99_7018_lmx/apps/earphone/xtell_Sensor/send_data.c

#include "system/includes.h"
#include "btstack/btstack_task.h"
#include "app_config.h"
#include "app_action.h"
#include "asm/pwm_led.h"
#include "tone_player.h"
#include "ui_manage.h"
#include "gpio.h"
#include "app_main.h"
#include "asm/charge.h"
#include "update.h"
#include "app_power_manage.h"
#include "audio_config.h"
#include "app_charge.h"
#include "bt_profile_cfg.h"
#include "dev_manager/dev_manager.h"
#include "update_loader_download.h"
#include "./sensor/SC7U22.h"
#include "./buffer/circle_buffer.h"
#include "btstack/avctp_user.h"
#include "calculate/skiing_tracker.h"
#include "xtell.h"
///////////////////////////////////////////////////////////////////////////////////////////////////
//宏定义
#define ENABLE_XLOG 1
#ifdef xlog
#undef xlog
#endif
#if ENABLE_XLOG
    #define xlog(format, ...) printf("[XT:%s] " format, __func__, ##__VA_ARGS__)
#else
    #define xlog(format, ...) ((void)0)
#endif
//
///////////////////////////////////////////////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////////////////////////////////
//START -- 函数定义
void send_data_to_ble_client(const u8* data, u16 length);
extern void create_process(u16* pid, const char* name, void *priv, void (*func)(void *priv), u32 msec);
//END -- 函数定义
//////////////////////////////////////////////////////////////////////////////////////////////////


//////////////////////////////////////////////////////////////////////////////////////////////////
//START -- 变量定义

// --- 任务ID ---
static u16 xtell_i2c_test_id;
static u16 collect_data_id;
static u16 ble_send_data_id;
static u16 sensor_read_data_id;
static u16 calculate_data_id;

// --- 环形缓冲区 ---
#define SENSOR_DATA_BUFFER_SIZE 512
static u8 sensor_data_buffer[SENSOR_DATA_BUFFER_SIZE];
static circle_buffer_t sensor_cb;


//--- test ---
// 全局变量
u16 gsensor_id=0;
u16 test_id=0;
//END -- 变量定义
//////////////////////////////////////////////////////////////////////////////////////////////////


// /**
//  * @brief  向匿名上位机发送数据帧
//  * @param  function_id   功能码 (例如 0x01, 0x03)
//  * @param  data          指向 int16_t 数据数组的指针 (例如加速度、欧拉角)
//  * @param  data_len      int16_t 数据的个数 (例如发送6轴数据时为6，发送3个欧拉角时为3)
//  * @param  status_byte   附加的状态字节 (例如 SHOCK_STA 或 FUSION_STA)
//  */
// void send_data_anotc(uint8_t function_id, int16_t* data, uint8_t data_len, uint8_t status_byte) {
//     // 定义一个足够大的缓冲区来构建数据帧
//     // 最大长度(ID 0x01): 1(HEAD)+1(D_ADDR)+1(ID)+1(LEN)+13(DATA)+1(SC)+1(AC) = 19字节
//     uint8_t buffer[32]; 
    
//     uint8_t data_payload_len = data_len * sizeof(int16_t) + sizeof(uint8_t);
    
//     // 1. 填充帧头和地址
//     buffer[0] = 0xAA; // 帧头 HEAD
//     buffer[1] = 0xFF; // 目标地址 D_ADDR

//     // 2. 填充功能码和数据长度
//     buffer[2] = function_id;
//     buffer[3] = data_payload_len;

//     // 3. 填充数据内容 (DATA)
//     // 首先使用 memcpy 拷贝主要的 int16_t 数组数据
//     // &buffer[4] 是数据区的起始地址
//     memcpy(&buffer[4], (uint8_t*)data, data_len * sizeof(int16_t));
//     // 然后在数据区末尾填充状态字节
//     buffer[4 + data_len * sizeof(int16_t)] = status_byte;

