Mercurial > public > ostc4
changeset 351:ba53ab77f059
Merge
| author | heinrichsweikamp |
|---|---|
| date | Sun, 06 Oct 2019 14:12:41 +0200 |
| parents | 591c03a1e68d (diff) 607099140a41 (current diff) |
| children | 1f24022345d1 5f46ec49f9bf |
| files | RefPrj/Firmware/.cproject RefPrj/RTE/.cproject Small_CPU/Src/pressure.c ostc4pack/OSTC4_Firmware.bin ostc4pack/OSTC4_firmware_upload.bin |
| diffstat | 9 files changed, 173 insertions(+), 171 deletions(-) [+] |
line wrap: on
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--- a/Discovery/Src/settings.c Sun Oct 06 11:58:36 2019 +0000 +++ b/Discovery/Src/settings.c Sun Oct 06 14:12:41 2019 +0200 @@ -55,15 +55,15 @@ { .versionFirst = 1, .versionSecond = 5, - .versionThird = 0, + .versionThird = 1, .versionBeta = 0, /* 4 bytes with trailing 0 */ .signature = "mh", .release_year = 19, - .release_month = 8, - .release_day = 5, + .release_month = 10, + .release_day = 6, .release_sub = 0, /* max 48 with trailing 0 */
--- a/RefPrj/Firmware/.cproject Sun Oct 06 11:58:36 2019 +0000 +++ b/RefPrj/Firmware/.cproject Sun Oct 06 14:12:41 2019 +0200 @@ -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="${ProjDirPath}\..\ostc4\Common\CPU1-F429.ld" valueType="string"/> + <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.1377166494" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="C:\Users\mh\workspace\ostc4\Common\CPU1-F429.ld" valueType="string"/> <option id="gnu.c.link.option.ldflags.1166539479" name="Linker flags" superClass="gnu.c.link.option.ldflags" useByScannerDiscovery="false" value="-u _printf_float " valueType="string"/> <option id="gnu.c.link.option.other.2080432652" name="Other options (-Xlinker [option])" superClass="gnu.c.link.option.other" useByScannerDiscovery="false"/> <option id="gnu.c.link.option.paths.1365621909" name="Library search path (-L)" superClass="gnu.c.link.option.paths" useByScannerDiscovery="false"/> @@ -115,7 +115,7 @@ </extensions> </storageModule> <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="${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* -R .font_firmware_data -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* -O binary "${BuildArtifactFileBaseName}.elf" "${BuildArtifactFileBaseName}.bin"; arm-none-eabi-size "${BuildArtifactFileName}""> <folderInfo id="fr.ac6.managedbuild.config.gnu.cross.exe.release.1554475450." name="/" resourcePath=""> <toolChain id="fr.ac6.managedbuild.toolchain.gnu.cross.exe.release.240202493" name="Ac6 STM32 MCU GCC" superClass="fr.ac6.managedbuild.toolchain.gnu.cross.exe.release"> <option id="fr.ac6.managedbuild.option.gnu.cross.mcu.1492720020" name="Mcu" superClass="fr.ac6.managedbuild.option.gnu.cross.mcu" useByScannerDiscovery="false" value="STM32F429IITx" valueType="string"/> @@ -151,7 +151,7 @@ <option id="gnu.cpp.compiler.option.debugging.level.1273410642" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/> </tool> <tool id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.1139299269" name="MCU GCC Linker" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker"> - <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.920748377" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="${ProjDirPath}\..\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="C:\Users\mh\workspace\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 11:58:36 2019 +0000 +++ b/RefPrj/RTE/.cproject Sun Oct 06 14:12:41 2019 +0200 @@ -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="${ProjDirPath}\..\ostc4\Small_CPU\CPU2-RTE.ld" valueType="string"/> + <option id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script.477531566" name="Linker Script (-T)" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.script" useByScannerDiscovery="false" value="C:\Users\mh\workspace\ostc4\Small_CPU\CPU2-RTE.ld" valueType="string"/> <option id="gnu.c.link.option.nodeflibs.1006660034" name="Do not use default libraries (-nodefaultlibs)" superClass="gnu.c.link.option.nodeflibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <inputType id="cdt.managedbuild.tool.gnu.c.linker.input.1337752943" superClass="cdt.managedbuild.tool.gnu.c.linker.input"> <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
--- a/Small_CPU/Src/baseCPU2.c Sun Oct 06 11:58:36 2019 +0000 +++ b/Small_CPU/Src/baseCPU2.c Sun Oct 06 14:12:41 2019 +0200 @@ -161,8 +161,8 @@ // SHALL LOAD AT 0x08000000 + 0x00005000 = 0x08005000. // See CPU2-RTE.ld const SFirmwareData cpu2_FirmwareData __attribute__(( section(".firmware_data") ))= { - .versionFirst = 1, - .versionSecond = 9, + .versionFirst = 2, + .versionSecond = 0, .versionThird = 0, .versionBeta = 0, @@ -170,8 +170,8 @@ .signature = "mh", .release_year = 19, - .release_month = 8, - .release_day = 5, + .release_month = 10, + .release_day = 6, .release_sub = 0, /* max 48 with trailing 0 */
--- a/Small_CPU/Src/pressure.c Sun Oct 06 11:58:36 2019 +0000 +++ b/Small_CPU/Src/pressure.c Sun Oct 06 14:12:41 2019 +0200 @@ -46,20 +46,11 @@ #define CMD_ADC_4096 0x08 // ADC OSR=4096 #define CMD_PROM_RD 0xA0 // Prom read command -/* remove comment to use a predefined profile for pressure changes instead of real world data */ -/* #define SIMULATE_PRESSURE */ - -#define PRESSURE_SURFACE_MAX_MBAR (1070.0f) /* It is very 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_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_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 */ - +#define PRESSURE_SURFACE_QUE (30u) /* history buffer [minutes] for past pressure measurements */ static uint16_t get_ci_by_coef_num(uint8_t coef_num); //void pressure_calculation_new(void); @@ -95,10 +86,6 @@ 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; @@ -132,7 +119,6 @@ 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 */ } } @@ -144,81 +130,10 @@ } } -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()) @@ -231,25 +146,24 @@ { if(runningAvg < PRESSURE_SURFACE_MAX_MBAR) { - surface_ring_mbar[surface_pressure_writeIndex] = runningAvg; + surface_ring_mbar[writeIndex] = runningAvg; } else { - surface_ring_mbar[surface_pressure_writeIndex] = PRESSURE_SURFACE_MAX_MBAR; + surface_ring_mbar[writeIndex] = PRESSURE_SURFACE_MAX_MBAR; } - surface_pressure_writeIndex++; /* the write index is now pointing to the oldest value in the buffer which will be overwritten next time */ + writeIndex++; /* the write index is now pointing to the oldest value in the buffer which will be overwritten next time */ - if(surface_pressure_writeIndex == PRESSURE_SURFACE_QUE) + if(writeIndex == PRESSURE_SURFACE_QUE) { - surface_pressure_writeIndex = 0; + writeIndex = 0; } - surface_pressure_mbar = surface_ring_mbar[surface_pressure_writeIndex]; /* 30 minutes old measurement */ + surface_pressure_mbar = surface_ring_mbar[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(); } } @@ -511,74 +425,12 @@ } -#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) @@ -702,6 +554,156 @@ } +/* +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 */