Mercurial > public > ostc4
changeset 354:5f46ec49f9bf
Merged in janlmulder/ostc4/fix-merge-mess (pull request #33)
Fix merge mess, and add tag
| author | heinrichsweikamp <bitbucket@heinrichsweikamp.com> |
|---|---|
| date | Wed, 09 Oct 2019 07:08:43 +0000 |
| parents | ba53ab77f059 (current diff) 9c8e2e962f55 (diff) |
| children | afa55a50cc72 |
| files | |
| diffstat | 6 files changed, 165 insertions(+), 166 deletions(-) [+] |
line wrap: on
line diff
--- a/.hgtags Sun Oct 06 14:12:41 2019 +0200 +++ b/.hgtags Wed Oct 09 07:08:43 2019 +0000 @@ -1,2 +1,3 @@ 1b9be6040d8279117c7fc99d528790611638f10b V1.4.7 release ba9d99a2e310da601a948ff11ad665260c600e18 v1.4.8 release +143fe85f82a2e2aca50eb0c29bc55066cb4fe497 v1.5.0 release
--- a/RefPrj/Firmware/.cproject Sun Oct 06 14:12:41 2019 +0200 +++ b/RefPrj/Firmware/.cproject Wed Oct 09 07:08:43 2019 +0000 @@ -50,7 +50,7 @@ <option id="gnu.cpp.compiler.option.debugging.level.1733485526" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/> </tool> <tool id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.1908756987" name="MCU GCC Linker" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker"> - <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.1377166494" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="C:\Users\mh\workspace\ostc4\Common\CPU1-F429.ld" valueType="string"/> + <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.1377166494" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="${ProjDirPath}\..\ostc4\Common\CPU1-F429.ld" valueType="string"/> <option id="gnu.c.link.option.ldflags.1166539479" name="Linker flags" superClass="gnu.c.link.option.ldflags" useByScannerDiscovery="false" value="-u _printf_float " valueType="string"/> <option id="gnu.c.link.option.other.2080432652" name="Other options (-Xlinker [option])" superClass="gnu.c.link.option.other" useByScannerDiscovery="false"/> <option id="gnu.c.link.option.paths.1365621909" name="Library search path (-L)" superClass="gnu.c.link.option.paths" useByScannerDiscovery="false"/> @@ -115,7 +115,7 @@ </extensions> </storageModule> <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="fr.ac6.managedbuild.config.gnu.cross.exe.release.1554475450" name="Release" parent="fr.ac6.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary and Printing size information:" postbuildStep="arm-none-eabi-objcopy -R .upper* -O binary "${BuildArtifactFileBaseName}.elf" "${BuildArtifactFileBaseName}.bin"; arm-none-eabi-size "${BuildArtifactFileName}""> + <configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="fr.ac6.managedbuild.config.gnu.cross.exe.release.1554475450" name="Release" parent="fr.ac6.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary and Printing size information:" postbuildStep="arm-none-eabi-objcopy -R .upper* -R .font_firmware_data -O binary "${BuildArtifactFileBaseName}.elf" "${BuildArtifactFileBaseName}.bin"; arm-none-eabi-size "${BuildArtifactFileName}""> <folderInfo id="fr.ac6.managedbuild.config.gnu.cross.exe.release.1554475450." name="/" resourcePath=""> <toolChain id="fr.ac6.managedbuild.toolchain.gnu.cross.exe.release.240202493" name="Ac6 STM32 MCU GCC" superClass="fr.ac6.managedbuild.toolchain.gnu.cross.exe.release"> <option id="fr.ac6.managedbuild.option.gnu.cross.mcu.1492720020" name="Mcu" superClass="fr.ac6.managedbuild.option.gnu.cross.mcu" useByScannerDiscovery="false" value="STM32F429IITx" valueType="string"/> @@ -151,7 +151,7 @@ <option id="gnu.cpp.compiler.option.debugging.level.1273410642" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/> </tool> <tool id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.1139299269" name="MCU GCC Linker" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker"> - <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.920748377" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="C:\Users\mh\workspace\ostc4\Common\CPU1-F429.ld" valueType="string"/> + <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.920748377" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="${ProjDirPath}\..