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view Common/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_rtc_alarm_template.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_timebase_rtc_alarm_template.c * @author MCD Application Team * @brief HAL time base based on the hardware RTC_ALARM Template. * * This file override the native HAL time base functions (defined as weak) * to use the RTC ALARM for time base generation: * + Intializes the RTC peripheral to increment the seconds registers each 1ms * + The alarm is configured to assert an interrupt when the RTC reaches 1ms * + HAL_IncTick is called at each Alarm event and the time is reset to 00:00:00 * + HSE (default), LSE or LSI can be selected as RTC clock source @verbatim ============================================================================== ##### How to use this driver ##### ============================================================================== [..] This file must be copied to the application folder and modified as follows: (#) Rename it to 'stm32f4xx_hal_timebase_rtc_alarm.c' (#) Add this file and the RTC HAL drivers to your project and uncomment HAL_RTC_MODULE_ENABLED define in stm32f4xx_hal_conf.h [..] (@) HAL RTC alarm and HAL RTC wakeup drivers can’t be used with low power modes: The wake up capability of the RTC may be intrusive in case of prior low power mode configuration requiring different wake up sources. Application/Example behavior is no more guaranteed (@) The stm32f4xx_hal_timebase_tim use is recommended for the Applications/Examples requiring low power modes @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 * @{ */ /** @defgroup HAL_TimeBase_RTC_Alarm_Template HAL TimeBase RTC Alarm Template * @{ */ /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ /* Uncomment the line below to select the appropriate RTC Clock source for your application: + RTC_CLOCK_SOURCE_HSE: can be selected for applications requiring timing precision. + RTC_CLOCK_SOURCE_LSE: can be selected for applications with low constraint on timing precision. + RTC_CLOCK_SOURCE_LSI: can be selected for applications with low constraint on timing precision. */ #define RTC_CLOCK_SOURCE_HSE /* #define RTC_CLOCK_SOURCE_LSE */ /* #define RTC_CLOCK_SOURCE_LSI */ #ifdef RTC_CLOCK_SOURCE_HSE #define RTC_ASYNCH_PREDIV 99U #define RTC_SYNCH_PREDIV 9U #define RCC_RTCCLKSOURCE_1MHZ ((uint32_t)((uint32_t)RCC_BDCR_RTCSEL | (uint32_t)((HSE_VALUE/1000000U) << 16U))) #else /* RTC_CLOCK_SOURCE_LSE || RTC_CLOCK_SOURCE_LSI */ #define RTC_ASYNCH_PREDIV 0U #define RTC_SYNCH_PREDIV 31U #endif /* RTC_CLOCK_SOURCE_HSE */ /* Private macro -------------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/ RTC_HandleTypeDef hRTC_Handle; /* Private function prototypes -----------------------------------------------*/ void RTC_Alarm_IRQHandler(void); /* Private functions ---------------------------------------------------------*/ /** * @brief This function configures the RTC_ALARMA as a time base source. * The time source is configured to have 1ms time base with a dedicated * Tick interrupt priority. * @note This function is called automatically at the beginning of program after * reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig(). * @param TickPriority Tick interrupt priority. * @retval HAL status */ HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority) { __IO uint32_t counter = 0U; RCC_OscInitTypeDef RCC_OscInitStruct; RCC_PeriphCLKInitTypeDef PeriphClkInitStruct; #ifdef RTC_CLOCK_SOURCE_LSE /* Configue LSE as RTC clock soucre */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; RCC_OscInitStruct.LSEState = RCC_LSE_ON; PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSE; #elif defined (RTC_CLOCK_SOURCE_LSI) /* Configue LSI as RTC clock soucre */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; RCC_OscInitStruct.LSIState = RCC_LSI_ON; PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSI; #elif defined (RTC_CLOCK_SOURCE_HSE) /* Configue HSE as RTC clock soucre */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; /* Ensure that RTC is clocked by 1MHz */ PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_1MHZ; #else #error Please select the RTC Clock source #endif /* RTC_CLOCK_SOURCE_LSE */ if(HAL_RCC_OscConfig(&RCC_OscInitStruct) == HAL_OK) { PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC; if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) == HAL_OK) { /* Enable RTC Clock */ __HAL_RCC_RTC_ENABLE(); /* The time base should be 1ms Time base = ((RTC_ASYNCH_PREDIV + 1) * (RTC_SYNCH_PREDIV + 1)) / RTC_CLOCK HSE as RTC clock Time base = ((99 + 1) * (9 + 1)) / 1MHz = 1ms LSE as RTC clock Time base = ((31 + 1) * (0 + 1)) / 32.768KHz = ~1ms LSI as RTC clock Time base = ((31 + 1) * (0 + 1)) / 32KHz = 1ms */ hRTC_Handle.Instance = RTC; hRTC_Handle.Init.HourFormat = RTC_HOURFORMAT_24; hRTC_Handle.Init.AsynchPrediv = RTC_ASYNCH_PREDIV; hRTC_Handle.Init.SynchPrediv = RTC_SYNCH_PREDIV; hRTC_Handle.Init.OutPut = RTC_OUTPUT_DISABLE; hRTC_Handle.