Scheduler.tickstart,HAL_GetTick());
				deltatick %= 100;
				if(deltatick > 50)
				{
					TXcompensation = deltatick - 100; /* neg drift */
				}
				else
				{
					TXcompensation = deltatick;		/* pos drift */
				}
				TXcompensation = TXtick - TXcompensation;
				Scheduler.tickstart -= TXcompensation;
			}
			else
			{
				Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_SOFT); /* A large shift in 100ms cycle occured => clip to 100ms in next sync call */
			}
			break;
	}
}

/**
  ******************************************************************************
	* @brief   scheduleCompassCalibrationMode
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @since   31-March-2015
  * @date    31-March-2015
  ******************************************************************************
  */
void scheduleCompassCalibrationMode(void)
{
	compass_init(1,7); // fast mode, max gain
	compass_calib(); // duration : 1 minute!
	compass_init(0,7); // back to normal mode

	if(global.seconds_since_last_dive)
	{
				schedule_update_timer_helper(-1);
	}

	scheduleUpdateLifeData(0);
	global.mode = MODE_SURFACE;
}


/**
  ******************************************************************************
	* @brief   scheduleSleepMode / sleep mode: Main Loop
  * @author  heinrichs weikamp gmbh
  * @version V0.0.2
  * @since   31-March-2015
  * @date    22-April-2014
  ******************************************************************************
  */

void scheduleSleepMode(void)
{
	global.dataSendToMaster.mode = 0;
	global.deviceDataSendToMaster.mode = 0;
	secondsCount = 0;
	
	/* prevent button wake up problem while in sleep_prepare
	 * sleep prepare does I2C_DeInit()
	 */
	if(global.mode != MODE_SLEEP)
		MX_I2C1_Init();
	else
	do
	{
		I2C_DeInit();

#ifdef DEBUGMODE
		HAL_Delay(2000);
#else
		RTC_StopMode_2seconds();
#endif
		

		
		if(global.mode == MODE_SLEEP)
			secondsCount += 2;

		externalInterface_InitPower33();
		MX_I2C1_Init();
		pressure_sensor_get_pressure_raw();

/* check if I2C is not up and running and try to reactivate if necessary. Also do initialization if problem occurred during startup */
		if(global.I2C_SystemStatus != HAL_OK)
		{
			MX_I2C1_TestAndClear();
			HAL_Delay(100);
			I2C_DeInit();
			HAL_Delay(100);
			MX_I2C1_Init();
			HAL_Delay(100);

			if((global.I2C_SystemStatus == HAL_OK) && (!is_init_pressure_done()))
			{
				init_pressure();
			}
		}

		if((secondsCount >= 30) || (global.mode != MODE_SLEEP)) /* Service battery charge state in case sleep is left */
		{
			pressure_sensor_get_temperature_raw();
			battery_gas_gauge_get_data();
			ReInit_battery_charger_status_pins();
			battery_charger_get_status_and_contral_battery_gas_gauge(secondsCount);
//			DeInit_battery_charger_status_pins();
			secondsCount = 0;
		}
		
		pressure_calculation();

		scheduleUpdateDeviceData();
		update_surface_pressure(2);

		if(global.seconds_since_last_dive)
		{
			schedule_update_timer_helper(-1);
		}

		if(global.accidentRemainingSeconds)
		{
			if(global.accidentRemainingSeconds > 2)			
				global.accidentRemainingSeconds -= 2;
			else
			{
				global.accidentRemainingSeconds = 0;
				global.accidentFlag = 0;
			}
		}

		if (((!is_ambient_pressure_close_to_surface(&global.lifeData)) && (global.lifeData.pressure_surface_bar > START_DIVE_MOUNTAIN_MODE_BAR ))
				|| (global.lifeData.pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR))
		{
			global.mode = MODE_BOOT;
		}
		scheduleUpdateLifeData(2000);
	}
	while(global.mode == MODE_SLEEP);
	/* new section for system after Standby */
	scheduleUpdateLifeData(-1);
	clearDecoNow = 0;
	setButtonsNow = 0;
	reinitGlobals();
	ReInit_battery_charger_status_pins();
}



