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view Common/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_crc.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_ll_crc.h * @author MCD Application Team * @brief Header file of CRC LL module. ****************************************************************************** * @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_LL_CRC_H #define __STM32F4xx_LL_CRC_H #ifdef __cplusplus extern "C" { #endif /* Includes ------------------------------------------------------------------*/ #include "stm32f4xx.h" /** @addtogroup STM32F4xx_LL_Driver * @{ */ #if defined(CRC) /** @defgroup CRC_LL CRC * @{ */ /* Private types -------------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/ /* Private constants ---------------------------------------------------------*/ /* Private macros ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/ /** @defgroup CRC_LL_Exported_Macros CRC Exported Macros * @{ */ /** @defgroup CRC_LL_EM_WRITE_READ Common Write and read registers Macros * @{ */ /** * @brief Write a value in CRC register * @param __INSTANCE__ CRC Instance * @param __REG__ Register to be written * @param __VALUE__ Value to be written in the register * @retval None */ #define LL_CRC_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) /** * @brief Read a value in CRC register * @param __INSTANCE__ CRC Instance * @param __REG__ Register to be read * @retval Register value */ #define LL_CRC_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) /** * @} */ /** * @} */ /* Exported functions --------------------------------------------------------*/ /** @defgroup CRC_LL_Exported_Functions CRC Exported Functions * @{ */ /** @defgroup CRC_LL_EF_Configuration CRC Configuration functions * @{ */ /** * @brief Reset the CRC calculation unit. * @rmtoll CR RESET LL_CRC_ResetCRCCalculationUnit * @param CRCx CRC Instance * @retval None */ __STATIC_INLINE void LL_CRC_ResetCRCCalculationUnit(CRC_TypeDef *CRCx) { WRITE_REG(CRCx->CR, CRC_CR_RESET); } /** * @} */ /** @defgroup CRC_LL_EF_Data_Management Data_Management * @{ */ /** * @brief Write given 32-bit data to the CRC calculator * @rmtoll DR DR LL_CRC_FeedData32 * @param CRCx CRC Instance * @param InData value to be provided to CRC calculator between between Min_Data=0 and Max_Data=0xFFFFFFFF * @retval None */ __STATIC_INLINE void LL_CRC_FeedData32(CRC_TypeDef *CRCx, uint32_t InData) { WRITE_REG(CRCx->DR, InData); } /** * @brief Return current CRC calculation result. 32 bits value is returned. * @rmtoll DR DR LL_CRC_ReadData32 * @param CRCx CRC Instance * @retval Current CRC calculation result as stored in CRC_DR register (32 bits). */ __STATIC_INLINE uint32_t LL_CRC_ReadData32(CRC_TypeDef *CRCx) { return (uint32_t)(READ_REG(CRCx->DR)); } /** * @brief Return data stored in the Independent Data(IDR) register. * @note This register can be used as a temporary storage location for one byte. * @rmtoll IDR IDR LL_CRC_Read_IDR * @param CRCx CRC Instance * @retval Value stored in CRC_IDR register (General-purpose 8-bit data register). */ __STATIC_INLINE uint32_t LL_CRC_Read_IDR(CRC_TypeDef *CRCx) { return (uint32_t)(READ_REG(CRCx->IDR)); } /** * @brief Store data in the Independent Data(IDR) register. * @note This register can be used as a temporary storage location for one byte. * @rmtoll IDR IDR LL_CRC_Write_IDR * @param CRCx CRC Instance * @param InData value to be stored in CRC_IDR register (8-bit) between between Min_Data=0 and Max_Data=0xFF * @retval None */ __STATIC_INLINE void LL_CRC_Write_IDR(CRC_TypeDef *CRCx, uint32_t InData) { *((uint8_t __IO *)(&CRCx->IDR)) = (uint8_t) InData; } /** * @} */ #if defined(USE_FULL_LL_DRIVER) /** @defgroup CRC_LL_EF_Init Initialization and de-initialization functions * @{ */ ErrorStatus LL_CRC_DeInit(CRC_TypeDef *CRCx); /** * @} */ #endif /* USE_FULL_LL_DRIVER */ /** * @} */ /** * @} */ #endif /* defined(CRC) */ /** * @} */ #ifdef __cplusplus } #endif #endif /* __STM32F4xx_LL_CRC_H */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/