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view OtherSources/data_exchange_main_mini.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 | 7801c5d8a562 |
children |
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/** ****************************************************************************** * @file data_exchange_main.c * @author heinrichs weikamp gmbh * @date 13-Oct-2014 * @version V0.0.2 * @since 27-May-2015 * @brief Communication with the second CPU == RTE system * @verbatim ============================================================================== ##### How to use ##### ============================================================================== ============================================================================== ##### Device Data ##### ============================================================================== main CPU always sends the device data info that it has at the moment on start it is INT32_MIN, INT32_MAX and 0 as initialized in data_central.c variable declaration second small CPU gets request to send its device data on receiption the data is merged with the data in externLogbookFlash, stored on the externLogbookFlash and from now on send to small CPU @endverbatim ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2014 heinrichs weikamp</center></h2> * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include <string.h> // for memcopy #include "stm32f4xx_hal.h" #include "stdio.h" #include "ostc.h" #include "data_central.h" #include "data_exchange_main.h" #include "base.h" #include "externLogbookFlash.h" /* Expoted variables --------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/ SDataReceiveFromMaster dataOut; SDataExchangeSlaveToMaster dataIn; uint8_t data_old__lost_connection_to_slave_counter_temp = 0; /* Private types -------------------------------------------------------------*/ uint8_t DataEX_check_header_and_footer_ok(void); void DataEX_control_connection_while_asking_for_sleep(void); /* Exported functions --------------------------------------------------------*/ uint8_t DataEX_call(void) { DataEX_control_connection_while_asking_for_sleep(); for(int i=0;i<EXCHANGE_BUFFERSIZE;i++) *(uint8_t *)(((uint32_t)&dataOut) + i) = 0; dataOut.mode = MODE_SHUTDOWN; dataOut.header.checkCode[0] = 0xBB; dataOut.header.checkCode[1] = 0x01; dataOut.header.checkCode[2] = 0x01; dataOut.header.checkCode[3] = 0xBB; dataOut.footer.checkCode[0] = 0xF4; dataOut.footer.checkCode[1] = 0xF3; dataOut.footer.checkCode[2] = 0xF2; dataOut.footer.checkCode[3] = 0xF1; HAL_GPIO_WritePin(SMALLCPU_CSB_GPIO_PORT,SMALLCPU_CSB_PIN,GPIO_PIN_SET); delayMicros(10); if(data_old__lost_connection_to_slave_counter_temp >= 3) { data_old__lost_connection_to_slave_counter_temp = 0; } else { HAL_GPIO_WritePin(SMALLCPU_CSB_GPIO_PORT,SMALLCPU_CSB_PIN,GPIO_PIN_RESET); } HAL_SPI_TransmitReceive_DMA(&cpu2DmaSpi, (uint8_t *)&dataOut, (uint8_t *)&dataIn, EXCHANGE_BUFFERSIZE+1); return 1; } void DataEX_control_connection_while_asking_for_sleep(void) { if(!DataEX_check_header_and_footer_ok()) { data_old__lost_connection_to_slave_counter_temp += 1; } } uint8_t DataEX_check_header_and_footer_ok(void) { if(dataIn.header.checkCode[0] != 0xA1) return 0; if(dataIn.header.checkCode[1] != 0xA2) return 0; if(dataIn.header.checkCode[2] != 0xA3) return 0; if(dataIn.header.checkCode[3] != 0xA4) return 0; if(dataIn.footer.checkCode[0] != 0xE1) return 0; if(dataIn.footer.checkCode[1] != 0xE2) return 0; if(dataIn.footer.checkCode[2] != 0xE3) return 0; if(dataIn.footer.checkCode[3] != 0xE4) return 0; return 1; }