/* Private functions ---------------------------------------------------------*/

/**
  ******************************************************************************
	* @brief   scheduleUpdateLifeData / calculates tissues
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @date    22-April-2014
  ******************************************************************************
  */
	
	
void scheduleUpdateLifeData(int32_t asynchron_milliseconds_since_last)
{
	static _Bool first = 1;
	static uint32_t tickstart = 0;
	static uint32_t ticksrest = 0;

	uint32_t ticksdiff = 0; 
	uint32_t ticksnow = 0;
	uint32_t time_seconds = 0;
	uint8_t whichGasTmp = 0;
	
	uint8_t updateTissueData = 0;


	if(global.lifeData.pressure_surface_bar == INVALID_PREASURE_VALUE)
	{
		updateTissueData = 1;
	}

	if(asynchron_milliseconds_since_last < 0)
	{
		first = 1;
		tickstart = 0;
		ticksrest = 0;
		return;
	}

	if(!asynchron_milliseconds_since_last && first)
	{
		tickstart = HAL_GetTick();
		first = 0;
		return;
	}

	whichGasTmp = global.whichGas;
	global.lifeData.actualGas = global.aktualGas[whichGasTmp];
	global.lifeData.pressure_ambient_bar = get_pressure_mbar() / 1000.0f;
	global.lifeData.pressure_surface_bar = get_surface_mbar() / 1000.0f;

	if(updateTissueData)
	{
		decom_reset_with_ambientmbar(global.lifeData.pressure_surface_bar,&global.lifeData);
	}

	if(!asynchron_milliseconds_since_last)
	{
		ticksnow = HAL_GetTick();
		ticksdiff = time_elapsed_ms(tickstart,ticksnow);
	}
	else
	{
		first = 1;
		ticksdiff = asynchron_milliseconds_since_last;
	}

	if(ticksrest > 1000) 	// whatever happens after standby with STM32L476
		ticksrest = 0;			// maybe move static to SRAM2 

	ticksdiff += ticksrest;
	time_seconds = ticksdiff/ 1000;
	ticksrest = ticksdiff - time_seconds * 1000; 
	tickstart = ticksnow;

	decom_tissues_exposure((int)time_seconds, &global.lifeData);
	if(global.demo_mode)
		decom_tissues_exposure((int)(3*time_seconds), &global.lifeData);
  copyTissueData();
}


/**
  ******************************************************************************
* @brief   scheduleUpdateDeviceData
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @date    16-March-2015
	*
	* two step process
	* first compare with data from main CPU == externalLogbookFlash
	* second update with new sensor data
  ******************************************************************************
  */
void scheduleSetDate(SDeviceLine *line)
{
	extern RTC_HandleTypeDef RTCHandle;

	line->date_rtc_dr = (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); 
	line->time_rtc_tr = (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); 
}


void scheduleCopyDeviceData(SDeviceLine *lineWrite, const SDeviceLine *lineRead)
{	
	lineWrite->date_rtc_dr = lineRead->date_rtc_dr; 
	lineWrite->time_rtc_tr = lineRead->time_rtc_tr;
	lineWrite->value_int32 = lineRead->value_int32;
}


void scheduletranslateDate(uint32_t datetmpreg, RTC_DateTypeDef *sDate)
{
  datetmpreg = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK);

  /* Fill the structure fields with the read parameters */
  sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16);
  sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8);
  sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU));
  sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13);

	/* Convert the date structure parameters to Binary format */
	sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year);
	sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month);
	sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date);
}

void scheduleCheckDate(void)
{
	uint32_t localdate;
	RTC_DateTypeDef sDate;
	localdate =	(uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK);
	scheduletranslateDate(localdate, &sDate);

	/* 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 */
	if(sDate.Year < 15)
	{
		scheduletranslateDate(DeviceDataFlash.hoursOfOperation.date_rtc_dr, &sDate);
		if(sDate.Year > 16)
		{
			RTC_SetDate(sDate);
		}
	}