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH; hRTC_Handle.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN; HAL_RTC_Init(&hRTC_Handle); /* Disable the write protection for RTC registers */ __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); /* Disable the Alarm A interrupt */ __HAL_RTC_ALARMA_DISABLE(&hRTC_Handle); /* Clear flag alarm A */ __HAL_RTC_ALARM_CLEAR_FLAG(&hRTC_Handle, RTC_FLAG_ALRAF); counter = 0U; /* Wait till RTC ALRAWF flag is set and if Time out is reached exit */ while(__HAL_RTC_ALARM_GET_FLAG(&hRTC_Handle, RTC_FLAG_ALRAWF) == RESET) { if(counter++ == (SystemCoreClock /48U)) /* Timeout = ~ 1s */ { return HAL_ERROR; } } hRTC_Handle.Instance->ALRMAR = (uint32_t)0x01U; /* Configure the Alarm state: Enable Alarm */ __HAL_RTC_ALARMA_ENABLE(&hRTC_Handle); /* Configure the Alarm interrupt */ __HAL_RTC_ALARM_ENABLE_IT(&hRTC_Handle, RTC_IT_ALRA); /* RTC Alarm Interrupt Configuration: EXTI configuration */ __HAL_RTC_ALARM_EXTI_ENABLE_IT(); __HAL_RTC_ALARM_EXTI_ENABLE_RISING_EDGE(); /* Check if the Initialization mode is set */ if((hRTC_Handle.Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET) { /* Set the Initialization mode */ hRTC_Handle.Instance->ISR = (uint32_t)RTC_INIT_MASK; counter = 0U; while((hRTC_Handle.Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET) { if(counter++ == (SystemCoreClock /48U)) /* Timeout = ~ 1s */ { return HAL_ERROR; } } } hRTC_Handle.Instance->DR = 0U; hRTC_Handle.Instance->TR = 0U; hRTC_Handle.Instance->ISR &= (uint32_t)~RTC_ISR_INIT; /* Enable the write protection for RTC registers */ __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); HAL_NVIC_SetPriority(RTC_Alarm_IRQn, TickPriority, 0U); HAL_NVIC_EnableIRQ(RTC_Alarm_IRQn); return HAL_OK; } } return HAL_ERROR; } /** * @brief Suspend Tick increment. * @note Disable the tick increment by disabling RTC ALARM interrupt. * @retval None */ void HAL_SuspendTick(void) { /* Disable the write protection for RTC registers */ __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); /* Disable RTC ALARM update Interrupt */ __HAL_RTC_ALARM_DISABLE_IT(&hRTC_Handle, RTC_IT_ALRA); /* Enable the write protection for RTC registers */ __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); } /** * @brief Resume Tick increment. * @note Enable the tick increment by Enabling RTC ALARM interrupt. * @retval None */ void HAL_ResumeTick(void) { /* Disable the write protection for RTC registers */ __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); /* Enable RTC ALARM Update interrupt */ __HAL_RTC_ALARM_ENABLE_IT(&hRTC_Handle, RTC_IT_ALRA); /* Enable the write protection for RTC registers */ __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); } /** * @brief ALARM A Event Callback in non blocking mode * @note This function is called when RTC_ALARM interrupt took place, inside * RTC_ALARM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment * a global variable "uwTick" used as application time base. * @param hrtc RTC handle * @retval None */ void HAL_RTC_AlarmAEventCallback(RTC_HandleTypeDef *hrtc) { __IO uint32_t counter = 0U; HAL_IncTick(); __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); /* Set the Initialization mode */ hrtc->Instance->ISR = (uint32_t)RTC_INIT_MASK; while((hrtc->Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET) { if(counter++ == (SystemCoreClock /48U)) /* Timeout = ~ 1s */ { break; } } hrtc->Instance->DR = 0U; hrtc->Instance->TR = 0U; hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; /* Enable the write protection for RTC registers */ __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); } /** * @brief This function handles RTC ALARM interrupt request. * @retval None */ void RTC_Alarm_IRQHandler(void) { HAL_RTC_AlarmIRQHandler(&hRTC_Handle); } /** * @} */ /** * @} */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/