2025-11-11 19:31:34 +08:00
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# 时间间隔 -- 软件模拟iic的情况下
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2025-11-10 19:27:37 +08:00
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目前测试代码如下：
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```c
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create_process(&test_id, "test",NULL, test, (int)(DELTA_TIME*1000));
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```
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对于test函数的调用时间设置的是10ms调用一次，test代码如下：
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```c
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void test(){
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signed short acc_data_buf[3] = {0};
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signed short gyr_data_buf[3] = {0};
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signed short acc_gyro_input[6] = {0};
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float Angle_output[3] = {0};
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SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
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BLE_send_data = sensor_processing_task(acc_data_buf, gyr_data_buf);
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//----省略-----
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//一些ble数据发送
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memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
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memset(&data, 0, 50);
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// xlog("end============\n");
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}
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```
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sensor_processing_task当中就进行了计算，包括卡尔曼等，在timer设置成10ms的情况下，实际上test函数（或者是sensor_processing_task函数），距离上次调用到本次调用，实际间隔为40ms
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计算距离不能直接采用timers设置的时间间隔作为dt来求距离，实际每次计算求速度的时间应该是40ms
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2025-11-13 20:30:10 +08:00
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# 11.13
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代码主要文件夹：apps\earphone\xtell_Sensor
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2025-11-10 19:27:37 +08:00
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2025-11-13 20:30:10 +08:00
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- apps\earphone\xtell_Sensor\send_data.c，‘ xtell_task_create ’ 函数，传感器计算程序逻辑开始位置，包括传感器读取数据的任务、蓝牙发送任务、速度距离计算任务
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2025-11-10 19:27:37 +08:00
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2025-11-13 20:30:10 +08:00
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- apps\earphone\xtell_Sensor\calculate：目前只有计算传感器去除重力分量的代码
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- 问题：存在漂移
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- 水平的情况下三轴去掉重力分量，计算出来的结果, 误差有0.0x m/s^s
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- original(g): x -0.02, y 0.00, z 1.00
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device(m/s^2) no g: x -0.08, y -0.01, z -0.04, all 0.08
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2025-11-10 19:27:37 +08:00
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2025-11-13 20:30:10 +08:00
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- 在板子任意倾斜角度下，去掉各轴重力分量的情况下，误差有0.3x m/s^s
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- ===original(g): x -0.20, y -0.85, z 0.41===
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- ===device(m/s^2) no g: x 0.06, y 0.31, z -0.10, all 0.33===
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- apps\earphone\xtell_Sensor\sensor：传感器驱动，参与编译的为SC7U22.c和SC7U22.h
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- apps\earphone\xtell_Sensor\A_hide：速度和距离计算代码
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- 最新一版为apps\earphone\xtell_Sensor\A_hide\10\，水平距离测速2、3m误差
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- 要使用只需要把代码复制粘贴到calculate文件夹下
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2025-11-10 19:27:37 +08:00
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