\ostc4\Common\CPU1-F429.ld" valueType="string"/> <option id="gnu.c.link.option.strip.1057056433" name="Omit all symbol information (-s)" superClass="gnu.c.link.option.strip" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option id="gnu.c.link.option.ldflags.1124840583" name="Linker flags" superClass="gnu.c.link.option.ldflags" useByScannerDiscovery="false" value="-u _printf_float" valueType="string"/> <option id="gnu.c.link.option.nostart.543218958" name="Do not use standard start files (-nostartfiles)" superClass="gnu.c.link.option.nostart" useByScannerDiscovery="false" value="false" valueType="boolean"/>
--- a/RefPrj/RTE/.cproject Sun Oct 06 14:12:41 2019 +0200 +++ b/RefPrj/RTE/.cproject Wed Oct 09 07:08:43 2019 +0000 @@ -117,7 +117,7 @@ <option id="gnu.cpp.compiler.option.debugging.level.1980132124" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/> </tool> <tool id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.1224776758" name="MCU GCC Linker" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker"> - <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.477531566" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="C:\Users\mh\workspace\ostc4\Small_CPU\CPU2-RTE.ld" valueType="string"/> + <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.477531566" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="${ProjDirPath}\..\ostc4\Small_CPU\CPU2-RTE.ld" valueType="string"/> <option id="gnu.c.link.option.nodeflibs.1006660034" name="Do not use default libraries (-nodefaultlibs)" superClass="gnu.c.link.option.nodeflibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <inputType id="cdt.managedbuild.tool.gnu.c.linker.input.1337752943" superClass="cdt.managedbuild.tool.gnu.c.linker.input"> <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
--- a/Small_CPU/Src/pressure.c Sun Oct 06 14:12:41 2019 +0200 +++ b/Small_CPU/Src/pressure.c Wed Oct 09 07:08:43 2019 +0000 @@ -46,11 +46,20 @@ #define CMD_ADC_4096 0x08 // ADC OSR=4096 #define CMD_PROM_RD 0xA0 // Prom read command -#define PRESSURE_SURFACE_MAX_MBAR (1030.0f) /* It is unlikely that pressure at surface is greater than this value => clip to it */ -#define PRESSURE_HISTORY_SIZE (8u) -#define PRESSURE_JUMP_VALID_MBAR (500.0f) /* values are measure several times a second => jumps > 5m very unlikely */ +/* remove comment to use a predefined profile for pressure changes instead of real world data */ +/* #define SIMULATE_PRESSURE */ + +#define PRESSURE_SURFACE_MAX_MBAR (1030.0f) /* It is unlikely that pressure at surface is greater than this value => clip to it */ +#define PRESSURE_HISTORY_SIZE (8u) +#define PRESSURE_JUMP_VALID_MBAR (500.0f) /* values are measure several times a second => jumps > 5m very unlikely */ -#define PRESSURE_SURFACE_QUE (30u) /* history buffer [minutes] for past pressure measurements */ +#define PRESSURE_SURFACE_QUE (30u) /* history buffer [minutes] for past pressure measurements */ +#define PRESSURE_SURFACE_EVA_WINDOW (15u) /* Number of entries evaluated during instability test. Used to