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view Common/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_tim_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_tim_template.c * @author MCD Application Team * @brief HAL time base based on the hardware TIM Template. * * This file overrides the native HAL time base functions (defined as weak) * the TIM time base: * + Intializes the TIM peripheral generate a Period elapsed Event each 1ms * + HAL_IncTick is called inside HAL_TIM_PeriodElapsedCallback ie each 1ms * ****************************************************************************** * @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 HAL_TimeBase_TIM * @{ */ /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/ TIM_HandleTypeDef TimHandle; /* Private function prototypes -----------------------------------------------*/ void TIM6_DAC_IRQHandler(void); /* Private functions ---------------------------------------------------------*/ /** * @brief This function configures the TIM6 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) { RCC_ClkInitTypeDef clkconfig; uint32_t uwTimclock, uwAPB1Prescaler = 0U; uint32_t uwPrescalerValue = 0U; uint32_t pFLatency; /*Configure the TIM6 IRQ priority */ HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority ,0U); /* Enable the TIM6 global Interrupt */ HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn); /* Enable TIM6 clock */ __HAL_RCC_TIM6_CLK_ENABLE(); /* Get clock configuration */ HAL_RCC_GetClockConfig(&clkconfig, &pFLatency); /* Get APB1 prescaler */ uwAPB1Prescaler = clkconfig.APB1CLKDivider; /* Compute TIM6 clock */ if (uwAPB1Prescaler == RCC_HCLK_DIV1) { uwTimclock = HAL_RCC_GetPCLK1Freq(); } else { uwTimclock = 2*HAL_RCC_GetPCLK1Freq(); } /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */ uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U); /* Initialize TIM6 */ TimHandle.Instance = TIM6; /* Initialize TIMx peripheral as follow: + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base. + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock. + ClockDivision = 0 + Counter direction = Up */ TimHandle.Init.Period = (1000000U / 1000U) - 1U; TimHandle.Init.Prescaler = uwPrescalerValue; TimHandle.Init.ClockDivision = 0U; TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; if(HAL_TIM_Base_Init(&TimHandle) == HAL_OK) { /* Start the TIM time Base generation in interrupt mode */ return HAL_TIM_Base_Start_IT(&TimHandle); } /* Return function status */ return HAL_ERROR; } /** * @brief Suspend Tick increment. * @note Disable the tick increment by disabling TIM6 update interrupt. * @retval None */ void HAL_SuspendTick(void) { /* Disable TIM6 update Interrupt */ __HAL_TIM_DISABLE_IT(&TimHandle, TIM_IT_UPDATE); } /** * @brief Resume Tick increment. * @note Enable the tick increment by Enabling TIM6 update interrupt. * @retval None */ void HAL_ResumeTick(void) { /* Enable TIM6 Update interrupt */ __HAL_TIM_ENABLE_IT(&TimHandle, TIM_IT_UPDATE); } /** * @brief Period elapsed callback in non blocking mode * @note This function is called when TIM6 interrupt took place, inside * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment * a global variable "uwTick" used as application time base. * @param htim TIM handle * @retval None */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { HAL_IncTick(); } /** * @brief This function handles TIM interrupt request. * @retval None */ void TIM6_DAC_IRQHandler(void) { HAL_TIM_IRQHandler(&TimHandle); } /** * @} */ /** * @} */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/