//     // 4. 计算校验和 (SC 和 AC)
//     uint8_t sum_check = 0;
//     uint8_t add_check = 0;
    
//     // SC: 和校验 (从帧头到数据区最后一个字节)
//     for (int i = 0; i < 4 + data_payload_len; ++i) {
//         sum_check += buffer[i];
//     }
    
//     // 将SC填充到缓冲区
//     buffer[4 + data_payload_len] = sum_check;
    
//     // AC: 附加校验 (从帧头到SC)
//     for (int i = 0; i < 4 + data_payload_len + 1; ++i) {
//         add_check += buffer[i];
//     }

//     // 将AC填充到缓冲区
//     buffer[4 + data_payload_len + 1] = add_check;

//     // 5. 发送整个数据帧
//     uint16_t frame_length = 4 + data_payload_len + 2;
//     // Serial_Send_Buffer(buffer, frame_length);
//     for (int i = 0; i < frame_length; ++i) {
//         // 使用 %c 格式化字符来发送单个字节的原始值
//         printf("%c", buffer[i]);
//     }
//     printf("\n");
// }

void ble_send_data(signed short *acc_gyro_input, float *Angle_output){
    char buffer[50];   //一次最多发送50字节
    u8 len = 0;
    //AA FF 01 六轴数据 EE
    //TO DO
    send_data_to_ble_client(&buffer,len);


    //AA FF 02 欧若拉角数据 EE
    // TO DO
    send_data_to_ble_client(&buffer,len);
}


// 从环形缓冲区读取数据并发送
void send_sensor_data_task(void) {
    // printf("xtell_ble_send\n");
}

#if 0
BLE_send_data_t BLE_send_data;
void test(){
    signed short acc_data_buf[3] = {0};
    signed short gyr_data_buf[3] = {0};
    signed short acc_gyro_input[6] = {0};
    float Angle_output[3] = {0};
    // xlog("============start\n");

    SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);

    BLE_send_data = sensor_processing_task(acc_data_buf, gyr_data_buf);
    u8 data[50];
    data[0] = 0xBB;
    data[1] = 0xBE;
    data[2] = 0x01;
    data[3] = sizeof(BLE_send_data_t); //后续包的数据长度
    // send_data_to_ble_client(&data,sizeof(BLE_send_data_t)+4);
    memcpy(&data[4], &BLE_send_data, sizeof(BLE_send_data_t));

    static int count = 0;
    if(count >=10){ 
        count = 0;
        
        char* division = "==========\n";
        send_data_to_ble_client(division,strlen(division));

        char log_buffer[100]; // 100个字符应该足够了

        // 使用 snprintf 进行格式化
        int num_chars_written = snprintf(
            log_buffer,                      // 目标缓冲区
            sizeof(log_buffer),              // 目标缓冲区的最大容量
            "s %d, %dcm/s, %dcm\n", // 格式化字符串
            BLE_send_data.skiing_state,      // 第一个 %d 的参数
            BLE_send_data.speed_cms,         // 第二个 %d 的参数
            BLE_send_data.distance_cm        // 第三个 %d 的参数
        );
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        extern BLE_KS_send_data_t KS_data;
        memset(&log_buffer, 0, 100);
        num_chars_written = snprintf(
            log_buffer,                      
            sizeof(log_buffer),              
            "Acc:%d, %d, %d\n", 
            KS_data.acc_KS[0],KS_data.acc_KS[1],KS_data.acc_KS[2]       
        );  // cm/s^2      
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        memset(&log_buffer, 0, 100);
        num_chars_written = snprintf(
            log_buffer,                      
            sizeof(log_buffer),              
            "Gyr_dps:%d, %d, %d\n", 
            KS_data.gyr_KS_dps[0],      
            KS_data.gyr_KS_dps[1],      
            KS_data.gyr_KS_dps[2]       
        );
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        memset(&log_buffer, 0, 100);
        num_chars_written = snprintf(
            log_buffer,                      
            sizeof(log_buffer),              
            "angle: %d, %d, %d\n", 
            KS_data.angle_KS[0],      
            KS_data.angle_KS[1],      
            KS_data.angle_KS[2]       
        );
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        extern debug_t debug1;
        extern debug_t debug2;
        memset(&log_buffer, 0, 100);
        num_chars_written = snprintf(
            log_buffer,                      
            sizeof(log_buffer),              
            "debug:%.2f,%.2f,%.2f(%.2f),%.2f\n", 
            debug1.acc_variance, 
            debug1.gyr_variance, 
            debug1.acc_magnitude,
            debug2.acc_magnitude,   //滤波后的加速度
            debug1.gyr_magnitude  
        );
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
        