avoid detection while dive enters water */ +#define PRESSURE_SURFACE_STABLE_LIMIT (10u) /* Define pressure as stable if delta (mBar) is below this value */ +#define PRESSURE_SURFACE_DETECT_STABLE_CNT (5u) /* Event count to detect stable condition */ +#define PRESSURE_SURFACE_UNSTABLE_LIMIT (50u) /* Define pressure as not stable if delta (mBar) is larger than this value */ +#define PRESSURE_SURFACE_DETECT_UNSTABLE_CNT (3u) /* Event count to detect unstable condition */ + static uint16_t get_ci_by_coef_num(uint8_t coef_num); //void pressure_calculation_new(void); @@ -86,6 +95,10 @@ static float surface_pressure_mbar = 1000.0; static float surface_ring_mbar[PRESSURE_SURFACE_QUE] = { 0 }; +static uint8_t surface_pressure_writeIndex = 0; +static float surface_pressure_stable_value = 0; +static uint8_t surface_pressure_stable = 0; + static float pressure_history_mbar[PRESSURE_HISTORY_SIZE]; static uint8_t secondCounterSurfaceRing = 0; @@ -119,6 +132,7 @@ for(int i=0; i<PRESSURE_SURFACE_QUE; i++) surface_ring_mbar[i] = ambient_pressure_mbar; surface_pressure_mbar = ambient_pressure_mbar; + surface_pressure_writeIndex = 0; /* index of the oldest value in the ring buffer */ } } @@ -130,10 +144,81 @@ } } +uint8_t is_surface_pressure_stable(void) +{ + return surface_pressure_stable; +} +float set_last_surface_pressure_stable(void) +{ + surface_pressure_mbar = surface_pressure_stable_value; + return surface_pressure_stable_value; +} + +/* iterate backward through the history memory and evaluate the changes pressure changes during the last 30 minutes */ +void evaluate_surface_pressure() +{ + uint8_t index; + float lastvalue; + uint8_t stablecnt = 0; + uint8_t unstablecnt = 0; + uint8_t EvaluationWindow = PRESSURE_SURFACE_QUE - PRESSURE_SURFACE_EVA_WINDOW; /* do not use the latest 15 values to avoid unstable condition due to something like fin handling */ + uint8_t EvaluatedValues = 0; + + lastvalue = surface_ring_mbar[surface_pressure_writeIndex]; + surface_pressure_stable_value = surface_ring_mbar[surface_pressure_writeIndex]; /* default: if no stable value is found return the oldest value */ + index = surface_pressure_writeIndex; + surface_pressure_stable = 1; + + if(index == 0) + { + index = PRESSURE_SURFACE_QUE - 1; + } + else + { + index = index - 1; + } + do + { + if((EvaluatedValues < EvaluationWindow) && + (fabs(surface_pressure_stable_value - surface_ring_mbar[index]) > PRESSURE_SURFACE_UNSTABLE_LIMIT)) /* unusual change during last 30 minutes */ + { + unstablecnt++; + if(unstablecnt > PRESSURE_SURFACE_DETECT_UNSTABLE_CNT) + { + surface_pressure_stable = 0; + } + } + /* search for a value which does not change for several iterations */ + if (fabs(lastvalue - surface_ring_mbar[index]) < PRESSURE_SURFACE_STABLE_LIMIT) + { + stablecnt++; + } + else + { + stablecnt = 0; + } + if ((stablecnt >= PRESSURE_SURFACE_DETECT_STABLE_CNT) && (surface_pressure_stable == 0)&&(surface_pressure_stable_value == surface_ring_mbar[surface_pressure_writeIndex])) /* pressure is unstable => search for new stable value */ + { + surface_pressure_stable_value = surface_ring_mbar[index]; + unstablecnt = 0; + } + + lastvalue = surface_ring_mbar[index]; + + if(index == 0) + { + index = PRESSURE_SURFACE_QUE - 1; + } + else + { + index = index - 1; + } + EvaluatedValues++; + } while (index != surface_pressure_writeIndex); +} void update_surface_pressure(uint8_t call_rhythm_seconds) { - static uint8_t writeIndex = 0; /* Reinitialization will reset all entries to the same value => no need to reinit write index */ if(is_init_pressure_done()) @@ -146,24 +231,25 @@ { if(runningAvg < PRESSURE_SURFACE_MAX_MBAR) { - surface_ring_mbar[writeIndex] = runningAvg; + surface_ring_mbar[surface_pressure_writeIndex] = runningAvg; } else { - surface_ring_mbar[writeIndex] = PRESSURE_SURFACE_MAX_MBAR; + surface_ring_mbar[surface_pressure_writeIndex] = PRESSURE_SURFACE_MAX_MBAR; } - writeIndex++; /* the write index is now pointing to the oldest value in the buffer which will be overwritten next time */ + surface_pressure_writeIndex++; /* the write index is now pointing to the oldest value in the buffer which will be overwritten next time */ - if(writeIndex == PRESSURE_SURFACE_QUE) + if(surface_pressure_writeIndex == PRESSURE_SURFACE_QUE) { - writeIndex = 0; + surface_pressure_writeIndex = 0; } - surface_pressure_mbar = surface_ring_mbar[writeIndex]; /* 30 minutes old measurement */ + surface_pressure_mbar = surface_ring_mbar[surface_pressure_writeIndex]; /* 30 minutes old measurement */ secondCounterSurfaceRing = 0; avgCount = 1; /* use the current value as starting point but restart the weight decrement of the measurements */ } + evaluate_surface_pressure(); } } @@ -425,12 +511,74 @@ } +#ifdef SIMULATE_PRESSURE +void pressure_simulation() +{ + static uint32_t tickstart = 0; + static float pressure_sim_mbar = 0; + static uint32_t passedSecond = 0; + static uint32_t secondtick = 0; + + uint32_t lasttick = 0; + + + + if( tickstart == 0) + { + tickstart = HAL_GetTick(); /* init time stamp */ + secondtick = tickstart; + pressure_sim_mbar = 1000; + } + + lasttick = HAL_GetTick(); + if(time_elapsed_ms(secondtick,lasttick) > 1000) /* one second passed since last tick */ + { + secondtick = lasttick; + passedSecond++; + +#ifdef DIVE_AFTER_LANDING + if(passedSecond < 10) pressure_sim_mbar = 1000.0; /* stay stable for 10 seconds */ + else if(passedSecond < 300) pressure_sim_mbar -= 1.0; /* decrease pressure in 5 minutes target 770mbar => delta 330 */ + else if(passedSecond < 900) pressure_sim_mbar += 0.0; /*stay stable 10 minutes*/ + else if(passedSecond < 1500) pressure_sim_mbar += 0.5; /* return to 1 bar in 10 Minutes*/ + else if(passedSecond < 1800) pressure_sim_mbar += 0.0; /* 5 minutes break */ + else if(passedSecond < 2000) pressure_sim_mbar += 10.0; /* start dive */ + else if(passedSecond < 2300) pressure_sim_mbar += 0.0; /* stay on depth */ + else if(passedSecond < 2500) pressure_sim_mbar -= 10.0; /* return to surface */ + else pressure_sim_mbar = 1000.0; /* final state */ +#else /* short dive */ + if(passedSecond < 10) pressure_sim_mbar = 1000.0; /* stay stable for 10 seconds */ + else if(passedSecond < 180) pressure_sim_mbar += 10.0; /* Start dive */ + else if(passedSecond < 300) pressure_sim_mbar += 0.0; /*stay on depth*/ + else if(passedSecond < 460) pressure_sim_mbar -= 10.0; /* return to surface */ + else if(passedSecond < 600) pressure_sim_mbar += 0.0; /* stay */ + else if(passedSecond < 610) pressure_sim_mbar = 1000.0; /* get ready for second dive */ + else if(passedSecond < 780) pressure_sim_mbar += 10.0; /* Start dive */ + else if(passedSecond < 900) pressure_sim_mbar += 0.0; /*stay on depth*/ + else if(passedSecond < 1060) pressure_sim_mbar -= 10.0; /* return to surface */ + else if(passedSecond < 1200) pressure_sim_mbar += 0.0; /* stay */ + else pressure_sim_mbar = 1000.0; /* final state */ +#endif + } + + + ambient_pressure_mbar = pressure_sim_mbar; + ambient_temperature = 25.0; + return; +} + +#endif + void pressure_calculation(void) { if(global.I2C_SystemStatus != HAL_OK) return; - + +#ifdef