}

void scheduleUpdateDeviceData(void)
{
	/* first step, main CPU */

	if(deviceDataFlashValid)
	{
		/* max values */
		if(global.deviceData.hoursOfOperation.value_int32 < DeviceDataFlash.hoursOfOperation.value_int32)
		{
			scheduleCopyDeviceData(&global.deviceData.hoursOfOperation, &DeviceDataFlash.hoursOfOperation);
#ifdef RESTORE_LAST_KNOWN_DATE
			scheduleCheckDate();
#endif
		}
		if(global.deviceData.batteryChargeCompleteCycles.value_int32 < DeviceDataFlash.batteryChargeCompleteCycles.value_int32)
		{
			scheduleCopyDeviceData(&global.deviceData.batteryChargeCompleteCycles, &DeviceDataFlash.batteryChargeCompleteCycles);
		}
		if(global.deviceData.batteryChargeCycles.value_int32 < DeviceDataFlash.batteryChargeCycles.value_int32)
		{
			scheduleCopyDeviceData(&global.deviceData.batteryChargeCycles, &DeviceDataFlash.batteryChargeCycles);
		}
		if(global.deviceData.temperatureMaximum.value_int32 < DeviceDataFlash.temperatureMaximum.value_int32)
		{
			scheduleCopyDeviceData(&global.deviceData.temperatureMaximum, &DeviceDataFlash.temperatureMaximum);
		}
		if(global.deviceData.depthMaximum.value_int32 < DeviceDataFlash.depthMaximum.value_int32)
		{
			scheduleCopyDeviceData(&global.deviceData.depthMaximum, &DeviceDataFlash.depthMaximum);
		}
		if(global.deviceData.diveCycles.value_int32 < DeviceDataFlash.diveCycles.value_int32)
		{
			scheduleCopyDeviceData(&global.deviceData.diveCycles, &DeviceDataFlash.diveCycles);
		}
		
		/* min values */
		if(global.deviceData.temperatureMinimum.value_int32 > DeviceDataFlash.temperatureMinimum.value_int32)
		{
			scheduleCopyDeviceData(&global.deviceData.temperatureMinimum, &DeviceDataFlash.temperatureMinimum);
		}
		if(global.deviceData.voltageMinimum.value_int32 > DeviceDataFlash.voltageMinimum.value_int32)
		{
			scheduleCopyDeviceData(&global.deviceData.voltageMinimum, &DeviceDataFlash.voltageMinimum);
		}
	}		
		
	/* second step, sensor data */
	int32_t temperature_centigrad_int32;
	int32_t pressure_mbar_int32;
	int32_t voltage_mvolt_int32;
	
	temperature_centigrad_int32 = (int32_t)(get_temperature() * 100);
	if(temperature_centigrad_int32 < global.deviceData.temperatureMinimum.value_int32)
	{
		global.deviceData.temperatureMinimum.value_int32 = temperature_centigrad_int32;
		scheduleSetDate(&global.deviceData.temperatureMinimum);
	}

	if(temperature_centigrad_int32 > global.deviceData.temperatureMaximum.value_int32)
	{
		global.deviceData.temperatureMaximum.value_int32 = temperature_centigrad_int32;
		scheduleSetDate(&global.deviceData.temperatureMaximum);
	}

	pressure_mbar_int32 = (int32_t)get_pressure_mbar();
	if(pressure_mbar_int32 > global.deviceData.depthMaximum.value_int32)
	{
		global.deviceData.depthMaximum.value_int32 = pressure_mbar_int32;
		scheduleSetDate(&global.deviceData.depthMaximum);
	}
	
	voltage_mvolt_int32 = (int32_t)(get_voltage() * 1000);
	if(voltage_mvolt_int32 < global.deviceData.voltageMinimum.value_int32)
	{
		global.deviceData.voltageMinimum.value_int32 = voltage_mvolt_int32;
		scheduleSetDate(&global.deviceData.voltageMinimum);
	}

