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view Common/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c @ 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_crc.c * @author MCD Application Team * @brief CRC HAL module driver. * This file provides firmware functions to manage the following * functionalities of the Cyclic Redundancy Check (CRC) peripheral: * + Initialization and de-initialization functions * + Peripheral Control functions * + Peripheral State functions * @verbatim ============================================================================== ##### How to use this driver ##### ============================================================================== [..] The CRC HAL driver can be used as follows: (#) Enable CRC AHB clock using __HAL_RCC_CRC_CLK_ENABLE(); (#) Use HAL_CRC_Accumulate() function to compute the CRC value of a 32-bit data buffer using combination of the previous CRC value and the new one. (#) Use HAL_CRC_Calculate() function to compute the CRC Value of a new 32-bit data buffer. This function resets the CRC computation unit before starting the computation to avoid getting wrong CRC values. @endverbatim ****************************************************************************** * @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. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "stm32f4xx_hal.h" /** @addtogroup STM32F4xx_HAL_Driver * @{ */ /** @addtogroup CRC * @{ */ #ifdef HAL_CRC_MODULE_ENABLED /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/ /* Private functions ---------------------------------------------------------*/ /* Exported functions --------------------------------------------------------*/ /** @addtogroup CRC_Exported_Functions * @{ */ /** @addtogroup CRC_Exported_Functions_Group1 * @brief Initialization and de-initialization functions * @verbatim ============================================================================== ##### Initialization and de-initialization functions ##### ============================================================================== [..] This section provides functions allowing to: (+) Initialize the CRC according to the specified parameters in the CRC_InitTypeDef and create the associated handle (+) DeInitialize the CRC peripheral (+) Initialize the CRC MSP (+) DeInitialize CRC MSP @endverbatim * @{ */ /** * @brief Initializes the CRC according to the specified * parameters in the CRC_InitTypeDef and creates the associated handle. * @param hcrc pointer to a CRC_HandleTypeDef structure that contains * the configuration information for CRC * @retval HAL status */ HAL_StatusTypeDef HAL_CRC_Init(CRC_HandleTypeDef *hcrc) { /* Check the CRC handle allocation */ if(hcrc == NULL) { return HAL_ERROR; } /* Check the parameters */ assert_param(IS_CRC_ALL_INSTANCE(hcrc->Instance)); if(hcrc->State == HAL_CRC_STATE_RESET) { /* Allocate lock resource and initialize it */ hcrc->Lock = HAL_UNLOCKED; /* Init the low level hardware */ HAL_CRC_MspInit(hcrc); } /* Change CRC peripheral state */ hcrc->State = HAL_CRC_STATE_BUSY; /* Change CRC peripheral state */ hcrc->State = HAL_CRC_STATE_READY; /* Return function status */ return HAL_OK; } /** * @brief DeInitializes the CRC peripheral. * @param hcrc pointer to a CRC_HandleTypeDef structure that contains * the configuration information for CRC * @retval HAL status */ HAL_StatusTypeDef HAL_CRC_DeInit(CRC_HandleTypeDef *hcrc) { /* Check the CRC handle allocation */ if(hcrc == NULL) { return HAL_ERROR; } /* Check the parameters */ assert_param(IS_CRC_ALL_INSTANCE(hcrc->Instance)); /* Change CRC peripheral state */ hcrc->State = HAL_CRC_STATE_BUSY; /* DeInit the low level hardware */ HAL_CRC_MspDeInit(hcrc); /* Change CRC peripheral state */ hcrc->State = HAL_CRC_STATE_RESET; /* Release Lock */ __HAL_UNLOCK(hcrc); /* Return function status */ return HAL_OK; } /** * @brief Initializes the CRC MSP. * @param hcrc pointer to a CRC_HandleTypeDef structure that contains * the configuration