    xlog("Call interval\n");
    }
    count++;

    memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
    memset(&data, 0, 50);
    // xlog("end============\n");

}
#endif



#define SENSOR_DATA_BUFFER_SIZE 100 // 定义缓冲区可以存储100个sensor_data_t元素
static circle_buffer_t sensor_read; // 环形缓冲区管理结构体
typedef struct {
    signed short acc_data[3];
    signed short gyr_data[3];
    float angle[3];
} sensor_data_t;
static sensor_data_t sensor_read_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放sensor读到的数据

static circle_buffer_t sensor_send; // 环形缓冲区管理结构体
static BLE_send_data_t sensor_send_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放ble要发送的数据


/**
 * @brief //读取传感器的数据放进缓冲区
 * 
 */
void sensor_read_data(){
    
    // xlog("=======sensor_read_data START\n");
    static signed short combined_raw_data[6];
    static int initialized = 0;
    static int calibration_done = 0;
    char status = 0;
    if(circle_buffer_is_full(&sensor_read)){
        // xlog("sensor_read_data: read buffer full\n");
        return;
    }
    
    static sensor_data_t tmp;
    SL_SC7U22_RawData_Read(tmp.acc_data,tmp.gyr_data);
    // xlog("=======sensor_read_data middle 1\n");
    memcpy(&combined_raw_data[0], tmp.acc_data, 3 * sizeof(signed short));
    memcpy(&combined_raw_data[3], tmp.gyr_data, 3 * sizeof(signed short));

    if (!calibration_done) {  //第1次启动，开启零漂检测
        status = SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
        if (status == 1) {
            calibration_done = 1;
            printf("Sensor calibration successful! Skiing mode is active.\n");
        }
    } else {
        // printf("Calculate the time interval =============== start\n");
        status = SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
        memcpy(tmp.acc_data, &combined_raw_data[0], 3 * sizeof(signed short));
        memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short));
        circle_buffer_write(&sensor_read, &tmp);
    }
    // xlog("=======sensor_read_data END\n");

}

void calculate_data(){
    // xlog("=======start\n");
    sensor_data_t tmp;

    if(circle_buffer_is_empty(&sensor_read)){
        // xlog("sensor_read_buffer: read buffer empty\n");
        return;
    }

    circle_buffer_read(&sensor_read, &tmp);
    BLE_send_data_t data_by_calculate = sensor_processing_task(tmp.acc_data, tmp.gyr_data,tmp.angle);

    if(circle_buffer_is_full(&sensor_send))
        return;
    circle_buffer_write(&sensor_send, &data_by_calculate);

    // extern void BLE_send_data();
    // BLE_send_data();
    // xlog("=======end\n");
}

static int count = 0;
extern char xt_Check_Flag;
void BLE_send_data(){
    if(circle_buffer_is_empty(&sensor_send)){
        // xlog("sensor_send_buffer: send buffer empty\n");
        return;
    }
    #ifdef XTELL_TEST
    BLE_send_data_t tmp;
    circle_buffer_read(&sensor_send, &tmp);
    
    if(count >=50){ 
       
        int num_chars_written;
        count = 0;
        char* division = "==========\n";
        send_data_to_ble_client(division,strlen(division));
        char log_buffer[100]; // 100个字符应该足够了