	/* third step, counter */
	switch (global.mode)
	{
		case MODE_SURFACE:
		case MODE_DIVE:
		default:
			deviceDataSubSeconds++;
			if(deviceDataSubSeconds > 10)
			{
				deviceDataSubSeconds = 0;
				global.deviceData.hoursOfOperation.value_int32++;
				scheduleSetDate(&global.deviceData.hoursOfOperation);
			}
			break;

		case MODE_SLEEP:
		case MODE_SHUTDOWN:
			break;
	}
}


void scheduleUpdateDeviceDataChargerFull(void)
{
	global.deviceData.batteryChargeCompleteCycles.value_int32++;
	scheduleSetDate(&global.deviceData.batteryChargeCompleteCycles);
}


void scheduleUpdateDeviceDataChargerCharging(void)
{
	global.deviceData.batteryChargeCycles.value_int32++;
	scheduleSetDate(&global.deviceData.batteryChargeCycles);
}


/**
  ******************************************************************************
* @brief   vpm_crush / calls vpm calc_crushing_pressure every four seconds during descend
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @date    22-April-2014
  ******************************************************************************
  */
_Bool vpm_crush2(void)
{
    int i = 0;
    static float starting_ambient_pressure = 0;
    static float ending_ambient_pressure = 0;
    static float time_calc_begin = -1;
		static float initial_helium_pressure[16];
		static float initial_nitrogen_pressure[16];
		ending_ambient_pressure = global.lifeData.pressure_ambient_bar * 10;

	if((global.lifeData.dive_time_seconds <= 4) || (starting_ambient_pressure >= ending_ambient_pressure))
	{
		time_calc_begin = global.lifeData.dive_time_seconds;
		starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10;
		for( i = 0; i < 16; i++)
		{
			initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10;
			initial_nitrogen_pressure[i] = global.lifeData.tissue_nitrogen_bar[i] * 10;
		}
		return 0;
	}
	if(global.lifeData.dive_time_seconds - time_calc_begin >= 4)
	{
		if(ending_ambient_pressure > starting_ambient_pressure + 0.5f)
		{
			float rate = (ending_ambient_pressure - starting_ambient_pressure) * 60 / 4;
			calc_crushing_pressure(&global.lifeData, &global.vpm, initial_helium_pressure, initial_nitrogen_pressure, starting_ambient_pressure, rate);

			time_calc_begin = global.lifeData.dive_time_seconds;
			starting_ambient_pressure = global.lifeData.pressure_ambient_bar * 10;
			for( i = 0; i < 16; i++)
			{
				initial_helium_pressure[i] = global.lifeData.tissue_helium_bar[i] * 10;
				initial_nitrogen_pressure[i] =  global.lifeData.tissue_nitrogen_bar[i] * 10;
			}

			return 1;
		}

	}
	return 0;
}


long get_nofly_time_minutes(void)
{
	
	if(global.no_fly_time_minutes <= 0)
		return 0;
	
	long minutes_since_last_dive = global.seconds_since_last_dive/60;

	if((global.seconds_since_last_dive > 0) && (global.no_fly_time_minutes > minutes_since_last_dive))
	{
			return (global.no_fly_time_minutes - minutes_since_last_dive);
	}
	else
	{
		global.no_fly_time_minutes = 0;
		return 0;
	}
}


//Supports threadsave copying!!!
void copyActualGas(SGas gas)
{
	uint8_t whichGas = !global.whichGas;
	global.aktualGas[whichGas] = gas;
	global.whichGas = whichGas;
}


//Supports threadsave copying!!!
void copyPressureData(void)
{
	global.dataSendToMaster.sensorErrors = global.I2C_SystemStatus;
	uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData;
	global.dataSendToMaster.data[boolPressureData].temperature = get_temperature();
	global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar();
	global.dataSendToMaster.data[boolPressureData].surface_mbar = get_surface_mbar();
	global.dataSendToMaster.data[boolPressureData].ascent_rate_meter_per_min = global.lifeData.ascent_rate_meter_per_min;
	global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick();
	global.dataSendToMaster.boolPressureData = boolPressureData;
	global.dataSendToMaster.data[boolPressureData].SPARE1 = is_surface_pressure_stable();
}