SIMULATE_PRESSURE + pressure_simulation(); +#else pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(); +#endif } static uint8_t pressure_plausible(float pressurevalue) @@ -554,156 +702,6 @@ } -/* -void pressure_calculation_new(void) -{ -#define POW2_8 (256) -#define POW2_17 (131072) -#define POW2_6 (64) -#define POW2_16 (65536) -#define POW2_7 (128) -#define POW2_23 (8388608) -#define POW2_21 (2097152) -#define POW2_15 (32768) -#define POW2_13 (8192) -#define POW2_37 (137438953472) -#define POW2_4 (16) -#define POW2_33 (8589934592) -#define POW2_3 (8) - - int32_t P; // compensated pressure value - int32_t T; // compensated temperature value - int32_t dT; // difference between actual and measured temperature - int64_t OFF; // offset at actual temperature - int64_t SENS; - - int32_t T2; - int64_t OFF2; - int64_t SENS2; - - dT = ((int32_t)D2) - ((int32_t)C[5]) * POW2_8; - OFF = ((int64_t)C[2]) * POW2_16 + ((int64_t)dT) * ((int64_t)C[4]) / POW2_7; - SENS = ((int64_t)C[1]) * POW2_15 + ((int64_t)dT) * ((int64_t)C[3]) / POW2_8; - - T = 2000 + (dT * ((int32_t)C[6])) / POW2_23; - - -if(T < 2000) // low temperature - { - T2 = 3 * dT * dT; - T2 /= POW2_33; - OFF2 = ((int64_t)T) - 2000; - OFF2 *= OFF2; - OFF2 *= 3; - OFF2 /= 2; - SENS2 = ((int64_t)T) - 2000; - SENS2 *= SENS2; - SENS2 *= 5; - SENS2 /= POW2_3; - } - else // high temperature - { - T2 = 7 * dT * dT; - T2 /= POW2_37; - OFF2 = ((int64_t)T) - 2000; - OFF2 *= OFF2; - OFF2 /= POW2_4; - SENS2 = 0; - } - - T = T - T2; - OFF = OFF - OFF2; - SENS = SENS - SENS2; - - P = (int32_t)(((((int64_t)D1) * SENS) / POW2_21 - OFF) / POW2_13); - - ambient_temperature = ((float)T) / 100; - ambient_pressure_mbar = ((float)P) / 10; -} -*/ - -/* -void pressure_calculation_old(void) { - // - double ambient_temperature_centigrad = 0; - double ambient_pressure_decimbar = 0; - - // static for debug - static int64_t dt = 0; - static int64_t temp = 0; - static int64_t ms_off = 0; - static int64_t sens = 0; - // - static int64_t ms_off2 = 0; - static int64_t sens2 = 0; - static int64_t t2 = 0; - - if((D2 == 0) || (D1 == 0)) - return; - // - - // dT = D2 - C[5] * POW2_8; - // T = 2000 + (dT * C[6]) / POW2_23; - dt = (int64_t)D2 - C5_x_2p8; - //temp ; // in 10 milliGrad Celcius - ambient_temperature_centigrad = 2000 + dt * C[6] / 8388608; - - - if(ambient_temperature_centigrad < 2000) // low temperature - { - t2 = 3 * dt; - t2 *= dt; - t2 /= 8589934592; - ms_off2 = ambient_temperature_centigrad - 2000; - ms_off2 *= ms_off2; - sens2 = ms_off2; - ms_off2 *= 3; - ms_off2 /= 2; - sens2 *= 5; - sens2 /= 8; - } - else // high temperature - { - t2 = 7 * dt; - t2 *= dt; - t2 /= 137438953472; - ms_off2 = ambient_temperature_centigrad - 2000; - ms_off2 *= ms_off2; - ms_off2 /= 16; - sens2 = 0; - } - - - // - - // pressure - // OFF = C[2] * POW2_16 + dT * C[4] / POW2_7; - // SENS = C[1] * POW2_15 + dT * C[3] / POW2_8; - ms_off = C[4] * dt; - ms_off /= 128; - ms_off += C2_x_2p16; - // - sens = C[3] * dt; - sens /= 256; - sens += C1_x_2p15; - - // 2nd order correction - ambient_temperature_centigrad -= t2; - ms_off -= ms_off2; - sens -= sens2; - - ambient_temperature = ambient_temperature_centigrad / 100; - // P = (D1 * SENS / POW2_21 - OFF) / POW2_13; - temp = D1 * sens; - temp /= 2097152; - temp -= ms_off; - temp /= 8192; - ambient_pressure_decimbar = temp; // to float/double - ambient_pressure_mbar = ambient_pressure_decimbar / 10; -} -*/ - - /* taken from AN520 by meas-spec.com dated 9. Aug. 2011 * short and int are both 16bit according to AVR/GCC google results */