        
        // extern char iic_read_len;
        // extern char iic_write_result;
        // num_chars_written = snprintf(log_buffer, sizeof(log_buffer),"SL_SC7U22_Check=0x%d, %d, %d\n", xt_Check_Flag, iic_read_len, iic_write_result);  
        // send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        memset(&log_buffer, 0, 100);
        // 使用 snprintf 进行格式化
        num_chars_written = snprintf(
            log_buffer,                      // 目标缓冲区
            sizeof(log_buffer),              // 目标缓冲区的最大容量
            "s %d, %dcm/s, %dcm\n", // 格式化字符串
            tmp.skiing_state,      // 第一个 %d 的参数
            tmp.speed_cms,         // 第二个 %d 的参数
            tmp.distance_cm        // 第三个 %d 的参数
        );
        send_data_to_ble_client(&log_buffer, strlen(log_buffer));

        memset(&log_buffer, 0, 100);
        num_chars_written = snprintf(
            log_buffer,                      
            sizeof(log_buffer),              
            "Acc:%d, %d, %d\n", 
            tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]       
        );      
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        memset(&log_buffer, 0, 100);
        num_chars_written = snprintf(
            log_buffer,                      
            sizeof(log_buffer),              
            "Gyr:%d, %d, %d\n", 
            tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]       
        );  
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        memset(&log_buffer, 0, 100);
        num_chars_written = snprintf(
            log_buffer,                      
            sizeof(log_buffer),              
            "Angle:%.1f, %.1f, %1.f\n", 
            tmp.angle_data[0],tmp.angle_data[1],tmp.angle_data[2]       
        );  
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        short acc_mo_cms = sqrtf(tmp.acc_data[0]*tmp.acc_data[0] + tmp.acc_data[1]*tmp.acc_data[1] + tmp.acc_data[2]*tmp.acc_data[2])-900;
        memset(&log_buffer, 0, 100);
        num_chars_written = snprintf(
            log_buffer,                      
            sizeof(log_buffer),              
            "acc_cm/s^2:%d\n", 
            acc_mo_cms       
        );  
        send_data_to_ble_client(&log_buffer,strlen(log_buffer));

        // xlog("s %d, %dcm/s, %dcm\n",tmp.skiing_state, tmp.speed_cms, tmp.distance_cm);
        // xlog("Acc:%d, %d, %d\n", tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]);
        // xlog("GYR:%d, %d, %d\n", tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]);
    }
    count++;

    #else
    #endif
}

//iic测试调用的
#if 0

static u16 xt_iic_test_id;
char log_buffer_1[100]; 
extern char sen_log_buffer_1[100];
extern char sen_log_buffer_2[100];
extern char sen_log_buffer_3[100];
extern char sen_log_buffer_4[100];
extern char sen_log_buffer_5[100];
extern char w_log_buffer_1[100];
extern char w_log_buffer_2[100];
extern char w_log_buffer_3[100];
extern char w_log_buffer_4[100];
extern char w_log_buffer_5[100];
void xt_iic_test(){

    char log_buffer[100]; 
    send_data_to_ble_client(&log_buffer_1,strlen(log_buffer_1));
    extern char iic_read_len;
    extern char iic_write_result;
    int num_chars_written = snprintf(log_buffer, sizeof(log_buffer),"SL_SC7U22_Check=0x%d,%d,%d\n", xt_Check_Flag, iic_read_len, iic_write_result);  
	extern void send_data_to_ble_client(const u8* data, u16 length);
    send_data_to_ble_client(&log_buffer,strlen(log_buffer));