//Supports threadsave copying!!!
void copyCnsAndOtuData(void)
{
	//uint8_t dataSendToMaster.
	uint8_t boolToxicData = !global.dataSendToMaster.boolToxicData;
	global.dataSendToMaster.data[boolToxicData].cns = global.lifeData.cns;
	global.dataSendToMaster.data[boolToxicData].otu = global.lifeData.otu;
	global.dataSendToMaster.data[boolToxicData].desaturation_time_minutes = global.lifeData.desaturation_time_minutes;
	global.dataSendToMaster.data[boolToxicData].no_fly_time_minutes = get_nofly_time_minutes();
	global.dataSendToMaster.boolToxicData = boolToxicData;
}


//Supports threadsave copying!!!
void copyTimeData(void)
{
	extern RTC_HandleTypeDef RTCHandle;
	
	uint8_t boolTimeData = !global.dataSendToMaster.boolTimeData;
	global.dataSendToMaster.data[boolTimeData].localtime_rtc_tr =  (uint32_t)(RTCHandle.Instance->TR & RTC_TR_RESERVED_MASK); 
	global.dataSendToMaster.data[boolTimeData].localtime_rtc_dr =  (uint32_t)(RTCHandle.Instance->DR & RTC_DR_RESERVED_MASK); 
	global.dataSendToMaster.data[boolTimeData].divetime_seconds = (uint32_t)global.lifeData.dive_time_seconds;
	global.dataSendToMaster.data[boolTimeData].dive_time_seconds_without_surface_time = (uint32_t)global.lifeData.dive_time_seconds_without_surface_time;
	global.dataSendToMaster.data[boolTimeData].surfacetime_seconds = (uint32_t)global.seconds_since_last_dive;
	global.dataSendToMaster.data[boolTimeData].counterSecondsShallowDepth = (uint32_t)global.lifeData.counterSecondsShallowDepth;
	global.dataSendToMaster.boolTimeData = boolTimeData;
}


//Supports threadsave copying!!!
void copyCompassData(void)
{
	extern float compass_heading;
	extern float compass_roll;
	extern float compass_pitch;
	//uint8_t dataSendToMaster.
	uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData;
	global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading;
	global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll;
	global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch;
	global.dataSendToMaster.data[boolCompassData].compass_DX_f = 0;
	global.dataSendToMaster.data[boolCompassData].compass_DY_f = 0;
	global.dataSendToMaster.data[boolCompassData].compass_DZ_f = 0;
	global.dataSendToMaster.data[boolCompassData].compass_uTick = HAL_GetTick();
	global.dataSendToMaster.boolCompassData = boolCompassData;
}


void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz)
{
	extern float compass_heading;
	extern float compass_roll;
	extern float compass_pitch;
	//uint8_t dataSendToMaster.
	uint8_t boolCompassData = !global.dataSendToMaster.boolCompassData;
	global.dataSendToMaster.data[boolCompassData].compass_heading = compass_heading;
	global.dataSendToMaster.data[boolCompassData].compass_roll = compass_roll;
	global.dataSendToMaster.data[boolCompassData].compass_pitch = compass_pitch;
	global.dataSendToMaster.data[boolCompassData].compass_DX_f = dx;
	global.dataSendToMaster.data[boolCompassData].compass_DY_f = dy;
	global.dataSendToMaster.data[boolCompassData].compass_DZ_f = dz;
	global.dataSendToMaster.boolCompassData = boolCompassData;
}


//Supports threadsave copying!!!
void copyBatteryData(void)
{
	uint8_t boolBatteryData = !global.dataSendToMaster.boolBatteryData;
	global.lifeData.battery_charge = get_charge();
	global.dataSendToMaster.data[boolBatteryData].battery_voltage = get_voltage();

	if(battery_gas_gauge_isChargeValueValid())
	{
		global.dataSendToMaster.data[boolBatteryData].battery_charge= global.lifeData.battery_charge;
	}
	else
	{
		global.dataSendToMaster.data[boolBatteryData].battery_charge = global.lifeData.battery_charge * -1.0;	/* negate value to show that this is just an assumption */
	}
	global.dataSendToMaster.boolBatteryData = boolBatteryData;
}