information for CRC * @retval None */ __weak void HAL_CRC_MspInit(CRC_HandleTypeDef *hcrc) { /* Prevent unused argument(s) compilation warning */ UNUSED(hcrc); /* NOTE : This function Should not be modified, when the callback is needed, the HAL_CRC_MspInit could be implemented in the user file */ } /** * @brief DeInitializes the CRC MSP. * @param hcrc pointer to a CRC_HandleTypeDef structure that contains * the configuration information for CRC * @retval None */ __weak void HAL_CRC_MspDeInit(CRC_HandleTypeDef *hcrc) { /* Prevent unused argument(s) compilation warning */ UNUSED(hcrc); /* NOTE : This function Should not be modified, when the callback is needed, the HAL_CRC_MspDeInit could be implemented in the user file */ } /** * @} */ /** @addtogroup CRC_Exported_Functions_Group2 * @brief Peripheral Control functions * @verbatim ============================================================================== ##### Peripheral Control functions ##### ============================================================================== [..] This section provides functions allowing to: (+) Compute the 32-bit CRC value of 32-bit data buffer, using combination of the previous CRC value and the new one. (+) Compute the 32-bit CRC value of 32-bit data buffer, independently of the previous CRC value. @endverbatim * @{ */ /** * @brief Computes the 32-bit CRC of 32-bit data buffer using combination * of the previous CRC value and the new one. * @param hcrc pointer to a CRC_HandleTypeDef structure that contains * the configuration information for CRC * @param pBuffer pointer to the buffer containing the data to be computed * @param BufferLength length of the buffer to be computed * @retval 32-bit CRC */ uint32_t HAL_CRC_Accumulate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength) { uint32_t index = 0U; /* Process Locked */ __HAL_LOCK(hcrc); /* Change CRC peripheral state */ hcrc->State = HAL_CRC_STATE_BUSY; /* Enter Data to the CRC calculator */ for(index = 0U; index < BufferLength; index++) { hcrc->Instance->DR = pBuffer[index]; } /* Change CRC peripheral state */ hcrc->State = HAL_CRC_STATE_READY; /* Process Unlocked */ __HAL_UNLOCK(hcrc); /* Return the CRC computed value */ return hcrc->Instance->DR; } /** * @brief Computes the 32-bit CRC of 32-bit data buffer independently * of the previous CRC value. * @param hcrc pointer to a CRC_HandleTypeDef structure that contains * the configuration information for CRC * @param pBuffer Pointer to the buffer containing the data to be computed * @param BufferLength Length of the buffer to be computed * @retval 32-bit CRC */ uint32_t HAL_CRC_Calculate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength) { uint32_t index = 0U; /* Process Locked */ __HAL_LOCK(hcrc); /* Change CRC peripheral state */ hcrc->State = HAL_CRC_STATE_BUSY; /* Reset CRC Calculation Unit */ __HAL_CRC_DR_RESET(hcrc); /* Enter Data to the CRC calculator */ for(index = 0U; index < BufferLength; index++) { hcrc->Instance->DR = pBuffer[index]; } /* Change CRC peripheral state */ hcrc->State = HAL_CRC_STATE_READY; /* Process Unlocked */ __HAL_UNLOCK(hcrc); /* Return the CRC computed value */ return hcrc->Instance->DR; } /** * @} */ /** @addtogroup CRC_Exported_Functions_Group3 * @brief Peripheral State functions * @verbatim ============================================================================== ##### Peripheral State functions ##### ============================================================================== [..] This subsection permits to get in run-time the status of the peripheral and the data flow. @endverbatim * @{ */ /** * @brief Returns the CRC state. * @param hcrc pointer to a CRC_HandleTypeDef structure that contains * the configuration information for CRC * @retval HAL state */ HAL_CRC_StateTypeDef HAL_CRC_GetState(CRC_HandleTypeDef *hcrc) { return hcrc->State; } /** * @} */ /** * @} */ #endif /* HAL_CRC_MODULE_ENABLED */ /** * @} */ /** * @} */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/