    if(sen_log_buffer_1 != NULL)
        send_data_to_ble_client(&sen_log_buffer_1,strlen(sen_log_buffer_1));
    if(sen_log_buffer_2 != NULL)
        send_data_to_ble_client(&sen_log_buffer_2,strlen(sen_log_buffer_2));
    if(sen_log_buffer_3 != NULL)
        send_data_to_ble_client(&sen_log_buffer_3,strlen(sen_log_buffer_3));
    if(sen_log_buffer_4 != NULL)
        send_data_to_ble_client(&sen_log_buffer_4,strlen(sen_log_buffer_4));
    if(sen_log_buffer_5 != NULL)
        send_data_to_ble_client(&sen_log_buffer_5,strlen(sen_log_buffer_5));

    if(w_log_buffer_1 != NULL)
        send_data_to_ble_client(&w_log_buffer_1,strlen(w_log_buffer_1));
    if(w_log_buffer_2 != NULL)
        send_data_to_ble_client(&w_log_buffer_2,strlen(w_log_buffer_2));
    if(w_log_buffer_3 != NULL)
        send_data_to_ble_client(&w_log_buffer_3,strlen(w_log_buffer_3));
    if(w_log_buffer_4 != NULL)
        send_data_to_ble_client(&w_log_buffer_4,strlen(w_log_buffer_4));
    if(w_log_buffer_5 != NULL)
        send_data_to_ble_client(&w_log_buffer_5,strlen(w_log_buffer_5));

    // SL_SC7U22_Config();
}

#endif

#if 0
u16 xt_iic_test_id;
char hw_iic_init_result;
void xt_hw_iic_test(){
    char log_buffer[100]; 
    extern char iic_read_len;
    extern char iic_write_result;

    int num_chars_written = snprintf(log_buffer, sizeof(log_buffer),"init result:%d, SL_SC7U22_Check=0x%d,%d,%d\n",hw_iic_init_result, xt_Check_Flag, iic_read_len, iic_write_result);  
	extern void send_data_to_ble_client(const u8* data, u16 length);
    send_data_to_ble_client(&log_buffer,strlen(log_buffer));
}
#endif

void xtell_task_create(void){

    // int ret = hw_iic_init(0);
    // xlog("hw_iic_init result:%d\n",ret);
    // //初始化传感器
    // SL_SC7U22_Config();

    #if TCFG_GSENOR_USER_IIC_TYPE
    
    int ret = hw_iic_init(0);
    xlog("init iic result:%d\n", ret);  //返回0成功
    #else
    int ret = soft_iic_init(0);
    int num_chars_written = snprintf(log_buffer_1, sizeof(log_buffer_1),"init iic: %d\n", ret);  
    
    #endif
    
    gpio_set_direction(IO_PORTE_05,0);          //设置PE5 输出模式
    gpio_set_pull_up(IO_PORTE_05,1);
    gpio_direction_output(IO_PORTE_05,1);

    os_time_dly(10);

    SL_SC7U22_Config();
    // extern u8 LIS2DH12_Config(void);
    // LIS2DH12_Config();

    xlog("xtell_task_create\n");
    // 初始化环形缓冲区
    // circle_buffer_init(&sensor_cb, sensor_data_buffer, SENSOR_DATA_BUFFER_SIZE);

    
    circle_buffer_init(&sensor_read, sensor_read_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(sensor_data_t));

    circle_buffer_init(&sensor_send, sensor_send_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));


    //初始化滑雪追踪器
    // SkiingTracker_Init(&skiing_data); 
    xlog("SkiingTracker_Init\n");


    create_process(&sensor_read_data_id, "read",NULL, sensor_read_data, 10);

    create_process(&calculate_data_id, "calculate",NULL, calculate_data, 5);

    create_process(&ble_send_data_id, "send",NULL, BLE_send_data, 1);

    #if 0
    hw_iic_init_result = ret;
    create_process(&xt_iic_test_id,"iic_test",NULL,xt_hw_iic_test,1000);
    #endif

}