//Supports threadsave copying!!!
void copyAmbientLightData(void)
{
	uint8_t boolAmbientLightData = !global.dataSendToMaster.boolAmbientLightData;
	global.dataSendToMaster.data[boolAmbientLightData].ambient_light_level = get_ambient_light_level();
	global.dataSendToMaster.boolAmbientLightData = boolAmbientLightData;
}


//Supports threadsave copying!!!
void copyTissueData(void)
{
	//uint8_t dataSendToMaster.
	uint8_t boolTisssueData = !global.dataSendToMaster.boolTisssueData;
	for(int i = 0; i < 16; i++)
	{
		global.dataSendToMaster.data[boolTisssueData].tissue_nitrogen_bar[i] = global.lifeData.tissue_nitrogen_bar[i];
		global.dataSendToMaster.data[boolTisssueData].tissue_helium_bar[i] = global.lifeData.tissue_helium_bar[i];
	}
	global.dataSendToMaster.boolTisssueData = boolTisssueData;
}


//Supports threadsave copying!!!
void copyVpmCrushingData(void)
{
	//uint8_t dataSendToMaster.
	uint8_t boolCrushingData = !global.dataSendToMaster.boolCrushingData;
	for(int i = 0; i < 16; i++)
	{
		global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_n2[i] = global.vpm.max_crushing_pressure_n2[i];
		global.dataSendToMaster.data[boolCrushingData].max_crushing_pressure_he[i] = global.vpm.max_crushing_pressure_he[i];
		global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_he[i] = global.vpm.adjusted_critical_radius_he[i];
		global.dataSendToMaster.data[boolCrushingData].adjusted_critical_radius_n2[i] = global.vpm.adjusted_critical_radius_n2[i];
	}
	global.dataSendToMaster.boolCrushingData = boolCrushingData;
}


void copyDeviceData(void)
{
	uint8_t boolDeviceData = !global.deviceDataSendToMaster.boolDeviceData;
	memcpy(&global.deviceDataSendToMaster.DeviceData[boolDeviceData], &global.deviceData,sizeof(SDevice));
	global.deviceDataSendToMaster.boolDeviceData = boolDeviceData; 

	global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 0;
	memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_he, 		&global.vpm.adjusted_critical_radius_he,		sizeof(16*4));
	memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_critical_radius_n2, 		&global.vpm.adjusted_critical_radius_n2,		sizeof(16*4));
	memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_he,	&global.vpm.adjusted_crushing_pressure_he,	sizeof(16*4));
	memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.adjusted_crushing_pressure_n2,	&global.vpm.adjusted_crushing_pressure_n2,	sizeof(16*4));
	memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_he,	&global.vpm.initial_allowable_gradient_he,	sizeof(16*4));
	memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.initial_allowable_gradient_n2,	&global.vpm.initial_allowable_gradient_n2,	sizeof(16*4));
	memcpy(&global.deviceDataSendToMaster.VpmRepetitiveData.max_actual_gradient, 					 	&global.vpm.max_actual_gradient,						sizeof(16*4));
	global.deviceDataSendToMaster.VpmRepetitiveData.repetitive_variables_not_valid = global.vpm.repetitive_variables_not_valid;
	global.deviceDataSendToMaster.boolVpmRepetitiveDataValid = 1;
}

/* 			copyPICdata(); is used in spi.c */
void copyPICdata(void)
{
	uint8_t boolPICdata = !global.dataSendToMaster.boolPICdata;
	for(int i = 0; i < 3; i++)
	{
		global.dataSendToMaster.data[boolPICdata].button_setting[i] = global.ButtonPICdata[i];
	}
	global.dataSendToMaster.boolPICdata = boolPICdata;
}

void copyExtADCdata()
{
	float value;

	uint8_t channel = 0;

	uint8_t boolADCBuffer =  ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_ADC);

	boolADCBuffer &= DATA_BUFFER_ADC;
	global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_ADC;

