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view Common/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h @ 224:ceecabfddb57 div-fixes-3
Bugfix, deco: fix 2 (small) problems with calculated ceiling
This fixes 1 trivial, and 1 not really trivial bug in the calculation
of the ceiling. When simulating a bounce dive to 80m, things become
clear (tried this on a CCR dive, fixed setpoint 1.2bar, about 15 minutes
of bottom time). Closely watch the behavior of the ceiling data. At some
point during the ascent, the ceiling begins to decrease in 10cm steps.
Then suddenly (while still ascending), the ceiling increases again with 1m,
does not change for some time, and then suddenly steps 1.1m less deep.
While not very relevant to real deco diving, it is simply wrong.
The reason for this is subtle. The algorithm used to find the ceiling
is a sort of linear search, stepping down a meter, overshoot the depth, and
search back in 10cm steps. It seems some numerical instability. Fixing
this, was a bit more computational intensive search by stepping up down in
equal steps of 10cm. But, I'm pretty sure that things can be speeded up here, as a
ceiling does not change fast, so it should be not that difficult to limit
the search space, or use a binary search algorithm instead.
The trivial second problem fixed, is that the ceiling ends at the surface
and not at 1m depth. This small issue became visible after changing the step
down size above.
Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author | Jan Mulder <jlmulder@xs4all.nl> |
---|---|
date | Sun, 31 Mar 2019 19:35:51 +0200 |
parents | c78bcbd5deda |
children |
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/** ****************************************************************************** * @file stm32f4xx_hal_def.h * @author MCD Application Team * @brief This file contains HAL common defines, enumeration, macros and * structures definitions. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __STM32F4xx_HAL_DEF #define __STM32F4xx_HAL_DEF #ifdef __cplusplus extern "C" { #endif /* Includes ------------------------------------------------------------------*/ #include "stm32f4xx.h" #include "Legacy/stm32_hal_legacy.h" #include <stdio.h> /* Exported types ------------------------------------------------------------*/ /** * @brief HAL Status structures definition */ typedef enum { HAL_OK = 0x00U, HAL_ERROR = 0x01U, HAL_BUSY = 0x02U, HAL_TIMEOUT = 0x03U } HAL_StatusTypeDef; /** * @brief HAL Lock structures definition */ typedef enum { HAL_UNLOCKED = 0x00U, HAL_LOCKED = 0x01U } HAL_LockTypeDef; /* Exported macro ------------------------------------------------------------*/ #define UNUSED(X) (void)X /* To avoid gcc/g++ warnings */ #define HAL_MAX_DELAY 0xFFFFFFFFU #define HAL_IS_BIT_SET(REG, BIT) (((REG) & (BIT)) != RESET) #define HAL_IS_BIT_CLR(REG, BIT) (((REG) & (BIT)) == RESET) #define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__) \ do{ \ (__HANDLE__)->__PPP_DMA_FIELD__ = &(__DMA_HANDLE__); \ (__DMA_HANDLE__).Parent = (__HANDLE__); \ } while(0U) /** @brief Reset the Handle's State field. * @param __HANDLE__ specifies the Peripheral Handle. * @note This macro can be used for the following purpose: * - When the Handle is declared as local variable; before passing it as parameter * to HAL_PPP_Init() for the first time, it is mandatory to use this macro * to set to 0 the Handle's "State" field. * Otherwise, "State" field may have any random value and the first time the function * HAL_PPP_Init() is called, the low level hardware initialization will be missed * (i.e. HAL_PPP_MspInit() will not be executed). * - When there is a need to reconfigure the low level hardware: instead of calling * HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init(). * In this later function, when the Handle's "State" field is set to 0, it will execute the function * HAL_PPP_MspInit() which will reconfigure the low level hardware. * @retval None */ #define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0U) #if (USE_RTOS == 1U) /* Reserved for future use */ #error "USE_RTOS should be 0 in the current HAL release" #else #define __HAL_LOCK(__HANDLE__) \ do{ \ if((__HANDLE__)->Lock == HAL_LOCKED) \ { \ return HAL_BUSY; \ } \ else \ { \ (__HANDLE__)->Lock = HAL_LOCKED; \ } \ }while (0U) #define __HAL_UNLOCK(__HANDLE__) \ do{ \ (__HANDLE__)->Lock = HAL_UNLOCKED; \ }while (0U) #endif /* USE_RTOS */ #if defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */ #ifndef __weak #define __weak __attribute__((weak)) #endif /* __weak */ #ifndef __packed #define __packed __attribute__((__packed__)) #endif /* __packed */ #endif /* __GNUC__ */ /* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */ #if defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */ #ifndef __ALIGN_END #define __ALIGN_END __attribute__ ((aligned (4))) #endif /* __ALIGN_END */ #ifndef __ALIGN_BEGIN #define __ALIGN_BEGIN #endif /* __ALIGN_BEGIN */ #else #ifndef __ALIGN_END #define __ALIGN_END #endif /* __ALIGN_END */ #ifndef __ALIGN_BEGIN #if defined (__CC_ARM) /* ARM Compiler */ #define __ALIGN_BEGIN __align(4) #elif defined (__ICCARM__) /* IAR Compiler */ #define __ALIGN_BEGIN #endif /* __CC_ARM */ #endif /* __ALIGN_BEGIN */ #endif /* __GNUC__ */ /** * @brief __RAM_FUNC definition */ #if defined ( __CC_ARM ) /* ARM Compiler ------------ RAM functions are defined using the toolchain options. Functions that are executed in RAM should reside in a separate source module. Using the 'Options for File' dialog you can simply change the 'Code / Const' area of a module to a memory space in physical RAM. Available memory areas are declared in the 'Target' tab of the 'Options for Target' dialog. */ #define __RAM_FUNC #elif defined ( __ICCARM__ ) /* ICCARM Compiler --------------- RAM functions are defined using a specific toolchain keyword "__ramfunc". */ #define __RAM_FUNC __ramfunc #elif defined ( __GNUC__ ) /* GNU Compiler ------------ RAM functions are defined using a specific toolchain attribute "__attribute__((section(".RamFunc")))". */ #define __RAM_FUNC __attribute__((section(".RamFunc"))) #endif /** * @brief __NOINLINE definition */ #if defined ( __CC_ARM ) || defined ( __GNUC__ ) /* ARM & GNUCompiler ---------------- */ #define __NOINLINE __attribute__ ( (noinline) ) #elif defined ( __ICCARM__ ) /* ICCARM Compiler --------------- */ #define __NOINLINE _Pragma("optimize = no_inline") #endif #ifdef __cplusplus } #endif #endif /* ___STM32F4xx_HAL_DEF */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/