	for(channel = 0; channel < MAX_ADC_CHANNEL; channel++)
	{
		value = getExternalInterfaceChannel(channel);
		global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].extADC_voltage[channel] = value;
	}
	global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].externalInterface_SensorID = externalInterface_GetSensorData(0xFF, (uint8_t*)&global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].sensor_data);
	memcpy(global.dataSendToMaster.data[boolADCBuffer && DATA_BUFFER_ADC].sensor_map,externalInterface_GetSensorMapPointer(1),EXT_INTERFACE_SENSOR_CNT);
	global.dataSendToMaster.boolADCO2Data |= boolADCBuffer;
}

void copyExtCO2data()
{
	uint16_t value;
	uint8_t boolCO2Buffer =  ~(global.dataSendToMaster.boolADCO2Data & DATA_BUFFER_CO2);

	global.dataSendToMaster.boolADCO2Data &= ~DATA_BUFFER_CO2;
	boolCO2Buffer &= DATA_BUFFER_CO2;

	if(externalInterface_GetCO2State())
	{
		value = externalInterface_GetCO2Value();
		global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = value;
		value = externalInterface_GetCO2SignalStrength();
		global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = value;
		global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = externalInterface_GetCO2State();
		externalInterface_SetCO2State(EXT_INTERFACE_33V_ON); 	/* clear command responses */
	}
	else
	{
		global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_ppm = 0;
		global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].CO2_signalStrength = 0;
		global.dataSendToMaster.data[(boolCO2Buffer && DATA_BUFFER_CO2)].externalInterface_CmdAnswer = 0;
	}
	global.dataSendToMaster.boolADCO2Data |= boolCO2Buffer;
}

typedef enum 
{
  SPI3_OK      = 0x00,
  SPI3_DEINIT  = 0x01,
} SPI3_StatusTypeDef;
/* if spi3 is running and the SPI3_ButtonAdjust call returns OK, all is fine
	 if the SPI3_ButtonAdjust call returns error, the spi3 is DeInit
	 and will be init the next call of scheduleSetButtonResponsiveness()
	 and data will be send again on the third call
	 therefore on return 0 of scheduleSetButtonResponsiveness() the caller flag should kept active
*/
uint8_t scheduleSetButtonResponsiveness(void)
{
	static uint8_t SPI3status = SPI3_OK;
	
	if((SPI3status == SPI3_OK) && (SPI3_ButtonAdjust(global.ButtonResponsiveness, global.ButtonPICdata)))
	{
		copyPICdata();
		return 1;
	}
	else
	{
		for(int i=0;i<3;i++)
		{
			global.ButtonPICdata[i] = 0xFF;
		}
		copyPICdata();
		
		if(SPI3status == SPI3_OK)
		{
			MX_SPI3_DeInit();
			SPI3status = SPI3_DEINIT;
		}
		else
		{
			MX_SPI3_Init();
			SPI3status = SPI3_OK;
		}
		return 0;
	}
}


//save time difference
uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow)
{
	if(ticksstart <= ticksnow)
	{
			return ticksnow - ticksstart;
	}
	else
	{
		return 0xFFFFFFFF - ticksstart + ticksnow;
	}
}

/* same as in data_central.c */
_Bool is_ambient_pressure_close_to_surface(SLifeData *lifeData)
{
	_Bool retval = true;

	if(lifeData->pressure_ambient_bar != INVALID_PREASURE_VALUE)	/* as long as no valid data is available expect we are close to surface */
	{
		/* this will e.g. apply in case of a significant pressure change during last 30 minutes => use increased offset for surface detection */
		if (lifeData->pressure_ambient_bar > START_DIVE_IMMEDIATLY_BAR)
		{
			retval = false;
		}
		else if(is_surface_pressure_stable())		/* this is the expected start condition */
		{
			if((lifeData->pressure_ambient_bar >= (lifeData->pressure_surface_bar + 0.1f))
					&& (ManualExitDiveCounter == 0))		/* only if diver did not request to exit dive mode */
			{
				retval = false;
			}
		}
	}
	return retval;
}


/************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/